+ python -m lidar_slam --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa Lidar SLAM 0.0.9 ===================================================== The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa 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 0.02327356 Adjusted end_distance from 9.223372036854776e+18 to 85.24327356 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02327356 meters 0.18589212000997388 Centerline is valid? [0, False] SLAMing on 0.08327356 meters 0.2032039408956835 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999581e-01 9.15725390e-04 6.81911601e-06 3.85336337e-04] [-9.15733192e-04 9.99998801e-01 1.24879635e-03 -4.09860070e-03] [-5.67555331e-06 -1.24880207e-03 9.99999220e-01 -4.50051187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14327356 meters 0.20944835571321033 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99995865e-01 -2.75465044e-03 -8.25648003e-04 2.73632860e-03] [ 2.75223557e-03 9.99991973e-01 -2.91182641e-03 -3.28955704e-03] [ 8.33662439e-04 2.90954199e-03 9.99995420e-01 -8.29330927e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20327356 meters 0.21682453597022355 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 0.99999758 -0.00193284 -0.00105025 0.00443938] [ 0.00193083 0.99999631 -0.00190953 -0.00504303] [ 0.00105394 0.0019075 0.99999763 -0.00235599] [ 0. 0. 0. 1. ]] SLAMing on 0.26327356 meters 0.2184075415974997 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99999835 -0.00143636 -0.00111638 0.00518345] [ 0.00143488 0.9999981 -0.00131962 -0.00658746] [ 0.00111827 0.00131802 0.99999851 -0.00306036] [ 0. 0. 0. 1. ]] SLAMing on 0.32327355999999996 meters 0.22092573243122898 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998889e-01 -9.08755297e-04 -1.18189862e-03 5.03583232e-03] [ 9.08008306e-04 9.99999388e-01 -6.32409287e-04 -9.20742301e-03] [ 1.18247260e-03 6.31335410e-04 9.99999102e-01 -2.70902099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38327356 meters 0.22525646012773584 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999323e-01 -6.70510472e-04 -9.50595843e-04 4.00500752e-03] [ 6.70340496e-04 9.99999759e-01 -1.79117719e-04 -1.20540910e-02] [ 9.50715715e-04 1.78480375e-04 9.99999532e-01 -2.06807287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44327355999999996 meters 0.21884931146084202 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99999057 -0.00410974 -0.00140078 0.00555716] [ 0.00410492 0.9999857 -0.00342799 -0.01462189] [ 0.00141485 0.0034222 0.99999314 -0.00269504] [ 0. 0. 0. 1. ]] SLAMing on 0.50327356 meters 0.22241716282344984 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 0.99999495 -0.00288078 -0.00134117 0.00690371] [ 0.00287921 0.99999517 -0.00117331 -0.0212189 ] [ 0.00134455 0.00116944 0.99999841 -0.00509966] [ 0. 0. 0. 1. ]] SLAMing on 0.5632735600000001 meters 0.22284739656005334 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99996737e-01 -2.27223598e-03 -1.16786873e-03 6.76541293e-03] [ 2.27227910e-03 9.99997418e-01 3.55999477e-05 -2.54024301e-02] [ 1.16778482e-03 -3.82535552e-05 9.99999317e-01 -5.64755466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.62327356 meters 0.2294090507126879 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99997769e-01 -1.85181438e-03 -1.01668073e-03 6.63901281e-03] [ 1.85265997e-03 9.99997938e-01 8.31400993e-04 -2.81419182e-02] [ 1.01513903e-03 -8.33282702e-04 9.99999138e-01 -6.01527487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.68327356 meters 0.2181833334435805 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998371e-01 -1.61134235e-03 -8.13960629e-04 5.68168455e-03] [ 1.61241395e-03 9.99997832e-01 1.31758781e-03 -3.14705033e-02] [ 8.11835780e-04 -1.31889810e-03 9.99998801e-01 -5.34653546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.74327356 meters 0.21310054344364152 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998830e-01 -1.27520180e-03 -8.45292771e-04 5.78180480e-03] [ 1.27677743e-03 9.99997444e-01 1.86609997e-03 -3.38444831e-02] [ 8.42910956e-04 -1.86717703e-03 9.99997902e-01 -5.32778591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80327356 meters 0.21008935835533454 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99999373e-01 -6.55440581e-04 -9.08176156e-04 6.40166478e-03] [ 6.58107895e-04 9.99995462e-01 2.93982165e-03 -3.83693608e-02] [ 9.06245157e-04 -2.94041748e-03 9.99995266e-01 -5.89586877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86327356 meters 0.20995933569124703 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99999461e-01 -3.51111400e-04 -9.77287827e-04 6.78408728e-03] [ 3.54432174e-04 9.99994158e-01 3.39985211e-03 -3.98162013e-02] [ 9.76088390e-04 -3.40019666e-03 9.99993743e-01 -6.15692836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9232735599999999 meters 0.20368341484664879 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99999671e-01 -2.32539325e-04 -7.77044633e-04 5.89054210e-03] [ 2.35638446e-04 9.99992010e-01 3.99063602e-03 -4.32974199e-02] [ 7.76110445e-04 -3.99081781e-03 9.99991735e-01 -5.62019055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.98327356 meters 0.20063440248998474 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99999758e-01 -9.19418509e-05 -6.89934045e-04 5.41715717e-03] [ 9.49578677e-05 9.99990435e-01 4.37269809e-03 -4.55904928e-02] [ 6.89525412e-04 -4.37276255e-03 9.99990202e-01 -5.18507383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04327356 meters 0.19255770452140897 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99993174e-01 -3.25104972e-03 -1.75583711e-03 8.05499781e-03] [ 3.25271923e-03 9.99994260e-01 9.48815925e-04 -4.78135202e-02] [ 1.75274238e-03 -9.54520693e-04 9.99998008e-01 -5.04278999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10327356 meters 0.18157858691967904 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999409 -0.00289272 -0.00185758 0.00839766] [ 0.00289548 0.99999471 0.00148348 -0.05011949] [ 0.00185328 -0.00148884 0.99999717 -0.00505377] [ 0. 0. 0. 1. ]] SLAMing on 1.16327356 meters 0.1758322713307781 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999496 -0.00238123 -0.00210007 0.00905802] [ 0.00238604 0.99999453 0.00229006 -0.05324828] [ 0.0020946 -0.00229506 0.99999517 -0.00505113] [ 0. 0. 0. 1. ]] SLAMing on 1.22327356 meters 0.16788154957994458 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99999538 -0.00209036 -0.00220753 0.00942309] [ 0.00209651 0.99999392 0.00278754 -0.05514522] [ 0.00220168 -0.00279215 0.99999368 -0.00513146] [ 0. 0. 0. 1. ]] SLAMing on 1.28327356 meters 0.16008382998752826 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99999611 -0.00138072 -0.00242519 0.01064037] [ 0.00139018 0.99999141 0.00390548 -0.0587837 ] [ 0.00241977 -0.00390883 0.99998943 -0.00594607] [ 0. 0. 0. 1. ]] SLAMing on 1.3432735599999999 meters 0.1537983586862602 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99999622 -0.00115737 -0.00249475 0.01061619] [ 0.00116814 0.99998999 0.00431951 -0.06109734] [ 0.00248972 -0.00432241 0.99998756 -0.00552765] [ 0. 0. 0. 1. ]] SLAMing on 1.40327356 meters 0.14890356968749846 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99996187e-01 -9.14591673e-04 -2.60583251e-03 1.07834204e-02] [ 9.26733311e-04 9.99988703e-01 4.66201712e-03 -6.25707545e-02] [ 2.60153923e-03 -4.66441425e-03 9.99985738e-01 -5.23562969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46327356 meters 0.14339256657564114 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.00 [[ 9.99996791e-01 -9.67671602e-04 -2.34113602e-03 1.00213362e-02] [ 9.79455033e-04 9.99986833e-01 5.03731081e-03 -6.49798961e-02] [ 2.33623073e-03 -5.03958768e-03 9.99984572e-01 -4.86993369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52327356 meters 0.1426049355752389 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99998559 -0.00430566 -0.00320775 0.01227674] [ 0.00431002 0.99998979 0.0013543 -0.06550699] [ 0.00320189 -0.00136811 0.99999394 -0.00520325] [ 0. 0. 0. 1. ]] SLAMing on 1.58327356 meters 0.13986310698861465 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99998812 -0.00374005 -0.0031267 0.01320772] [ 0.00374829 0.99998951 0.00263411 -0.06863532] [ 0.00311681 -0.0026458 0.99999164 -0.00682459] [ 0. 0. 0. 1. ]] SLAMing on 1.64327356 meters 0.13595245884591284 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99998798 -0.00414276 -0.00262286 0.01174141] [ 0.00415015 0.99998742 0.00281564 -0.07024394] [ 0.00261116 -0.00282649 0.9999926 -0.00631553] [ 0. 0. 0. 1. ]] SLAMing on 1.70327356 meters 0.13107339851894895 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99998833 -0.00422165 -0.00234982 0.01117843] [ 0.00422899 0.99998616 0.00312828 -0.07168635] [ 0.00233658 -0.00313818 0.99999235 -0.00626339] [ 0. 0. 0. 1. ]] SLAMing on 1.76327356 meters 0.13580734073842157 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99963526e-01 -8.12161763e-03 -2.64300517e-03 1.18833159e-02] [ 8.11986482e-03 9.99966807e-01 -6.73241275e-04 -7.28495495e-02] [ 2.64838525e-03 6.51755875e-04 9.99996281e-01 -6.16382496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8232735599999998 meters 0.1345841763346821 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 0.99997932 -0.0041924 0.00487667 0.00114703] [ 0.0042205 0.99997447 -0.00576599 -0.07581272] [-0.00485237 0.00578645 0.99997149 -0.00984476] [ 0. 0. 0. 1. ]] SLAMing on 1.88327356 meters 0.13170527566888238 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99978529e-01 -4.12604763e-03 5.09089435e-03 9.99626449e-04] [ 4.15212432e-03 9.99978261e-01 -5.12232992e-03 -7.74901790e-02] [-5.06964870e-03 5.14335797e-03 9.99973922e-01 -1.03832894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.94327356 meters 0.12929613352881633 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.08, Z:-0.01 [[ 9.99973924e-01 -4.46792646e-03 5.67352321e-03 -1.63849067e-05] [ 4.49444768e-03 9.99978993e-01 -4.67044571e-03 -7.90158445e-02] [-5.65253682e-03 4.69582328e-03 9.99972999e-01 -1.08827886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00327356 meters 0.13204911865284877 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99975551e-01 -4.22590345e-03 5.57119812e-03 5.71254014e-04] [ 4.25033892e-03 9.99981368e-01 -4.38151582e-03 -7.92661997e-02] [-5.55257846e-03 4.40508818e-03 9.99974882e-01 -1.14074800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06327356 meters 0.1319233829655581 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.08, Z:-0.01 [[ 9.99981934e-01 -3.80015954e-04 5.99898803e-03 -1.51148373e-04] [ 3.80552476e-04 9.99999924e-01 -8.82942287e-05 -7.96716549e-02] [-5.99895402e-03 9.05755633e-05 9.99982002e-01 -1.17949858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.12327356 meters 0.11933651443175794 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.08, Z:-0.01 [[ 0.99997337 0.00334087 0.00648772 -0.0011132 ] [-0.00336622 0.99998672 0.0039018 -0.07935211] [-0.0064746 -0.00392353 0.99997134 -0.0119517 ] [ 0. 0. 0. 1. ]] SLAMing on 2.18327356 meters 0.12284528275931028 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.08, Z:-0.01 [[ 9.99975262e-01 3.52914850e-03 6.08449111e-03 -6.04870129e-05] [-3.55143235e-03 9.99987012e-01 3.65549457e-03 -7.79903162e-02] [-6.07151130e-03 -3.67701280e-03 9.99974808e-01 -1.22351209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2432735599999996 meters 0.11746315795485732 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99978778e-01 3.43544970e-03 5.53548778e-03 7.76429782e-04] [-3.44963445e-03 9.99990786e-01 2.55500354e-03 -7.46597999e-02] [-5.52665919e-03 -2.57404473e-03 9.99981415e-01 -1.17719983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3032735599999996 meters 0.11378876064429971 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 0.99998236 0.00346313 0.00482648 0.00185517] [-0.00346943 0.99999314 0.00129788 -0.070619 ] [-0.00482195 -0.0013146 0.99998751 -0.01112533] [ 0. 0. 0. 1. ]] SLAMing on 2.3632735599999997 meters 0.11450304408135445 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99984819e-01 3.77970627e-03 4.00934149e-03 3.57691963e-03] [-3.78214061e-03 9.99992668e-01 5.99758173e-04 -6.76849917e-02] [-4.00704518e-03 -6.14912961e-04 9.99991783e-01 -1.10935790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4232735599999997 meters 0.11493839531795447 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99986006e-01 4.17900807e-03 3.24402890e-03 5.60948151e-03] [-4.17871260e-03 9.99991264e-01 -9.78534818e-05 -6.38265094e-02] [-3.24440949e-03 8.42962480e-05 9.99994733e-01 -1.17951778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4832735599999998 meters 0.10764886222289966 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99998801 0.00379373 0.00309685 0.00569315] [-0.00378993 0.99999206 -0.0012322 -0.06039433] [-0.0031015 0.00122045 0.99999445 -0.01148308] [ 0. 0. 0. 1. ]] SLAMing on 2.54327356 meters 0.10775030459689565 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99998903 0.00352572 0.00308375 0.00559113] [-0.00352022 0.99999221 -0.00178745 -0.05863098] [-0.00309003 0.00177657 0.99999365 -0.01133453] [ 0. 0. 0. 1. ]] SLAMing on 2.60327356 meters 0.10501569466841067 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99999013 0.00326594 0.00301082 0.00554723] [-0.00325894 0.99999198 -0.00232716 -0.05679712] [-0.0030184 0.00231732 0.99999276 -0.01113659] [ 0. 0. 0. 1. ]] SLAMing on 2.6632735599999995 meters 0.10052714058373015 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.9999907 0.00313343 0.00296346 0.00570767] [-0.00312571 0.99999172 -0.00260731 -0.05545582] [-0.0029716 0.00259802 0.99999221 -0.01131978] [ 0. 0. 0. 1. ]] SLAMing on 2.7232735599999995 meters 0.10534625055622737 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99999032 0.00345525 0.00272293 0.00664861] [-0.00344887 0.9999913 -0.00234504 -0.05546083] [-0.00273101 0.00233563 0.99999354 -0.01197928] [ 0. 0. 0. 1. ]] SLAMing on 2.7832735599999996 meters 0.10479634393787418 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998952 0.00374214 0.00263866 0.00758419] [-0.00373656 0.99999078 -0.00211687 -0.05491748] [-0.00264655 0.00210699 0.99999428 -0.0131588 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8432735599999996 meters 0.10442802655850673 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998986 0.00387114 0.00229952 0.00843398] [-0.00386554 0.99998957 -0.00243455 -0.0534191 ] [-0.00230892 0.00242564 0.99999439 -0.01330455] [ 0. 0. 0. 1. ]] SLAMing on 2.9032735599999997 meters 0.10351919736008683 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998989 0.00396099 0.00213062 0.0089272 ] [-0.00395561 0.999989 -0.00251958 -0.05275211] [-0.00214058 0.00251113 0.99999456 -0.01352231] [ 0. 0. 0. 1. ]] SLAMing on 2.9632735599999998 meters 0.10204168350610593 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999051 0.00378089 0.00216633 0.00876946] [-0.00377477 0.9999889 -0.00282057 -0.05181716] [-0.00217697 0.00281237 0.99999368 -0.01344869] [ 0. 0. 0. 1. ]] SLAMing on 3.02327356 meters 0.1069664824262369 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998885 0.00427376 0.00201051 0.00981899] [-0.00426933 0.99998846 -0.00220181 -0.05261086] [-0.0020199 0.0021932 0.99999555 -0.01454109] [ 0. 0. 0. 1. ]] SLAMing on 3.08327356 meters 0.10687646290765186 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99998866 0.00416152 0.00231748 0.00921102] [-0.00415694 0.99998941 -0.00197676 -0.05332898] [-0.00232568 0.0019671 0.99999536 -0.01472721] [ 0. 0. 0. 1. ]] SLAMing on 3.14327356 meters 0.11038105856332835 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 0.99998733 0.00429439 0.00262645 0.00884687] [-0.00429067 0.99998979 -0.00141936 -0.05514046] [-0.00263251 0.00140808 0.99999554 -0.01518324] [ 0. 0. 0. 1. ]] SLAMing on 3.2032735599999995 meters 0.1119322689770105 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 9.99985867e-01 4.60927069e-03 2.64952083e-03 9.09734655e-03] [-4.60702613e-03 9.99989024e-01 -8.52636574e-04 -5.66055902e-02] [-2.65342178e-03 8.40418112e-04 9.99996127e-01 -1.56303920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2632735599999996 meters 0.11318735561873816 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 9.99985462e-01 4.61444147e-03 2.78986465e-03 8.68274145e-03] [-4.61270300e-03 9.99989163e-01 -6.29249217e-04 -5.76433204e-02] [-2.79273805e-03 6.16371252e-04 9.99995910e-01 -1.55170429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3232735599999996 meters 0.11598941671553514 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99971537e-01 -2.25089829e-03 -7.20125540e-03 2.13653144e-02] [ 2.25472780e-03 9.99997321e-01 5.23709174e-04 -5.83225878e-02] [ 7.20005730e-03 -5.39931138e-04 9.99973933e-01 -1.05939768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3832735599999997 meters 0.11750812418582314 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99971595e-01 -2.09875820e-03 -7.23910236e-03 2.14053944e-02] [ 2.10467936e-03 9.99997457e-01 8.10419584e-04 -5.94359666e-02] [ 7.23738308e-03 -8.25632553e-04 9.99973469e-01 -1.05230338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4432735599999997 meters 0.11870626790291224 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 0.99997205 -0.0014775 -0.00732963 0.02225384] [ 0.00149075 0.99999727 0.00180189 -0.06170911] [ 0.00732695 -0.00181276 0.99997151 -0.01147705] [ 0. 0. 0. 1. ]] SLAMing on 3.50327356 meters 0.1188675834859281 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 0.99997257 -0.00123726 -0.00730251 0.0224171 ] [ 0.00125351 0.99999675 0.00222072 -0.06305162] [ 0.00729974 -0.00222981 0.99997087 -0.01177013] [ 0. 0. 0. 1. ]] SLAMing on 3.56327356 meters 0.11973722075081678 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99971211e-01 -5.36224448e-04 -7.56901550e-03 2.35744760e-02] [ 5.59124783e-04 9.99995272e-01 3.02374510e-03 -6.49527614e-02] [ 7.56735831e-03 -3.02789007e-03 9.99966783e-01 -1.24585687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6232735599999994 meters 0.11995354504112238 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99970915e-01 -2.58526192e-04 -7.62250881e-03 2.36362277e-02] [ 2.84858091e-04 9.99993996e-01 3.45360912e-03 -6.65327019e-02] [ 7.62157019e-03 -3.45568001e-03 9.99964984e-01 -1.23212282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6832735599999995 meters 0.12052247641810697 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99970818e-01 1.00708509e-04 -7.63896613e-03 2.36548984e-02] [-6.96697067e-05 9.99991742e-01 4.06337766e-03 -6.87643731e-02] [ 7.63931227e-03 -4.06272687e-03 9.99962567e-01 -1.22404087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7432735599999996 meters 0.12016574027405752 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99970044e-01 6.12961038e-04 -7.71590317e-03 2.41826916e-02] [-5.75537516e-04 9.99988066e-01 4.85146681e-03 -7.09574686e-02] [ 7.71878485e-03 -4.84688069e-03 9.99958463e-01 -1.27288143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8032735599999996 meters 0.11951243783423485 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99996817 0.00141015 -0.00785242 0.02510702] [-0.00136291 0.99998096 0.00601798 -0.0740629 ] [ 0.00786076 -0.00600708 0.99995106 -0.01356857] [ 0. 0. 0. 1. ]] SLAMing on 3.8632735599999997 meters 0.11842209993095464 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99995712 -0.00195305 -0.00905192 0.02733051] [ 0.00197035 0.99999625 0.00190319 -0.07411139] [ 0.00904817 -0.00192095 0.99995722 -0.01295401] [ 0. 0. 0. 1. ]] SLAMing on 3.9232735599999997 meters 0.10027103879394529 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.01 [[ 0.99995654 -0.00174062 -0.00915931 0.02746329] [ 0.00176047 0.99999612 0.00215887 -0.07512526] [ 0.00915551 -0.0021749 0.99995572 -0.01276784] [ 0. 0. 0. 1. ]] SLAMing on 3.9832735599999998 meters 0.09983548200814739 Centerline is valid? [False, True] Translation: X:0.03, Y:-0.08, Z:-0.01 [[ 0.99995607 -0.00124772 -0.00928992 0.02766472] [ 0.00127381 0.99999526 0.00280376 -0.0775645 ] [ 0.00928637 -0.00281547 0.99995292 -0.01254308] [ 0. 0. 0. 1. ]] SLAMing on 4.043273559999999 meters 0.09989032003697462 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.08, Z:-0.01 [[ 9.99948419e-01 -9.66309320e-05 -1.01562333e-02 8.60608169e-02] [ 1.04422056e-04 9.99999701e-01 7.66599883e-04 -8.33346661e-02] [ 1.01561561e-02 -7.67620876e-04 9.99948130e-01 -1.17077577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10327356 meters 0.09872358024752281 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.09, Z:-0.01 [[ 9.99936431e-01 2.32175444e-03 -1.10337740e-02 1.44590910e-01] [-2.31270888e-03 9.99996979e-01 8.32494606e-04 -8.85384716e-02] [ 1.10356735e-02 -8.06923777e-04 9.99938780e-01 -1.27108517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1632735599999995 meters 0.09952189954477 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.10, Z:-0.01 [[ 9.99912997e-01 3.43739613e-03 -1.27351150e-02 2.02186858e-01] [-3.42544496e-03 9.99993672e-01 9.60136030e-04 -9.82504489e-02] [ 1.27383348e-02 -9.16429059e-04 9.99918444e-01 -1.47781120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22327356 meters 0.09967216697504044 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.11, Z:-0.02 [[ 9.99911876e-01 4.39969484e-03 -1.25253250e-02 2.59548135e-01] [-4.38822036e-03 9.99989927e-01 9.43438395e-04 -1.05622727e-01] [ 1.25293496e-02 -8.88391369e-04 9.99921110e-01 -1.55707676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28327356 meters 0.09950480601680863 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.11, Z:-0.02 [[ 9.99903887e-01 5.63655110e-03 -1.26667237e-02 3.17274922e-01] [-5.62492380e-03 9.99983726e-01 9.53379095e-04 -1.12785367e-01] [ 1.26718913e-02 -8.82038107e-04 9.99919319e-01 -1.55065141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.34327356 meters 0.10001475963953171 Centerline is valid? [True, False] Translation: X:0.32, Y:-0.11, Z:-0.01 [[ 0.99990894 0.0018362 -0.01336912 0.31821477] [-0.00187774 0.99999345 -0.00309523 -0.11364555] [ 0.01336335 0.00312005 0.99990584 -0.01467166] [ 0. 0. 0. 1. ]] SLAMing on 4.40327356 meters 0.10036033759931377 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.12, Z:-0.01 [[ 0.99991172 0.00190139 -0.01315078 0.31761697] [-0.00193712 0.99999447 -0.00270431 -0.11528508] [ 0.01314556 0.00272955 0.99990987 -0.01454655] [ 0. 0. 0. 1. ]] SLAMing on 4.463273559999999 meters 0.1016942494057132 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.12, Z:-0.01 [[ 0.99991327 0.00215076 -0.01299366 0.31723597] [-0.00217728 0.99999557 -0.00202762 -0.11766552] [ 0.01298924 0.00205574 0.99991352 -0.01454783] [ 0. 0. 0. 1. ]] SLAMing on 4.52327356 meters 0.10234790624096107 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.12, Z:-0.01 [[ 0.9999155 0.00235701 -0.01278407 0.31692706] [-0.00237468 0.99999625 -0.00136747 -0.11970639] [ 0.0127808 0.00139772 0.99991735 -0.01484003] [ 0. 0. 0. 1. ]] SLAMing on 4.583273559999999 meters 0.10545250605492945 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.12, Z:-0.02 [[ 9.99918500e-01 2.62075164e-03 -1.24950362e-02 3.16577727e-01] [-2.62619831e-03 9.99996464e-01 -4.19518874e-04 -1.22595152e-01] [ 1.24938925e-02 4.52299126e-04 9.99921846e-01 -1.53482837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64327356 meters 0.10599222076325557 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.12, Z:-0.02 [[ 9.99920370e-01 2.68652171e-03 -1.23302644e-02 3.16400385e-01] [-2.68801717e-03 9.99996382e-01 -1.04712593e-04 -1.23433968e-01] [ 1.23299385e-02 1.37848218e-04 9.99923974e-01 -1.56502020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7032735599999995 meters 0.10749037569834796 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.13, Z:-0.02 [[ 9.99923163e-01 2.76504659e-03 -1.20840226e-02 3.15846456e-01] [-2.76085724e-03 9.99996123e-01 3.63353133e-04 -1.25173220e-01] [ 1.20849805e-02 -3.29962952e-04 9.99926920e-01 -1.56575288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76327356 meters 0.08463842831219068 Centerline is valid? [False, True] Translation: X:0.32, Y:-0.13, Z:-0.02 [[ 9.99924398e-01 2.76586179e-03 -1.19811523e-02 3.15549452e-01] [-2.76036425e-03 9.99996077e-01 4.75362003e-04 -1.25647708e-01] [ 1.19824201e-02 -4.42253720e-04 9.99928110e-01 -1.55585046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82327356 meters 0.08525868584375433 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.13, Z:-0.02 [[ 9.99925881e-01 3.24800930e-03 -1.17338239e-02 3.72764714e-01] [-3.23813021e-03 9.99994387e-01 8.60833587e-04 -1.32126377e-01] [ 1.17365540e-02 -8.22774133e-04 9.99930786e-01 -1.53921230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.883273559999999 meters 0.0889583039136012 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.14, Z:-0.02 [[ 9.99910906e-01 3.50500089e-03 -1.28800106e-02 4.30128178e-01] [-3.49313187e-03 9.99993454e-01 9.43888880e-04 -1.43858632e-01] [ 1.28832347e-02 -8.98813209e-04 9.99916604e-01 -1.78656239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94327356 meters 0.08394534448503735 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.14, Z:-0.02 [[ 9.99888443e-01 4.63203606e-03 -1.42001899e-02 4.89648852e-01] [-4.61773543e-03 9.99988798e-01 1.03969633e-03 -1.37863207e-01] [ 1.42048468e-02 -9.74007627e-04 9.99898632e-01 -1.76155950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.003273559999999 meters 0.08390948453395795 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.14, Z:-0.02 [[ 0.99987839 0.0043704 -0.01497017 0.54866617] [-0.00435449 0.99998992 0.00109508 -0.14154412] [ 0.0149748 -0.00102976 0.99988734 -0.01748922] [ 0. 0. 0. 1. ]] SLAMing on 5.06327356 meters 0.08033204381282069 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.14, Z:-0.02 [[ 0.99987891 0.00370448 -0.01511423 0.60763235] [-0.00368821 0.99999259 0.00110456 -0.13819675] [ 0.01511821 -0.00104868 0.99988516 -0.0166224 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1232735599999994 meters 0.0847883019091783 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.15, Z:-0.02 [[ 9.99896133e-01 7.98011940e-04 -1.43905040e-02 6.65374419e-01] [-7.82965751e-04 9.99999141e-01 1.05116732e-03 -1.54278749e-01] [ 1.43913305e-02 -1.03979087e-03 9.99895899e-01 -1.87001296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18327356 meters 0.08247324331105008 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.15, Z:-0.02 [[ 9.99912090e-01 -1.47126460e-04 -1.32585772e-02 7.24104226e-01] [ 1.59968915e-04 9.99999519e-01 9.67559502e-04 -1.54460022e-01] [ 1.32584285e-02 -9.69595404e-04 9.99911633e-01 -1.69574595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2432735599999996 meters 0.08372420241088906 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.16, Z:-0.02 [[ 9.99921636e-01 -2.22414003e-03 -1.23197225e-02 7.83160654e-01] [ 2.23537950e-03 9.99997098e-01 8.98620198e-04 -1.63046059e-01] [ 1.23176881e-02 -9.26089034e-04 9.99923706e-01 -1.57453874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.303273559999999 meters 0.08851433718045558 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.18, Z:-0.02 [[ 9.99922733e-01 -4.57466302e-03 -1.15585541e-02 8.41628468e-01] [ 4.58471030e-03 9.99989135e-01 8.42902791e-04 -1.80735615e-01] [ 1.15545725e-02 -8.95830285e-04 9.99932842e-01 -1.63079391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36327356 meters 0.08784610262867981 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.19, Z:-0.02 [[ 0.99988341 -0.00665112 -0.01374549 0.9017116 ] [ 0.00666552 0.99997728 0.00100215 -0.1853749 ] [ 0.01373851 -0.00109366 0.99990502 -0.01722508] [ 0. 0. 0. 1. ]] SLAMing on 5.423273559999999 meters 0.08698710340809768 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.19, Z:-0.02 [[ 0.99984669 -0.0081666 -0.01548881 0.96131118] [ 0.00818506 0.99996586 0.00112872 -0.19074525] [ 0.01547906 -0.00125532 0.9998794 -0.01851975] [ 0. 0. 0. 1. ]] SLAMing on 5.48327356 meters 0.08878889712339695 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.20, Z:-0.02 [[ 0.99985732 -0.00801452 -0.01486976 1.01898758] [ 0.00803146 0.99996716 0.00108009 -0.20070625] [ 0.01486062 -0.00119936 0.99988886 -0.01945336] [ 0. 0. 0. 1. ]] SLAMing on 5.543273559999999 meters 0.08849087194234066 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.21, Z:-0.02 [[ 9.99860981e-01 -7.88845750e-03 -1.46898544e-02 1.07741493e+00] [ 7.90492937e-03 9.99968190e-01 1.06358171e-03 -2.06003690e-01] [ 1.46809971e-02 -1.17955612e-03 9.99891533e-01 -1.87749208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60327356 meters 0.08676568995662406 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.21, Z:-0.02 [[ 9.99864043e-01 -8.27394915e-03 -1.42631682e-02 1.13532166e+00] [ 8.28946163e-03 9.99965113e-01 1.02881284e-03 -2.08949200e-01] [ 1.42541582e-02 -1.14690695e-03 9.99897747e-01 -1.70015821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6632735599999995 meters 0.08617571444669492 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.21, Z:-0.02 [[ 9.99834424e-01 -8.12925955e-03 -1.62800587e-02 1.19330636e+00] [ 8.14937826e-03 9.99966109e-01 1.16982892e-03 -2.13226875e-01] [ 1.62699972e-02 -1.30230758e-03 9.99866787e-01 -1.77647089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72327356 meters 0.08566277471690847 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.22, Z:-0.02 [[ 9.99831058e-01 -6.63714851e-03 -1.71407234e-02 1.25168223e+00] [ 6.65921307e-03 9.99977070e-01 1.23050421e-03 -2.16890872e-01] [ 1.71321633e-02 -1.34444006e-03 9.99852330e-01 -1.81496995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78327356 meters 0.08556085503016198 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.22, Z:-0.02 [[ 9.99835341e-01 -4.45943119e-03 -1.75898749e-02 1.31130058e+00] [ 4.48232724e-03 9.99989157e-01 1.26245018e-03 -2.21656359e-01] [ 1.75840544e-02 -1.34108588e-03 9.99844489e-01 -1.90485782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.843273559999999 meters 0.08298576188735951 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.22, Z:-0.02 [[ 9.99820745e-01 -2.46508288e-03 -1.87723441e-02 1.37149455e+00] [ 2.49079481e-03 9.99995992e-01 1.34641284e-03 -2.21117084e-01] [ 1.87689499e-02 -1.39292954e-03 9.99822877e-01 -1.87331767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90327356 meters 0.08524286133260416 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.23, Z:-0.02 [[ 9.99819357e-01 -5.76687594e-04 -1.89979370e-02 1.43018332e+00] [ 6.02670072e-04 9.99998891e-01 1.36195046e-03 -2.30175282e-01] [ 1.89971305e-02 -1.37315393e-03 9.99818595e-01 -2.03769807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.963273559999999 meters 0.08257600463486933 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.23, Z:-0.02 [[ 9.99826964e-01 2.03695971e-03 -1.84903347e-02 1.48999468e+00] [-2.01280350e-03 9.99997097e-01 1.32493973e-03 -2.28641251e-01] [ 1.84929798e-02 -1.28749306e-03 9.99828161e-01 -1.92096564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02327356 meters 0.08133902127519167 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.23, Z:-0.02 [[ 9.99821284e-01 4.93142542e-03 -1.82505196e-02 1.55019575e+00] [-4.90837743e-03 9.99987099e-01 1.30744676e-03 -2.29141059e-01] [ 1.82567317e-02 -1.21763266e-03 9.99832591e-01 -1.84005572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.083273559999999 meters 0.07990090059736477 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.23, Z:-0.02 [[ 9.99784443e-01 8.30754477e-03 -1.90276579e-02 1.61033305e+00] [-8.28310672e-03 9.99964766e-01 1.36279605e-03 -2.28462391e-01] [ 1.90383090e-02 -1.20489417e-03 9.99818029e-01 -1.84135540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14327356 meters 0.08005748454906124 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.23, Z:-0.02 [[ 9.99748368e-01 1.12166460e-02 -1.94264402e-02 1.66862630e+00] [-1.11917387e-02 9.99936404e-01 1.39038178e-03 -2.32521414e-01] [ 1.94408002e-02 -1.17261627e-03 9.99810322e-01 -1.97056143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2032735599999995 meters 0.07728246648510405 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.23, Z:-0.02 [[ 9.99664990e-01 1.62401849e-02 -2.01535321e-02 1.72968490e+00] [-1.62143966e-02 9.99867498e-01 1.44234909e-03 -2.26586010e-01] [ 2.01742858e-02 -1.11508853e-03 9.99795857e-01 -1.89218870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26327356 meters 0.07502505138007333 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.22, Z:-0.02 [[ 9.99519761e-01 2.35493246e-02 -2.01414286e-02 1.79066515e+00] [-2.35250513e-02 9.99722209e-01 1.44126593e-03 -2.20353935e-01] [ 2.01697743e-02 -9.66745636e-04 9.99796102e-01 -1.81763558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32327356 meters 0.0754213451027607 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.22, Z:-0.02 [[ 9.99431634e-01 2.72389815e-02 -1.98606693e-02 1.84964166e+00] [-2.72161205e-02 9.99628563e-01 1.42050570e-03 -2.23925658e-01] [ 1.98919855e-02 -8.79167967e-04 9.99801748e-01 -1.94502227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.383273559999999 meters 0.07371709899675803 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.22, Z:-0.02 [[ 9.99304963e-01 3.22451606e-02 -1.87040359e-02 1.91043024e+00] [-3.22257630e-02 9.99479720e-01 1.33763510e-03 -2.18870063e-01] [ 1.87374369e-02 -7.33953566e-04 9.99824169e-01 -1.77886980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44327356 meters 0.07336902031529287 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.22, Z:-0.02 [[ 9.99183299e-01 3.51900976e-02 -1.98593148e-02 1.96936898e+00] [-3.51688369e-02 9.99380378e-01 1.41891151e-03 -2.19240505e-01] [ 1.98969412e-02 -7.19323676e-04 9.99801778e-01 -1.93994251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.503273559999999 meters 0.07319300883595523 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.22, Z:-0.02 [[ 9.99080922e-01 3.84050504e-02 -1.90358339e-02 2.02782382e+00] [-3.83861175e-02 9.99262057e-01 1.35912197e-03 -2.20861491e-01] [ 1.90739836e-02 -6.27161076e-04 9.99817878e-01 -1.99847479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56327356 meters 0.0724763156936358 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.22, Z:-0.02 [[ 9.99029733e-01 3.94819700e-02 -1.95132423e-02 2.08693827e+00] [-3.94623710e-02 9.99220092e-01 1.38858400e-03 -2.20866629e-01] [ 1.95528478e-02 -6.17197898e-04 9.99808634e-01 -1.90523055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6232735599999994 meters 0.0722620879720956 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.22, Z:-0.02 [[ 9.98783224e-01 4.51389123e-02 -1.98633032e-02 2.14562469e+00] [-4.51197409e-02 9.98980587e-01 1.41249721e-03 -2.19931929e-01] [ 1.99068129e-02 -5.14551428e-04 9.99801707e-01 -2.08170104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68327356 meters 0.07156432733177684 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.22, Z:-0.02 [[ 9.98585327e-01 5.00625747e-02 -1.79188084e-02 2.20555407e+00] [-5.00477759e-02 9.98746013e-01 1.27364883e-03 -2.16780681e-01] [ 1.79601006e-02 -3.75050528e-04 9.99838634e-01 -2.09775645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7432735599999996 meters 0.07120467316665749 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.22, Z:-0.02 [[ 9.98486149e-01 5.22724580e-02 -1.71172592e-02 2.26496638e+00] [-5.22593401e-02 9.98632810e-01 1.21307151e-03 -2.15954468e-01] [ 1.71572669e-02 -3.16698427e-04 9.99852753e-01 -2.04356387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803273559999999 meters 0.07069662765881102 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.21, Z:-0.02 [[ 9.98373340e-01 5.43113331e-02 -1.73479884e-02 2.32446815e+00] [-5.42982043e-02 9.98524010e-01 1.22726061e-03 -2.13812668e-01] [ 1.73890371e-02 -2.83299659e-04 9.99848759e-01 -1.94008901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86327356 meters 0.07076049077150384 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.22, Z:-0.02 [[ 9.98347290e-01 5.46440663e-02 -1.77964998e-02 2.38130964e+00] [-5.46303596e-02 9.98505857e-01 1.25579845e-03 -2.16415975e-01] [ 1.78385312e-02 -2.81493796e-04 9.99840841e-01 -2.19334777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923273559999999 meters 0.07071849830882175 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.22, Z:-0.02 [[ 9.98269557e-01 5.56427329e-02 -1.90204408e-02 2.43943063e+00] [-5.56273512e-02 9.98450705e-01 1.33722555e-03 -2.15439569e-01] [ 1.90653794e-02 -2.76854814e-04 9.99818201e-01 -2.29393028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98327356 meters 0.07058373186728077 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.21, Z:-0.02 [[ 9.98219909e-01 5.63254090e-02 -1.96076890e-02 2.49766038e+00] [-5.63092970e-02 9.98412428e-01 1.37328790e-03 -2.14913203e-01] [ 1.96539114e-02 -2.66748145e-04 9.99806808e-01 -2.20656573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043273559999999 meters 0.07030506232002659 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.21, Z:-0.02 [[ 9.98199084e-01 5.73767077e-02 -1.75072210e-02 2.55597668e+00] [-5.73640619e-02 9.98352576e-01 1.22405943e-03 -2.13565859e-01] [ 1.75486117e-02 -2.17569686e-04 9.99845988e-01 -2.18181166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10327356 meters 0.07035948681612715 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.21, Z:-0.02 [[ 9.98405478e-01 5.43063631e-02 -1.54052124e-02 2.61362640e+00] [-5.42962699e-02 9.98524293e-01 1.07298142e-03 -2.14600413e-01] [ 1.54407485e-02 -2.34824962e-04 9.99880757e-01 -2.02172241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1632735599999995 meters 0.07065045776810962 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.22, Z:-0.02 [[ 9.98504314e-01 5.23728299e-02 -1.56914365e-02 2.67092741e+00] [-5.23621399e-02 9.98627566e-01 1.09162053e-03 -2.18867409e-01] [ 1.57270723e-02 -2.68350613e-04 9.99876286e-01 -2.19092339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223273559999999 meters 0.07111752621791315 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.22, Z:-0.02 [[ 9.98649018e-01 4.86132755e-02 -1.83544956e-02 2.73045856e+00] [-4.85980249e-02 9.98817603e-01 1.27627426e-03 -2.20574051e-01] [ 1.83948371e-02 -3.82557806e-04 9.99830727e-01 -2.39015811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28327356 meters 0.07142581243829699 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.22, Z:-0.03 [[ 9.98762468e-01 4.59991236e-02 -1.89106816e-02 2.78942084e+00] [-4.59825502e-02 9.98941383e-01 1.31052411e-03 -2.23368689e-01] [ 1.89509454e-02 -4.39340930e-04 9.99820318e-01 -2.54679390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343273559999999 meters 0.07211687396326119 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.23, Z:-0.02 [[ 9.98986188e-01 4.13370872e-02 -1.78280936e-02 2.84918144e+00] [-4.13216259e-02 9.99145134e-01 1.23490429e-03 -2.27019795e-01] [ 1.78639003e-02 -4.96966517e-04 9.99840304e-01 -2.46963669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40327356 meters 0.07241591430935346 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.23, Z:-0.02 [[ 9.99152101e-01 3.77508714e-02 -1.64301994e-02 2.90800537e+00] [-3.77373197e-02 9.99287050e-01 1.13416821e-03 -2.29910068e-01] [ 1.64613013e-02 -5.13174861e-04 9.99864372e-01 -2.39972572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463273559999999 meters 0.07398796434177016 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.24, Z:-0.03 [[ 9.99383250e-01 3.18760860e-02 -1.47320949e-02 2.96689301e+00] [-3.18645555e-02 9.99491679e-01 1.01680373e-03 -2.36517957e-01] [ 1.47570180e-02 -5.46744957e-04 9.99890960e-01 -2.50509112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52327356 meters 0.07587891276403728 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.24, Z:-0.03 [[ 9.99553396e-01 2.51755935e-02 -1.60996129e-02 3.02722040e+00] [-2.51609507e-02 9.99682795e-01 1.11144990e-03 -2.43236112e-01] [ 1.61224874e-02 -7.05871953e-04 9.99869775e-01 -2.53377797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583273559999999 meters 0.07766130510414304 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.25, Z:-0.03 [[ 9.99676599e-01 2.01672678e-02 -1.54912446e-02 3.08721187e+00] [-2.01531149e-02 9.99796334e-01 1.06918565e-03 -2.50128341e-01] [ 1.55096521e-02 -7.56643047e-04 9.99879432e-01 -2.56943463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64327356 meters 0.079501603377729 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.26, Z:-0.03 [[ 9.99759237e-01 1.50095144e-02 -1.60057215e-02 3.14709581e+00] [-1.49937471e-02 9.99886977e-01 1.10465608e-03 -2.57553540e-01] [ 1.60204928e-02 -8.64404376e-04 9.99871290e-01 -2.64153674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7032735599999995 meters 0.08284296502128351 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.27, Z:-0.03 [[ 9.99837171e-01 7.44506916e-03 -1.64378407e-02 3.20686551e+00] [-7.42742448e-03 9.99971773e-01 1.13420749e-03 -2.67314945e-01] [ 1.64458210e-02 -1.01193199e-03 9.99864246e-01 -2.73253506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763273559999999 meters 0.08387949718412575 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.27, Z:-0.03 [[ 9.99827271e-01 1.86256133e-03 -1.84921443e-02 3.26723382e+00] [-1.83928247e-03 9.99997495e-01 1.27577907e-03 -2.70218125e-01] [ 1.84944742e-02 -1.24154643e-03 9.99828192e-01 -2.82331804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82327356 meters 0.08620849937071602 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.28, Z:-0.03 [[ 9.99846256e-01 -7.01441083e-04 -1.75206041e-02 3.32477311e+00] [ 7.22707913e-04 9.99999010e-01 1.20751621e-03 -2.77217174e-01] [ 1.75197398e-02 -1.21999284e-03 9.99845773e-01 -2.83784867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.883273559999999 meters 0.08821941867418995 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.28, Z:-0.03 [[ 9.99868246e-01 -2.37263831e-03 -1.60580742e-02 3.38301504e+00] [ 2.39069851e-03 9.99996531e-01 1.10557709e-03 -2.82191106e-01] [ 1.60553954e-02 -1.14382144e-03 9.99870450e-01 -2.73369413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94327356 meters 0.09349237548084854 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.29, Z:-0.03 [[ 9.99856606e-01 -4.59259962e-03 -1.62995631e-02 3.44204553e+00] [ 4.61149600e-03 9.99988738e-01 1.12192208e-03 -2.93864267e-01] [ 1.62942270e-02 -1.19692658e-03 9.99866524e-01 -3.01891226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00327356 meters 0.09275893579924394 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.29, Z:-0.03 [[ 9.99813835e-01 -7.13087726e-03 -1.79289363e-02 3.50273116e+00] [ 7.15414682e-03 9.99973647e-01 1.23407364e-03 -2.94647557e-01] [ 1.79196638e-02 -1.36211014e-03 9.99838502e-01 -3.01338084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.063273559999999 meters 0.09440066691651174 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.30, Z:-0.03 [[ 9.99794309e-01 -8.00704159e-03 -1.86340489e-02 3.56091979e+00] [ 8.03229980e-03 9.99966920e-01 1.28103693e-03 -2.98802780e-01] [ 1.86231751e-02 -1.43044770e-03 9.99825550e-01 -3.15633920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.12327356 meters 0.09465382182174222 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.30, Z:-0.03 [[ 9.99815972e-01 -6.39078069e-03 -1.80881298e-02 3.61993102e+00] [ 6.41430651e-03 9.99978656e-01 1.24290410e-03 -3.01229848e-01] [ 1.80798006e-02 -1.35869818e-03 9.99835624e-01 -3.25619217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18327356 meters 0.09548955334698693 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.30, Z:-0.03 [[ 9.99804024e-01 -6.41430200e-03 -1.87288487e-02 3.67723923e+00] [ 6.43943647e-03 9.99978445e-01 1.28201980e-03 -3.03996802e-01] [ 1.87202218e-02 -1.40237178e-03 9.99823778e-01 -3.27868135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243273559999999 meters 0.09092260136522602 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.30, Z:-0.03 [[ 9.99814173e-01 -6.55969752e-03 -1.81270624e-02 3.73610595e+00] [ 6.58318615e-03 9.99977566e-01 1.23640829e-03 -2.97706039e-01] [ 1.81185453e-02 -1.35551235e-03 9.99834927e-01 -2.98367821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.30327356 meters 0.09144927130511389 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.30, Z:-0.03 [[ 9.99804735e-01 -8.30596926e-03 -1.79304978e-02 3.79497002e+00] [ 8.32921344e-03 9.99964565e-01 1.22205739e-03 -3.03120722e-01] [ 1.79197120e-02 -1.37116570e-03 9.99838489e-01 -2.92762750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36327356 meters 0.09176676777516703 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.31, Z:-0.03 [[ 9.99776753e-01 -1.00061863e-02 -1.86096760e-02 3.85382238e+00] [ 1.00314994e-02 9.99948880e-01 1.26735754e-03 -3.08379983e-01] [ 1.85960433e-02 -1.45375756e-03 9.99826022e-01 -2.97905221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42327356 meters 0.09204279240270377 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.31, Z:-0.03 [[ 9.99766100e-01 -1.06509821e-02 -1.88229008e-02 3.91234418e+00] [ 1.06769044e-02 9.99942185e-01 1.27720465e-03 -3.13911091e-01] [ 1.88082091e-02 -1.47787623e-03 9.99822018e-01 -3.03581997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483273559999999 meters 0.09345746307408338 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.32, Z:-0.03 [[ 9.99715001e-01 -1.31189273e-02 -1.99452127e-02 3.97203917e+00] [ 1.31485120e-02 9.99912639e-01 1.35287511e-03 -3.23303033e-01] [ 1.99257221e-02 -1.61473941e-03 9.99800159e-01 -3.06136470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.54327356 meters 0.09350764640831669 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.33, Z:-0.03 [[ 9.99706742e-01 -1.42945723e-02 -1.95472377e-02 4.03081465e+00] [ 1.43231906e-02 9.99896540e-01 1.32483195e-03 -3.28733477e-01] [ 1.95262775e-02 -1.60442224e-03 9.99808057e-01 -3.05750072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60327356 meters 0.09619307221415063 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 9.99696719e-01 -1.70786310e-02 -1.77423050e-02 4.08935752e+00] [ 1.71026357e-02 9.99853017e-01 1.20210059e-03 -3.41494468e-01] [ 1.77191669e-02 -1.50517620e-03 9.99841870e-01 -2.96822482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66327356 meters 0.09644235916291004 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.35, Z:-0.03 [[ 9.99631200e-01 -2.06886405e-02 -1.75910282e-02 4.14935909e+00] [ 2.07127931e-02 9.99784757e-01 1.19190884e-03 -3.50146845e-01] [ 1.75625829e-02 -1.55582859e-03 9.99844555e-01 -2.86755101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723273559999999 meters 0.09804952560554546 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.36, Z:-0.03 [[ 9.99567023e-01 -2.34612774e-02 -1.77576952e-02 4.20977577e+00] [ 2.34863252e-02 9.99723434e-01 1.20327217e-03 -3.59377298e-01] [ 1.77245537e-02 -1.61981418e-03 9.99841596e-01 -2.88166908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78327356 meters 0.1039932136549802 Centerline is valid? [True, False] Translation: X:4.20, Y:-0.37, Z:-0.04 [[ 9.99791924e-01 -2.00500812e-02 3.75550707e-03 4.20002183e+00] [ 2.00517569e-02 9.99798860e-01 -4.09070888e-04 -3.66691842e-01] [-3.74654978e-03 4.84290284e-04 9.99992864e-01 -3.78251300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84327356 meters 0.10114533757890848 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:-0.04 [[ 9.99803280e-01 -1.94626548e-02 3.82190803e-03 4.20042253e+00] [ 1.94601209e-02 9.99810390e-01 6.99079920e-04 -3.69489956e-01] [-3.83478931e-03 -6.24567605e-04 9.99992452e-01 -3.86695299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903273559999999 meters 0.10477955159700705 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:-0.04 [[ 9.99818867e-01 -1.86578544e-02 3.75736187e-03 4.20107655e+00] [ 1.86498152e-02 9.99823737e-01 2.16338305e-03 -3.73256098e-01] [-3.79706367e-03 -2.09291708e-03 9.99990601e-01 -3.94828874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.96327356 meters 0.09833646225375532 Centerline is valid? [False, True] Translation: X:4.19, Y:-0.38, Z:-0.04 [[ 9.99840939e-01 -1.29918698e-02 1.22191419e-02 4.19093132e+00] [ 1.29887821e-02 9.99915587e-01 3.32020075e-04 -3.78095618e-01] [-1.22224240e-02 -1.73255492e-04 9.99925288e-01 -4.46940829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02327356 meters 0.09983649982110511 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.39, Z:-0.05 [[ 9.99855859e-01 -1.18440907e-02 1.21646249e-02 4.25173299e+00] [ 1.18571385e-02 9.99929201e-01 -1.00103710e-03 -3.90087266e-01] [-1.21519073e-02 1.14513045e-03 9.99925507e-01 -4.65113226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08327356 meters 0.09768590402878248 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.40, Z:-0.05 [[ 9.99869446e-01 -1.04716076e-02 1.23059350e-02 4.31332524e+00] [ 1.04849316e-02 9.99944513e-01 -1.01871401e-03 -3.95799810e-01] [-1.22945846e-02 1.14760790e-03 9.99923760e-01 -4.84508443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143273559999999 meters 0.09857066431436852 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.41, Z:-0.05 [[ 9.99880361e-01 -1.02148165e-02 1.16155577e-02 4.37449121e+00] [ 1.02266730e-02 9.99947244e-01 -9.61798245e-04 -4.05688604e-01] [-1.16051203e-02 1.08047169e-03 9.99932075e-01 -4.99127215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.20327356 meters 0.09705595342128699 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.41, Z:-0.05 [[ 9.99877301e-01 -9.04383802e-03 1.27902702e-02 4.43580051e+00] [ 9.05813721e-03 9.99958412e-01 -1.06048480e-03 -4.12958659e-01] [-1.27801474e-02 1.17621070e-03 9.99917639e-01 -4.97945976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26327356 meters 0.09627039179704774 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.42, Z:-0.05 [[ 9.99897660e-01 -6.69887576e-03 1.26409881e-02 4.49635398e+00] [ 6.71267317e-03 9.99976919e-01 -1.04936814e-03 -4.19488919e-01] [-1.26336667e-02 1.13411557e-03 9.99919549e-01 -5.14097762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.323273559999999 meters 0.09287821871715057 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.42, Z:-0.05 [[ 9.99931176e-01 -2.28140545e-03 1.15081918e-02 4.55744563e+00] [ 2.29255236e-03 9.99996916e-01 -9.55507441e-04 -4.21481992e-01] [-1.15059764e-02 9.81824812e-04 9.99933322e-01 -5.31996262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.38327356 meters 0.08894091882512237 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.42, Z:-0.05 [[ 9.99937005e-01 2.19203866e-03 1.10082410e-02 4.61824907e+00] [-2.18210316e-03 9.99997201e-01 -9.14481503e-04 -4.21087508e-01] [-1.10102148e-02 8.90402778e-04 9.99938989e-01 -5.39506925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44327356 meters 0.08896060661412968 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.43, Z:-0.06 [[ 9.99904236e-01 8.93130462e-03 1.05711772e-02 4.67736109e+00] [-8.92251459e-03 9.99959808e-01 -8.78379865e-04 -4.28381802e-01] [-1.05785974e-02 7.83974265e-04 9.99943738e-01 -5.78909521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50327356 meters 0.08530534995087986 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.43, Z:-0.06 [[ 9.99865197e-01 1.25269186e-02 1.06143391e-02 4.73782577e+00] [-1.25182627e-02 9.99921255e-01 -8.81538379e-04 -4.28129588e-01] [-1.06245462e-02 7.48546460e-04 9.99943278e-01 -5.83448467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.563273559999999 meters 0.08241938365834668 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.43, Z:-0.06 [[ 9.99801576e-01 1.69805580e-02 1.04148130e-02 4.79791486e+00] [-1.69724635e-02 9.99855583e-01 -8.65112884e-04 -4.30621943e-01] [-1.04279990e-02 6.88176192e-04 9.99945390e-01 -5.93403174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.62327356 meters 0.07982479287416097 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.43, Z:-0.06 [[ 9.99720118e-01 2.14758863e-02 9.92329285e-03 4.85870312e+00] [-2.14687584e-02 9.99769180e-01 -8.24287280e-04 -4.32825198e-01] [-9.93870466e-03 6.11015800e-04 9.99950423e-01 -5.97522009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68327356 meters 0.07682781368149447 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.43, Z:-0.06 [[ 9.99592912e-01 2.68594615e-02 9.62180253e-03 4.91962176e+00] [-2.68530093e-02 9.99639073e-01 -7.99166702e-04 -4.31493754e-01] [-9.63979495e-03 5.40467018e-04 9.99953390e-01 -6.00865079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.743273559999999 meters 0.07523340814640359 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.44, Z:-0.06 [[ 9.99381723e-01 3.37717824e-02 9.77952950e-03 4.97879610e+00] [-3.37654424e-02 9.99429454e-01 -8.12722412e-04 -4.35164722e-01] [-9.80139692e-03 4.82009784e-04 9.99951849e-01 -6.25145307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.80327356 meters 0.07485425087391433 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.44, Z:-0.06 [[ 9.99311110e-01 3.56588169e-02 1.02836440e-02 5.03776327e+00] [-3.56518931e-02 9.99363903e-01 -8.55884231e-04 -4.41103167e-01] [-1.03076224e-02 4.88663245e-04 9.99946756e-01 -6.31110478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86327356 meters 0.07513511713660022 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.45, Z:-0.06 [[ 9.99271000e-01 3.65997228e-02 1.08595155e-02 5.09524050e+00] [-3.65920809e-02 9.99329879e-01 -9.01634252e-04 -4.52109408e-01] [-1.08852379e-02 5.03604690e-04 9.99940627e-01 -6.47751066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92327356 meters 0.07463435247631924 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.46, Z:-0.07 [[ 9.99314661e-01 3.56485179e-02 9.96952353e-03 5.15361618e+00] [-3.56420351e-02 9.99364278e-01 -8.27231695e-04 -4.59167337e-01] [-9.99267527e-03 4.71330653e-04 9.99949961e-01 -6.53497674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.983273559999999 meters 0.07507924242497498 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.47, Z:-0.07 [[ 9.99402859e-01 3.34397659e-02 8.70100504e-03 5.21190577e+00] [-3.34347503e-02 9.99440642e-01 -7.21300648e-04 -4.71593701e-01] [-8.72025819e-03 4.29953998e-04 9.99961885e-01 -6.71455287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.04327356 meters 0.07646640588874254 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.48, Z:-0.07 [[ 9.99465174e-01 3.16140594e-02 8.36170163e-03 5.26925835e+00] [-3.16093639e-02 9.99500059e-01 -6.93144416e-04 -4.84458774e-01] [-8.37943438e-03 4.28465634e-04 9.99964800e-01 -7.03104609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10327356 meters 0.07566043828546694 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.49, Z:-0.07 [[ 9.99491364e-01 3.09537802e-02 7.67308486e-03 5.32796831e+00] [-3.09498093e-02 9.99520738e-01 -6.35739108e-04 -4.91306430e-01] [-7.68908597e-03 3.97935235e-04 9.99970359e-01 -7.02048825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.163273559999999 meters 0.0763415619940423 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.50, Z:-0.07 [[ 9.99443646e-01 3.20568542e-02 9.20628868e-03 5.38532684e+00] [-3.20511911e-02 9.99485938e-01 -7.62051944e-04 -5.01560816e-01] [-9.22598506e-03 4.66555457e-04 9.99957331e-01 -7.20076598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.223273559999999 meters 0.07509808872895837 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.51, Z:-0.07 [[ 9.99432368e-01 3.21873974e-02 9.94556036e-03 5.44441670e+00] [-3.21808082e-02 9.99481726e-01 -8.21895680e-04 -5.05189704e-01] [-9.96686051e-03 5.01372975e-04 9.99950204e-01 -7.13090436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.28327356 meters 0.07690219277497663 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.52, Z:-0.08 [[ 9.99463065e-01 3.17293500e-02 8.17497289e-03 5.50072829e+00] [-3.17248742e-02 9.99496410e-01 -6.76626333e-04 -5.18764277e-01] [-8.19232497e-03 4.16913042e-04 9.99966355e-01 -7.50680534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34327356 meters 0.07560618504689433 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.52, Z:-0.07 [[ 9.99482109e-01 3.13279911e-02 7.35321491e-03 5.55954624e+00] [-3.13243729e-02 9.99509087e-01 -6.06740164e-04 -5.20285940e-01] [-7.36861308e-03 3.76091093e-04 9.99972781e-01 -7.49096505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.403273559999999 meters 0.07575286019913599 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.53, Z:-0.08 [[ 9.99506400e-01 3.09769805e-02 5.23295900e-03 5.61802446e+00] [-3.09751421e-02 9.99520062e-01 -4.32014878e-04 -5.28443564e-01] [-5.24383002e-03 2.69709987e-04 9.99986215e-01 -7.81391712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.46327356 meters 0.07567587513640968 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.54, Z:-0.08 [[ 9.99496097e-01 3.12895815e-02 5.33990996e-03 5.67627122e+00] [-3.12876738e-02 9.99510324e-01 -4.40439443e-04 -5.35030391e-01] [-5.35107630e-03 2.73144143e-04 9.99985646e-01 -7.98396369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52327356 meters 0.07479541716052351 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.54, Z:-0.08 [[ 9.99465102e-01 3.18856102e-02 7.26753449e-03 5.73488254e+00] [-3.18821009e-02 9.99491458e-01 -5.98246164e-04 -5.40012050e-01] [-7.28291408e-03 3.66221895e-04 9.99973412e-01 -7.87852753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.583273559999999 meters 0.07506060161903806 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.55, Z:-0.08 [[ 9.99434862e-01 3.24792063e-02 8.66355944e-03 5.79288790e+00] [-3.24742502e-02 9.99472319e-01 -7.12164522e-04 -5.48334092e-01] [-8.68211838e-03 4.30419454e-04 9.99962217e-01 -7.97505702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643273559999999 meters 0.07465432700271056 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.55, Z:-0.08 [[ 9.99428614e-01 3.26923402e-02 8.58231152e-03 5.85169171e+00] [-3.26874890e-02 9.99465373e-01 -7.04957305e-04 -5.52220274e-01] [-8.60076989e-03 4.24020289e-04 9.99962923e-01 -8.07058016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.70327356 meters 0.07519372048479067 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.56, Z:-0.08 [[ 9.99445533e-01 3.24712759e-02 7.36497318e-03 5.90991026e+00] [-3.24676991e-02 9.99472602e-01 -6.04722836e-04 -5.58027057e-01] [-7.38072503e-03 3.65263804e-04 9.99972695e-01 -8.37397112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76327356 meters 0.07671371059618778 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.57, Z:-0.09 [[ 9.99446388e-01 3.23307946e-02 7.85093033e-03 5.96722811e+00] [-3.23267284e-02 9.99477147e-01 -6.44309180e-04 -5.66999027e-01] [-7.86765647e-03 3.90157591e-04 9.99968973e-01 -8.79886355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823273559999999 meters 0.07497112210810213 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.56, Z:-0.09 [[ 9.99441910e-01 3.24035736e-02 8.11645317e-03 6.02661741e+00] [-3.23992388e-02 9.99474786e-01 -6.65029198e-04 -5.64919754e-01] [-8.13373962e-03 4.01691147e-04 9.99966840e-01 -8.73775431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.88327356 meters 0.07450548049260222 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.57, Z:-0.09 [[ 9.99409087e-01 3.29961222e-02 9.62976233e-03 6.08538579e+00] [-3.29900572e-02 9.99455369e-01 -7.88028217e-04 -5.65703119e-01] [-9.65051954e-03 4.69876151e-04 9.99953322e-01 -8.79503268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94327356 meters 0.07441035312252856 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.57, Z:-0.09 [[ 9.99369011e-01 3.40182850e-02 1.02144873e-02 6.14451389e+00] [-3.40115261e-02 9.99421092e-01 -8.34727318e-04 -5.68974829e-01] [-1.02369701e-02 4.86790312e-04 9.99947482e-01 -8.93897205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00327356 meters 0.07401667579504165 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.57, Z:-0.09 [[ 9.99309978e-01 3.52231651e-02 1.17854301e-02 6.20333548e+00] [-3.52142570e-02 9.99379322e-01 -9.62587254e-04 -5.69481177e-01] [-1.18120205e-02 5.46907885e-04 9.99930086e-01 -8.99897355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063273559999999 meters 0.0744698167721823 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.57, Z:-0.09 [[ 9.99359614e-01 3.37655019e-02 1.18428614e-02 6.26222595e+00] [-3.37564144e-02 9.99429623e-01 -9.66452471e-04 -5.73051353e-01] [-1.18687392e-02 5.66061032e-04 9.99929404e-01 -9.31093321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.12327356 meters 0.0756182691131462 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.58, Z:-0.10 [[ 9.99405998e-01 3.21070297e-02 1.25215767e-02 6.31922413e+00] [-3.20967495e-02 9.99484245e-01 -1.02114252e-03 -5.80261250e-01] [-1.25479045e-02 6.18634048e-04 9.99921081e-01 -9.63210307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18327356 meters 0.07765587589438154 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.59, Z:-0.10 [[ 9.99501674e-01 2.87457005e-02 1.30417940e-02 6.37737719e+00] [-2.87342943e-02 9.99586522e-01 -1.06116799e-03 -5.89036340e-01] [-1.30669055e-02 6.85892442e-04 9.99914389e-01 -9.93575551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243273559999999 meters 0.07686722689664152 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.59, Z:-0.10 [[ 9.99574276e-01 2.61558719e-02 1.29281889e-02 6.43675136e+00] [-2.61444401e-02 9.99657622e-01 -1.05249870e-03 -5.89675179e-01] [-1.29512916e-02 7.14050361e-04 9.99915874e-01 -1.00039789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.30327356 meters 0.07788574328999008 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.60, Z:-0.10 [[ 9.99643936e-01 2.31410831e-02 1.32849830e-02 6.49643057e+00] [-2.31287631e-02 9.99731911e-01 -1.08027045e-03 -5.96228296e-01] [-1.33064201e-02 7.72620576e-04 9.99911167e-01 -1.02026799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36327356 meters 0.07805285770819492 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.60, Z:-0.10 [[ 9.99666861e-01 2.18401673e-02 1.37540285e-02 6.55543674e+00] [-2.18268316e-02 9.99761140e-01 -1.11896856e-03 -5.98045150e-01] [-1.37751816e-02 8.18388930e-04 9.99904783e-01 -1.03746333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42327356 meters 0.07823844901786257 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.60, Z:-0.11 [[ 9.99679579e-01 2.11805252e-02 1.38608869e-02 6.61369566e+00] [-2.11669278e-02 9.99775320e-01 -1.12697328e-03 -6.00766737e-01] [-1.38816426e-02 8.33219777e-04 9.99903298e-01 -1.05707262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483273559999999 meters 0.079662960949261 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.61, Z:-0.11 [[ 9.99678354e-01 2.10808307e-02 1.40992194e-02 6.67143108e+00] [-2.10667697e-02 9.99777415e-01 -1.14508530e-03 -6.06910714e-01] [-1.41202205e-02 8.47691982e-04 9.99899945e-01 -1.08989324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54327356 meters 0.08036525590158416 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.61, Z:-0.11 [[ 9.99720074e-01 1.91333833e-02 1.39171254e-02 6.73098909e+00] [-1.91195225e-02 9.99816569e-01 -1.12833816e-03 -6.10778366e-01] [-1.39361615e-02 8.61933513e-04 9.99902515e-01 -1.11019364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60327356 meters 0.08076706399071114 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.61, Z:-0.11 [[ 9.99716952e-01 1.83550130e-02 1.51363542e-02 6.79008894e+00] [-1.83385297e-02 9.99831082e-01 -1.22707967e-03 -6.12811166e-01] [-1.51563205e-02 9.49153863e-04 9.99884686e-01 -1.13071577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663273559999999 meters 0.08026031748447687 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.61, Z:-0.11 [[ 9.99715714e-01 1.80484902e-02 1.55802425e-02 6.84953457e+00] [-1.80310129e-02 9.99836632e-01 -1.26151121e-03 -6.14368615e-01] [-1.56004656e-02 9.80225029e-04 9.99877825e-01 -1.13409944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723273559999999 meters 0.0823475071025207 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.62, Z:-0.12 [[ 9.99696723e-01 1.86594761e-02 1.60712807e-02 6.90763222e+00] [-1.86409642e-02 9.99825396e-01 -1.30091196e-03 -6.21519490e-01] [-1.60927489e-02 1.00093325e-03 9.99870002e-01 -1.16704871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.78327356 meters 0.08195244170170843 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.62, Z:-0.12 [[ 9.99708042e-01 1.84549690e-02 1.55963045e-02 6.96698578e+00] [-1.84375258e-02 9.99829219e-01 -1.26147921e-03 -6.23387912e-01] [-1.56169215e-02 9.73553648e-04 9.99877574e-01 -1.18625772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84327356 meters 0.08287128457374561 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.63, Z:-0.12 [[ 9.99754511e-01 1.69846358e-02 1.42281382e-02 7.02606888e+00] [-1.69699725e-02 9.99855338e-01 -1.15068808e-03 -6.27840601e-01] [-1.42456240e-02 9.08954488e-04 9.99898113e-01 -1.21379423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903273559999999 meters 0.08229981353558267 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.63, Z:-0.12 [[ 9.99753269e-01 1.76240275e-02 1.35201559e-02 7.08525287e+00] [-1.76108571e-02 9.99844320e-01 -1.09258257e-03 -6.29965111e-01] [-1.35373068e-02 8.54211461e-04 9.99908002e-01 -1.23984925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.96327356 meters 0.08090598399819589 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.63, Z:-0.12 [[ 9.99721545e-01 1.82730019e-02 1.49308210e-02 7.14398346e+00] [-1.82570129e-02 9.99832599e-01 -1.20648377e-03 -6.29011428e-01] [-1.49503676e-02 9.33555624e-04 9.99887801e-01 -1.24304113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02327356 meters 0.07943685582173565 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.63, Z:-0.12 [[ 9.99657706e-01 2.07148957e-02 1.59800920e-02 7.20435450e+00] [-2.06969215e-02 9.99784964e-01 -1.28936711e-03 -6.28268892e-01] [-1.60033648e-02 9.58187063e-04 9.99871479e-01 -1.24571893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.083273559999999 meters 0.08079038552366968 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.64, Z:-0.13 [[ 9.99602706e-01 2.22951577e-02 1.72439905e-02 7.26320584e+00] [-2.22744640e-02 9.99750925e-01 -1.39121222e-03 -6.35898327e-01] [-1.72707128e-02 1.00655885e-03 9.99850343e-01 -1.27200913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143273559999999 meters 0.0772679907406763 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.63, Z:-0.13 [[ 9.99524492e-01 2.59976086e-02 1.65805341e-02 7.32353144e+00] [-2.59789928e-02 9.99661595e-01 -1.33718494e-03 -6.28885517e-01] [-1.66096868e-02 9.05803517e-04 9.99861639e-01 -1.26966695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.20327356 meters 0.07674785281366053 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.63, Z:-0.13 [[ 9.99382259e-01 3.10530267e-02 1.64563266e-02 7.38253098e+00] [-3.10353847e-02 9.99517406e-01 -1.32641583e-03 -6.30696092e-01] [-1.64895741e-02 8.14868025e-04 9.99863706e-01 -1.30964144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26327356 meters 0.07666846326913584 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.63, Z:-0.13 [[ 9.99343944e-01 3.24594216e-02 1.60644582e-02 7.44076205e+00] [-3.24427861e-02 9.99472755e-01 -1.29513802e-03 -6.34657060e-01] [-1.60980278e-02 7.73112553e-04 9.99870119e-01 -1.33779353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.323273559999999 meters 0.07462949583885362 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.63, Z:-0.14 [[ 9.99191389e-01 3.72997751e-02 1.50098138e-02 7.50085017e+00] [-3.72858171e-02 9.99303911e-01 -1.20878834e-03 -6.30355440e-01] [-1.50444532e-02 6.48157724e-04 9.99886616e-01 -1.35064817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.38327356 meters 0.07428870344266886 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.63, Z:-0.14 [[ 9.99068995e-01 4.04376239e-02 1.50313400e-02 7.55978103e+00] [-4.04239883e-02 9.99181884e-01 -1.20999756e-03 -6.33309823e-01] [-1.50679721e-02 6.01244335e-04 9.99886291e-01 -1.36966944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44327356 meters 0.07316664589841454 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.63, Z:-0.14 [[ 9.98909518e-01 4.35729523e-02 1.67682096e-02 7.62019569e+00] [-4.35564389e-02 9.99050057e-01 -1.34892628e-03 -6.33453939e-01] [-1.68110575e-02 6.17091804e-04 9.99858494e-01 -1.37116687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50327356 meters 0.07307597011231456 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.64, Z:-0.14 [[ 9.98826507e-01 4.54297184e-02 1.67853977e-02 7.67862246e+00] [-4.54134271e-02 9.98967365e-01 -1.35065758e-03 -6.37220978e-01] [-1.68294245e-02 5.86790156e-04 9.99858203e-01 -1.39062185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563273559999999 meters 0.07380455389041349 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.64, Z:-0.14 [[ 9.98870777e-01 4.50141359e-02 1.51953457e-02 7.73580495e+00] [-4.50007465e-02 9.98986206e-01 -1.22210035e-03 -6.44584438e-01] [-1.52349525e-02 5.36918425e-04 9.99883797e-01 -1.42594359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.62327356 meters 0.07376417444480482 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.65, Z:-0.14 [[ 9.98924954e-01 4.40362173e-02 1.44826644e-02 7.79375465e+00] [-4.40239676e-02 9.99029797e-01 -1.16369820e-03 -6.50046454e-01] [-1.45198581e-02 5.24862825e-04 9.99894444e-01 -1.44599079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68327356 meters 0.07366243590452398 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.66, Z:-0.15 [[ 9.99019541e-01 4.20434157e-02 1.38675169e-02 7.85248490e+00] [-4.20320140e-02 9.99115645e-01 -1.11275154e-03 -6.56215423e-01] [-1.39020369e-02 5.28780875e-04 9.99903222e-01 -1.46542956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743273559999999 meters 0.07424902322938193 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.66, Z:-0.15 [[ 9.99070505e-01 4.09655978e-02 1.34143561e-02 7.90927449e+00] [-4.09548299e-02 9.99160419e-01 -1.07655409e-03 -6.64397006e-01] [-1.34471954e-02 5.26170762e-04 9.99909444e-01 -1.48674385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.80327356 meters 0.07399851005184488 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.67, Z:-0.15 [[ 9.99044253e-01 4.14356440e-02 1.39164873e-02 7.96764405e+00] [-4.14241289e-02 9.99141030e-01 -1.11480681e-03 -6.69506051e-01] [-1.39507262e-02 5.37262968e-04 9.99902540e-01 -1.49561904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86327356 meters 0.07298106405365533 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.67, Z:-0.15 [[ 9.98915834e-01 4.40984758e-02 1.49158264e-02 8.02762866e+00] [-4.40855645e-02 9.99027046e-01 -1.19347183e-03 -6.71954135e-01] [-1.49539443e-02 5.34605283e-04 9.99888041e-01 -1.50421571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92327356 meters 0.07329225702254721 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.68, Z:-0.15 [[ 9.98901562e-01 4.44581942e-02 1.48033073e-02 8.08517026e+00] [-4.44455197e-02 9.99011108e-01 -1.18424841e-03 -6.77936563e-01] [-1.48413179e-02 5.25006907e-04 9.99889724e-01 -1.52654861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983273559999999 meters 0.07289246729517687 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.68, Z:-0.15 [[ 9.98889911e-01 4.48716098e-02 1.43347499e-02 8.14346745e+00] [-4.48597868e-02 9.98992636e-01 -1.14542142e-03 -6.81649634e-01] [-1.43717065e-02 5.01096078e-04 9.99896596e-01 -1.54136749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.04327356 meters 0.07292898155559784 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.69, Z:-0.16 [[ 9.98772879e-01 4.75104335e-02 1.39819285e-02 8.20079107e+00] [-4.74994529e-02 9.98870640e-01 -1.11656458e-03 -6.87936305e-01] [-1.40191863e-02 4.51060470e-04 9.99901625e-01 -1.56621016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10327356 meters 0.07230446558439256 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.69, Z:-0.16 [[ 9.98617159e-01 5.08407712e-02 1.33785659e-02 8.25983145e+00] [-5.08310337e-02 9.98706697e-01 -1.06709963e-03 -6.89553953e-01] [-1.34155155e-02 3.85577667e-04 9.99909934e-01 -1.57970476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.163273559999999 meters 0.07182331506760552 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.69, Z:-0.16 [[ 9.98325048e-01 5.64535139e-02 1.26530185e-02 8.31924845e+00] [-5.64452710e-02 9.98405186e-01 -1.00791438e-03 -6.91445157e-01] [-1.26897396e-02 2.92023112e-04 9.99919439e-01 -1.60126144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.223273559999999 meters 0.07125384554222544 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.69, Z:-0.16 [[ 9.97896056e-01 6.34227730e-02 1.34541230e-02 8.37910101e+00] [-6.34140967e-02 9.97986726e-01 -1.07094513e-03 -6.93600641e-01] [-1.34949585e-02 2.15510862e-04 9.99908916e-01 -1.62802479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.28327356 meters 0.07107239804702142 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.70, Z:-0.16 [[ 9.97633401e-01 6.73797204e-02 1.36956032e-02 8.43685036e+00] [-6.73710835e-02 9.97727390e-01 -1.09154969e-03 -6.97071896e-01] [-1.37380268e-02 1.66278799e-04 9.99905615e-01 -1.64700081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34327356 meters 0.07081019576515658 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.70, Z:-0.17 [[ 9.97277523e-01 7.24663789e-02 1.36443026e-02 8.49526484e+00] [-7.24582807e-02 9.97370851e-01 -1.08758257e-03 -6.99605787e-01] [-1.36872428e-02 9.59789413e-05 9.99906321e-01 -1.65146068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.403273559999999 meters 0.07084177402061952 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.70, Z:-0.17 [[ 9.97081486e-01 7.50544894e-02 1.39761691e-02 8.55305194e+00] [-7.50463261e-02 9.97179432e-01 -1.10837124e-03 -7.04701786e-01] [-1.40199366e-02 5.62762996e-05 9.99901714e-01 -1.67670345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.46327356 meters 0.07079057771668802 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.71, Z:-0.17 [[ 9.96899910e-01 7.73774733e-02 1.42581724e-02 8.61101060e+00] [-7.73691995e-02 9.97001869e-01 -1.13180019e-03 -7.11102241e-01] [-1.43030004e-02 2.51481285e-05 9.99897707e-01 -1.68669462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52327356 meters 0.0709438233443628 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.72, Z:-0.17 [[ 9.96861378e-01 7.80537781e-02 1.32287744e-02 8.66950984e+00] [-7.80467485e-02 9.96949150e-01 -1.04760442e-03 -7.17890264e-01] [-1.32701849e-02 1.18535517e-05 9.99911947e-01 -1.70426649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.583273559999999 meters 0.07116829048780672 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.73, Z:-0.17 [[ 9.96922511e-01 7.73515188e-02 1.27377383e-02 8.72721724e+00] [-7.73450109e-02 9.97003883e-01 -1.00348113e-03 -7.27103033e-01] [-1.27771954e-02 1.51924165e-05 9.99918368e-01 -1.72932807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.643273559999999 meters 0.07131925402668961 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.74, Z:-0.17 [[ 9.97178973e-01 7.40714518e-02 1.21456380e-02 8.78508589e+00] [-7.40652712e-02 9.97252935e-01 -9.58503616e-04 -7.37142937e-01] [-1.21832709e-02 5.62296805e-05 9.99925780e-01 -1.74706177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.70327356 meters 0.07166130755517874 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.75, Z:-0.18 [[ 9.97606098e-01 6.79897165e-02 1.26282421e-02 8.84188136e+00] [-6.79826193e-02 9.97686013e-01 -9.90932055e-04 -7.51609436e-01] [-1.26663937e-02 1.30058886e-04 9.99919770e-01 -1.77109428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76327356 meters 0.07245915829359906 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.77, Z:-0.18 [[ 9.98082778e-01 6.04774238e-02 1.31624041e-02 8.89959467e+00] [-6.04690781e-02 9.98169538e-01 -1.03147334e-03 -7.68317566e-01] [-1.32006917e-02 2.33577340e-04 9.99912840e-01 -1.79973840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823273559999999 meters 0.07317383540882699 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.78, Z:-0.18 [[ 9.98575989e-01 5.16882783e-02 1.32028782e-02 8.95868685e+00] [-5.16791358e-02 9.98663206e-01 -1.03292485e-03 -7.82415513e-01] [-1.32386188e-02 3.49140623e-04 9.99912305e-01 -1.80123190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.88327356 meters 0.0736368443169422 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.79, Z:-0.18 [[ 9.98849289e-01 4.63482151e-02 1.23264574e-02 9.01817564e+00] [-4.63398418e-02 9.98925267e-01 -9.64199134e-04 -7.91660427e-01] [-1.23578987e-02 3.91883532e-04 9.99923561e-01 -1.80009014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94327356 meters 0.07463352376327534 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.80, Z:-0.18 [[ 9.99166119e-01 3.92787500e-02 1.11466110e-02 9.07812150e+00] [-3.92714675e-02 9.99228198e-01 -8.71546201e-04 -8.04287873e-01] [-1.11722413e-02 4.33075663e-04 9.99937495e-01 -1.83225502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.003273559999998 meters 0.0757437064919364 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.82, Z:-0.19 [[ 9.99350601e-01 3.43760563e-02 1.08010720e-02 9.13758505e+00] [-3.43689305e-02 9.99408857e-01 -8.44708201e-04 -8.16218199e-01] [-1.08237247e-02 4.72938356e-04 9.99941310e-01 -1.85939132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.063273559999999 meters 0.07664367642896538 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.82, Z:-0.19 [[ 9.99441503e-01 3.15090568e-02 1.11292688e-02 9.19638103e+00] [-3.15013095e-02 9.99503331e-01 -8.70776369e-04 -8.24654735e-01] [-1.11511786e-02 5.19703503e-04 9.99937689e-01 -1.87748035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.12327356 meters 0.07662369575343604 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.83, Z:-0.19 [[ 9.99540371e-01 2.77945186e-02 1.21042214e-02 9.25621294e+00] [-2.77850983e-02 9.99613472e-01 -9.45763271e-04 -8.30720273e-01] [-1.21258298e-02 6.09011589e-04 9.99926294e-01 -1.88486280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18327356 meters 0.07777902646457843 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.84, Z:-0.19 [[ 9.99623366e-01 2.45848967e-02 1.21946547e-02 9.31562814e+00] [-2.45750990e-02 9.99697533e-01 -9.52668127e-04 -8.39567819e-01] [-1.22143874e-02 6.52624474e-04 9.99925189e-01 -1.90184366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.243273559999999 meters 0.07822248358463849 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.85, Z:-0.19 [[ 9.99696501e-01 2.19351638e-02 1.12140289e-02 9.37597328e+00] [-2.19267184e-02 9.99759197e-01 -8.75522485e-04 -8.45503320e-01] [-1.12305333e-02 6.29369911e-04 9.99936738e-01 -1.91569020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.30327356 meters 0.07875982592245725 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.85, Z:-0.19 [[ 9.99756645e-01 2.00512188e-02 9.19781545e-03 9.43457833e+00] [-2.00454484e-02 9.99798811e-01 -7.19134915e-04 -8.51458820e-01] [-9.21038448e-03 5.34585575e-04 9.99957441e-01 -1.94965852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36327356 meters 0.08010454378165213 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.86, Z:-0.20 [[ 9.99754283e-01 2.01479111e-02 9.24311543e-03 9.49156503e+00] [-2.01420861e-02 9.99796866e-01 -7.22857251e-04 -8.59522637e-01] [-9.25580190e-03 5.36504005e-04 9.99957020e-01 -1.97818076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.423273559999998 meters 0.07935509499720685 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.86, Z:-0.20 [[ 9.99753781e-01 1.95312166e-02 1.05313272e-02 9.55033218e+00] [-1.95236368e-02 9.99809058e-01 -8.22079061e-04 -8.61004895e-01] [-1.05453726e-02 6.16266841e-04 9.99944206e-01 -1.98237592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.483273559999999 meters 0.08079263174366126 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.87, Z:-0.20 [[ 9.99740065e-01 1.94815306e-02 1.18436784e-02 9.60759940e+00] [-1.94719488e-02 9.99809977e-01 -9.23807043e-04 -8.68830365e-01] [-1.18594250e-02 6.92947413e-04 9.99929434e-01 -1.99742502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.54327356 meters 0.08124002977641417 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.87, Z:-0.20 [[ 9.99757633e-01 1.86300655e-02 1.17301042e-02 9.66643206e+00] [-1.86206240e-02 9.99826204e-01 -9.13606449e-04 -8.74199938e-01] [-1.17450861e-02 6.94963161e-04 9.99930783e-01 -2.01954167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60327356 meters 0.07992884622945139 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.87, Z:-0.20 [[ 9.99804501e-01 1.69262284e-02 1.02206786e-02 9.72641155e+00] [-1.69189821e-02 9.99856548e-01 -7.95044534e-04 -8.74851501e-01] [-1.02326695e-02 6.21965625e-04 9.99947451e-01 -2.03321827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.663273559999999 meters 0.08101487591197291 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.88, Z:-0.21 [[ 9.99827612e-01 1.59424647e-02 9.51753607e-03 9.78487284e+00] [-1.59361361e-02 9.99872738e-01 -7.40418695e-04 -8.81552731e-01] [-9.52812894e-03 5.88618306e-04 9.99954433e-01 -2.07414481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.723273559999999 meters 0.0823988056985533 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.89, Z:-0.21 [[ 9.99846431e-01 1.50347472e-02 9.00392133e-03 9.84328740e+00] [-1.50290501e-02 9.99886812e-01 -7.00073019e-04 -8.88786901e-01] [-9.01342762e-03 5.64645125e-04 9.99959219e-01 -2.10429744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.78327356 meters 0.08198058560830196 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.89, Z:-0.21 [[ 9.99882378e-01 1.28420622e-02 8.38514713e-03 9.90359251e+00] [-1.28370556e-02 9.99917390e-01 -6.50630794e-04 -8.91828433e-01] [-8.39280988e-03 5.42913666e-04 9.99964632e-01 -2.11485571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84327356 meters 0.08229910627973812 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.90, Z:-0.21 [[ 9.99892395e-01 1.07349527e-02 9.99798500e-03 9.96243411e+00] [-1.07277201e-02 9.99942155e-01 -7.76753278e-04 -8.97190893e-01] [-1.00057451e-02 6.69414110e-04 9.99949717e-01 -2.11526459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.903273559999999 meters 0.08419752054537721 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.91, Z:-0.21 [[ 9.99897131e-01 1.02828659e-02 9.99946966e-03 1.00217292e+01] [-1.02756202e-02 9.99946904e-01 -7.75710441e-04 -9.06397786e-01] [-1.00069153e-02 6.72879892e-04 9.99949703e-01 -2.14195021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.96327356 meters 0.08278724783616698 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.91, Z:-0.22 [[ 9.99900953e-01 1.05560503e-02 9.30878811e-03 1.00828285e+01] [-1.05497870e-02 9.99944089e-01 -7.21679139e-04 -9.06277988e-01] [-9.31588573e-03 6.23401927e-04 9.99956412e-01 -2.15666922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02327356 meters 0.0836745111074886 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.91, Z:-0.22 [[ 9.99906304e-01 1.06319129e-02 8.62238235e-03 1.01417183e+01] [-1.06265392e-02 9.99943313e-01 -6.68807739e-04 -9.12895805e-01] [-8.62900428e-03 5.77118990e-04 9.99962603e-01 -2.18701809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.083273559999999 meters 0.08382703220949558 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.92, Z:-0.22 [[ 9.99901098e-01 1.13428902e-02 8.31463704e-03 1.02013533e+01] [-1.13379158e-02 9.99935516e-01 -6.45159202e-04 -9.17535442e-01] [-8.32141885e-03 5.50824740e-04 9.99965225e-01 -2.20884353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.143273559999999 meters 0.08141136394170724 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.92, Z:-0.22 [[ 9.99879509e-01 1.26106929e-02 9.05191139e-03 1.02614719e+01] [-1.26048522e-02 9.99920309e-01 -7.02011211e-04 -9.16286117e-01] [-9.06004289e-03 5.87828620e-04 9.99958784e-01 -2.20397779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.20327356 meters 0.08099747511481262 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.92, Z:-0.22 [[ 9.99863135e-01 1.38412625e-02 9.06254641e-03 1.03212977e+01] [-1.38354643e-02 9.99904039e-01 -7.02182091e-04 -9.20650907e-01] [-9.07139584e-03 5.76701450e-04 9.99958688e-01 -2.22297816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26327356 meters 0.0806778142685018 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.92, Z:-0.22 [[ 9.99802801e-01 1.75073633e-02 9.37295106e-03 1.03809844e+01] [-1.75013225e-02 9.99846576e-01 -7.26130042e-04 -9.24695020e-01] [-9.38422565e-03 5.61947810e-04 9.99955809e-01 -2.24935564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.323273559999999 meters 0.0800665896422573 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.93, Z:-0.23 [[ 9.99702902e-01 2.19211533e-02 1.06569207e-02 1.04406458e+01] [-2.19135974e-02 9.99759528e-01 -8.25280225e-04 -9.27241649e-01] [-1.06724491e-02 5.91503567e-04 9.99942873e-01 -2.25896282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38327356 meters 0.07725794172736289 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.92, Z:-0.22 [[ 9.99608777e-01 2.62640143e-02 9.61736360e-03 1.05008628e+01] [-2.62580597e-02 9.99654920e-01 -7.44927781e-04 -9.22476581e-01] [-9.63360964e-03 4.92103042e-04 9.99953475e-01 -2.24847471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44327356 meters 0.07708316216686315 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.93, Z:-0.23 [[ 9.99529497e-01 2.91985330e-02 9.39312928e-03 1.05606356e+01] [-2.91929880e-02 9.99573530e-01 -7.26924960e-04 -9.26458945e-01] [-9.41034853e-03 4.52369429e-04 9.99955619e-01 -2.27987608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503273559999998 meters 0.07640220467594634 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.93, Z:-0.23 [[ 9.99432167e-01 3.28884917e-02 7.32743143e-03 1.06207477e+01] [-3.28852165e-02 9.99458974e-01 -5.67050273e-04 -9.28105255e-01] [-7.34211652e-03 3.25764114e-04 9.99972993e-01 -2.30036855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563273559999999 meters 0.07717415826190475 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.94, Z:-0.23 [[ 9.99373472e-01 3.46839932e-02 7.04874628e-03 1.06779195e+01] [-3.46809972e-02 9.99398284e-01 -5.46855675e-04 -9.35677906e-01] [-7.06347207e-03 3.02055504e-04 9.99975008e-01 -2.34268749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.62327356 meters 0.07547081425578575 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.93, Z:-0.23 [[ 9.99315604e-01 3.60239121e-02 8.40248960e-03 1.07369113e+01] [-3.60197143e-02 9.99350868e-01 -6.50442908e-04 -9.34327695e-01] [-8.42046678e-03 3.47342473e-04 9.99964487e-01 -2.32631737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68327356 meters 0.07581783550441741 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.94, Z:-0.24 [[ 9.99293874e-01 3.64711788e-02 9.03368638e-03 1.07941967e+01] [-3.64663416e-02 9.99334637e-01 -6.99653404e-04 -9.42186204e-01] [-9.05319288e-03 3.69733867e-04 9.99958951e-01 -2.35302515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743273559999999 meters 0.07654971055328522 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.95, Z:-0.24 [[ 9.99338692e-01 3.52624981e-02 8.87327433e-03 1.08518365e+01] [-3.52578005e-02 9.99378015e-01 -6.85328827e-04 -9.49923544e-01] [-8.89192169e-03 3.72023477e-04 9.99960397e-01 -2.37728620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.80327356 meters 0.07753001486012492 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.96, Z:-0.24 [[ 9.99441460e-01 3.25684718e-02 7.48747731e-03 1.09098470e+01] [-3.25650589e-02 9.99469451e-01 -5.77312327e-04 -9.59608580e-01] [-7.50230701e-03 3.33159736e-04 9.99971802e-01 -2.41378024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86327356 meters 0.07805263876248979 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.97, Z:-0.24 [[ 9.99517204e-01 3.01768671e-02 7.39695786e-03 1.09685102e+01] [-3.01734700e-02 9.99544514e-01 -5.70446157e-04 -9.66843733e-01] [-7.41080293e-03 3.46978861e-04 9.99972479e-01 -2.43823860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.923273559999998 meters 0.07861985452737383 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.97, Z:-0.25 [[ 9.99564748e-01 2.85343332e-02 7.49045069e-03 1.10265969e+01] [-2.85308057e-02 9.99592747e-01 -5.77380325e-04 -9.73630881e-01] [-7.50387534e-03 3.63420425e-04 9.99971779e-01 -2.45475389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.983273559999999 meters 0.07962615840728174 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.98, Z:-0.25 [[ 9.99599267e-01 2.72396534e-02 7.70111349e-03 1.10838237e+01] [-2.72358919e-02 9.99628858e-01 -5.92910056e-04 -9.81303256e-01] [-7.71440595e-03 3.82925763e-04 9.99970170e-01 -2.48432667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04327356 meters 0.07970167599714331 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.99, Z:-0.25 [[ 9.99613649e-01 2.68442222e-02 7.20695779e-03 1.11421621e+01] [-2.68409232e-02 9.99639564e-01 -5.54089196e-04 -9.85364914e-01] [-7.21923424e-03 3.60433722e-04 9.99973876e-01 -2.50111460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.103273559999998 meters 0.08088447392282044 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.99, Z:-0.25 [[ 9.99648999e-01 2.54050608e-02 7.51403637e-03 1.11995407e+01] [-2.54014360e-02 9.99677165e-01 -5.77464719e-04 -9.91314833e-01] [-7.52628110e-03 3.86394715e-04 9.99971602e-01 -2.51524620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16327356 meters 0.07930391771189656 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.99, Z:-0.25 [[ 9.99641710e-01 2.54900634e-02 8.16747132e-03 1.12588838e+01] [-2.54857926e-02 9.99674988e-01 -6.26562155e-04 -9.90719428e-01] [-8.18078791e-03 4.18183183e-04 9.99966449e-01 -2.50591908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22327356 meters 0.07826828734650172 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.99, Z:-0.25 [[ 9.99648757e-01 2.55061047e-02 7.19725342e-03 1.13174956e+01] [-2.55027902e-02 9.99674599e-01 -5.51950764e-04 -9.89947644e-01] [-7.20898954e-03 3.68206852e-04 9.99973947e-01 -2.51473479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.283273559999998 meters 0.08083013570010461 Centerline is valid? [True, True] Translation: X:11.37, Y:-1.00, Z:-0.26 [[ 9.99660212e-01 2.54455528e-02 5.65538868e-03 1.13747563e+01] [-2.54435003e-02 9.99676167e-01 -4.34593799e-04 -1.00055779e+00] [-5.66461576e-03 2.90553246e-04 9.99983914e-01 -2.58256052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34327356 meters 0.07993687724438303 Centerline is valid? [True, True] Translation: X:11.43, Y:-1.00, Z:-0.26 [[ 9.99681550e-01 2.46971606e-02 5.18156214e-03 1.14331326e+01] [-2.46954318e-02 9.99694942e-01 -3.97372609e-04 -1.00112574e+00] [-5.18979544e-03 2.69285151e-04 9.99986497e-01 -2.58866469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40327356 meters 0.07859549546325505 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.00, Z:-0.26 [[ 9.99650545e-01 2.56890569e-02 6.23373746e-03 1.14922570e+01] [-2.56865821e-02 9.99669932e-01 -4.76744625e-04 -1.00142122e+00] [-6.24392702e-03 3.16454615e-04 9.99980456e-01 -2.58250482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.463273559999998 meters 0.079382359076469 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.01, Z:-0.26 [[ 9.99545039e-01 2.92045817e-02 7.53709393e-03 1.15508654e+01] [-2.92010762e-02 9.99573392e-01 -5.74756915e-04 -1.00758681e+00] [-7.55066408e-03 3.54404168e-04 9.99971431e-01 -2.61188529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52327356 meters 0.07798455173935212 Centerline is valid? [True, True] Translation: X:11.61, Y:-1.01, Z:-0.26 [[ 9.99448520e-01 3.20739970e-02 8.59738736e-03 1.16110255e+01] [-3.20695483e-02 9.99485425e-01 -6.54845249e-04 -1.00664663e+00] [-8.61396687e-03 3.78769786e-04 9.99962827e-01 -2.61825411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58327356 meters 0.07666160488949848 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.01, Z:-0.26 [[ 9.99263867e-01 3.77394269e-02 6.88917065e-03 1.16716138e+01] [-3.77367022e-02 9.99287579e-01 -5.25105269e-04 -1.00568529e+00] [-6.90407983e-03 2.64744140e-04 9.99976132e-01 -2.63400968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64327356 meters 0.07597553256531933 Centerline is valid? [True, True] Translation: X:11.73, Y:-1.01, Z:-0.27 [[ 9.99069467e-01 4.26700615e-02 6.28226660e-03 1.17314203e+01] [-4.26678939e-02 9.99089196e-01 -4.78714533e-04 -1.00581008e+00] [-6.29697147e-03 2.10217988e-04 9.99980152e-01 -2.65194437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70327356 meters 0.0750302923919865 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.00, Z:-0.27 [[ 9.98621893e-01 5.20406324e-02 6.78872816e-03 1.17911222e+01] [-5.20383217e-02 9.98644955e-01 -5.16698039e-04 -1.00419153e+00] [-6.80641842e-03 1.62711955e-04 9.99976823e-01 -2.67846804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76327356 meters 0.07431977957029949 Centerline is valid? [True, True] Translation: X:11.85, Y:-1.00, Z:-0.27 [[ 9.98069984e-01 6.16531643e-02 7.42923548e-03 1.18514084e+01] [-6.16506650e-02 9.98097629e-01 -5.65180035e-04 -1.00265672e+00] [-7.44994745e-03 1.06071921e-04 9.99972243e-01 -2.69326000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82327356 meters 0.07410201894392011 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.00, Z:-0.27 [[ 9.97580929e-01 6.91442318e-02 7.16702311e-03 1.19089631e+01] [-6.91420893e-02 9.97606672e-01 -5.46583700e-04 -1.00309545e+00] [-7.18766318e-03 4.97185237e-05 9.99974167e-01 -2.71126562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88327356 meters 0.07411878184170206 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.01, Z:-0.27 [[ 9.97362409e-01 7.22185360e-02 7.25997894e-03 1.19677027e+01] [-7.22163990e-02 9.97388832e-01 -5.56418776e-04 -1.00689712e+00] [-7.28120567e-03 3.06616347e-05 9.99973491e-01 -2.71601228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.943273559999998 meters 0.07412094827820694 Centerline is valid? [True, True] Translation: X:12.02, Y:-1.02, Z:-0.28 [[ 9.97350538e-01 7.23673406e-02 7.40756306e-03 1.20245146e+01] [-7.23651533e-02 9.97378046e-01 -5.63242172e-04 -1.01520759e+00] [-7.42890111e-03 2.57004474e-05 9.99972405e-01 -2.75748317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00327356 meters 0.07427827935361114 Centerline is valid? [True, True] Translation: X:12.08, Y:-1.02, Z:-0.28 [[ 9.97476217e-01 7.06835370e-02 6.71075856e-03 1.20823423e+01] [-7.06816886e-02 9.97498790e-01 -5.12496192e-04 -1.02371920e+00] [-6.73019859e-03 3.68750157e-05 9.99977351e-01 -2.76150272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06327356 meters 0.07444231632238368 Centerline is valid? [True, True] Translation: X:12.14, Y:-1.04, Z:-0.28 [[ 9.97790889e-01 6.61779447e-02 5.81565701e-03 1.21392130e+01] [-6.61765034e-02 9.97807836e-01 -4.40124033e-04 -1.03654112e+00] [-5.83203464e-03 5.42919038e-05 9.99982992e-01 -2.79470167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.123273559999998 meters 0.07467281300893161 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.05, Z:-0.28 [[ 9.98165577e-01 6.03266642e-02 5.11603763e-03 1.21980488e+01] [-6.03254787e-02 9.98178685e-01 -3.85868197e-04 -1.04942834e+00] [-5.12999786e-03 7.65329332e-05 9.99986839e-01 -2.80606073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18327356 meters 0.07497611450089743 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.06, Z:-0.28 [[ 9.98443009e-01 5.55203268e-02 5.38997068e-03 1.22558439e+01] [-5.55189161e-02 9.98457551e-01 -4.11116414e-04 -1.06016126e+00] [-5.40448224e-03 1.11230979e-04 9.99985389e-01 -2.82090554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24327356 meters 0.07561097123585668 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.07, Z:-0.28 [[ 9.98836348e-01 4.77693786e-02 6.63602438e-03 1.23141492e+01] [-4.77671180e-02 9.98858375e-01 -4.98818776e-04 -1.07429627e+00] [-6.65227679e-03 1.81254564e-04 9.99977857e-01 -2.83319324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30327356 meters 0.07670280074949229 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.09, Z:-0.28 [[ 9.99219633e-01 3.91072558e-02 5.54496713e-03 1.23734700e+01] [-3.91055503e-02 9.99234999e-01 -4.15710788e-04 -1.08875350e+00] [-5.55698253e-03 1.98547391e-04 9.99984540e-01 -2.83895667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36327356 meters 0.07720743093087083 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.10, Z:-0.29 [[ 9.99408492e-01 3.39869958e-02 5.24888504e-03 1.24335320e+01] [-3.39853977e-02 9.99422252e-01 -3.93371501e-04 -1.09837856e+00] [-5.25922202e-03 2.14753373e-04 9.99986147e-01 -2.85110029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42327356 meters 0.07900478361169302 Centerline is valid? [True, True] Translation: X:12.49, Y:-1.11, Z:-0.29 [[ 9.99597066e-01 2.81840722e-02 3.37105933e-03 1.24918724e+01] [-2.81833786e-02 9.99602738e-01 -2.53083285e-04 -1.11252333e+00] [-3.37685305e-03 1.57973468e-04 9.99994286e-01 -2.90044025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48327356 meters 0.07907271950477066 Centerline is valid? [True, True] Translation: X:12.55, Y:-1.12, Z:-0.29 [[ 9.99668432e-01 2.54957094e-02 3.60478144e-03 1.25510421e+01] [-2.54948976e-02 9.99674916e-01 -2.70969448e-04 -1.11901131e+00] [-3.61051814e-03 1.78976070e-04 9.99993466e-01 -2.92071353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54327356 meters 0.07916685377260968 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.12, Z:-0.29 [[ 9.99714258e-01 2.35434218e-02 4.13648015e-03 1.26098450e+01] [-2.35423340e-02 9.99722792e-01 -3.11478921e-04 -1.12406241e+00] [-4.14266677e-03 2.14007521e-04 9.99991396e-01 -2.93116516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.603273559999998 meters 0.07964303070090023 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.13, Z:-0.29 [[ 9.99760114e-01 2.15300959e-02 4.02115918e-03 1.26692444e+01] [-2.15290558e-02 9.99768177e-01 -3.01752257e-04 -1.13093464e+00] [-4.02672374e-03 2.15108111e-04 9.99991870e-01 -2.93949579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66327356 meters 0.08036275882552722 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.14, Z:-0.30 [[ 9.99773736e-01 2.07131362e-02 4.84187132e-03 1.27267983e+01] [-2.07116121e-02 9.99785425e-01 -3.64704982e-04 -1.13774487e+00] [-4.84838656e-03 2.64339501e-04 9.99988212e-01 -2.96283958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72327356 meters 0.08109181963015283 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.14, Z:-0.30 [[ 9.99800007e-01 1.96177776e-02 3.88439565e-03 1.27857823e+01] [-1.96167931e-02 9.99807530e-01 -2.91387441e-04 -1.14295528e+00] [-3.88936440e-03 2.15129780e-04 9.99992413e-01 -2.98630290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783273559999998 meters 0.08136310362095715 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.15, Z:-0.30 [[ 9.99816805e-01 1.88425429e-02 3.36375744e-03 1.28441103e+01] [-1.88417987e-02 9.99822446e-01 -2.52793402e-04 -1.14749136e+00] [-3.36792346e-03 1.89367851e-04 9.99994311e-01 -3.01104089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84327356 meters 0.08090569864797856 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.15, Z:-0.30 [[ 9.99835088e-01 1.76835101e-02 4.13395444e-03 1.29032149e+01] [-1.76823791e-02 9.99843606e-01 -3.09984700e-04 -1.14967851e+00] [-4.13878953e-03 2.36835431e-04 9.99991407e-01 -3.01897010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90327356 meters 0.08128104515687991 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.16, Z:-0.30 [[ 9.99864741e-01 1.55212508e-02 5.43970426e-03 1.29629475e+01] [-1.55192703e-02 9.99879486e-01 -4.06096193e-04 -1.15505304e+00] [-5.44535182e-03 3.21621024e-04 9.99985122e-01 -3.01714982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963273559999998 meters 0.08171955655097966 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.16, Z:-0.30 [[ 9.99879381e-01 1.44781778e-02 5.62190417e-03 1.30218512e+01] [-1.44760428e-02 9.99895128e-01 -4.20272198e-04 -1.16050896e+00] [-5.62739937e-03 3.38838580e-04 9.99984109e-01 -3.03765508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02327356 meters 0.08199263903804996 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.17, Z:-0.31 [[ 9.99917026e-01 1.18330358e-02 5.09113175e-03 1.30814563e+01] [-1.18312578e-02 9.99929936e-01 -3.79219502e-04 -1.16610512e+00] [-5.09526237e-03 3.18953545e-04 9.99986968e-01 -3.05827602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08327356 meters 0.08276850137633697 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.17, Z:-0.31 [[ 9.99929769e-01 1.12624091e-02 3.68995948e-03 1.31403078e+01] [-1.12614678e-02 9.99936550e-01 -2.75780690e-04 -1.17193016e+00] [-3.69283131e-03 2.34206961e-04 9.99993154e-01 -3.09655689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14327356 meters 0.08323938290444043 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.18, Z:-0.31 [[ 9.99932647e-01 1.10318034e-02 3.60569774e-03 1.31988209e+01] [-1.10309021e-02 9.99939121e-01 -2.69753358e-04 -1.17576823e+00] [-3.60845410e-03 2.29961091e-04 9.99993463e-01 -3.12338856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20327356 meters 0.083699394433974 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.18, Z:-0.31 [[ 9.99923330e-01 1.05156650e-02 6.53878002e-03 1.32573417e+01] [-1.05127033e-02 9.99944621e-01 -4.87153208e-04 -1.18056406e+00] [-6.54354065e-03 4.18375604e-04 9.99978503e-01 -3.12754067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26327356 meters 0.08186468220218128 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.18, Z:-0.31 [[ 9.99927123e-01 9.71688498e-03 7.16454998e-03 1.33168945e+01] [-9.71331855e-03 9.99952683e-01 -5.32418073e-04 -1.17938393e+00] [-7.16938442e-03 4.62787716e-04 9.99974193e-01 -3.12111496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32327356 meters 0.08282460158259755 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.19, Z:-0.32 [[ 9.99926656e-01 9.51322535e-03 7.49547525e-03 1.33755778e+01] [-9.50932127e-03 9.99954631e-01 -5.56326251e-04 -1.18557578e+00] [-7.50042764e-03 4.85008566e-04 9.99971754e-01 -3.15919864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38327356 meters 0.08279669898590895 Centerline is valid? [True, True] Translation: X:13.44, Y:-1.19, Z:-0.32 [[ 9.99931180e-01 9.44050409e-03 6.96509096e-03 1.34352621e+01] [-9.43712919e-03 9.99955336e-01 -5.17252318e-04 -1.18777668e+00] [-6.96966299e-03 4.51486257e-04 9.99975610e-01 -3.19404179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.443273559999998 meters 0.08372677349053632 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.19, Z:-0.32 [[ 9.99940609e-01 9.07636197e-03 6.03313274e-03 1.34942380e+01] [-9.07382371e-03 9.99958732e-01 -4.47960106e-04 -1.19324529e+00] [-6.03694961e-03 3.93189918e-04 9.99981700e-01 -3.22230923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50327356 meters 0.0835756457773932 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.20, Z:-0.32 [[ 9.99939339e-01 7.88497624e-03 7.69054691e-03 1.35535074e+01] [-7.88082062e-03 9.99968783e-01 -5.70509127e-04 -1.19634946e+00] [-7.69480529e-03 5.09866699e-04 9.99970265e-01 -3.22638082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56327356 meters 0.08362605006882438 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.20, Z:-0.32 [[ 9.99946022e-01 6.07091788e-03 8.43196116e-03 1.36140843e+01] [-6.06587014e-03 9.99981408e-01 -6.24089175e-04 -1.20068048e+00] [-8.43559318e-03 5.72908306e-04 9.99964256e-01 -3.24663221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.623273559999998 meters 0.08294149617570867 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.20, Z:-0.33 [[ 9.99953637e-01 4.25913686e-03 8.63617454e-03 1.36753485e+01] [-4.25377620e-03 9.99990748e-01 -6.38995912e-04 -1.20300764e+00] [-8.63881621e-03 6.02229933e-04 9.99962503e-01 -3.25708209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68327356 meters 0.083861711163362 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.21, Z:-0.33 [[ 9.99961499e-01 2.49871346e-03 8.41173524e-03 1.37365346e+01] [-2.49356359e-03 9.99996697e-01 -6.22656464e-04 -1.21029796e+00] [-8.41326330e-03 6.01657294e-04 9.99964427e-01 -3.27858252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74327356 meters 0.08495923393316424 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.22, Z:-0.33 [[ 9.99960145e-01 7.28764517e-04 8.89821904e-03 1.37968215e+01] [-7.22925696e-04 9.99999521e-01 -6.59377477e-04 -1.21746120e+00] [-8.89869531e-03 6.52918446e-04 9.99960193e-01 -3.29277342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.803273559999997 meters 0.08465968513011152 Centerline is valid? [True, True] Translation: X:13.86, Y:-1.22, Z:-0.33 [[ 9.99958582e-01 8.27855682e-04 9.06363558e-03 1.38596295e+01] [-8.21847252e-04 9.99999440e-01 -6.66620586e-04 -1.22098688e+00] [-9.06418237e-03 6.59144052e-04 9.99958702e-01 -3.30990015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86327356 meters 0.08676415266775542 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.23, Z:-0.34 [[ 9.99966308e-01 2.54600804e-03 7.80393402e-03 1.39195109e+01] [-2.54155511e-03 9.99996602e-01 -5.80464619e-04 -1.22942195e+00] [-7.80538536e-03 5.60610933e-04 9.99969380e-01 -3.35235713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92327356 meters 0.0834645053469868 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.22, Z:-0.34 [[ 9.99971523e-01 4.73148534e-03 5.87928158e-03 1.39820588e+01] [-4.72900043e-03 9.99988723e-01 -4.36485553e-04 -1.22339266e+00] [-5.88128050e-03 4.08669998e-04 9.99982622e-01 -3.35494774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98327356 meters 0.08323668190872437 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.23, Z:-0.34 [[ 9.99952405e-01 7.13356602e-03 6.65581870e-03 1.40429717e+01] [-7.13042556e-03 9.99974455e-01 -4.95446878e-04 -1.22661029e+00] [-6.65918298e-03 4.47964477e-04 9.99977727e-01 -3.36697455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04327356 meters 0.08286246155589871 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.23, Z:-0.34 [[ 9.99932633e-01 9.34574093e-03 6.88381960e-03 1.41033564e+01] [-9.34243033e-03 9.99956227e-01 -5.12925640e-04 -1.22874463e+00] [-6.88831194e-03 4.48579480e-04 9.99976175e-01 -3.37807660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103273559999998 meters 0.08207878214869413 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.23, Z:-0.34 [[ 9.99926554e-01 1.06102919e-02 5.85725573e-03 1.41633215e+01] [-1.06079121e-02 9.99943639e-01 -4.37224119e-04 -1.22926551e+00] [-5.86156469e-03 3.75058753e-04 9.99982751e-01 -3.39683027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16327356 meters 0.08188776981767017 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.23, Z:-0.34 [[ 9.99919509e-01 1.13367174e-02 5.69687780e-03 1.42221643e+01] [-1.13344743e-02 9.99935672e-01 -4.25880812e-04 -1.23337194e+00] [-5.70133942e-03 3.61275418e-04 9.99983682e-01 -3.42377807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22327356 meters 0.08126135939266911 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.24, Z:-0.34 [[ 9.99927397e-01 1.09088163e-02 5.11850755e-03 1.42807487e+01] [-1.09070005e-02 9.99940444e-01 -3.82525529e-04 -1.23663801e+00] [-5.12237561e-03 3.26670192e-04 9.99986827e-01 -3.44182784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283273559999998 meters 0.08343637247757639 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.25, Z:-0.35 [[ 9.99932215e-01 9.53758319e-03 6.67827267e-03 1.43390372e+01] [-9.53447146e-03 9.99954422e-01 -4.97630137e-04 -1.24680114e+00] [-6.68271448e-03 4.33922605e-04 9.99977576e-01 -3.46939434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34327356 meters 0.08258361814868292 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.25, Z:-0.35 [[ 9.99934891e-01 9.22606750e-03 6.71513010e-03 1.43987221e+01] [-9.22291925e-03 9.99957343e-01 -4.99646012e-04 -1.24891175e+00] [-6.71945342e-03 4.37680378e-04 9.99977328e-01 -3.47463406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40327356 meters 0.08304287277631221 Centerline is valid? [True, True] Translation: X:14.46, Y:-1.25, Z:-0.35 [[ 9.99946554e-01 8.05998458e-03 6.47502173e-03 1.44584054e+01] [-8.05703426e-03 9.99967426e-01 -4.81602526e-04 -1.25389425e+00] [-6.47869252e-03 4.29407314e-04 9.99978921e-01 -3.49189390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463273559999998 meters 0.0840418681491787 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.26, Z:-0.35 [[ 9.99946212e-01 8.41587525e-03 6.06182930e-03 1.45176087e+01] [-8.41329918e-03 9.99964506e-01 -4.50340003e-04 -1.25920626e+00] [-6.06540415e-03 3.99315796e-04 9.99981526e-01 -3.52669344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52327356 meters 0.08438988539175575 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.26, Z:-0.36 [[ 9.99939475e-01 9.21194718e-03 6.01553072e-03 1.45769760e+01] [-9.20942303e-03 9.99957492e-01 -4.47172046e-04 -1.26314379e+00] [-6.01939434e-03 3.91745413e-04 9.99981807e-01 -3.55529421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58327356 meters 0.08172206003488793 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.26, Z:-0.35 [[ 9.99930689e-01 9.83410981e-03 6.47355044e-03 1.46373769e+01] [-9.83120120e-03 9.99951557e-01 -4.80975278e-04 -1.25971181e+00] [-6.47796680e-03 4.17299165e-04 9.99978931e-01 -3.54899899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64327356 meters 0.08458433996319017 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.27, Z:-0.36 [[ 9.99938302e-01 8.74946966e-03 6.84385895e-03 1.46950922e+01] [-8.74619294e-03 9.99961622e-01 -5.08565402e-04 -1.27059684e+00] [-6.84804597e-03 4.48676314e-04 9.99976451e-01 -3.57147739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70327356 meters 0.08294480372831586 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.27, Z:-0.36 [[ 9.99957196e-01 6.62655231e-03 6.45712627e-03 1.47552751e+01] [-6.62359927e-03 9.99977949e-01 -4.78608114e-04 -1.27004565e+00] [-6.46015541e-03 4.35818211e-04 9.99979038e-01 -3.56313019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76327356 meters 0.08428539400103215 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.28, Z:-0.36 [[ 9.99974190e-01 4.43051384e-03 5.65603274e-03 1.48154115e+01] [-4.42821633e-03 9.99990108e-01 -4.18663188e-04 -1.27806860e+00] [-5.65783168e-03 3.93606245e-04 9.99983917e-01 -3.59350831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82327356 meters 0.08461443214753105 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.28, Z:-0.36 [[ 9.99985386e-01 1.85723069e-03 5.07722914e-03 1.48764693e+01] [-1.85534747e-03 9.99998208e-01 -3.75598533e-04 -1.28332300e+00] [-5.07791762e-03 3.66173020e-04 9.99987040e-01 -3.61482346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88327356 meters 0.08567818328026866 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.29, Z:-0.36 [[ 9.99983859e-01 1.36966493e-03 5.51419838e-03 1.49376424e+01] [-1.36743582e-03 9.99998982e-01 -4.07999431e-04 -1.29018960e+00] [-5.51475159e-03 4.00452533e-04 9.99984713e-01 -3.64147887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943273559999998 meters 0.08700109341422697 Centerline is valid? [True, True] Translation: X:15.00, Y:-1.30, Z:-0.37 [[ 9.99988035e-01 1.05336695e-03 4.77699858e-03 1.49983608e+01] [-1.05170110e-03 9.99999385e-01 -3.51221849e-04 -1.29658911e+00] [-4.77736561e-03 3.46193672e-04 9.99988528e-01 -3.66705231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00327356 meters 0.08888721121570178 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.30, Z:-0.37 [[ 9.99986763e-01 -9.28937403e-04 5.06066489e-03 1.50592479e+01] [ 9.30847933e-04 9.99999496e-01 -3.75183351e-04 -1.30414452e+00] [-5.06031382e-03 3.79889095e-04 9.99987124e-01 -3.68967261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06327356 meters 0.09097942866050716 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.31, Z:-0.37 [[ 9.99979578e-01 -2.87431099e-03 5.70806616e-03 1.51184179e+01] [ 2.87677915e-03 9.99995772e-01 -4.24235469e-04 -1.31245377e+00] [-5.70682264e-03 4.40647651e-04 9.99983619e-01 -3.70368344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123273559999998 meters 0.08768510166275674 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.31, Z:-0.37 [[ 9.99967065e-01 -4.55084870e-03 6.71995181e-03 1.51806084e+01] [ 4.55430205e-03 9.99989505e-01 -4.98681608e-04 -1.30825435e+00] [-6.71761186e-03 5.29269875e-04 9.99977297e-01 -3.69403486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18327356 meters 0.08606968715703558 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.31, Z:-0.37 [[ 9.99975002e-01 -5.16552163e-03 4.82836665e-03 1.52425443e+01] [ 5.16730881e-03 9.99986585e-01 -3.57740768e-04 -1.30892445e+00] [-4.82645397e-03 3.82681487e-04 9.99988279e-01 -3.69449296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24327356 meters 0.08834292540206483 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.32, Z:-0.37 [[ 9.99971495e-01 -6.96717837e-03 2.90990590e-03 1.53021098e+01] [ 6.96783294e-03 9.99975701e-01 -2.14868689e-04 -1.31698597e+00] [-2.90833817e-03 2.35138303e-04 9.99995743e-01 -3.72966883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.303273559999997 meters 0.08892207741890329 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.32, Z:-0.37 [[ 9.99967936e-01 -7.63309716e-03 2.42150568e-03 1.53639382e+01] [ 7.63355167e-03 9.99970848e-01 -1.78513930e-04 -1.32114322e+00] [-2.42007247e-03 1.96992895e-04 9.99997052e-01 -3.73900474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36327356 meters 0.08883965657863695 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.32, Z:-0.37 [[ 9.99963205e-01 -8.41746407e-03 1.65357957e-03 1.54257906e+01] [ 8.41767620e-03 9.99964563e-01 -1.21368043e-04 -1.32483676e+00] [-1.65249936e-03 1.35282874e-04 9.99998625e-01 -3.74849041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42327356 meters 0.08910015723146478 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.33, Z:-0.38 [[ 9.99949231e-01 -9.93955119e-03 1.65571808e-03 1.54872420e+01] [ 9.93976769e-03 9.99950592e-01 -1.22576535e-04 -1.32930404e+00] [-1.65441792e-03 1.39027765e-04 9.99998622e-01 -3.75754975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48327356 meters 0.09084264200044771 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.34, Z:-0.38 [[ 9.99909116e-01 -1.34740125e-02 -4.59240938e-04 1.55475336e+01] [ 1.34740298e-02 9.99909221e-01 3.45898176e-05 -1.33751849e+00] [ 4.58733184e-04 -4.07745000e-05 9.99999894e-01 -3.78280504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54327356 meters 0.0922424296430538 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.35, Z:-0.38 [[ 9.99885722e-01 -1.50764765e-02 1.11512099e-03 1.56090409e+01] [ 1.50765765e-02 9.99886339e-01 -8.13161061e-05 -1.34563521e+00] [-1.11376828e-03 9.81190203e-05 9.99999375e-01 -3.80360445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603273559999998 meters 0.09173635489026341 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.35, Z:-0.38 [[ 9.99822144e-01 -1.88590428e-02 1.28552558e-04 1.56699832e+01] [ 1.88590441e-02 9.99822152e-01 -8.78251485e-06 -1.34986563e+00] [-1.28364065e-04 1.12053312e-05 9.99999992e-01 -3.79797557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66327356 meters 0.0941835559950598 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.36, Z:-0.38 [[ 9.99788876e-01 -2.05417284e-02 -4.90027127e-04 1.57295365e+01] [ 2.05417488e-02 9.99788995e-01 3.66267080e-05 -1.36005689e+00] [ 4.89171353e-04 -4.66849894e-05 9.99999879e-01 -3.82360733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72327356 meters 0.09965021453462451 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.37, Z:-0.39 [[ 9.99780662e-01 -2.09346383e-02 -6.07736721e-04 1.57899534e+01] [ 2.09346717e-02 9.99780845e-01 4.87217517e-05 -1.37488009e+00] [ 6.06583560e-04 -6.14338339e-05 9.99999814e-01 -3.86348258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783273559999998 meters 0.09782533552140324 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.38, Z:-0.39 [[ 9.99751421e-01 -2.22937522e-02 -2.92193967e-04 1.58507447e+01] [ 2.22937597e-02 9.99751463e-01 2.23651089e-05 -1.37696329e+00] [ 2.91622743e-04 -2.88736515e-05 9.99999957e-01 -3.85931626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84327356 meters 0.10047725700346388 Centerline is valid? [True, False] Translation: X:15.85, Y:-1.38, Z:-0.39 [[ 9.99753311e-01 -2.22100938e-02 1.69742892e-04 1.58498362e+01] [ 2.22099205e-02 9.99752866e-01 9.62292613e-04 -1.38011450e+00] [-1.91073552e-04 -9.58285250e-04 9.99999523e-01 -3.85977629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90327356 meters 0.10358215894884362 Centerline is valid? [False, False] Translation: X:15.85, Y:-1.38, Z:-0.39 [[ 9.99751374e-01 -2.22911837e-02 5.41969491e-04 1.58487763e+01] [ 2.22903814e-02 9.99750496e-01 1.44392893e-03 -1.38233056e+00] [-5.74021152e-04 -1.43148922e-03 9.99998811e-01 -3.85517331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963273559999998 meters 0.09800100235051178 Centerline is valid? [False, True] Translation: X:15.85, Y:-1.38, Z:-0.39 [[ 9.99751532e-01 -2.22813354e-02 6.45114164e-04 1.58484988e+01] [ 2.22802449e-02 9.99750401e-01 1.65091147e-03 -1.38315692e+00] [-6.81737657e-04 -1.63612797e-03 9.99998429e-01 -3.85417566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02327356 meters 0.09616686378360358 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.39, Z:-0.39 [[ 9.99727862e-01 -2.33210398e-02 -5.74497420e-04 1.59097608e+01] [ 2.33210710e-02 9.99728026e-01 4.77743494e-05 -1.38548328e+00] [ 5.73227024e-04 -6.11592433e-05 9.99999834e-01 -3.85739117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08327356 meters 0.10237249790856498 Centerline is valid? [True, False] Translation: X:15.91, Y:-1.39, Z:-0.39 [[ 9.99731535e-01 -2.31694842e-02 -1.80080160e-04 1.59089739e+01] [ 2.31696226e-02 9.99731221e-01 8.08638207e-04 -1.38808810e+00] [ 1.61296029e-04 -8.12593506e-04 9.99999657e-01 -3.85732980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143273559999997 meters 0.0981855048218729 Centerline is valid? [False, True] Translation: X:15.90, Y:-1.39, Z:-0.39 [[ 9.99854341e-01 -1.50310673e-02 8.08483947e-03 1.58980861e+01] [ 1.50219107e-02 9.99886454e-01 1.19211065e-03 -1.39208635e+00] [-8.10184016e-03 -1.07048727e-03 9.99966607e-01 -3.89930287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20327356 meters 0.09547896303040287 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.39, Z:-0.39 [[ 9.99880048e-01 -1.34481333e-02 7.68355533e-03 1.59598309e+01] [ 1.34538447e-02 9.99909253e-01 -6.92116175e-04 -1.39403135e+00] [-7.67355040e-03 7.95406515e-04 9.99970242e-01 -3.89935797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26327356 meters 0.09590968781872414 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.40, Z:-0.39 [[ 9.99904854e-01 -1.24655508e-02 5.90705492e-03 1.60210661e+01] [ 1.24689057e-02 9.99922119e-01 -5.31458503e-04 -1.40382606e+00] [-5.89996995e-03 6.05062448e-04 9.99982412e-01 -3.94088054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32327356 meters 0.09564547019667341 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.41, Z:-0.40 [[ 9.99928469e-01 -1.07478015e-02 5.24792708e-03 1.60820865e+01] [ 1.07504293e-02 9.99942101e-01 -4.72790538e-04 -1.41186996e+00] [-5.24254177e-03 5.29174188e-04 9.99986118e-01 -3.97482228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38327356 meters 0.09522495645328727 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.42, Z:-0.40 [[ 9.99928371e-01 -9.81618178e-03 6.84807864e-03 1.61431123e+01] [ 9.82064465e-03 9.99951585e-01 -6.18373964e-04 -1.41808721e+00] [-6.84167702e-03 6.85582217e-04 9.99976360e-01 -3.99010895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443273559999998 meters 0.09660143236663904 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.43, Z:-0.40 [[ 9.99928574e-01 -8.94009675e-03 7.93237107e-03 1.62026759e+01] [ 8.94604627e-03 9.99959728e-01 -7.14864929e-04 -1.42874507e+00] [-7.92566065e-03 7.85777227e-04 9.99968283e-01 -4.02400759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50327356 meters 0.09813861192482821 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.44, Z:-0.41 [[ 9.99919975e-01 -9.08858178e-03 8.80010718e-03 1.62626812e+01] [ 9.09593365e-03 9.99958315e-01 -7.95765625e-04 -1.43920127e+00] [-8.79250796e-03 8.75747135e-04 9.99960962e-01 -4.05037482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56327356 meters 0.0934723917362691 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.44, Z:-0.40 [[ 9.99907377e-01 -9.86226748e-03 9.37939718e-03 1.63254666e+01] [ 9.87065335e-03 9.99950924e-01 -8.48201344e-04 -1.43839178e+00] [-9.37057169e-03 9.40703559e-04 9.99955653e-01 -4.04195534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.623273559999998 meters 0.09636860891460279 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.45, Z:-0.41 [[ 9.99877004e-01 -1.15264795e-02 1.06356302e-02 1.63850160e+01] [ 1.15373811e-02 9.99932977e-01 -9.64222197e-04 -1.45128547e+00] [-1.06238032e-02 1.08681092e-03 9.99942975e-01 -4.07048319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68327356 meters 0.09342571836195163 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.45, Z:-0.41 [[ 9.99863157e-01 -1.25115632e-02 1.08225858e-02 1.64472890e+01] [ 1.25228961e-02 9.99921105e-01 -9.80024013e-04 -1.45272843e+00] [-1.08094703e-02 1.11542002e-03 9.99940954e-01 -4.08077913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74327356 meters 0.09550887037926589 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.46, Z:-0.41 [[ 9.99847774e-01 -1.35239401e-02 1.10241131e-02 1.65082388e+01] [ 1.35357740e-02 9.99907888e-01 -9.99546806e-04 -1.46288761e+00] [-1.10095799e-02 1.14861455e-03 9.99938733e-01 -4.12486180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.803273559999997 meters 0.0993268581007604 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.48, Z:-0.42 [[ 9.99815683e-01 -1.41079131e-02 1.30217799e-02 1.65687118e+01] [ 1.41244637e-02 9.99899549e-01 -1.17989440e-03 -1.47595358e+00] [-1.30038260e-02 1.36360258e-03 9.99914517e-01 -4.16223407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86327356 meters 0.09565971896417053 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.48, Z:-0.42 [[ 9.99791402e-01 -1.50997811e-02 1.37531181e-02 1.66309387e+01] [ 1.51183874e-02 9.99884929e-01 -1.24991379e-03 -1.47527589e+00] [-1.37326621e-02 1.45757803e-03 9.99904640e-01 -4.16644141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92327356 meters 0.09838900887827001 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.49, Z:-0.42 [[ 9.99762695e-01 -1.63330040e-02 1.44148211e-02 1.66901543e+01] [ 1.63535994e-02 9.99865410e-01 -1.31204122e-03 -1.48589219e+00] [-1.43914514e-02 1.54746407e-03 9.99895240e-01 -4.19708856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98327356 meters 0.09958109834428293 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.49, Z:-0.42 [[ 9.99703776e-01 -1.83547708e-02 1.59831696e-02 1.67510615e+01] [ 1.83803364e-02 9.99830010e-01 -1.45409812e-03 -1.49375144e+00] [-1.59537630e-02 1.74744342e-03 9.99871204e-01 -4.21724693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04327356 meters 0.09953717085991289 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.50, Z:-0.42 [[ 9.99668439e-01 -1.97593191e-02 1.65100235e-02 1.68113661e+01] [ 1.97868029e-02 9.99803092e-01 -1.50296928e-03 -1.49996136e+00] [-1.64770749e-02 1.82915154e-03 9.99862571e-01 -4.23819988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.103273559999998 meters 0.10032059336661285 Centerline is valid? [True, False] Translation: X:16.82, Y:-1.50, Z:-0.42 [[ 9.99791042e-01 -2.04388358e-02 -3.54810445e-04 1.68164696e+01] [ 2.04375384e-02 9.99785554e-01 -3.33966940e-03 -1.50086578e+00] [ 4.22993312e-04 3.33172010e-03 9.99994360e-01 -4.20495134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16327356 meters 0.10096934385201127 Centerline is valid? [False, False] Translation: X:16.82, Y:-1.50, Z:-0.42 [[ 9.99792413e-01 -2.03738776e-02 -1.91690172e-04 1.68162936e+01] [ 2.03732004e-02 9.99787813e-01 -3.04316237e-03 -1.50161485e+00] [ 2.53650515e-04 3.03862530e-03 9.99995351e-01 -4.20748152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22327356 meters 0.10130418983864556 Centerline is valid? [False, False] Translation: X:16.82, Y:-1.50, Z:-0.42 [[ 9.99796496e-01 -2.01724787e-02 -1.92731474e-04 1.68165089e+01] [ 2.01718834e-02 9.99792861e-01 -2.70738783e-03 -1.50223844e+00] [ 2.47306275e-04 2.70294911e-03 9.99996316e-01 -4.21048830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.283273559999998 meters 0.10240580599275806 Centerline is valid? [False, False] Translation: X:16.82, Y:-1.50, Z:-0.42 [[ 9.99868189e-01 -1.62262684e-02 5.58555339e-04 1.68150339e+01] [ 1.62251424e-02 9.99866434e-01 1.96454722e-03 -1.50462255e+00] [-5.90358005e-04 -1.95522563e-03 9.99997914e-01 -4.21165724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34327356 meters 0.10394260349463498 Centerline is valid? [False, False] Translation: X:16.82, Y:-1.51, Z:-0.42 [[ 9.99872799e-01 -1.59392662e-02 5.69769370e-04 1.68152686e+01] [ 1.59378065e-02 9.99869908e-01 2.48068597e-03 -1.50571573e+00] [-6.09235562e-04 -2.47128955e-03 9.99996761e-01 -4.21550766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40327356 meters 0.10331397008243424 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99871731e-01 -1.60002574e-02 7.15799108e-04 1.68147796e+01] [ 1.59983814e-02 9.99868756e-01 2.55398135e-03 -1.50642961e+00] [-7.56569522e-04 -2.54220212e-03 9.99996482e-01 -4.21241786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.463273559999998 meters 0.1055945700615827 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99870310e-01 -1.60840971e-02 8.15636888e-04 1.68144711e+01] [ 1.60819506e-02 9.99867366e-01 2.57329026e-03 -1.50668487e+00] [-8.56917757e-04 -2.55983950e-03 9.99996356e-01 -4.21092099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52327356 meters 0.10582524939229768 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99869753e-01 -1.61144687e-02 8.94754814e-04 1.68142227e+01] [ 1.61120849e-02 9.99866784e-01 2.61043489e-03 -1.50697787e+00] [-9.36701390e-04 -2.59567852e-03 9.99996193e-01 -4.20966290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58327356 meters 0.10313525390565124 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99870354e-01 -1.60693259e-02 1.02597712e-03 1.68139688e+01] [ 1.60663763e-02 9.99866947e-01 2.82116502e-03 -1.50771524e+00] [-1.07117483e-03 -2.80431553e-03 9.99995494e-01 -4.20976540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.643273559999997 meters 0.10435200440476829 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99868043e-01 -1.61818079e-02 1.42999632e-03 1.68128584e+01] [ 1.61772642e-02 9.99864229e-01 3.13378874e-03 -1.50946492e+00] [-1.48051254e-03 -3.11024179e-03 9.99994067e-01 -4.20471266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70327356 meters 0.10307112955051846 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.51, Z:-0.42 [[ 9.99866601e-01 -1.62369873e-02 1.77186687e-03 1.68120477e+01] [ 1.62308093e-02 9.99862330e-01 3.44707507e-03 -1.51085670e+00] [-1.82759305e-03 -3.41785640e-03 9.99992489e-01 -4.20251930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76327356 meters 0.1080546504562393 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.51, Z:-0.42 [[ 9.99888756e-01 -1.15040532e-02 9.49377929e-03 1.68024962e+01] [ 1.14906661e-02 9.99932909e-01 1.46343811e-03 -1.51362231e+00] [-9.50997782e-03 -1.35418547e-03 9.99953862e-01 -4.24955620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82327356 meters 0.10810163001381186 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.51, Z:-0.43 [[ 9.99893167e-01 -1.11539369e-02 9.44693025e-03 1.68029904e+01] [ 1.11355630e-02 9.99936007e-01 1.99533661e-03 -1.51462147e+00] [-9.46858157e-03 -1.88992656e-03 9.99953386e-01 -4.25520955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88327356 meters 0.10862013455663237 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99899488e-01 -1.07020862e-02 9.29947008e-03 1.68039198e+01] [ 1.06791074e-02 9.99939809e-01 2.51713553e-03 -1.51529138e+00] [-9.32584893e-03 -2.41757249e-03 9.99953591e-01 -4.26384114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.943273559999998 meters 0.1095662459466947 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.51, Z:-0.42 [[ 9.99981964e-01 -5.54608129e-03 2.30479163e-03 1.67978473e+01] [ 5.55722502e-03 9.99972763e-01 -4.85708321e-03 -1.51452681e+00] [-2.27779108e-03 4.86980386e-03 9.99985548e-01 -4.23898504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00327356 meters 0.10890559674734754 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.51, Z:-0.42 [[ 9.99983067e-01 -5.34625713e-03 2.29868101e-03 1.67980548e+01] [ 5.35671280e-03 9.99975225e-01 -4.56671078e-03 -1.51493584e+00] [-2.27420925e-03 4.57894682e-03 9.99986931e-01 -4.24171626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06327356 meters 0.10815102638968267 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.42 [[ 9.99983929e-01 -5.09810500e-03 2.48024449e-03 1.67977362e+01] [ 5.10793310e-03 9.99979064e-01 -3.97248833e-03 -1.51668636e+00] [-2.45994040e-03 3.98509341e-03 9.99989034e-01 -4.24221734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.123273559999998 meters 0.10708710156313801 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.42 [[ 9.99985768e-01 -4.69454257e-03 2.53468696e-03 1.67980160e+01] [ 4.70291308e-03 9.99983474e-01 -3.30658389e-03 -1.51810564e+00] [-2.51912217e-03 3.31845725e-03 9.99991321e-01 -4.24763610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18327356 meters 0.10794901302980187 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99988604e-01 -4.22829726e-03 2.21641693e-03 1.67990904e+01] [ 4.23448067e-03 9.99987135e-01 -2.79259618e-03 -1.51867477e+00] [-2.20458049e-03 2.80194973e-03 9.99993644e-01 -4.25414004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24327356 meters 0.10519922676253662 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99990617e-01 -3.82165955e-03 2.03978586e-03 1.67999831e+01] [ 3.82641956e-03 9.99989954e-01 -2.33480269e-03 -1.51918029e+00] [-2.03084255e-03 2.34258586e-03 9.99995194e-01 -4.26164041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.303273559999997 meters 0.10581422400697217 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99993060e-01 -3.35136160e-03 1.62723458e-03 1.68010842e+01] [ 3.35458795e-03 9.99992405e-01 -1.98405435e-03 -1.51945019e+00] [-1.62057294e-03 1.98949928e-03 9.99996708e-01 -4.26567961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36327356 meters 0.10484496022876252 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99994571e-01 -2.99059038e-03 1.38390513e-03 1.68017093e+01] [ 2.99288001e-03 9.99994151e-01 -1.65536303e-03 -1.51979840e+00] [-1.37894652e-03 1.65949590e-03 9.99997672e-01 -4.26747667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42327356 meters 0.1060420842155235 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99995856e-01 -2.62388235e-03 1.18480724e-03 1.68023739e+01] [ 2.62534500e-03 9.99995792e-01 -1.23464327e-03 -1.52045424e+00] [-1.18156269e-03 1.23774868e-03 9.99998536e-01 -4.27123156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48327356 meters 0.10494706057374556 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99997287e-01 -2.11729833e-03 9.71399772e-04 1.68032781e+01] [ 2.11789589e-03 9.99997568e-01 -6.14533848e-04 -1.52160049e+00] [-9.70096258e-04 6.16589504e-04 9.99999339e-01 -4.27787513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54327356 meters 0.10223502647031014 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99997920e-01 -1.79284869e-03 9.72435065e-04 1.68033198e+01] [ 1.79292155e-03 9.99998390e-01 -7.40558648e-05 -1.52326253e+00] [-9.72300728e-04 7.57992105e-05 9.99999524e-01 -4.27841929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.603273559999998 meters 0.10320286185904166 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.52, Z:-0.43 [[ 9.99998223e-01 -1.63392510e-03 9.40593221e-04 1.68030786e+01] [ 1.63372554e-03 9.99998643e-01 2.12897814e-04 -1.52461692e+00] [-9.40939803e-04 -2.11360765e-04 9.99999535e-01 -4.27392775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66327356 meters 0.10019776383184541 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99998701e-01 -1.35992010e-03 8.64837445e-04 1.68034627e+01] [ 1.35941056e-03 9.99998902e-01 5.89480442e-04 -1.52533272e+00] [-8.65638142e-04 -5.88304008e-04 9.99999452e-01 -4.27705600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72327356 meters 0.10055024509830651 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999152e-01 -1.08740961e-03 7.17267178e-04 1.68035647e+01] [ 1.08670496e-03 9.99998927e-01 9.82070538e-04 -1.52664257e+00] [-7.18334322e-04 -9.81290247e-04 9.99999261e-01 -4.27413517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.783273559999998 meters 0.10079271815215295 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999598e-01 -5.65462762e-04 6.95477484e-04 1.68039519e+01] [ 5.64240085e-04 9.99998297e-01 1.75698088e-03 -1.52879362e+00] [-6.96469807e-04 -1.75658776e-03 9.99998215e-01 -4.27852296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84327356 meters 0.10218156518910597 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999639e-01 -4.64906709e-04 7.11776162e-04 1.68037741e+01] [ 4.63516861e-04 9.99997988e-01 1.95156811e-03 -1.52979831e+00] [-7.12682027e-04 -1.95123749e-03 9.99997842e-01 -4.27604634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90327356 meters 0.10216498269616138 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999705e-01 -2.60364387e-04 7.22594901e-04 1.68037166e+01] [ 2.58683948e-04 9.99997264e-01 2.32468102e-03 -1.53123586e+00] [-7.23198189e-04 -2.32449341e-03 9.99997037e-01 -4.27508210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.963273559999998 meters 0.10401552209281914 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999687e-01 -2.17611887e-04 7.61289660e-04 1.68035837e+01] [ 2.15729847e-04 9.99996923e-01 2.47138236e-03 -1.53187879e+00] [-7.61825120e-04 -2.47121736e-03 9.99996656e-01 -4.27435963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02327356 meters 0.10546799279222499 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999688e-01 -1.66983219e-06 7.89395784e-04 1.68035902e+01] [-5.64667564e-07 9.99995994e-01 2.83063696e-03 -1.53294634e+00] [-7.89397348e-04 -2.83063653e-03 9.99995682e-01 -4.27494808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08327356 meters 0.10119291567503264 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999633e-01 1.19736611e-05 8.56957439e-04 1.68033164e+01] [-1.44827965e-05 9.99995713e-01 2.92801175e-03 -1.53360699e+00] [-8.56918706e-04 -2.92802308e-03 9.99995346e-01 -4.27280593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.143273559999997 meters 0.10032129718430649 Centerline is valid? [False, False] Translation: X:16.80, Y:-1.53, Z:-0.43 [[ 9.99999479e-01 -5.82404222e-05 1.01920427e-03 1.68029077e+01] [ 5.51961518e-05 9.99995538e-01 2.98668222e-03 -1.53417870e+00] [-1.01937366e-03 -2.98662440e-03 9.99995020e-01 -4.27155737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20327356 meters 0.10100303761840909 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.53, Z:-0.43 [[ 9.99998933e-01 -1.36239036e-03 5.27553965e-04 1.68055742e+01] [ 1.36150385e-03 9.99997667e-01 1.67715417e-03 -1.53400933e+00] [-5.29837673e-04 -1.67643411e-03 9.99998454e-01 -4.29419206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26327356 meters 0.1005997449333986 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.53, Z:-0.43 [[ 9.99998552e-01 -1.63976779e-03 4.54461568e-04 1.68055467e+01] [ 1.63926508e-03 9.99998047e-01 1.10433265e-03 -1.53262636e+00] [-4.56271529e-04 -1.10358607e-03 9.99999287e-01 -4.29206099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32327356 meters 0.10118985895502665 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.53, Z:-0.43 [[ 9.99998835e-01 -1.52324336e-03 -9.53148635e-05 1.68066167e+01] [ 1.52330070e-03 9.99998657e-01 6.04414831e-04 -1.53029580e+00] [ 9.43940646e-05 -6.04559320e-04 9.99999813e-01 -4.29265400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38327356 meters 0.10090727271022117 Centerline is valid? [False, False] Translation: X:16.81, Y:-1.53, Z:-0.43 [[ 9.99998991e-01 -1.30564362e-03 -5.59969471e-04 1.68077253e+01] [ 1.30586738e-03 9.99999068e-01 3.99412892e-04 -1.52879704e+00] [ 5.59447458e-04 -4.00143735e-04 9.99999763e-01 -4.29606683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.443273559999998 meters 0.09751739405782162 Centerline is valid? [False, True] Translation: X:16.81, Y:-1.53, Z:-0.43 [[ 9.99998690e-01 -1.42817901e-03 -7.61416149e-04 1.68081288e+01] [ 1.42807638e-03 9.99998971e-01 -1.35322143e-04 -1.52702446e+00] [ 7.61608630e-04 1.34234606e-04 9.99999701e-01 -4.29699724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50327356 meters 0.09774963245114525 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.53, Z:-0.43 [[ 9.99997609e-01 -1.31078378e-03 -1.75032297e-03 1.68685903e+01] [ 1.31111750e-03 9.99999123e-01 1.89528947e-04 -1.53342296e+00] [ 1.75007300e-03 -1.91823373e-04 9.99998450e-01 -4.31392059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56327356 meters 0.09627782810788495 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.54, Z:-0.43 [[ 9.99998724e-01 5.51958627e-04 -1.49898660e-03 1.69290463e+01] [-5.51716474e-04 9.99999835e-01 1.61953276e-04 -1.53613998e+00] [ 1.49907575e-03 -1.61126054e-04 9.99998863e-01 -4.32403715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.623273559999998 meters 0.0938967714797307 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.54, Z:-0.43 [[ 9.99999680e-01 1.71491613e-04 -7.81738082e-04 1.69893997e+01] [-1.71426118e-04 9.99999982e-01 8.38478990e-05 -1.53691504e+00] [ 7.81752447e-04 -8.37138619e-05 9.99999691e-01 -4.32178155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68327356 meters 0.0989121360156253 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.55, Z:-0.43 [[ 9.99999188e-01 -1.21364263e-03 -3.87420075e-04 1.70476263e+01] [ 1.21365894e-03 9.99999263e-01 4.18518027e-05 -1.55320063e+00] [ 3.87368996e-04 -4.23219646e-05 9.99999924e-01 -4.34669161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74327356 meters 0.09765386365289301 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.56, Z:-0.44 [[ 9.99992920e-01 -3.59308007e-03 -1.11816038e-03 1.71084772e+01] [ 3.59321769e-03 9.99993537e-01 1.21090857e-04 -1.55791105e+00] [ 1.11771806e-03 -1.25107794e-04 9.99999368e-01 -4.35997476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.803273559999997 meters 0.0980564627838524 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.57, Z:-0.44 [[ 9.99988530e-01 -4.72893391e-03 -7.59365406e-04 1.71693729e+01] [ 4.72899825e-03 9.99988815e-01 8.29624012e-05 -1.56509674e+00] [ 7.58964589e-04 -8.65524873e-05 9.99999708e-01 -4.37007585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86327356 meters 0.09814128841051803 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.57, Z:-0.44 [[ 9.99988870e-01 -4.49908646e-03 -1.42035622e-03 1.72308554e+01] [ 4.49931049e-03 9.99989866e-01 1.54573926e-04 -1.57115104e+00] [ 1.41964639e-03 -1.60962830e-04 9.99998979e-01 -4.38310593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92327356 meters 0.09962505448515196 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.58, Z:-0.44 [[ 9.99989606e-01 -4.40923626e-03 -1.16029677e-03 1.72916419e+01] [ 4.40938590e-03 9.99990271e-01 1.26443995e-04 -1.57994724e+00] [ 1.15972796e-03 -1.31558877e-04 9.99999319e-01 -4.40100852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98327356 meters 0.09917516054641255 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.59, Z:-0.44 [[ 9.99990792e-01 -4.16770867e-03 -1.02268115e-03 1.73523777e+01] [ 4.16782492e-03 9.99991308e-01 1.11571734e-04 -1.58610961e+00] [ 1.02220726e-03 -1.15833062e-04 9.99999471e-01 -4.41374892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04327356 meters 0.09998591361509952 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.59, Z:-0.44 [[ 9.99989164e-01 -4.65526373e-03 -7.03467933e-06 1.74132188e+01] [ 4.65526374e-03 9.99989164e-01 1.50006293e-06 -1.59415156e+00] [ 7.02761991e-06 -1.53279497e-06 1.00000000e+00 -4.42939184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.103273559999998 meters 0.10027264303960265 Centerline is valid? [True, False] Translation: X:17.41, Y:-1.59, Z:-0.44 [[ 9.99989619e-01 -4.55628484e-03 -4.15079069e-05 1.74133586e+01] [ 4.55629152e-03 9.99989607e-01 1.62410654e-04 -1.59461550e+00] [ 4.07674863e-05 -1.62598090e-04 9.99999986e-01 -4.43032886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16327356 meters 0.09885756424934919 Centerline is valid? [False, True] Translation: X:17.41, Y:-1.60, Z:-0.44 [[ 9.99991320e-01 -4.16606093e-03 -6.00828461e-05 1.74139803e+01] [ 4.16610472e-03 9.99991042e-01 7.48184814e-04 -1.59553377e+00] [ 5.69653243e-05 -7.48428632e-04 9.99999718e-01 -4.43856194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22327356 meters 0.10154661153635948 Centerline is valid? [True, False] Translation: X:17.41, Y:-1.60, Z:-0.44 [[ 9.99991775e-01 -4.05222577e-03 -1.72453690e-04 1.74143707e+01] [ 4.05236987e-03 9.99991433e-01 8.43578322e-04 -1.59542542e+00] [ 1.69033843e-04 -8.44270229e-04 9.99999629e-01 -4.44096075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.283273559999998 meters 0.09883088434320837 Centerline is valid? [False, True] Translation: X:17.41, Y:-1.60, Z:-0.44 [[ 9.99992323e-01 -3.90938090e-03 -2.64835057e-04 1.74148691e+01] [ 3.90963376e-03 9.99991896e-01 9.61070862e-04 -1.59524129e+00] [ 2.61075719e-04 -9.62098893e-04 9.99999503e-01 -4.44536662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34327356 meters 0.10040800175176892 Centerline is valid? [True, False] Translation: X:17.42, Y:-1.60, Z:-0.45 [[ 9.99993513e-01 -3.56768735e-03 -4.94654838e-04 1.74157445e+01] [ 3.56828773e-03 9.99992892e-01 1.21820029e-03 -1.59543247e+00] [ 4.90305164e-04 -1.21995746e-03 9.99999136e-01 -4.45097304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40327356 meters 0.09654403202331806 Centerline is valid? [False, True] Translation: X:17.42, Y:-1.59, Z:-0.45 [[ 9.99993060e-01 -3.66825897e-03 -6.50354220e-04 1.74159961e+01] [ 3.66885005e-03 9.99992856e-01 9.10005678e-04 -1.59442660e+00] [ 6.47011437e-04 -9.12385416e-04 9.99999374e-01 -4.45051480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463273559999998 meters 0.09499703221896985 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.60, Z:-0.45 [[ 9.99999939e-01 -2.54296993e-04 2.38781294e-04 1.74765818e+01] [ 2.54303102e-04 9.99999967e-01 -2.55525342e-05 -1.59663767e+00] [-2.38774789e-04 2.56132555e-05 9.99999971e-01 -4.46300965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52327356 meters 0.0958624096843502 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.60, Z:-0.45 [[ 9.99999318e-01 1.14932492e-03 -2.09440978e-04 1.75361077e+01] [-1.14932025e-03 9.99999339e-01 2.23873588e-05 -1.60463580e+00] [ 2.09466570e-04 -2.21466288e-05 9.99999978e-01 -4.47630512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58327356 meters 0.09644030795755472 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.61, Z:-0.45 [[ 9.99998053e-01 1.95729641e-03 -2.50090452e-04 1.75961916e+01] [-1.95728978e-03 9.99998084e-01 2.67324224e-05 -1.61189695e+00] [ 2.50142296e-04 -2.62428709e-05 9.99999968e-01 -4.49097788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643273559999997 meters 0.09635685901080303 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.62, Z:-0.45 [[ 9.99998741e-01 1.53106144e-03 -4.16040891e-04 1.76557246e+01] [-1.53104336e-03 9.99998827e-01 4.37716414e-05 -1.61796742e+00] [ 4.16107420e-04 -4.31346097e-05 9.99999912e-01 -4.50755087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70327356 meters 0.09370226475528429 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.62, Z:-0.45 [[ 9.99996802e-01 2.52254052e-03 -1.79075671e-04 1.77158031e+01] [-2.52253726e-03 9.99996818e-01 1.84288541e-05 -1.61936816e+00] [ 1.79121589e-04 -1.79770701e-05 9.99999984e-01 -4.51419197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76327356 meters 0.09543586503648718 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.63, Z:-0.45 [[ 9.99989962e-01 4.48041345e-03 4.32313178e-05 1.77744008e+01] [-4.48041323e-03 9.99989963e-01 -5.30110823e-06 -1.62691829e+00] [-4.32546350e-05 5.10736085e-06 9.99999999e-01 -4.53915346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82327356 meters 0.0959922628004861 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.63, Z:-0.45 [[ 9.99990499e-01 4.35809951e-03 9.80669826e-05 1.78331004e+01] [-4.35809837e-03 9.99990503e-01 -1.18197683e-05 -1.63396935e+00] [-9.81175630e-05 1.13922705e-05 9.99999995e-01 -4.54948286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88327356 meters 0.09647400665574624 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.64, Z:-0.46 [[ 9.99991217e-01 4.14083200e-03 6.46906831e-04 1.78921666e+01] [-4.14078778e-03 9.99991424e-01 -6.96924571e-05 -1.64083424e+00] [-6.47189868e-04 6.70131411e-05 9.99999788e-01 -4.56637802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943273559999998 meters 0.09560735780468556 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.65, Z:-0.46 [[ 9.99993319e-01 2.62940713e-03 2.53941285e-03 1.79516303e+01] [-2.62872600e-03 9.99996508e-01 -2.71525384e-04 -1.64608821e+00] [-2.54011793e-03 2.64848149e-04 9.99996739e-01 -4.56370334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00327356 meters 0.09720001024169839 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.66, Z:-0.46 [[ 9.99998568e-01 2.08942618e-04 1.67963337e-03 1.80109112e+01] [-2.08641584e-04 9.99999962e-01 -1.79399234e-04 -1.65662206e+00] [-1.67967079e-03 1.79048536e-04 9.99998573e-01 -4.58377410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06327356 meters 0.09917654063419433 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.67, Z:-0.46 [[ 9.99999323e-01 -1.04203428e-03 5.18185625e-04 1.80707310e+01] [ 1.04206289e-03 9.99999456e-01 -5.49314388e-05 -1.66714578e+00] [-5.18128102e-04 5.54713836e-05 9.99999864e-01 -4.60737942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.123273559999998 meters 0.09577335858706722 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.67, Z:-0.46 [[ 9.99998064e-01 -1.81374800e-03 7.63213367e-04 1.81319411e+01] [ 1.81381039e-03 9.99998352e-01 -8.10664549e-05 -1.66806180e+00] [-7.63065075e-04 8.24506223e-05 9.99999705e-01 -4.61159823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18327356 meters 0.09613811072645898 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.68, Z:-0.46 [[ 9.99998110e-01 -1.43066159e-03 1.31634062e-03 1.81925951e+01] [ 1.43084681e-03 9.99998967e-01 -1.39771516e-04 -1.67567139e+00] [-1.31613930e-03 1.41654734e-04 9.99999124e-01 -4.62238208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24327356 meters 0.09798139219671338 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.68, Z:-0.46 [[ 9.99999696e-01 7.67967930e-04 1.35760203e-04 1.82514607e+01] [-7.67965971e-04 9.99999705e-01 -1.44868155e-05 -1.68466565e+00] [-1.35771288e-04 1.43825519e-05 9.99999991e-01 -4.64280931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.303273559999997 meters 0.09887563284765494 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99996821e-01 2.51941742e-03 1.01537455e-04 1.83105477e+01] [-2.51941630e-03 9.99996826e-01 -1.11654687e-05 -1.69157722e+00] [-1.01565263e-04 1.09096181e-05 9.99999995e-01 -4.66346255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36327356 meters 0.10024090096244595 Centerline is valid? [True, False] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99995929e-01 2.84298384e-03 -2.44544511e-04 1.83116921e+01] [-2.84295750e-03 9.99995953e-01 1.07997246e-04 -1.69108126e+00] [ 2.44850556e-04 -1.07301577e-04 9.99999964e-01 -4.66988997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42327356 meters 0.10188398603128403 Centerline is valid? [False, False] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99995920e-01 2.84812963e-03 -2.20499939e-04 1.83119481e+01] [-2.84812103e-03 9.99995943e-01 3.92876803e-05 -1.69064919e+00] [ 2.20610941e-04 -3.86595095e-05 9.99999975e-01 -4.67365624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.483273559999997 meters 0.10279573551713124 Centerline is valid? [False, False] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99996491e-01 2.64374032e-03 -1.68455031e-04 1.83116561e+01] [-2.64377946e-03 9.99996478e-01 -2.32549291e-04 -1.69022808e+00] [ 1.67839637e-04 2.32993833e-04 9.99999959e-01 -4.67095130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54327356 meters 0.10497372187434373 Centerline is valid? [False, False] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99996245e-01 2.73371973e-03 -1.93372462e-04 1.83118152e+01] [-2.73374194e-03 9.99996257e-01 -1.14672548e-04 -1.69030799e+00] [ 1.93058256e-04 1.15200748e-04 9.99999975e-01 -4.67262165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.603273559999998 meters 0.10835458931514134 Centerline is valid? [False, False] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99996621e-01 2.59773093e-03 -1.00902853e-04 1.83115483e+01] [-2.59775410e-03 9.99996599e-01 -2.30197163e-04 -1.68994421e+00] [ 1.00304520e-04 2.30458506e-04 9.99999968e-01 -4.67143141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66327356 meters 0.09499556571648368 Centerline is valid? [False, True] Translation: X:18.31, Y:-1.69, Z:-0.47 [[ 9.99997209e-01 2.36197907e-03 5.40852149e-05 1.83110347e+01] [-2.36195517e-03 9.99997115e-01 -4.37861451e-04 -1.68987209e+00] [-5.51192784e-05 4.37732482e-04 9.99999903e-01 -4.66848770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72327356 meters 0.0968549175683416 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.70, Z:-0.47 [[ 9.99997869e-01 1.99981649e-03 -5.13144733e-04 1.83702316e+01] [-1.99978918e-03 9.99997999e-01 5.37315465e-05 -1.69954080e+00] [ 5.13251159e-04 -5.27052507e-05 9.99999867e-01 -4.70263891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.783273559999998 meters 0.09637049938819665 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.70, Z:-0.47 [[ 9.99998150e-01 1.10906304e-03 -1.57137491e-03 1.84296217e+01] [-1.10880366e-03 9.99999372e-01 1.65926954e-04 -1.70380207e+00] [ 1.57155794e-03 -1.64184301e-04 9.99998752e-01 -4.72026262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84327356 meters 0.09748358051276491 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.71, Z:-0.47 [[ 9.99999304e-01 4.11728519e-04 -1.10570077e-03 1.84892157e+01] [-4.11599943e-04 9.99999909e-01 1.16509637e-04 -1.71089412e+00] [ 1.10574864e-03 -1.16054449e-04 9.99999382e-01 -4.73651579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90327356 meters 0.09747875520056591 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.72, Z:-0.47 [[ 9.99999957e-01 -1.29896139e-04 -2.63865042e-04 1.85488410e+01] [ 1.29903334e-04 9.99999991e-01 2.72525479e-05 -1.71560752e+00] [ 2.63861499e-04 -2.72868237e-05 9.99999965e-01 -4.74048187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.963273559999998 meters 0.09553522051352364 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.72, Z:-0.47 [[ 9.99999576e-01 -6.21801991e-04 -6.79893823e-04 1.86093949e+01] [ 6.21851122e-04 9.99999804e-01 7.20539512e-05 -1.71667196e+00] [ 6.79848887e-04 -7.24767134e-05 9.99999766e-01 -4.73709869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02327356 meters 0.09778801334215577 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.73, Z:-0.48 [[ 9.99999332e-01 -1.14448695e-03 -1.63076431e-04 1.86692891e+01] [ 1.14448978e-03 9.99999345e-01 1.72825533e-05 -1.72555593e+00] [ 1.63056545e-04 -1.74691810e-05 9.99999987e-01 -4.76645913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08327356 meters 0.09785002485266454 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99989636e-01 -4.29202604e-03 -1.51839415e-03 1.87298961e+01] [ 4.29227537e-03 9.99990775e-01 1.60983924e-04 -1.73062266e+00] [ 1.51768920e-03 -1.67499622e-04 9.99998834e-01 -4.77525306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.143273559999997 meters 0.1043532159278616 Centerline is valid? [True, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99990538e-01 -4.04118923e-03 -1.61005902e-03 1.87307442e+01] [ 4.04192452e-03 9.99991728e-01 4.53694050e-04 -1.73054347e+00] [ 1.60821223e-03 -4.60197494e-04 9.99998601e-01 -4.78479656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20327356 meters 0.10100326923678346 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99990863e-01 -3.99388709e-03 -1.52403436e-03 1.87308983e+01] [ 3.99475288e-03 9.99991861e-01 5.65470778e-04 -1.73037098e+00] [ 1.52176353e-03 -5.71553752e-04 9.99998679e-01 -4.78939018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26327356 meters 0.10187604065961453 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99991293e-01 -3.92946593e-03 -1.40467141e-03 1.87305505e+01] [ 3.93069725e-03 9.99991892e-01 8.74902115e-04 -1.73136244e+00] [ 1.40122212e-03 -8.80415835e-04 9.99998631e-01 -4.78783296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32327356 meters 0.10896601214677298 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99992094e-01 -3.84733636e-03 -1.00498167e-03 1.87300422e+01] [ 3.84887915e-03 9.99991411e-01 1.53774345e-03 -1.73328305e+00] [ 9.99056821e-04 -1.54159935e-03 9.99998313e-01 -4.79167949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38327356 meters 0.10469869571953473 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99992296e-01 -3.80472897e-03 -9.65401618e-04 1.87299303e+01] [ 3.80638217e-03 9.99991283e-01 1.71642513e-03 -1.73388624e+00] [ 9.58862669e-04 -1.72008659e-03 9.99998061e-01 -4.79128373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.443273559999998 meters 0.10606806298374777 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99992851e-01 -3.62986838e-03 -1.05883806e-03 1.87303777e+01] [ 3.63189150e-03 9.99991571e-01 1.91506992e-03 -1.73408559e+00] [ 1.05187768e-03 -1.91890182e-03 9.99997606e-01 -4.79475526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50327356 meters 0.10577112934414665 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.73, Z:-0.48 [[ 9.99992994e-01 -3.58400349e-03 -1.08053515e-03 1.87304595e+01] [ 3.58614374e-03 9.99991599e-01 1.98533902e-03 -1.73429281e+00] [ 1.07341061e-03 -1.98920007e-03 9.99997445e-01 -4.79529827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56327356 meters 0.10808689375097477 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99994041e-01 -3.27345048e-03 -1.09665085e-03 1.87307826e+01] [ 3.27618809e-03 9.99991498e-01 2.50390526e-03 -1.73537187e+00] [ 1.08844512e-03 -2.50748317e-03 9.99996264e-01 -4.79942068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.623273559999998 meters 0.10473394720061345 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99994344e-01 -3.25096966e-03 -8.61527620e-04 1.87302260e+01] [ 3.25335312e-03 9.99990844e-01 2.77973680e-03 -1.73672694e+00] [ 8.52482892e-04 -2.78252393e-03 9.99995765e-01 -4.79804776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68327356 meters 0.10463842557018953 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99994757e-01 -3.10625096e-03 -9.15363750e-04 1.87303554e+01] [ 3.10894365e-03 9.99990801e-01 2.95507332e-03 -1.73730137e+00] [ 9.06176130e-04 -2.95790364e-03 9.99995215e-01 -4.79798672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74327356 meters 0.10613698296237396 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99995660e-01 -2.82624519e-03 -8.31700025e-04 1.87302322e+01] [ 2.82913231e-03 9.99989905e-01 3.49089456e-03 -1.73907938e+00] [ 8.21825505e-04 -3.49323240e-03 9.99993561e-01 -4.79840301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.803273559999997 meters 0.1060192432800397 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996553e-01 -2.39968326e-03 -1.06542166e-03 1.87310761e+01] [ 2.40386508e-03 9.99989344e-01 3.94126196e-03 -1.73985470e+00] [ 1.05595253e-03 -3.94380951e-03 9.99991666e-01 -4.80365610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86327356 meters 0.10492616791932124 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996297e-01 -2.36983809e-03 -1.33797493e-03 1.87316702e+01] [ 2.37477317e-03 9.99990339e-01 3.69900562e-03 -1.73908095e+00] [ 1.32919596e-03 -3.70216930e-03 9.99992264e-01 -4.80390345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92327356 meters 0.10245533074979644 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996193e-01 -2.09891431e-03 -1.79132701e-03 1.87327622e+01] [ 2.10543429e-03 9.99991138e-01 3.64565939e-03 -1.73822802e+00] [ 1.78365921e-03 -3.64941703e-03 9.99991750e-01 -4.80697345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.983273559999997 meters 0.09919099058901541 Centerline is valid? [False, True] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99995896e-01 -1.97735029e-03 -2.07331763e-03 1.87335539e+01] [ 1.98449211e-03 9.99992086e-01 3.44825569e-03 -1.73719870e+00] [ 2.06648281e-03 -3.45235602e-03 9.99991905e-01 -4.81025527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04327356 meters 0.10113426702956192 Centerline is valid? [True, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99995542e-01 -2.12790649e-03 -2.09468298e-03 1.87334322e+01] [ 2.13454082e-03 9.99992697e-01 3.17010076e-03 -1.73656249e+00] [ 2.08792200e-03 -3.17455781e-03 9.99992781e-01 -4.80763812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.103273559999998 meters 0.10400293573453585 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996126e-01 -2.03179558e-03 -1.90276480e-03 1.87328668e+01] [ 2.03867227e-03 9.99991373e-01 3.61911402e-03 -1.73820711e+00] [ 1.89539509e-03 -3.62297911e-03 9.99991641e-01 -4.80392661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16327356 meters 0.10825081080824456 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996780e-01 -2.12909096e-03 -1.38117198e-03 1.87315897e+01] [ 2.13480327e-03 9.99989120e-01 4.14763928e-03 -1.74113786e+00] [ 1.37232626e-03 -4.15057446e-03 9.99990445e-01 -4.79961294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22327356 meters 0.10311559265228089 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99997096e-01 -2.24432685e-03 -8.78572981e-04 1.87304032e+01] [ 2.24833120e-03 9.99986968e-01 4.58364656e-03 -1.74339634e+00] [ 8.68274330e-04 -4.58560857e-03 9.99989109e-01 -4.79611942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.283273559999998 meters 0.11275988467640337 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99997122e-01 -2.23750303e-03 -8.66231065e-04 1.87301788e+01] [ 2.24148133e-03 9.99986819e-01 4.61924794e-03 -1.74394493e+00] [ 8.55884066e-04 -4.62117628e-03 9.99988956e-01 -4.79279333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34327356 meters 0.10411035492555987 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99997428e-01 -2.07496021e-03 -9.15185534e-04 1.87302467e+01] [ 2.07933806e-03 9.99986276e-01 4.80883744e-03 -1.74472878e+00] [ 9.05194827e-04 -4.81072806e-03 9.99988019e-01 -4.79179057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40327356 meters 0.10226216458530991 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99997368e-01 -2.08298588e-03 -9.61355928e-04 1.87301052e+01] [ 2.08755336e-03 9.99986422e-01 4.77478408e-03 -1.74497826e+00] [ 9.51397067e-04 -4.77677840e-03 9.99988139e-01 -4.78789903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.463273559999998 meters 0.10288190655695051 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99997150e-01 -2.11349687e-03 -1.11072599e-03 1.87303411e+01] [ 2.11855899e-03 9.99987285e-01 4.57624767e-03 -1.74449688e+00] [ 1.10103998e-03 -4.57858777e-03 9.99988912e-01 -4.78680910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52327356 meters 0.10029928115063506 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99996721e-01 -2.04931604e-03 -1.53589801e-03 1.87311408e+01] [ 2.05575202e-03 9.99989064e-01 4.20056761e-03 -1.74321725e+00] [ 1.52727292e-03 -4.20371126e-03 9.99989998e-01 -4.78635125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58327356 meters 0.10023850145965667 Centerline is valid? [False, False] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99995919e-01 -1.93411959e-03 -2.10272720e-03 1.87321453e+01] [ 1.94196477e-03 9.99991138e-01 3.73533987e-03 -1.74139338e+00] [ 2.09548397e-03 -3.73940804e-03 9.99990813e-01 -4.78529607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.643273559999997 meters 0.09819278460883353 Centerline is valid? [False, True] Translation: X:18.73, Y:-1.74, Z:-0.48 [[ 9.99994942e-01 -1.71786515e-03 -2.67671741e-03 1.87333666e+01] [ 1.72700412e-03 9.99992675e-01 3.41568150e-03 -1.73975202e+00] [ 2.67083012e-03 -3.42028692e-03 9.99990584e-01 -4.78731445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70327356 meters 0.09497601263202504 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.74, Z:-0.48 [[ 9.99994509e-01 7.16642776e-04 -3.23539871e-03 1.87940288e+01] [-7.15531771e-04 9.99999685e-01 3.44534717e-04 -1.73722615e+00] [ 3.23564460e-03 -3.42217795e-04 9.99994707e-01 -4.77246948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76327356 meters 0.09631374950044001 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.75, Z:-0.48 [[ 9.99987858e-01 8.83092387e-04 -4.84804073e-03 1.88525722e+01] [-8.80605626e-04 9.99999480e-01 5.15052132e-04 -1.74580691e+00] [ 4.84849305e-03 -5.10776666e-04 9.99988116e-01 -4.79548942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823273559999997 meters 0.09386648217937708 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.75, Z:-0.48 [[ 9.99981524e-01 6.67407079e-04 -6.04201300e-03 1.89111562e+01] [-6.63544020e-04 9.99999574e-01 6.41348297e-04 -1.74797645e+00] [ 6.04243846e-03 -6.37327306e-04 9.99981541e-01 -4.79866565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88327356 meters 0.09525180189232627 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.76, Z:-0.48 [[ 9.99983925e-01 6.65400802e-05 -5.66971874e-03 1.89691941e+01] [-6.31315162e-05 9.99999817e-01 6.01364342e-04 -1.75750524e+00] [ 5.66975772e-03 -6.00996737e-04 9.99983746e-01 -4.82073938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943273559999998 meters 0.0954558477076457 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.76, Z:-0.48 [[ 9.99977997e-01 -3.93677134e-04 -6.62192165e-03 1.90278253e+01] [ 3.98335346e-04 9.99999674e-01 7.02149011e-04 -1.76465705e+00] [ 6.62164308e-03 -7.04771307e-04 9.99977828e-01 -4.83370862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00327356 meters 0.09487949640661088 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.77, Z:-0.48 [[ 9.99971263e-01 -1.15497971e-03 -7.49266773e-03 1.90874364e+01] [ 1.16096956e-03 9.99999010e-01 7.95129221e-04 -1.76957614e+00] [ 7.49174195e-03 -8.03805130e-04 9.99971613e-01 -4.84779771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06327356 meters 0.09745279455754287 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.78, Z:-0.49 [[ 9.99970557e-01 -3.20628977e-03 -6.97174669e-03 1.91463179e+01] [ 3.21152636e-03 9.99994569e-01 7.40050580e-04 -1.78098520e+00] [ 6.96933601e-03 -7.62418739e-04 9.99975423e-01 -4.86409893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.123273559999998 meters 0.10032037172853657 Centerline is valid? [True, False] Translation: X:19.15, Y:-1.78, Z:-0.49 [[ 9.99970960e-01 -3.09854554e-03 -6.96255661e-03 1.91466590e+01] [ 3.10472496e-03 9.99994796e-01 8.76889554e-04 -1.78072276e+00] [ 6.95980330e-03 -8.98480913e-04 9.99975377e-01 -4.86940738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18327356 meters 0.09792788222405921 Centerline is valid? [False, True] Translation: X:19.15, Y:-1.78, Z:-0.49 [[ 9.99970824e-01 -3.36554149e-03 -6.85745695e-03 1.91463814e+01] [ 3.36940936e-03 9.99994171e-01 5.52562589e-04 -1.77980256e+00] [ 6.85555731e-03 -5.75652047e-04 9.99976335e-01 -4.86889981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24327356 meters 0.09849587014814802 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.79, Z:-0.49 [[ 9.99977833e-01 -2.37480932e-03 -6.22047648e-03 1.92057857e+01] [ 2.37899865e-03 9.99996948e-01 6.66160941e-04 -1.78618311e+00] [ 6.21887549e-03 -6.80944679e-04 9.99980431e-01 -4.88494006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.303273559999997 meters 0.09504409590790851 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.79, Z:-0.49 [[ 9.99983858e-01 -3.81450240e-04 -5.66900554e-03 1.92664776e+01] [ 3.84900819e-04 9.99999741e-01 6.07596031e-04 -1.78521173e+00] [ 5.66877230e-03 -6.09768228e-04 9.99983746e-01 -4.88287451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36327356 meters 0.09611917523338472 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.79, Z:-0.49 [[ 9.99981344e-01 1.37127725e-03 -5.95236487e-03 1.93260526e+01] [-1.36750896e-03 9.99998862e-01 6.37099595e-04 -1.79139996e+00] [ 5.95323174e-03 -6.28947797e-04 9.99982082e-01 -4.90138414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42327356 meters 0.09533731463080022 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.80, Z:-0.49 [[ 9.99975280e-01 1.93948879e-03 -6.75851744e-03 1.93851045e+01] [-1.93464702e-03 9.99997867e-01 7.22859100e-04 -1.79638404e+00] [ 6.75990500e-03 -7.09765886e-04 9.99976900e-01 -4.91250588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.483273559999997 meters 0.0966611179136268 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.81, Z:-0.49 [[ 9.99973992e-01 1.38814163e-03 -7.07725744e-03 1.94435978e+01] [-1.38282414e-03 9.99998758e-01 7.56186730e-04 -1.80569091e+00] [ 7.07829834e-03 -7.46380461e-04 9.99974670e-01 -4.92826808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54327356 meters 0.09527242335505992 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.81, Z:-0.49 [[ 9.99973625e-01 8.44819025e-04 -7.21360652e-03 1.95019567e+01] [-8.39284238e-04 9.99999351e-01 7.70263024e-04 -1.80974846e+00] [ 7.21425257e-03 -7.64188442e-04 9.99973685e-01 -4.93075546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.603273559999998 meters 0.0975711037969685 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.82, Z:-0.49 [[ 9.99974094e-01 2.44715265e-04 -7.19379455e-03 1.95589027e+01] [-2.39202212e-04 9.99999677e-01 7.67212717e-04 -1.82044577e+00] [ 7.19397997e-03 -7.65472070e-04 9.99973830e-01 -4.94638593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66327356 meters 0.0948404401792341 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.82, Z:-0.50 [[ 9.99967052e-01 -2.13229406e-04 -8.11480304e-03 1.96176142e+01] [ 2.20259147e-04 9.99999601e-01 8.65402238e-04 -1.82197295e+00] [ 8.11461527e-03 -8.67161084e-04 9.99966700e-01 -4.95233982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72327356 meters 0.0960284660345342 Centerline is valid? [True, True] Translation: X:19.67, Y:-1.83, Z:-0.50 [[ 9.99963037e-01 -4.59419916e-04 -8.58569159e-03 1.96745686e+01] [ 4.67284059e-04 9.99999473e-01 9.13975696e-04 -1.83011067e+00] [ 8.58526717e-03 -9.17953869e-04 9.99962725e-01 -4.96462216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.783273559999998 meters 0.09630150910699169 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.84, Z:-0.50 [[ 9.99964383e-01 -5.91653122e-04 -8.41922192e-03 1.97318208e+01] [ 5.99213495e-04 9.99999420e-01 8.95495408e-04 -1.83639769e+00] [ 8.41868721e-03 -9.00508424e-04 9.99964157e-01 -4.96403306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84327356 meters 0.09515345989128175 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.84, Z:-0.50 [[ 9.99961815e-01 -7.99220257e-04 -8.70224770e-03 1.97908878e+01] [ 8.07306367e-04 9.99999246e-01 9.25724823e-04 -1.84118894e+00] [ 8.70150128e-03 -9.32714855e-04 9.99961706e-01 -4.96447219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90327356 meters 0.09641966520763069 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.85, Z:-0.50 [[ 9.99952282e-01 -9.94677341e-04 -9.71819640e-03 1.98493607e+01] [ 1.00471758e-03 9.99998967e-01 1.02831042e-03 -1.84954965e+00] [ 9.71716352e-03 -1.03802540e-03 9.99952248e-01 -4.97656309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.963273559999998 meters 0.09612103539698774 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.85, Z:-0.50 [[ 9.99948281e-01 -5.11494109e-04 -1.01574240e-02 1.99078751e+01] [ 5.22415480e-04 9.99999288e-01 1.07258653e-03 -1.85470791e+00] [ 1.01568682e-02 -1.07783746e-03 9.99947837e-01 -4.98606590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02327356 meters 0.09481342787245865 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.86, Z:-0.50 [[ 9.99951596e-01 7.89326940e-04 -9.80724220e-03 1.99675313e+01] [-7.79172972e-04 9.99999157e-01 1.03913181e-03 -1.85870614e+00] [ 9.80805415e-03 -1.03143998e-03 9.99951368e-01 -4.98530654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08327356 meters 0.09290759437650666 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.86, Z:-0.50 [[ 9.99950309e-01 1.88853928e-03 -9.78841538e-03 2.00273315e+01] [-1.87847976e-03 9.99997698e-01 1.03678904e-03 -1.86041468e+00] [ 9.79035087e-03 -1.01835018e-03 9.99951555e-01 -4.98470870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.143273559999997 meters 0.09481612187337558 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.87, Z:-0.50 [[ 9.99946037e-01 2.61231200e-03 -1.00548422e-02 2.00849990e+01] [-2.60174686e-03 9.99996050e-01 1.06368882e-03 -1.86938287e+00] [ 1.00575812e-02 -1.03747127e-03 9.99948883e-01 -5.00768926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20327356 meters 0.0931825360150904 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.87, Z:-0.50 [[ 9.99936577e-01 4.70483498e-03 -1.02325938e-02 2.01450819e+01] [-4.69399256e-03 9.99988396e-01 1.08335558e-03 -1.87136653e+00] [ 1.02375721e-02 -1.03525515e-03 9.99947059e-01 -5.01764154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26327356 meters 0.09143977141222585 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.87, Z:-0.50 [[ 9.99935612e-01 5.80150562e-03 -9.75267575e-03 2.02047530e+01] [-5.79171492e-03 9.99982696e-01 1.03184234e-03 -1.87330916e+00] [ 9.75849323e-03 -9.75291183e-04 9.99951909e-01 -5.01069147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323273559999997 meters 0.09180777901418667 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.88, Z:-0.50 [[ 9.99939612e-01 6.16421063e-03 -9.09810284e-03 2.02635241e+01] [-6.15571717e-03 9.99980591e-01 9.61250310e-04 -1.87938879e+00] [ 9.10385161e-03 -9.05186914e-04 9.99958149e-01 -5.01072408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38327356 meters 0.0950355029748269 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.89, Z:-0.51 [[ 9.99941389e-01 4.81266910e-03 -9.69824007e-03 2.03211023e+01] [-4.80295552e-03 9.99987941e-01 1.02462413e-03 -1.89059926e+00] [ 9.70305430e-03 -9.77983856e-04 9.99952446e-01 -5.05104450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443273559999998 meters 0.09641166222926661 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.90, Z:-0.51 [[ 9.99942026e-01 4.39004944e-03 -9.83219385e-03 2.03789627e+01] [-4.38005484e-03 9.99989869e-01 1.03782030e-03 -1.89888188e+00] [ 9.83665032e-03 -9.94694584e-04 9.99951124e-01 -5.07238157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50327356 meters 0.09351139538145194 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.90, Z:-0.51 [[ 9.99949862e-01 3.07055488e-03 -9.53123778e-03 2.04390897e+01] [-3.06110096e-03 9.99994808e-01 1.00631816e-03 -1.89859586e+00] [ 9.53427826e-03 -9.77091624e-04 9.99954070e-01 -5.06026579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56327356 meters 0.09475442309506563 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.91, Z:-0.51 [[ 9.99960752e-01 1.28974722e-03 -8.76531915e-03 2.04991877e+01] [-1.28167856e-03 9.99998750e-01 9.26075432e-04 -1.90707589e+00] [ 8.76650260e-03 -9.14804764e-04 9.99961155e-01 -5.06739246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623273559999998 meters 0.09573303297079239 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99964573e-01 -3.22933473e-03 -7.77333923e-03 2.05584201e+01] [ 3.23581212e-03 9.99994428e-01 8.20849868e-04 -1.91603044e+00] [ 7.77064512e-03 -8.45973853e-04 9.99969450e-01 -5.06814079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68327356 meters 0.10099513504566154 Centerline is valid? [True, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99968148e-01 -3.42874528e-03 -7.20745619e-03 2.05575061e+01] [ 3.43690672e-03 9.99993466e-01 1.12028075e-03 -1.91720240e+00] [ 7.20356795e-03 -1.14501642e-03 9.99973398e-01 -5.07107356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74327356 meters 0.10102134671703827 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99969730e-01 -3.31753903e-03 -7.03790830e-03 2.05575764e+01] [ 3.32797716e-03 9.99993379e-01 1.47193732e-03 -1.91769639e+00] [ 7.03297849e-03 -1.49531477e-03 9.99974150e-01 -5.07702309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803273559999997 meters 0.10492968537357503 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99971975e-01 -3.20720044e-03 -6.76489417e-03 2.05572511e+01] [ 3.22073850e-03 9.99992831e-01 1.99127871e-03 -1.91897496e+00] [ 6.75845924e-03 -2.01301086e-03 9.99975135e-01 -5.08020519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86327356 meters 0.10941857824415305 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99973510e-01 -3.45937630e-03 -6.40409227e-03 2.05562670e+01] [ 3.47205165e-03 9.99992034e-01 1.96919844e-03 -1.91951153e+00] [ 6.39722905e-03 -1.99138161e-03 9.99977555e-01 -5.07618886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92327356 meters 0.10098718768330735 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99974298e-01 -3.35211652e-03 -6.33774230e-03 2.05563098e+01] [ 3.36607554e-03 9.99991930e-01 2.19314079e-03 -1.91999637e+00] [ 6.33033949e-03 -2.21441774e-03 9.99977511e-01 -5.07861447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983273559999997 meters 0.1036723960174221 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99973416e-01 -2.99628105e-03 -6.64752486e-03 2.05573135e+01] [ 3.01291297e-03 9.99992353e-01 2.49337046e-03 -1.92005616e+00] [ 6.64000319e-03 -2.51333259e-03 9.99974796e-01 -5.08365760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04327356 meters 0.10272851717482459 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99972355e-01 -2.98441829e-03 -6.81042614e-03 2.05576358e+01] [ 3.00047625e-03 9.99992740e-01 2.34885190e-03 -1.91963346e+00] [ 6.80336674e-03 -2.36922148e-03 9.99974050e-01 -5.08324104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103273559999998 meters 0.10230768575094204 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99970087e-01 -2.69129518e-03 -7.25133419e-03 2.05586063e+01] [ 2.70852088e-03 9.99993531e-01 2.36674973e-03 -1.91903145e+00] [ 7.24491766e-03 -2.38631933e-03 9.99970908e-01 -5.08458609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16327356 meters 0.10390572053562078 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99969926e-01 -2.43277407e-03 -7.36403528e-03 2.05591117e+01] [ 2.45220940e-03 9.99993531e-01 2.63134555e-03 -1.91934567e+00] [ 7.35758618e-03 -2.64932457e-03 9.99969423e-01 -5.08847679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22327356 meters 0.1062423975364972 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99971699e-01 -2.35746833e-03 -7.14453462e-03 2.05584958e+01] [ 2.37895361e-03 9.99992670e-01 3.00022816e-03 -1.92098781e+00] [ 7.13740931e-03 -3.01713976e-03 9.99969977e-01 -5.08600788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283273559999998 meters 0.10791962120782732 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99972906e-01 -2.23553242e-03 -7.01348909e-03 2.05584134e+01] [ 2.25869237e-03 9.99992017e-01 3.29601988e-03 -1.92177126e+00] [ 7.00606475e-03 -3.31177189e-03 9.99969973e-01 -5.08849881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34327356 meters 0.11106043917892389 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.92, Z:-0.51 [[ 9.99975471e-01 -2.11682029e-03 -6.67649390e-03 2.05577793e+01] [ 2.14280986e-03 9.99990146e-01 3.88794858e-03 -1.92392814e+00] [ 6.66819802e-03 -3.90215967e-03 9.99970154e-01 -5.08892977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40327356 meters 0.10652641174385458 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.93, Z:-0.51 [[ 9.99977741e-01 -2.08235248e-03 -6.33893067e-03 2.05570499e+01] [ 2.10961081e-03 9.99988545e-01 4.29650141e-03 -1.92584375e+00] [ 6.32991123e-03 -4.30977844e-03 9.99970679e-01 -5.08810001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463273559999998 meters 0.10096868846845024 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.93, Z:-0.51 [[ 9.99977861e-01 -2.16478263e-03 -6.29215351e-03 2.05566348e+01] [ 2.19151951e-03 9.99988587e-01 4.24545606e-03 -1.92627114e+00] [ 6.28289121e-03 -4.25915144e-03 9.99971192e-01 -5.08340114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52327356 meters 0.10134488653986957 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.93, Z:-0.51 [[ 9.99978082e-01 -2.22559349e-03 -6.23554683e-03 2.05560387e+01] [ 2.25231408e-03 9.99988298e-01 4.28146357e-03 -1.92715383e+00] [ 6.22594506e-03 -4.29541414e-03 9.99971393e-01 -5.07648413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58327356 meters 0.1009509262561401 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.93, Z:-0.51 [[ 9.99978513e-01 -1.97772594e-03 -6.25001390e-03 2.05561854e+01] [ 2.00674142e-03 9.99987223e-01 4.63961055e-03 -1.92836193e+00] [ 6.24075817e-03 -4.65205302e-03 9.99969705e-01 -5.07755965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643273559999997 meters 0.09959749739066887 Centerline is valid? [False, True] Translation: X:20.56, Y:-1.93, Z:-0.51 [[ 9.99978762e-01 -1.90063033e-03 -6.23404276e-03 2.05559835e+01] [ 1.93070866e-03 9.99986508e-01 4.82238632e-03 -1.92922370e+00] [ 6.22479308e-03 -4.83432003e-03 9.99968940e-01 -5.07519992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70327356 meters 0.0999319266877361 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.94, Z:-0.51 [[ 9.99971536e-01 -2.00829224e-03 -7.27276249e-03 2.06138540e+01] [ 2.01436049e-03 9.99997629e-01 8.27151544e-04 -1.93748948e+00] [ 7.27108409e-03 -8.41777966e-04 9.99973211e-01 -5.07147283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76327356 meters 0.0997960144015583 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.95, Z:-0.51 [[ 9.99965658e-01 -1.93228678e-03 -8.05914512e-03 2.06724589e+01] [ 1.93969650e-03 9.99997703e-01 9.11702228e-04 -1.94576195e+00] [ 8.05736494e-03 -9.27303213e-04 9.99967109e-01 -5.08716396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823273559999997 meters 0.1012052991015593 Centerline is valid? [True, False] Translation: X:20.67, Y:-1.95, Z:-0.51 [[ 9.99966288e-01 -1.80562380e-03 -8.01020291e-03 2.06721959e+01] [ 1.81568170e-03 9.99997572e-01 1.24854195e-03 -1.94706194e+00] [ 8.00792907e-03 -1.26304383e-03 9.99967138e-01 -5.08474527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88327356 meters 0.1018945998064481 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.95, Z:-0.51 [[ 9.99968002e-01 -1.50944228e-03 -7.85601907e-03 2.06716900e+01] [ 1.52544592e-03 9.99996773e-01 2.03152430e-03 -1.94993006e+00] [ 7.85292725e-03 -2.04344322e-03 9.99967077e-01 -5.08160225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943273559999998 meters 0.1007171380384768 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.95, Z:-0.51 [[ 9.99969679e-01 -1.31025678e-03 -7.67624369e-03 2.06710016e+01] [ 1.33101507e-03 9.99995470e-01 2.69974140e-03 -1.95256289e+00] [ 7.67267156e-03 -2.70987674e-03 9.99966893e-01 -5.07658479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.003273560000004 meters 0.09910460550809437 Centerline is valid? [False, True] Translation: X:20.67, Y:-1.96, Z:-0.51 [[ 9.99970712e-01 -7.92479018e-04 -7.61236100e-03 2.06711515e+01] [ 8.20448588e-04 9.99992922e-01 3.67181079e-03 -1.95519259e+00] [ 7.60939729e-03 -3.67794880e-03 9.99964284e-01 -5.08036575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06327356 meters 0.10089248790707013 Centerline is valid? [True, False] Translation: X:20.67, Y:-1.96, Z:-0.51 [[ 9.99973222e-01 -5.11686006e-04 -7.30019584e-03 2.06704695e+01] [ 5.45114343e-04 9.99989373e-01 4.57784671e-03 -1.95831302e+00] [ 7.29777584e-03 -4.58170357e-03 9.99962875e-01 -5.07961215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12327356 meters 0.09930746827449637 Centerline is valid? [False, True] Translation: X:20.67, Y:-1.96, Z:-0.51 [[ 9.99975644e-01 -4.93744775e-04 -6.96193431e-03 2.06695108e+01] [ 5.28940141e-04 9.99987086e-01 5.05446574e-03 -1.96031348e+00] [ 6.95934879e-03 -5.05802508e-03 9.99962991e-01 -5.07527988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183273559999996 meters 0.1013377624534808 Centerline is valid? [True, False] Translation: X:20.67, Y:-1.96, Z:-0.51 [[ 9.99976509e-01 -2.16157682e-03 -6.50459231e-03 2.06680043e+01] [ 2.18485808e-03 9.99991226e-01 3.57422855e-03 -1.96333378e+00] [ 6.49680927e-03 -3.58835620e-03 9.99972457e-01 -5.06397107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24327356 meters 0.10301949355566128 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.97, Z:-0.51 [[ 9.99979442e-01 -2.32361271e-03 -5.97630323e-03 2.06663905e+01] [ 2.34762940e-03 9.99989185e-01 4.01478248e-03 -1.96643728e+00] [ 5.96690980e-03 -4.02873009e-03 9.99974082e-01 -5.05461767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30327356 meters 0.10268813265148535 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.97, Z:-0.51 [[ 9.99981869e-01 -2.11592789e-03 -5.63778527e-03 2.06657002e+01] [ 2.14277462e-03 9.99986375e-01 4.76015079e-03 -1.96902307e+00] [ 5.62763631e-03 -4.77214499e-03 9.99972778e-01 -5.05429642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.363273559999996 meters 0.09929736206281521 Centerline is valid? [False, True] Translation: X:20.67, Y:-1.97, Z:-0.51 [[ 9.99983434e-01 -1.80891416e-03 -5.46434745e-03 2.06652091e+01] [ 1.83953740e-03 9.99982603e-01 5.60437226e-03 -1.97193951e+00] [ 5.45411456e-03 -5.61433129e-03 9.99969365e-01 -5.05191727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42327356 meters 0.10042030874491888 Centerline is valid? [True, False] Translation: X:20.66, Y:-1.97, Z:-0.50 [[ 9.99984261e-01 -1.42945990e-03 -5.42529128e-03 2.06649232e+01] [ 1.46422638e-03 9.99978386e-01 6.40967093e-03 -1.97444989e+00] [ 5.41601165e-03 -6.41751390e-03 9.99964741e-01 -5.04910621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48327356 meters 0.10142925278369422 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.98, Z:-0.50 [[ 9.99984601e-01 -1.07649030e-03 -5.44419092e-03 2.06650063e+01] [ 1.11466399e-03 9.99974783e-01 7.01365451e-03 -1.97617763e+00] [ 5.43650350e-03 -7.01961495e-03 9.99960584e-01 -5.04956596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543273559999996 meters 0.10328659440073727 Centerline is valid? [False, False] Translation: X:20.66, Y:-1.98, Z:-0.50 [[ 9.99985219e-01 -7.75697814e-04 -5.38140622e-03 2.06647250e+01] [ 8.16751746e-04 9.99970551e-01 7.63084985e-03 -1.97829442e+00] [ 5.37532851e-03 -7.63513234e-03 9.99956404e-01 -5.04727527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60327356 meters 0.09644391884827519 Centerline is valid? [False, True] Translation: X:20.66, Y:-1.98, Z:-0.50 [[ 9.99985165e-01 -5.68278675e-04 -5.41721938e-03 2.06645134e+01] [ 6.11767037e-04 9.99967576e-01 8.02952769e-03 -1.97981953e+00] [ 5.41248072e-03 -8.03272265e-03 9.99953089e-01 -5.04325763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66327356 meters 0.10092871501078865 Centerline is valid? [True, False] Translation: X:20.67, Y:-1.98, Z:-0.50 [[ 9.99973113e-01 -4.03036751e-03 -6.12613976e-03 2.06656933e+01] [ 4.05633746e-03 9.99982815e-01 4.23270614e-03 -1.98001278e+00] [ 6.10897513e-03 -4.25744202e-03 9.99972277e-01 -5.03934611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.723273559999996 meters 0.09993678574261117 Centerline is valid? [False, True] Translation: X:20.67, Y:-1.98, Z:-0.50 [[ 9.99972314e-01 -3.76565603e-03 -6.41809380e-03 2.06660589e+01] [ 3.79441917e-03 9.99982787e-01 4.47530143e-03 -1.98064624e+00] [ 6.40113088e-03 -4.49953046e-03 9.99969389e-01 -5.03671712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78327356 meters 0.09632078594319114 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.98, Z:-0.50 [[ 9.99967654e-01 4.04665333e-04 -8.03292921e-03 2.07273276e+01] [-3.97300701e-04 9.99999499e-01 9.18379908e-04 -1.98061040e+00] [ 8.03329682e-03 -9.15158713e-04 9.99967314e-01 -5.04132672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84327356 meters 0.09430002027126184 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.98, Z:-0.50 [[ 9.99967327e-01 2.41705991e-03 -7.71376050e-03 2.07870959e+01] [-2.41033468e-03 9.99996707e-01 8.81025900e-04 -1.98486658e+00] [ 7.71586459e-03 -8.62404370e-04 9.99969860e-01 -5.04454205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.903273559999995 meters 0.09658108275074342 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.00, Z:-0.51 [[ 9.99965691e-01 5.34829480e-03 -6.32556940e-03 2.08445849e+01] [-5.34383598e-03 9.99985461e-01 7.21579981e-04 -1.99722168e+00] [ 6.32933666e-03 -6.87752419e-04 9.99979733e-01 -5.06160603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96327356 meters 0.09292498362804257 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.00, Z:-0.51 [[ 9.99961316e-01 6.00282718e-03 -6.42900910e-03 2.09042910e+01] [-5.99823778e-03 9.99981742e-01 7.32901617e-04 -1.99818091e+00] [ 6.43329120e-03 -6.94310540e-04 9.99979065e-01 -5.05835587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02327356 meters 0.09439629352582182 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.01, Z:-0.51 [[ 9.99951798e-01 6.95581222e-03 -6.92956448e-03 2.09613779e+01] [-6.95051165e-03 9.99975534e-01 7.88710034e-04 -2.00856755e+00] [ 6.93488106e-03 -7.40507998e-04 9.99975679e-01 -5.09333215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08327356 meters 0.09519828791199056 Centerline is valid? [True, True] Translation: X:21.02, Y:-2.02, Z:-0.51 [[ 9.99950761e-01 6.39183742e-03 -7.59075696e-03 2.10197171e+01] [-6.38546049e-03 9.99979239e-01 8.64030716e-04 -2.01714968e+00] [ 7.59612212e-03 -8.15517694e-04 9.99970817e-01 -5.11188513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14327356 meters 0.0942250247589538 Centerline is valid? [True, True] Translation: X:21.08, Y:-2.02, Z:-0.51 [[ 9.99941483e-01 7.29824352e-03 -7.98540335e-03 2.10780472e+01] [-7.29121860e-03 9.99973006e-01 9.08479115e-04 -2.02252817e+00] [ 7.99181809e-03 -8.50202632e-04 9.99967703e-01 -5.12099519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20327356 meters 0.0950552351906127 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.03, Z:-0.51 [[ 9.99944547e-01 7.80078700e-03 -7.07458746e-03 2.11367723e+01] [-7.79528667e-03 9.99969292e-01 8.04719375e-04 -2.03031331e+00] [ 7.08064766e-03 -7.49526314e-04 9.99974651e-01 -5.13390267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26327356 meters 0.09412579890543764 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.03, Z:-0.51 [[ 9.99928305e-01 9.89146254e-03 -6.74868500e-03 2.11971019e+01] [-9.88649904e-03 9.99950832e-01 7.68442500e-04 -2.03415664e+00] [ 6.75595420e-03 -7.01666538e-04 9.99976932e-01 -5.14616784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32327356 meters 0.09318674586006821 Centerline is valid? [True, True] Translation: X:21.26, Y:-2.04, Z:-0.52 [[ 9.99910364e-01 1.12599908e-02 -7.24403149e-03 2.12569118e+01] [-1.12543093e-02 9.99936328e-01 8.24589040e-04 -2.03851829e+00] [ 7.25285512e-03 -7.42988557e-04 9.99973422e-01 -5.15502156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38327356 meters 0.09390685384567364 Centerline is valid? [True, True] Translation: X:21.32, Y:-2.05, Z:-0.52 [[ 9.99912323e-01 1.12941435e-02 -6.91296799e-03 2.13152986e+01] [-1.12889814e-02 9.99935969e-01 7.85284694e-04 -2.04640584e+00] [ 6.92139447e-03 -7.07175475e-04 9.99975797e-01 -5.17154665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44327356 meters 0.08942156605985768 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.04, Z:-0.52 [[ 9.99925457e-01 9.58756177e-03 -7.56034370e-03 2.13756894e+01] [-9.58133190e-03 9.99953728e-01 8.59809543e-04 -2.04432948e+00] [ 7.56823735e-03 -7.87307288e-04 9.99971051e-01 -5.15434948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50327356 meters 0.09421812721680467 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.06, Z:-0.52 [[ 9.99935365e-01 7.74699814e-03 -8.32168870e-03 2.14330775e+01] [-7.73938708e-03 9.99969603e-01 9.46419210e-04 -2.05920267e+00] [ 8.32876765e-03 -8.81953268e-04 9.99964926e-01 -5.18603137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56327356 meters 0.09244317451106289 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.06, Z:-0.52 [[ 9.99957117e-01 5.34998958e-03 -7.55918316e-03 2.14930968e+01] [-5.34364291e-03 9.99985353e-01 8.59545200e-04 -2.06273226e+00] [ 7.56367100e-03 -8.19114765e-04 9.99971060e-01 -5.18066757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62327356 meters 0.09400910582019936 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.07, Z:-0.52 [[ 9.99966698e-01 2.60345680e-03 -7.73461286e-03 2.15530771e+01] [-2.59672794e-03 9.99996241e-01 8.79882091e-04 -2.07126499e+00] [ 7.73687453e-03 -8.59768104e-04 9.99969700e-01 -5.19514743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.683273559999996 meters 0.09399951276519175 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.08, Z:-0.52 [[ 9.99965122e-01 2.55575084e-03 -7.95126259e-03 2.16115499e+01] [-2.54865511e-03 9.99996345e-01 9.02406703e-04 -2.07627326e+00] [ 7.95353986e-03 -8.82110203e-04 9.99967981e-01 -5.20079971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74327356 meters 0.09474482783681495 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.08, Z:-0.52 [[ 9.99968310e-01 2.93649237e-03 -7.39967488e-03 2.16705778e+01] [-2.93035796e-03 9.99995354e-01 8.39716088e-04 -2.08250621e+00] [ 7.40210632e-03 -8.18005782e-04 9.99972269e-01 -5.21801281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80327356 meters 0.09596188873228631 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.09, Z:-0.52 [[ 9.99963953e-01 1.67099424e-03 -8.32474275e-03 2.17303175e+01] [-1.66318028e-03 9.99998170e-01 9.45477925e-04 -2.09080227e+00] [ 8.32630740e-03 -9.31598295e-04 9.99964902e-01 -5.24455948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.863273559999996 meters 0.0997572691263672 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.10, Z:-0.53 [[ 9.99963426e-01 -1.50927582e-04 -8.55123880e-03 2.17879288e+01] [ 1.59237268e-04 9.99999516e-01 9.71079842e-04 -2.10327472e+00] [ 8.55108810e-03 -9.72406002e-04 9.99962966e-01 -5.28047103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92327356 meters 0.09553772526163198 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.10, Z:-0.53 [[ 9.99968961e-01 -1.63526883e-03 -7.70728654e-03 2.18474688e+01] [ 1.64204936e-03 9.99998270e-01 8.73510073e-04 -2.10170952e+00] [ 7.70584478e-03 -8.86138705e-04 9.99969917e-01 -5.26367453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98327356 meters 0.10500881333683616 Centerline is valid? [True, False] Translation: X:21.85, Y:-2.10, Z:-0.53 [[ 9.99968936e-01 -1.62847081e-03 -7.71196644e-03 2.18475684e+01] [ 1.63529980e-03 9.99998276e-01 8.79282373e-04 -2.10145569e+00] [ 7.71052126e-03 -8.91866436e-04 9.99969876e-01 -5.26468817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.043273559999996 meters 0.09892324570058332 Centerline is valid? [False, True] Translation: X:21.85, Y:-2.10, Z:-0.53 [[ 9.99968593e-01 -1.99572428e-03 -7.67009358e-03 2.18473177e+01] [ 1.99819499e-03 9.99997954e-01 3.14473442e-04 -2.10006590e+00] [ 7.66945028e-03 -3.29789908e-04 9.99970535e-01 -5.26217057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10327356 meters 0.0961719806229664 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.10, Z:-0.53 [[ 9.99963968e-01 -2.80542595e-03 -8.01197278e-03 2.19073038e+01] [ 2.81280361e-03 9.99995630e-01 9.09709551e-04 -2.10182320e+00] [ 8.00938565e-03 -9.32212878e-04 9.99967490e-01 -5.26939054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16327356 meters 0.09755051472674355 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.11, Z:-0.53 [[ 9.99955157e-01 -3.91477019e-03 -8.62310759e-03 2.19660210e+01] [ 3.92335035e-03 9.99991825e-01 9.78328729e-04 -2.11000684e+00] [ 8.61920716e-03 -1.01211633e-03 9.99962342e-01 -5.29308039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.223273559999996 meters 0.09856610513845523 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.12, Z:-0.53 [[ 9.99951695e-01 -3.84547255e-03 -9.04545287e-03 2.20240022e+01] [ 3.85485337e-03 9.99992050e-01 1.01986968e-03 -2.11665674e+00] [ 9.04145908e-03 -1.05468931e-03 9.99958569e-01 -5.31183520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28327356 meters 0.1019170788592433 Centerline is valid? [True, False] Translation: X:22.02, Y:-2.12, Z:-0.53 [[ 9.99949524e-01 -4.20190233e-03 -9.12652338e-03 2.20238349e+01] [ 4.20560009e-03 9.99991082e-01 3.86012018e-04 -2.11519715e+00] [ 9.12482000e-03 -4.24375041e-04 9.99958278e-01 -5.30695980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34327356 meters 0.09734621000502737 Centerline is valid? [False, True] Translation: X:22.02, Y:-2.11, Z:-0.53 [[ 9.99946873e-01 -4.37987974e-03 -9.33098239e-03 2.20242425e+01] [ 4.37887559e-03 9.99990404e-01 -1.28041634e-04 -2.11335531e+00] [ 9.33145366e-03 8.71756209e-05 9.99956457e-01 -5.30692900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.403273559999995 meters 0.0981624997500574 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.12, Z:-0.53 [[ 9.99939972e-01 -4.73173066e-03 -9.88250399e-03 2.20826797e+01] [ 4.74285181e-03 9.99988145e-01 1.10220465e-03 -2.11958642e+00] [ 9.87717150e-03 -1.14900974e-03 9.99950559e-01 -5.32029811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46327356 meters 0.09790759656085783 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.12, Z:-0.53 [[ 9.99940597e-01 -5.32987367e-03 -9.50763972e-03 2.21412631e+01] [ 5.34017005e-03 9.99985182e-01 1.05790059e-03 -2.12307358e+00] [ 9.50186036e-03 -1.10861016e-03 9.99954242e-01 -5.33185141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52327356 meters 0.10512039829318164 Centerline is valid? [True, False] Translation: X:22.14, Y:-2.12, Z:-0.53 [[ 9.99958263e-01 -1.67145859e-03 -8.98216824e-03 2.21399633e+01] [ 1.71381990e-03 9.99987437e-01 4.71053073e-03 -2.12259349e+00] [ 8.97418194e-03 -4.72572794e-03 9.99948564e-01 -5.32786630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58327356 meters 0.09538837817951729 Centerline is valid? [False, True] Translation: X:22.14, Y:-2.12, Z:-0.53 [[ 9.99954038e-01 -1.67726358e-03 -9.43977184e-03 2.21414002e+01] [ 1.71590567e-03 9.99990176e-01 4.08693163e-03 -2.11955231e+00] [ 9.43282425e-03 -4.10294154e-03 9.99947092e-01 -5.33568091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64327356 meters 0.09734957229441782 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.13, Z:-0.53 [[ 9.99957235e-01 -1.18334482e-03 -9.17211393e-03 2.21986388e+01] [ 1.19287105e-03 9.99998755e-01 1.03320638e-03 -2.12631473e+00] [ 9.17087987e-03 -1.04410335e-03 9.99957401e-01 -5.34697918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70327356 meters 0.09654166269252905 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.13, Z:-0.53 [[ 9.99968785e-01 -2.42851772e-03 -7.51871418e-03 2.22583726e+01] [ 2.43495763e-03 9.99996676e-01 8.47481106e-04 -2.12992575e+00] [ 7.51663106e-03 -8.65762403e-04 9.99971375e-01 -5.34532143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76327356 meters 0.09826817766416103 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.14, Z:-0.54 [[ 9.99973994e-01 -3.09603922e-03 -6.51345209e-03 2.23160688e+01] [ 3.10087449e-03 9.99994924e-01 7.32383649e-04 -2.13779193e+00] [ 6.51115154e-03 -7.52562001e-04 9.99978519e-01 -5.36918311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82327356 meters 0.09407843376332838 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.14, Z:-0.54 [[ 9.99973756e-01 -3.62463949e-03 -6.27286837e-03 2.23756201e+01] [ 3.62910177e-03 9.99993170e-01 7.00125758e-04 -2.13591885e+00] [ 6.27028782e-03 -7.22872262e-04 9.99980080e-01 -5.36604935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88327356 meters 0.09492363430918305 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.14, Z:-0.54 [[ 9.99985131e-01 -3.07701991e-03 -4.50226348e-03 2.24346796e+01] [ 3.07932665e-03 9.99995131e-01 5.05508682e-04 -2.14244217e+00] [ 4.50068610e-03 -5.19365106e-04 9.99989737e-01 -5.38030242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94327356 meters 0.09896649853678023 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.16, Z:-0.54 [[ 9.99985521e-01 -3.50170727e-03 -4.08606642e-03 2.24925039e+01] [ 3.50360991e-03 9.99993757e-01 4.58577527e-04 -2.15530844e+00] [ 4.08443511e-03 -4.72886870e-04 9.99991547e-01 -5.41127431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00327356 meters 0.09802560612147057 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.16, Z:-0.54 [[ 9.99990643e-01 -3.87148503e-03 -1.93000057e-03 2.25525179e+01] [ 3.87190928e-03 9.99992481e-01 2.16126328e-04 -2.15863868e+00] [ 1.92914933e-03 -2.23597093e-04 9.99998114e-01 -5.41986338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06327356 meters 0.09851250273236141 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.17, Z:-0.54 [[ 9.99995120e-01 -3.03662822e-03 -7.34623765e-04 2.26132360e+01] [ 3.03668973e-03 9.99995386e-01 8.26253709e-05 -2.16542124e+00] [ 7.34369473e-04 -8.48557921e-05 9.99999727e-01 -5.43385288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12327356 meters 0.10063966121664918 Centerline is valid? [True, False] Translation: X:22.61, Y:-2.16, Z:-0.54 [[ 9.99994826e-01 -3.12597332e-03 -7.59411544e-04 2.26134472e+01] [ 3.12587417e-03 9.99995106e-01 -1.31717322e-04 -2.16453876e+00] [ 7.59819572e-04 1.29342815e-04 9.99999703e-01 -5.43629031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.183273559999996 meters 0.09740285189188141 Centerline is valid? [False, True] Translation: X:22.61, Y:-2.16, Z:-0.54 [[ 9.99995715e-01 -2.82235057e-03 -7.77615512e-04 2.26141811e+01] [ 2.82257183e-03 9.99995976e-01 2.83589881e-04 -2.16478430e+00] [ 7.76811993e-04 -2.85783541e-04 9.99999657e-01 -5.44644863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24327356 meters 0.10408051335762919 Centerline is valid? [True, False] Translation: X:22.61, Y:-2.16, Z:-0.54 [[ 9.99995837e-01 -2.80939423e-03 -6.58713959e-04 2.26141631e+01] [ 2.80966167e-03 9.99995971e-01 4.05419295e-04 -2.16476401e+00] [ 6.57572322e-04 -4.07268371e-04 9.99999701e-01 -5.44966637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30327356 meters 0.10208650293761795 Centerline is valid? [False, False] Translation: X:22.61, Y:-2.16, Z:-0.55 [[ 9.99995991e-01 -2.73762405e-03 -7.23370087e-04 2.26143448e+01] [ 2.73798936e-03 9.99996124e-01 5.04496758e-04 -2.16460448e+00] [ 7.21986161e-04 -5.06475316e-04 9.99999611e-01 -5.45081921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.363273559999996 meters 0.10437413722126662 Centerline is valid? [False, False] Translation: X:22.61, Y:-2.16, Z:-0.55 [[ 9.99996152e-01 -2.66197619e-03 -7.81222356e-04 2.26147575e+01] [ 2.66242486e-03 9.99996291e-01 5.73846463e-04 -2.16429430e+00] [ 7.79691893e-04 -5.75924200e-04 9.99999530e-01 -5.45506621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42327356 meters 0.10700031353255396 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.16, Z:-0.55 [[ 9.99996712e-01 -2.44599975e-03 -7.69715231e-04 2.26152487e+01] [ 2.44668124e-03 9.99996615e-01 8.85684508e-04 -2.16459878e+00] [ 7.67546241e-04 -8.87564844e-04 9.99999312e-01 -5.46233580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48327356 meters 0.10181346346862645 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997101e-01 -2.33866064e-03 -5.73546116e-04 2.26152695e+01] [ 2.33938042e-03 9.99996473e-01 1.25752020e-03 -2.16523986e+00] [ 5.70603180e-04 -1.25885830e-03 9.99999045e-01 -5.46847266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543273559999996 meters 0.10482778960326658 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997505e-01 -2.16524095e-03 -5.48709480e-04 2.26154065e+01] [ 2.16611587e-03 9.99996376e-01 1.59895483e-03 -2.16577961e+00] [ 5.45245369e-04 -1.60013941e-03 9.99998571e-01 -5.47120614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60327356 meters 0.10272141856320241 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997149e-01 -2.32412621e-03 -5.47856491e-04 2.26150456e+01] [ 2.32488178e-03 9.99996342e-01 1.38255416e-03 -2.16558838e+00] [ 5.44641256e-04 -1.38382392e-03 9.99998894e-01 -5.46605736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66327356 meters 0.10170262141505874 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997525e-01 -2.03265537e-03 -9.04067124e-04 2.26159697e+01] [ 2.03400494e-03 9.99996815e-01 1.49437001e-03 -2.16517366e+00] [ 9.01026706e-04 -1.49620519e-03 9.99998475e-01 -5.46925157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.723273559999996 meters 0.11430533204352097 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.16, Z:-0.55 [[ 9.99997302e-01 -2.07072767e-03 -1.05249804e-03 2.26162933e+01] [ 2.07210889e-03 9.99996991e-01 1.31293264e-03 -2.16453580e+00] [ 1.04977615e-03 -1.31510999e-03 9.99998584e-01 -5.46979123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78327356 meters 0.10110369770880871 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.16, Z:-0.55 [[ 9.99997430e-01 -1.94188662e-03 -1.17000079e-03 2.26169886e+01] [ 1.94337957e-03 9.99997297e-01 1.27623610e-03 -2.16381399e+00] [ 1.16751933e-03 -1.27850658e-03 9.99998501e-01 -5.47631405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84327356 meters 0.10348545562288905 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.16, Z:-0.55 [[ 9.99998033e-01 -1.65051876e-03 -1.09982912e-03 2.26172031e+01] [ 1.65245884e-03 9.99997076e-01 1.76541596e-03 -2.16467450e+00] [ 1.09691205e-03 -1.76722991e-03 9.99997837e-01 -5.48138235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.903273559999995 meters 0.10465539380251129 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997766e-01 -1.94522103e-03 -8.27206138e-04 2.26161488e+01] [ 1.94655917e-03 9.99996793e-01 1.61994600e-03 -2.16522704e+00] [ 8.24052332e-04 -1.62155259e-03 9.99998346e-01 -5.47373042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96327356 meters 0.10365927104725485 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99998353e-01 -1.67466610e-03 -7.00016092e-04 2.26160332e+01] [ 1.67623377e-03 9.99996075e-01 2.24492998e-03 -2.16682930e+00] [ 6.96253837e-04 -2.24609967e-03 9.99997235e-01 -5.47552563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02327356 meters 0.10378336958018958 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99998627e-01 -1.48253498e-03 -7.40131093e-04 2.26164142e+01] [ 1.48438904e-03 9.99995746e-01 2.51081157e-03 -2.16736824e+00] [ 7.36405578e-04 -2.51190677e-03 9.99996574e-01 -5.47942748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.083273559999995 meters 0.10371508164066978 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99998766e-01 -1.37773043e-03 -7.55532691e-04 2.26166346e+01] [ 1.37971030e-03 9.99995600e-01 2.62625960e-03 -2.16779690e+00] [ 7.51911088e-04 -2.62729877e-03 9.99996266e-01 -5.48212271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14327356 meters 0.10118952425780883 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99998769e-01 -1.29420853e-03 -8.87194134e-04 2.26170167e+01] [ 1.29649082e-03 9.99995840e-01 2.57674659e-03 -2.16764396e+00] [ 8.83855596e-04 -2.57789366e-03 9.99996287e-01 -5.48347545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20327356 meters 0.10174172669104227 Centerline is valid? [False, False] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99998210e-01 -1.53886329e-03 -1.10102552e-03 2.26168845e+01] [ 1.54093790e-03 9.99997034e-01 1.88589079e-03 -2.16613002e+00] [ 1.09812013e-03 -1.88758403e-03 9.99997616e-01 -5.47499859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26327356 meters 0.09655486636149886 Centerline is valid? [False, True] Translation: X:22.62, Y:-2.17, Z:-0.55 [[ 9.99997755e-01 -1.67736994e-03 -1.29487213e-03 2.26169197e+01] [ 1.67935629e-03 9.99997413e-01 1.53444626e-03 -2.16528276e+00] [ 1.29229494e-03 -1.53661737e-03 9.99997984e-01 -5.47023133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32327356 meters 0.09665315231778379 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.17, Z:-0.55 [[ 9.99999016e-01 1.39219516e-04 -1.39588878e-03 2.26770766e+01] [-1.38997421e-04 9.99999978e-01 1.59201750e-04 -2.17248329e+00] [ 1.39591092e-03 -1.59007569e-04 9.99999013e-01 -5.48277041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38327356 meters 0.0985969583476891 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.18, Z:-0.55 [[ 9.99998666e-01 1.15451336e-03 -1.15559074e-03 2.27357914e+01] [-1.15436216e-03 9.99999325e-01 1.31499664e-04 -2.18318156e+00] [ 1.15574178e-03 -1.30165518e-04 9.99999324e-01 -5.50520871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44327356 meters 0.09951731269349136 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.19, Z:-0.55 [[ 9.99996671e-01 1.34810969e-03 -2.19995177e-03 2.27952700e+01] [-1.34756239e-03 9.99999061e-01 2.50241717e-04 -2.19172461e+00] [ 2.20028706e-03 -2.47276311e-04 9.99997549e-01 -5.53553899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50327356 meters 0.09654970942937749 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.19, Z:-0.55 [[ 9.99996255e-01 1.83371445e-03 -2.03170835e-03 2.28547343e+01] [-1.83325207e-03 9.99998293e-01 2.29421927e-04 -2.19431128e+00] [ 2.03212558e-03 -2.25696434e-04 9.99997910e-01 -5.53944298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56327356 meters 0.09618490275570295 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.20, Z:-0.55 [[ 9.99995634e-01 2.35838544e-03 -1.78071351e-03 2.29136722e+01] [-2.35802979e-03 9.99997199e-01 2.01793108e-04 -2.20011418e+00] [ 1.78118442e-03 -1.97593251e-04 9.99998394e-01 -5.54186466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62327356 meters 0.09665105521843814 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.21, Z:-0.55 [[ 9.99996409e-01 2.42236438e-03 -1.14604757e-03 2.29716980e+01] [-2.42221800e-03 9.99997058e-01 1.29091742e-04 -2.20671444e+00] [ 1.14635690e-03 -1.26315301e-04 9.99999335e-01 -5.54117434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.683273559999996 meters 0.09587313433129942 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.21, Z:-0.56 [[ 9.99996749e-01 2.43054556e-03 -7.70919826e-04 2.30310449e+01] [-2.43047917e-03 9.99997043e-01 8.70421889e-05 -2.21186548e+00] [ 7.71129106e-04 -8.51682013e-05 9.99999699e-01 -5.55360194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74327356 meters 0.09586406967711501 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.22, Z:-0.56 [[ 9.99993476e-01 3.49156684e-03 -9.26042250e-04 2.30908203e+01] [-3.49147106e-03 9.99993899e-01 1.05023692e-04 -2.21792931e+00] [ 9.26403297e-04 -1.01789757e-04 9.99999566e-01 -5.57253317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80327356 meters 0.09284664098526695 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.22, Z:-0.56 [[ 9.99988964e-01 4.20356064e-03 -2.09803211e-03 2.31503472e+01] [-4.20307219e-03 9.99991139e-01 2.37164866e-04 -2.21774639e+00] [ 2.09901046e-03 -2.28344069e-04 9.99997771e-01 -5.57501917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863273559999996 meters 0.09342943467330286 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.23, Z:-0.56 [[ 9.99985940e-01 5.13276148e-03 -1.33186148e-03 2.32096873e+01] [-5.13256526e-03 9.99986817e-01 1.50705854e-04 -2.22503890e+00] [ 1.33261746e-03 -1.43867869e-04 9.99999102e-01 -5.59701029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92327356 meters 0.0951330565745326 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.23, Z:-0.56 [[ 9.99988864e-01 4.59224916e-03 -1.08753806e-03 2.32679286e+01] [-4.59211897e-03 9.99989449e-01 1.22181159e-04 -2.23447396e+00] [ 1.08808767e-03 -1.17185694e-04 9.99999401e-01 -5.61778228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98327356 meters 0.09419078650887812 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.24, Z:-0.56 [[ 9.99991011e-01 4.23896404e-03 9.19606412e-05 2.33262667e+01] [-4.23896297e-03 9.99991015e-01 -1.18272337e-05 -2.23817427e+00] [-9.20099502e-05 1.14373096e-05 9.99999996e-01 -5.62721315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043273559999996 meters 0.09509789629153499 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.25, Z:-0.56 [[ 9.99992336e-01 3.78343041e-03 1.00682452e-03 2.33855763e+01] [-3.78331655e-03 9.99992837e-01 -1.14969297e-04 -2.24538843e+00] [-1.00725228e-03 1.11159280e-04 9.99999487e-01 -5.64370243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10327356 meters 0.09358577709882174 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.25, Z:-0.57 [[ 9.99995614e-01 2.81542613e-03 9.19589911e-04 2.34457293e+01] [-2.81533102e-03 9.99996031e-01 -1.04713156e-04 -2.24841030e+00] [-9.19881074e-04 1.02123747e-04 9.99999572e-01 -5.65755846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16327356 meters 0.09508648723411438 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.26, Z:-0.57 [[ 9.99996476e-01 2.21892486e-03 1.45735195e-03 2.35051188e+01] [-2.21868569e-03 9.99997525e-01 -1.65713645e-04 -2.25636749e+00] [-1.45771605e-03 1.62479655e-04 9.99998924e-01 -5.67448837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.223273559999996 meters 0.09717223807528932 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.27, Z:-0.57 [[ 9.99997639e-01 1.34264651e-03 1.70831644e-03 2.35646850e+01] [-1.34231730e-03 9.99999080e-01 -1.93843594e-04 -2.26515226e+00] [-1.70857513e-03 1.91550034e-04 9.99998522e-01 -5.70176099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28327356 meters 0.0983691803209524 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.27, Z:-0.57 [[ 9.99996832e-01 6.40222475e-04 2.43452739e-03 2.36246586e+01] [-6.39551815e-04 9.99999757e-01 -2.76247144e-04 -2.27311124e+00] [-2.43470366e-03 2.74689263e-04 9.99996998e-01 -5.72996172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34327356 meters 0.09728435556530571 Centerline is valid? [True, True] Translation: X:23.69, Y:-2.28, Z:-0.57 [[ 9.99993493e-01 -6.92236550e-05 3.60687312e-03 2.36854336e+01] [ 7.06992814e-05 9.99999914e-01 -4.08989228e-04 -2.27640262e+00] [-3.60684450e-03 4.09241570e-04 9.99993412e-01 -5.73621753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.403273559999995 meters 0.09813819925454131 Centerline is valid? [True, True] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99994139e-01 4.77138039e-05 3.42348230e-03 2.37473440e+01] [-4.63879059e-05 9.99999924e-01 -3.87373498e-04 -2.28362751e+00] [-3.42350052e-03 3.87212420e-04 9.99994065e-01 -5.75220753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46327356 meters 0.10255241499222639 Centerline is valid? [True, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99994358e-01 4.96249272e-05 3.35876629e-03 2.37476266e+01] [-4.81058611e-05 9.99999897e-01 -4.52348327e-04 -2.28305404e+00] [-3.35878839e-03 4.52184199e-04 9.99994257e-01 -5.75459878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52327356 meters 0.1019200311072053 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99994552e-01 -4.35074669e-05 3.30070889e-03 2.37477800e+01] [ 4.53693243e-05 9.99999840e-01 -5.64005282e-04 -2.28233039e+00] [-3.30068383e-03 5.64151960e-04 9.99994394e-01 -5.75570376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.583273559999995 meters 0.10223937361067081 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99994463e-01 9.00327347e-05 3.32653281e-03 2.37481803e+01] [-8.89828835e-05 9.99999946e-01 -3.15745879e-04 -2.28239620e+00] [-3.32656106e-03 3.15448126e-04 9.99994417e-01 -5.76252428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64327356 meters 0.10571006175495945 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99993935e-01 6.10209841e-05 3.48237865e-03 2.37481193e+01] [-6.00774903e-05 9.99999961e-01 -2.71037658e-04 -2.28249095e+00] [-3.48239506e-03 2.70826802e-04 9.99993900e-01 -5.76583846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70327356 meters 0.1044249281245595 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99993869e-01 7.68312671e-05 3.50097922e-03 2.37483137e+01] [-7.60253299e-05 9.99999971e-01 -2.30335863e-04 -2.28225633e+00] [-3.50099681e-03 2.30068288e-04 9.99993845e-01 -5.76941947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76327356 meters 0.09953440528803151 Centerline is valid? [False, True] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99994461e-01 5.44436990e-05 3.32789691e-03 2.37489734e+01] [-5.29089016e-05 9.99999892e-01 -4.61277707e-04 -2.28092837e+00] [-3.32792167e-03 4.61099077e-04 9.99994356e-01 -5.77411466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82327356 meters 0.10063764533026896 Centerline is valid? [True, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99995255e-01 9.97607242e-05 3.07900727e-03 2.37496668e+01] [-9.78666996e-05 9.99999806e-01 -6.15285881e-04 -2.27992352e+00] [-3.07906805e-03 6.14981629e-04 9.99995071e-01 -5.77709180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88327356 meters 0.10119019160113872 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99995854e-01 1.01760111e-04 2.87786099e-03 2.37504034e+01] [-9.93078280e-05 9.99999632e-01 -8.52250187e-04 -2.27842509e+00] [-2.87794665e-03 8.51960860e-04 9.99995496e-01 -5.78219198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94327356 meters 0.10213331275944149 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996270e-01 1.66467020e-04 2.72632687e-03 2.37510272e+01] [-1.63923003e-04 9.99999551e-01 -9.33326752e-04 -2.27749466e+00] [-2.72648101e-03 9.32876363e-04 9.99995848e-01 -5.78728019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00327356 meters 0.10328716503499108 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996389e-01 2.51920672e-04 2.67572461e-03 2.37513621e+01] [-2.49575540e-04 9.99999585e-01 -8.76744909e-04 -2.27730579e+00] [-2.67594437e-03 8.76073947e-04 9.99996036e-01 -5.79060189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06327356 meters 0.10300061441349746 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996580e-01 3.96439686e-04 2.58526616e-03 2.37516687e+01] [-3.94676457e-04 9.99999689e-01 -6.82504306e-04 -2.27748329e+00] [-2.58553592e-03 6.81481627e-04 9.99996425e-01 -5.79240433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12327356 meters 0.10286708516359863 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996604e-01 2.87622677e-04 2.59017319e-03 2.37513842e+01] [-2.85709334e-04 9.99999686e-01 -7.39032975e-04 -2.27757084e+00] [-2.59038494e-03 7.38290429e-04 9.99996372e-01 -5.78894270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183273559999996 meters 0.10330363696723491 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996587e-01 5.44621976e-04 2.55518689e-03 2.37517932e+01] [-5.43747359e-04 9.99999793e-01 -3.42973025e-04 -2.27826011e+00] [-2.55537315e-03 3.41582479e-04 9.99996677e-01 -5.79382964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24327356 meters 0.10377764268626509 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996647e-01 6.97565917e-04 2.49367733e-03 2.37520673e+01] [-6.97272163e-04 9.99999750e-01 -1.18666990e-04 -2.27866349e+00] [-2.49375949e-03 1.16927820e-04 9.99996884e-01 -5.79591438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30327356 meters 0.10434879422129999 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99996937e-01 8.10769409e-04 2.33841786e-03 2.37524829e+01] [-8.10530282e-04 9.99999666e-01 -1.03205887e-04 -2.27848015e+00] [-2.33850076e-03 1.01310213e-04 9.99997261e-01 -5.79732600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363273559999996 meters 0.10471441830949323 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99997475e-01 7.07030049e-04 2.13288357e-03 2.37526143e+01] [-7.06055078e-04 9.99999646e-01 -4.57832511e-04 -2.27784723e+00] [-2.13320652e-03 4.56325422e-04 9.99997621e-01 -5.79312903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42327356 meters 0.10450717372860058 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99997819e-01 9.59983304e-04 1.85461613e-03 2.37535323e+01] [-9.59367244e-04 9.99999484e-01 -3.33037744e-04 -2.27730428e+00] [-1.85493489e-03 3.31257760e-04 9.99998225e-01 -5.79824020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48327356 meters 0.103934872098985 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99997998e-01 1.10943257e-03 1.66527352e-03 2.37539436e+01] [-1.10908887e-03 9.99999363e-01 -2.07305459e-04 -2.27744789e+00] [-1.66550245e-03 2.05458107e-04 9.99998592e-01 -5.79855566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.543273559999996 meters 0.10123922675297525 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99997834e-01 1.38983457e-03 1.54938823e-03 2.37545422e+01] [-1.39004446e-03 9.99999025e-01 1.34393551e-04 -2.27786215e+00] [-1.54919993e-03 -1.36546979e-04 9.99998791e-01 -5.80354251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60327356 meters 0.10251408670747432 Centerline is valid? [False, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99998325e-01 1.09934009e-03 1.46317203e-03 2.37543482e+01] [-1.09877292e-03 9.99999321e-01 -3.88376514e-04 -2.27685341e+00] [-1.46359799e-03 3.86768170e-04 9.99998854e-01 -5.79817782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66327356 meters 0.09966687851142857 Centerline is valid? [False, True] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99998176e-01 1.25584007e-03 1.43938858e-03 2.37547964e+01] [-1.25554460e-03 9.99999191e-01 -2.06164069e-04 -2.27675552e+00] [-1.43964632e-03 2.04356476e-04 9.99998943e-01 -5.80392892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.723273559999996 meters 0.10214367028021923 Centerline is valid? [True, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99998016e-01 1.31206379e-03 1.49891395e-03 2.37548407e+01] [-1.31189492e-03 9.99999133e-01 -1.13635346e-04 -2.27703157e+00] [-1.49906175e-03 1.11668703e-04 9.99998870e-01 -5.80579727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78327356 meters 0.09906205455212166 Centerline is valid? [False, True] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99997998e-01 1.15625270e-03 1.63330450e-03 2.37544758e+01] [-1.15598321e-03 9.99999318e-01 -1.65933759e-04 -2.27697055e+00] [-1.63349525e-03 1.64045354e-04 9.99998652e-01 -5.80456182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84327356 meters 0.10302725410271306 Centerline is valid? [True, False] Translation: X:23.75, Y:-2.28, Z:-0.58 [[ 9.99998166e-01 1.04413651e-03 1.60542120e-03 2.37544726e+01] [-1.04363765e-03 9.99999407e-01 -3.11546683e-04 -2.27646118e+00] [-1.60574555e-03 3.09870634e-04 9.99998663e-01 -5.80393869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.903273559999995 meters 0.10416203656056343 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99999265e-01 -3.34094463e-04 1.16550965e-03 2.37574923e+01] [ 3.36399865e-04 9.99997986e-01 -1.97838574e-03 -2.27623736e+00] [-1.16484634e-03 1.97877637e-03 9.99997364e-01 -5.82890397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96327356 meters 0.10301641320760543 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99999332e-01 -2.42471384e-04 1.13041829e-03 2.37578481e+01] [ 2.44569048e-04 9.99998248e-01 -1.85588424e-03 -2.27609533e+00] [-1.12996631e-03 1.85615946e-03 9.99997639e-01 -5.83333773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02327356 meters 0.10479986587202848 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.27, Z:-0.58 [[ 9.99999686e-01 -1.25560022e-05 7.92439452e-04 2.37589956e+01] [ 1.40510171e-05 9.99998220e-01 -1.88662091e-03 -2.27491082e+00] [-7.92414353e-04 1.88663145e-03 9.99997906e-01 -5.84020832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.083273559999995 meters 0.10344683148771879 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.27, Z:-0.58 [[ 9.99999908e-01 2.74345519e-04 3.28660291e-04 2.37602333e+01] [-2.73697392e-04 9.99998021e-01 -1.97044960e-03 -2.27342689e+00] [-3.29200225e-04 1.97035946e-03 9.99998005e-01 -5.84455942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14327356 meters 0.10409951596941826 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.27, Z:-0.58 [[ 9.99999879e-01 4.92719070e-04 8.72455282e-06 2.37610786e+01] [-4.92701283e-04 9.99998010e-01 -1.93322012e-03 -2.27286622e+00] [-9.67706988e-06 1.93321559e-03 9.99998131e-01 -5.84773917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20327356 meters 0.09834347142111213 Centerline is valid? [False, True] Translation: X:23.76, Y:-2.27, Z:-0.59 [[ 9.99999801e-01 6.20466542e-04 -1.10847956e-04 2.37616003e+01] [-6.20673389e-04 9.99998048e-01 -1.87585621e-03 -2.27244717e+00] [ 1.09683833e-04 1.87592464e-03 9.99998234e-01 -5.85220485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26327356 meters 0.10147541323098906 Centerline is valid? [True, False] Translation: X:23.76, Y:-2.27, Z:-0.59 [[ 9.99999787e-01 6.47335028e-04 -8.48729140e-05 2.37615301e+01] [-6.47485186e-04 9.99998204e-01 -1.78128163e-03 -2.27268343e+00] [ 8.37196756e-05 1.78133621e-03 9.99998410e-01 -5.85245194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32327356 meters 0.1004204665525444 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.27, Z:-0.59 [[ 9.99999470e-01 1.02740167e-03 -7.09435506e-05 2.37618363e+01] [-1.02747809e-03 9.99998883e-01 -1.08571103e-03 -2.27420954e+00] [ 6.98280100e-05 1.08578335e-03 9.99999408e-01 -5.85739207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38327356 meters 0.10440855179634285 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99999697e-01 6.05128750e-04 4.90532882e-04 2.37600694e+01] [-6.04610376e-04 9.99999259e-01 -1.05621544e-03 -2.27607632e+00] [-4.91171665e-04 1.05591854e-03 9.99999322e-01 -5.84781406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44327356 meters 0.10586690334499081 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99999348e-01 9.69673616e-04 6.03203682e-04 2.37600400e+01] [-9.69469313e-04 9.99999473e-01 -3.38896472e-04 -2.27815696e+00] [-6.03531983e-04 3.38311464e-04 9.99999761e-01 -5.84981562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50327356 meters 0.1025954793288193 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99999106e-01 6.94904077e-04 1.14226464e-03 2.37584819e+01] [-6.94748009e-04 9.99999749e-01 -1.37020726e-04 -2.28009229e+00] [-1.14235957e-03 1.36227018e-04 9.99999338e-01 -5.84228328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56327356 meters 0.10536155256454137 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99998774e-01 1.08763813e-03 1.12664064e-03 2.37587226e+01] [-1.08818882e-03 9.99999289e-01 4.88291848e-04 -2.28192686e+00] [-1.12610875e-03 -4.89517247e-04 9.99999246e-01 -5.84468422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62327356 meters 0.10567453788160067 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.28, Z:-0.58 [[ 9.99998388e-01 1.54963388e-03 9.07513496e-04 2.37592762e+01] [-1.55061418e-03 9.99998214e-01 1.08050386e-03 -2.28366335e+00] [-9.05837490e-04 -1.08190932e-03 9.99999004e-01 -5.84582560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.683273559999996 meters 0.10720576677631062 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.29, Z:-0.58 [[ 9.99998172e-01 1.69509905e-03 8.84494993e-04 2.37589194e+01] [-1.69630807e-03 9.99997626e-01 1.36795167e-03 -2.28512518e+00] [-8.82174079e-04 -1.36944954e-03 9.99998673e-01 -5.83996698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74327356 meters 0.10363132275005324 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.29, Z:-0.58 [[ 9.99997667e-01 1.93971972e-03 9.50786604e-04 2.37587005e+01] [-1.94147033e-03 9.99996416e-01 1.84377675e-03 -2.28701314e+00] [-9.47206786e-04 -1.84561837e-03 9.99997848e-01 -5.83820665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80327356 meters 0.10363952047419271 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.29, Z:-0.58 [[ 9.99996427e-01 2.45704060e-03 1.05348971e-03 2.37584745e+01] [-2.46003480e-03 9.99992912e-01 2.85036261e-03 -2.29024496e+00] [-1.04647879e-03 -2.85294404e-03 9.99995383e-01 -5.83774652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.863273559999996 meters 0.10004166066679888 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.29, Z:-0.58 [[ 9.99995773e-01 2.71366170e-03 1.04431938e-03 2.37580959e+01] [-2.71714635e-03 9.99990697e-01 3.34994712e-03 -2.29241634e+00] [-1.03521904e-03 -3.35277053e-03 9.99993844e-01 -5.83194834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92327356 meters 0.10049500483425276 Centerline is valid? [False, False] Translation: X:23.76, Y:-2.29, Z:-0.58 [[ 9.99995114e-01 2.99591299e-03 8.92252252e-04 2.37582760e+01] [-2.99920711e-03 9.99988606e-01 3.71374730e-03 -2.29369378e+00] [-8.81116022e-04 -3.71640520e-03 9.99992706e-01 -5.83001455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98327356 meters 0.09898884236659315 Centerline is valid? [False, True] Translation: X:23.76, Y:-2.30, Z:-0.58 [[ 9.99993993e-01 3.38003353e-03 7.68260773e-04 2.37584473e+01] [-3.38325247e-03 9.99985339e-01 4.22795359e-03 -2.29540980e+00] [-7.53958884e-04 -4.23052742e-03 9.99990767e-01 -5.82855776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.043273559999996 meters 0.0984677680392128 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.30, Z:-0.58 [[ 9.99989107e-01 4.66203850e-03 -2.26931131e-04 2.38176785e+01] [-4.66203263e-03 9.99989132e-01 2.63793417e-05 -2.30113199e+00] [ 2.27051646e-04 -2.53210940e-05 9.99999974e-01 -5.82966616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10327356 meters 0.09739547511503642 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.31, Z:-0.58 [[ 9.99959903e-01 8.93333313e-03 -6.22427537e-04 2.38777174e+01] [-8.93328857e-03 9.99960095e-01 7.43195275e-05 -2.30912314e+00] [ 6.23066620e-04 -6.87562228e-05 9.99999804e-01 -5.84764519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16327356 meters 0.09456312299538937 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.31, Z:-0.59 [[ 9.99937765e-01 1.11333286e-02 -7.17579741e-04 2.39380978e+01] [-1.11332700e-02 9.99938020e-01 8.55098536e-05 -2.31141940e+00] [ 7.18487274e-04 -7.75155228e-05 9.99999739e-01 -5.85231045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.223273559999996 meters 0.09342815676823614 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.32, Z:-0.59 [[ 9.99884603e-01 1.51886943e-02 -2.89275847e-04 2.39982723e+01] [-1.51886849e-02 9.99884645e-01 3.46485862e-05 -2.31755578e+00] [ 2.89768744e-04 -3.02508682e-05 9.99999958e-01 -5.86649701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28327356 meters 0.09201817262129565 Centerline is valid? [True, True] Translation: X:24.06, Y:-2.32, Z:-0.59 [[ 9.99824034e-01 1.87420317e-02 -7.98146852e-04 2.40581715e+01] [-1.87419617e-02 9.99824349e-01 9.51277393e-05 -2.32394020e+00] [ 7.99789545e-04 -8.01521623e-05 9.99999677e-01 -5.88092990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34327356 meters 0.09210655801374792 Centerline is valid? [True, True] Translation: X:24.12, Y:-2.33, Z:-0.59 [[ 9.99804382e-01 1.97037749e-02 -1.71988236e-03 2.41161987e+01] [-1.97034531e-02 9.99805847e-01 2.03843026e-04 -2.33217563e+00] [ 1.72356492e-03 -1.69915529e-04 9.99998500e-01 -5.89458421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.403273559999995 meters 0.0906126014206223 Centerline is valid? [True, True] Translation: X:24.18, Y:-2.34, Z:-0.59 [[ 9.99743824e-01 2.22801146e-02 -3.98534352e-03 2.41761113e+01] [-2.22783971e-02 9.99751693e-01 4.74829186e-04 -2.33712534e+00] [ 3.99493318e-03 -3.85920481e-04 9.99991946e-01 -5.91165874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46327356 meters 0.09123008601367025 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.35, Z:-0.59 [[ 9.99725686e-01 2.30348946e-02 -4.23632016e-03 2.42341866e+01] [-2.30329647e-02 9.99734579e-01 5.03794049e-04 -2.34652712e+00] [ 4.24680060e-03 -4.06080838e-04 9.99990900e-01 -5.93295641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52327356 meters 0.08894220887184418 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.35, Z:-0.59 [[ 9.99714856e-01 2.34547589e-02 -4.48118655e-03 2.42929616e+01] [-2.34526048e-02 9.99724808e-01 5.32647550e-04 -2.34918514e+00] [ 4.49244649e-03 -4.27400172e-04 9.99989818e-01 -5.93352749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.583273559999995 meters 0.09218040146013208 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.36, Z:-0.60 [[ 9.99748076e-01 2.18803731e-02 -5.00330996e-03 2.43506164e+01] [-2.18776645e-02 9.99760478e-01 5.95456886e-04 -2.36400026e+00] [ 5.01514038e-03 -4.85846140e-04 9.99987306e-01 -5.96195056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64327356 meters 0.08771561397980053 Centerline is valid? [True, True] Translation: X:24.41, Y:-2.36, Z:-0.59 [[ 9.99772063e-01 2.08440979e-02 -4.62003185e-03 2.44105703e+01] [-2.08417807e-02 9.99782636e-01 5.49129761e-04 -2.36242738e+00] [ 4.63047374e-03 -4.52714903e-04 9.99989177e-01 -5.94724198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70327356 meters 0.09302235303876329 Centerline is valid? [True, True] Translation: X:24.47, Y:-2.38, Z:-0.60 [[ 9.99791940e-01 1.97252496e-02 -5.19538559e-03 2.44675133e+01] [-1.97223050e-02 9.99805306e-01 6.17400091e-04 -2.38066604e+00] [ 5.20655245e-03 -5.14806655e-04 9.99986313e-01 -5.98675016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76327356 meters 0.09253853111563515 Centerline is valid? [True, True] Translation: X:24.53, Y:-2.39, Z:-0.60 [[ 9.99816235e-01 1.80954581e-02 -6.32863523e-03 2.45268434e+01] [-1.80910508e-02 9.99836060e-01 7.52961453e-04 -2.38728238e+00] [ 6.34122289e-03 -6.38331423e-04 9.99979691e-01 -5.99629116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82327356 meters 0.09309461605611154 Centerline is valid? [True, True] Translation: X:24.59, Y:-2.40, Z:-0.60 [[ 9.99818253e-01 1.80626477e-02 -6.09935625e-03 2.45850209e+01] [-1.80585626e-02 9.99836669e-01 7.24175895e-04 -2.39588013e+00] [ 6.11144057e-03 -6.13898672e-04 9.99981137e-01 -6.00715478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88327356 meters 0.0934272824414282 Centerline is valid? [True, True] Translation: X:24.64, Y:-2.40, Z:-0.60 [[ 9.99802466e-01 1.89238836e-02 -6.07585710e-03 2.46440761e+01] [-1.89198454e-02 9.99820743e-01 7.21442212e-04 -2.40252448e+00] [ 6.08842045e-03 -6.06345426e-04 9.99981282e-01 -6.02096520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94327356 meters 0.09298556015756518 Centerline is valid? [True, True] Translation: X:24.70, Y:-2.41, Z:-0.60 [[ 9.99788913e-01 1.89598690e-02 -7.91533667e-03 2.47021875e+01] [-1.89530249e-02 9.99819935e-01 9.38789810e-04 -2.40736154e+00] [ 7.93171073e-03 -7.88572070e-04 9.99968233e-01 -6.03888791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00327356 meters 0.09329147132395134 Centerline is valid? [True, True] Translation: X:24.76, Y:-2.41, Z:-0.61 [[ 9.99782452e-01 1.97630292e-02 -6.66871283e-03 2.47616748e+01] [-1.97581819e-02 9.99804474e-01 7.91979257e-04 -2.41499699e+00] [ 6.68306084e-03 -6.60045322e-04 9.99977450e-01 -6.05158618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06327356 meters 0.09166274928933982 Centerline is valid? [True, True] Translation: X:24.82, Y:-2.42, Z:-0.61 [[ 9.99784016e-01 1.95465181e-02 -7.06074191e-03 2.48208386e+01] [-1.95410898e-02 9.99808704e-01 8.36980686e-04 -2.41716240e+00] [ 7.07575128e-03 -6.98825320e-04 9.99974722e-01 -6.05479286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12327356 meters 0.09284392359177102 Centerline is valid? [True, True] Translation: X:24.88, Y:-2.42, Z:-0.61 [[ 9.99777499e-01 2.00086160e-02 -6.67889753e-03 2.48790964e+01] [-2.00037726e-02 9.99799591e-01 7.91202858e-04 -2.42472232e+00] [ 6.69338989e-03 -6.57423667e-04 9.99977383e-01 -6.07901384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.183273559999996 meters 0.0905516247546635 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.42, Z:-0.61 [[ 9.99747883e-01 2.15828991e-02 -6.19272866e-03 2.49396504e+01] [-2.15787597e-02 9.99766882e-01 7.34467927e-04 -2.42498058e+00] [ 6.20713697e-03 -6.00651351e-04 9.99980555e-01 -6.07831041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24327356 meters 0.08867905020004713 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.43, Z:-0.61 [[ 9.99711323e-01 2.35228212e-02 -4.89354567e-03 2.49998329e+01] [-2.35202595e-02 9.99723192e-01 5.80375194e-04 -2.42588792e+00] [ 4.90584316e-03 -4.65110189e-04 9.99987858e-01 -6.07538773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30327356 meters 0.09154216862820692 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.44, Z:-0.61 [[ 9.99697828e-01 2.42014582e-02 -4.30617083e-03 2.50570604e+01] [-2.41994875e-02 9.99707020e-01 5.09180362e-04 -2.43744983e+00] [ 4.31723212e-03 -4.04819374e-04 9.99990599e-01 -6.10140207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.363273559999996 meters 0.09087175322229243 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.44, Z:-0.61 [[ 9.99722380e-01 2.30502415e-02 -4.88349703e-03 2.51159866e+01] [-2.30476917e-02 9.99734200e-01 5.77756757e-04 -2.44226704e+00] [ 4.89551643e-03 -4.65043027e-04 9.99987909e-01 -6.11411061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42327356 meters 0.08994709007971223 Centerline is valid? [True, True] Translation: X:25.17, Y:-2.45, Z:-0.61 [[ 9.99735306e-01 2.23817786e-02 -5.32672198e-03 2.51747589e+01] [-2.23787391e-02 9.99749366e-01 6.29550325e-04 -2.44686981e+00] [ 5.33947738e-03 -5.10178366e-04 9.99985615e-01 -6.13117614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48327356 meters 0.09041661674870384 Centerline is valid? [True, True] Translation: X:25.23, Y:-2.45, Z:-0.61 [[ 9.99703962e-01 2.36047530e-02 -5.89948307e-03 2.52337341e+01] [-2.36010443e-02 9.99721213e-01 6.97481818e-04 -2.45216366e+00] [ 5.91430226e-03 -5.58041375e-04 9.99982355e-01 -6.14456158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.543273559999996 meters 0.09006042107132782 Centerline is valid? [True, True] Translation: X:25.29, Y:-2.46, Z:-0.61 [[ 9.99657726e-01 2.58318939e-02 -4.14044503e-03 2.52939902e+01] [-2.58300833e-02 9.99666228e-01 4.90184547e-04 -2.45590288e+00] [ 4.15172546e-03 -3.83068729e-04 9.99991308e-01 -6.14960423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60327356 meters 0.08688244358147632 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.45, Z:-0.61 [[ 9.99526601e-01 3.05844402e-02 -3.34159327e-03 2.53555735e+01] [-3.05832879e-02 9.99532144e-01 3.95418575e-04 -2.45285272e+00] [ 3.35212354e-03 -2.93034476e-04 9.99994339e-01 -6.13858131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66327356 meters 0.08640423345516317 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.46, Z:-0.62 [[ 9.99388466e-01 3.46651622e-02 -4.58480367e-03 2.54164979e+01] [-3.46630326e-02 9.99398909e-01 5.43164616e-04 -2.45552987e+00] [ 4.60087668e-03 -3.83909253e-04 9.99989342e-01 -6.16025647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.723273559999996 meters 0.0865613152739302 Centerline is valid? [True, True] Translation: X:25.48, Y:-2.46, Z:-0.62 [[ 9.99256862e-01 3.82007602e-02 -5.14062073e-03 2.54754392e+01] [-3.81981337e-02 9.99270000e-01 6.08182941e-04 -2.46026511e+00] [ 5.16010113e-03 -4.11368859e-04 9.99986602e-01 -6.19264182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78327356 meters 0.08443875320800788 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.46, Z:-0.62 [[ 9.99224557e-01 3.89934369e-02 -5.45868928e-03 2.55342449e+01] [-3.89904945e-02 9.99239374e-01 6.44446390e-04 -2.46051111e+00] [ 5.47966644e-03 -4.31109663e-04 9.99984894e-01 -6.18580401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84327356 meters 0.08870172736275132 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.48, Z:-0.62 [[ 9.99200378e-01 3.97842500e-02 -3.97716891e-03 2.55911095e+01] [-3.97826968e-02 9.99208245e-01 4.68914287e-04 -2.47577326e+00] [ 3.99267537e-03 -3.10316828e-04 9.99991981e-01 -6.22898976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.903273559999995 meters 0.08404885148929547 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.47, Z:-0.62 [[ 9.99195709e-01 3.99519558e-02 -3.43152720e-03 2.56510824e+01] [-3.99508021e-02 9.99201566e-01 4.04122785e-04 -2.47133461e+00] [ 3.44493285e-03 -2.66705489e-04 9.99994031e-01 -6.21047747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96327356 meters 0.08334405931025053 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.48, Z:-0.62 [[ 9.99127690e-01 4.16585105e-02 -2.90287800e-03 2.57104063e+01] [-4.16576909e-02 9.99131883e-01 3.42263649e-04 -2.47527358e+00] [ 2.91461616e-03 -2.21037895e-04 9.99995728e-01 -6.22894000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02327356 meters 0.0830030292499976 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.48, Z:-0.62 [[ 9.98992071e-01 4.48169152e-02 -2.50718190e-03 2.57707706e+01] [-4.48163123e-02 9.98995200e-01 2.96145509e-04 -2.47977703e+00] [ 2.51793501e-03 -1.83484369e-04 9.99996813e-01 -6.23682085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.083273559999995 meters 0.08076499187077822 Centerline is valid? [True, True] Translation: X:25.83, Y:-2.48, Z:-0.62 [[ 9.98700316e-01 5.09580465e-02 -9.77628143e-04 2.58318069e+01] [-5.09579578e-02 9.98700793e-01 1.15425938e-04 -2.47886443e+00] [ 9.82239881e-04 -6.54579873e-05 9.99999515e-01 -6.23897523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14327356 meters 0.07854077295419103 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.48, Z:-0.63 [[ 9.98206184e-01 5.98211473e-02 -2.41763071e-03 2.58933055e+01] [-5.98206306e-02 9.98209102e-01 2.85530787e-04 -2.47682531e+00] [ 2.43038176e-03 -1.40394403e-04 9.99997037e-01 -6.25069526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20327356 meters 0.07709001612980314 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.48, Z:-0.63 [[ 9.97590149e-01 6.92930640e-02 -3.51644766e-03 2.59543598e+01] [-6.92920296e-02 9.97596332e-01 4.15311174e-04 -2.47630167e+00] [ 3.53677347e-03 -1.70648540e-04 9.99993731e-01 -6.27820046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.263273559999995 meters 0.07623652495193424 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.48, Z:-0.63 [[ 9.97194263e-01 7.47861578e-02 -3.26071488e-03 2.60142887e+01] [-7.47852978e-02 9.97199584e-01 3.85068353e-04 -2.47940648e+00] [ 3.28038131e-03 -1.40134419e-04 9.99994610e-01 -6.29629765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32327356 meters 0.07539603569799518 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.48, Z:-0.63 [[ 9.96721642e-01 8.09063597e-02 -3.59292048e-04 2.60743636e+01] [-8.09063498e-02 9.96721707e-01 4.20523250e-05 -2.48282135e+00] [ 3.61516484e-04 -1.28454543e-05 9.99999935e-01 -6.30037695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38327356 meters 0.07511071001765132 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.49, Z:-0.63 [[ 9.96565120e-01 8.28024588e-02 -1.30967651e-03 2.61330478e+01] [-8.28023337e-02 9.96565979e-01 1.49527196e-04 -2.48844411e+00] [ 1.31756027e-03 -4.05693170e-05 9.99999131e-01 -6.31638415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44327356 meters 0.07482332807354822 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.49, Z:-0.63 [[ 9.96605006e-01 8.23194800e-02 -1.40156165e-03 2.61918967e+01] [-8.23193365e-02 9.96605991e-01 1.59899182e-04 -2.49487911e+00] [ 1.40996755e-03 -4.39807001e-05 9.99999005e-01 -6.32105828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50327356 meters 0.07522348387069343 Centerline is valid? [True, True] Translation: X:26.25, Y:-2.51, Z:-0.63 [[ 9.96885281e-01 7.88261033e-02 -2.48649280e-03 2.62515540e+01] [-7.88256186e-02 9.96888377e-01 2.92509625e-04 -2.50525555e+00] [ 2.50181316e-03 -9.55992064e-05 9.99996866e-01 -6.33532166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56327356 meters 0.07621361235391641 Centerline is valid? [True, True] Translation: X:26.31, Y:-2.52, Z:-0.64 [[ 9.97134115e-01 7.56357308e-02 -1.67109977e-03 2.63086434e+01] [-7.56355100e-02 9.97135513e-01 1.95056068e-04 -2.51828543e+00] [ 1.68106614e-03 -6.81025760e-05 9.99998585e-01 -6.36128949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62327356 meters 0.07695998018044253 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.53, Z:-0.64 [[ 9.97594408e-01 6.93205420e-02 -2.45613021e-04 2.63681969e+01] [-6.93205370e-02 9.97594438e-01 2.87221493e-05 -2.53089182e+00] [ 2.47013219e-04 -1.16270290e-05 9.99999969e-01 -6.35608430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.683273559999996 meters 0.07880514396702656 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.55, Z:-0.64 [[ 9.98028496e-01 6.27515888e-02 -1.16620163e-03 2.64271693e+01] [-6.27514715e-02 9.98029175e-01 1.36946396e-04 -2.54654961e+00] [ 1.17249686e-03 -6.34955373e-05 9.99999311e-01 -6.38349602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74327356 meters 0.07881360197160173 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.55, Z:-0.64 [[ 9.98122401e-01 6.12333720e-02 -1.46498317e-03 2.64863201e+01] [-6.12331861e-02 9.98123473e-01 1.71455624e-04 -2.55404715e+00] [ 1.47273290e-03 -8.14281122e-05 9.99998912e-01 -6.40041434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80327356 meters 0.0802676732676769 Centerline is valid? [True, True] Translation: X:26.55, Y:-2.57, Z:-0.64 [[ 9.98396309e-01 5.65504070e-02 -2.61963653e-03 2.65458206e+01] [-5.65497931e-02 9.98399733e-01 3.07879052e-04 -2.56703895e+00] [ 2.63285509e-03 -1.59245406e-04 9.99996521e-01 -6.42284383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.863273559999996 meters 0.08104533011747875 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.58, Z:-0.64 [[ 9.98537678e-01 5.39774874e-02 -2.98952300e-03 2.66049195e+01] [-5.39766778e-02 9.98542135e-01 3.50881963e-04 -2.57738692e+00] [ 3.00410441e-03 -1.89004340e-04 9.99995470e-01 -6.44269185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92327356 meters 0.08182469156243341 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.59, Z:-0.65 [[ 9.98686293e-01 5.11633872e-02 -2.82754480e-03 2.66648085e+01] [-5.11626506e-02 9.98690279e-01 3.32264915e-04 -2.58750509e+00] [ 2.84084131e-03 -1.87163730e-04 9.99995947e-01 -6.45306436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98327356 meters 0.08275836090071872 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.60, Z:-0.65 [[ 9.98798988e-01 4.87936490e-02 -4.44541676e-03 2.67241319e+01] [-4.87918076e-02 9.98808834e-01 5.21810481e-04 -2.59687083e+00] [ 4.46558257e-03 -3.04283861e-04 9.99989983e-01 -6.47852924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043273559999996 meters 0.08280933580701567 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.60, Z:-0.65 [[ 9.98801825e-01 4.86619412e-02 -5.18941114e-03 2.67824476e+01] [-4.86594597e-02 9.98815245e-01 6.03439472e-04 -2.60352720e+00] [ 5.21262749e-03 -3.50202504e-04 9.99986353e-01 -6.49335731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10327356 meters 0.0824103917767627 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.61, Z:-0.65 [[ 9.98794816e-01 4.87582562e-02 -5.61678156e-03 2.68410066e+01] [-4.87553562e-02 9.98810538e-01 6.52155444e-04 -2.60741039e+00] [ 5.64189857e-03 -3.77521291e-04 9.99984013e-01 -6.50172809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16327356 meters 0.08296474315529055 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.62, Z:-0.65 [[ 9.98742873e-01 4.99354834e-02 -4.37277569e-03 2.68993328e+01] [-4.99337234e-02 9.98752403e-01 5.10803633e-04 -2.61539526e+00] [ 4.39282745e-03 -2.91812516e-04 9.99990309e-01 -6.52111068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.223273559999996 meters 0.08294502975361734 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.62, Z:-0.65 [[ 9.98717690e-01 5.03961818e-02 -4.81661779e-03 2.69582697e+01] [-5.03940752e-02 9.98729256e-01 5.57795220e-04 -2.62083930e+00] [ 4.83860784e-03 -3.14350955e-04 9.99988244e-01 -6.53058317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28327356 meters 0.08167222066734736 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.62, Z:-0.65 [[ 9.98613798e-01 5.24430840e-02 -4.49505467e-03 2.70187203e+01] [-5.24412526e-02 9.98623873e-01 5.24411640e-04 -2.62327543e+00] [ 4.51637067e-03 -2.87958402e-04 9.99989760e-01 -6.54208357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34327356 meters 0.08134478390199075 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.63, Z:-0.66 [[ 9.98510161e-01 5.44544937e-02 -3.48792797e-03 2.70780362e+01] [-5.44534052e-02 9.98516230e-01 4.06366748e-04 -2.62790309e+00] [ 3.50488119e-03 -2.15831772e-04 9.99993835e-01 -6.55139901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.403273559999995 meters 0.08070582541062964 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.63, Z:-0.66 [[ 9.98421723e-01 5.60452037e-02 -3.60537469e-03 2.71367705e+01] [-5.60440544e-02 9.98428209e-01 4.19110263e-04 -2.63071060e+00] [ 3.62319691e-03 -2.16388976e-04 9.99993413e-01 -6.55605286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46327356 meters 0.08006533255882875 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.63, Z:-0.66 [[ 9.98278531e-01 5.85471380e-02 -3.49374593e-03 2.71962524e+01] [-5.85460720e-02 9.98284625e-01 4.06689738e-04 -2.63389151e+00] [ 3.51156337e-03 -2.01444533e-04 9.99993814e-01 -6.57551870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52327356 meters 0.07916565350898569 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.64, Z:-0.66 [[ 9.98113826e-01 6.12574185e-02 -4.03971254e-03 2.72559520e+01] [-6.12560156e-02 9.98121976e-01 4.70210113e-04 -2.63567651e+00] [ 4.06092972e-03 -2.21866520e-04 9.99991730e-01 -6.58369298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.583273559999995 meters 0.07872582445065064 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.64, Z:-0.66 [[ 9.97972242e-01 6.35890092e-02 -2.80033527e-03 2.73156870e+01] [-6.35883439e-02 9.97976160e-01 3.26043962e-04 -2.63999340e+00] [ 2.81540065e-03 -1.47314141e-04 9.99996026e-01 -6.59343214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64327356 meters 0.07895465998004578 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.65, Z:-0.66 [[ 9.97939515e-01 6.41034321e-02 -2.73394273e-03 2.73744599e+01] [-6.41028132e-02 9.97943250e-01 3.13475637e-04 -2.64689742e+00] [ 2.74841456e-03 -1.37576306e-04 9.99996214e-01 -6.60234986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70327356 meters 0.0789787967352149 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.65, Z:-0.66 [[ 9.97962145e-01 6.37435981e-02 -2.88289452e-03 2.74328545e+01] [-6.37429107e-02 9.97966298e-01 3.29783460e-04 -2.65336930e+00] [ 2.89805316e-03 -1.45347321e-04 9.99995790e-01 -6.61606436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.763273559999995 meters 0.07949866695739091 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.66, Z:-0.66 [[ 9.97991511e-01 6.32367826e-02 -3.74875949e-03 2.74902218e+01] [-6.32356002e-02 9.97998533e-01 4.33215796e-04 -2.66108292e+00] [ 3.76865165e-03 -1.95290630e-04 9.99992880e-01 -6.63961065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82327356 meters 0.07874466107188266 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.67, Z:-0.66 [[ 9.98062419e-01 6.20427655e-02 -4.70133036e-03 2.75497647e+01] [-6.20408866e-02 9.98073460e-01 5.44596238e-04 -2.66542770e+00] [ 4.72606132e-03 -2.51866335e-04 9.99988800e-01 -6.64226640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88327356 meters 0.079052470689886 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.67, Z:-0.67 [[ 9.98062043e-01 6.20794752e-02 -4.27752859e-03 2.76083224e+01] [-6.20779430e-02 9.98071184e-01 4.90168282e-04 -2.67308525e+00] [ 4.29970741e-03 -2.23678181e-04 9.99990731e-01 -6.65498126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94327356 meters 0.07815789784576781 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.68, Z:-0.67 [[ 9.98033742e-01 6.25443850e-02 -4.10494295e-03 2.76675526e+01] [-6.25429813e-02 9.98042161e-01 4.69560075e-04 -2.67701087e+00] [ 4.12627448e-03 -2.11901429e-04 9.99991464e-01 -6.65115806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00327356 meters 0.07818792689173622 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.68, Z:-0.67 [[ 9.97880897e-01 6.49021377e-02 -4.62911892e-03 2.77264285e+01] [-6.49003573e-02 9.97891607e-01 5.33955365e-04 -2.68380582e+00] [ 4.65401376e-03 -2.32392386e-04 9.99989143e-01 -6.67730880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06327356 meters 0.0773783571955294 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.69, Z:-0.67 [[ 9.97641198e-01 6.84437116e-02 -5.24386894e-03 2.77861744e+01] [-6.84414762e-02 9.97654950e-01 6.04784007e-04 -2.68724012e+00] [ 5.27296547e-03 -2.44459310e-04 9.99986068e-01 -6.69255991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12327356 meters 0.07778026607242984 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.70, Z:-0.67 [[ 9.97429309e-01 7.14125848e-02 -5.91751681e-03 2.78446602e+01] [-7.14097908e-02 9.97446829e-01 6.82384414e-04 -2.69557580e+00] [ 5.95113921e-03 -2.58061577e-04 9.99982259e-01 -6.72265432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.183273559999996 meters 0.07542891521091481 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.69, Z:-0.67 [[ 9.97078357e-01 7.61249548e-02 -6.30405563e-03 2.79054219e+01] [-7.61218761e-02 9.97098256e-01 7.27230044e-04 -2.69274653e+00] [ 6.34112323e-03 -2.45228796e-04 9.99979865e-01 -6.70660593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24327356 meters 0.07477498020628531 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.70, Z:-0.67 [[ 9.96523306e-01 8.31334230e-02 -5.48951234e-03 2.79649279e+01] [-8.31311963e-02 9.96538410e-01 6.32956616e-04 -2.69612804e+00] [ 5.52312976e-03 -1.74406291e-04 9.99984732e-01 -6.71561036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30327356 meters 0.07382746955710962 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.70, Z:-0.67 [[ 9.96021595e-01 8.89545450e-02 -5.29825091e-03 2.80247294e+01] [-8.89525553e-02 9.96035677e-01 6.10481127e-04 -2.69876946e+00] [ 5.33155200e-03 -1.36759428e-04 9.99985778e-01 -6.71669976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.363273559999996 meters 0.07296955628792486 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.70, Z:-0.67 [[ 9.95113449e-01 9.85216642e-02 -6.53492530e-03 2.80843049e+01] [-9.85188434e-02 9.95134901e-01 7.52935920e-04 -2.70063952e+00] [ 6.57731274e-03 -1.05443378e-04 9.99978364e-01 -6.72824463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42327356 meters 0.07229414088488692 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.70, Z:-0.67 [[ 9.93908610e-01 1.09961694e-01 -7.35535675e-03 2.81437831e+01] [-1.09958474e-01 9.93935825e-01 8.42040741e-04 -2.70090386e+00] [ 7.40334481e-03 -2.81277416e-05 9.99972594e-01 -6.73373939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48327356 meters 0.07227067771744791 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.70, Z:-0.67 [[ 9.93084381e-01 1.17102994e-01 -8.38461783e-03 2.82029172e+01] [-1.17099078e-01 9.93119775e-01 9.58171360e-04 -2.70438729e+00] [ 8.43913451e-03 3.02860064e-05 9.99964389e-01 -6.74186999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.543273559999996 meters 0.07255346997855618 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.71, Z:-0.67 [[ 9.91891405e-01 1.26822082e-01 -8.22188595e-03 2.82617375e+01] [-1.26818667e-01 9.91925474e-01 9.37488321e-04 -2.70819312e+00] [ 8.27439234e-03 1.12802010e-04 9.99965760e-01 -6.74833966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60327356 meters 0.07270325798832578 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.71, Z:-0.67 [[ 9.91071443e-01 1.32993511e-01 -9.49320161e-03 2.83204647e+01] [-1.32989201e-01 9.91116891e-01 1.08665532e-03 -2.71445669e+00] [ 9.55339057e-03 1.85540249e-04 9.99954348e-01 -6.74041208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66327356 meters 0.07320152649580679 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.72, Z:-0.68 [[ 9.90302481e-01 1.38623814e-01 -9.18876167e-03 2.83798751e+01] [-1.38620018e-01 9.90345083e-01 1.05182943e-03 -2.72078195e+00] [ 9.24585355e-03 2.32117015e-04 9.99957229e-01 -6.75895552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.723273559999996 meters 0.07782379945218468 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.71, Z:-0.69 [[ 9.89368050e-01 1.45399227e-01 -3.15050118e-03 2.84389832e+01] [-1.45398821e-01 9.89373061e-01 3.58825920e-04 -2.71238011e+00] [ 3.16919401e-03 1.03068257e-04 9.99994973e-01 -6.89279291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78327356 meters 0.07412538830718292 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.74, Z:-0.68 [[ 9.89148760e-01 1.46551748e-01 -1.03592982e-02 2.84966991e+01] [-1.46547363e-01 9.89202945e-01 1.18529259e-03 -2.74063629e+00] [ 1.04211550e-02 3.45697133e-04 9.99945639e-01 -6.80142083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84327356 meters 0.0745078774884774 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.76, Z:-0.68 [[ 9.89279761e-01 1.45649479e-01 -1.05727851e-02 2.85527407e+01] [-1.45644899e-01 9.89336196e-01 1.20607174e-03 -2.75534501e+00] [ 1.06357027e-02 3.46729856e-04 9.99943379e-01 -6.82654726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.903273559999995 meters 0.07439920144124249 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.77, Z:-0.68 [[ 9.89758190e-01 1.42327006e-01 -1.10340196e-02 2.86103489e+01] [-1.42321803e-01 9.89819639e-01 1.25931186e-03 -2.76989868e+00] [ 1.11009234e-02 3.23967336e-04 9.99938330e-01 -6.84952505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96327356 meters 0.07392445444744347 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.79, Z:-0.69 [[ 9.90483167e-01 1.37150911e-01 -1.15205944e-02 2.86687104e+01] [-1.37144878e-01 9.90550125e-01 1.31576202e-03 -2.79065343e+00] [ 1.15921842e-02 2.76750390e-04 9.99932770e-01 -6.86216085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02327356 meters 0.074033709376274 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.81, Z:-0.69 [[ 9.90846235e-01 1.34495231e-01 -1.16091374e-02 2.87259674e+01] [-1.34489010e-01 9.90914208e-01 1.31844316e-03 -2.80557894e+00] [ 1.16809836e-02 2.54926961e-04 9.99931742e-01 -6.86996996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.083273559999995 meters 0.0739368002936116 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.82, Z:-0.69 [[ 9.91408988e-01 1.30155297e-01 -1.29544359e-02 2.87825493e+01] [-1.30147212e-01 9.91493593e-01 1.46880528e-03 -2.82405629e+00] [ 1.30354130e-02 2.29796966e-04 9.99915009e-01 -6.88184243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14327356 meters 0.07412635194505016 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.84, Z:-0.69 [[ 9.91794974e-01 1.27303753e-01 -1.16826183e-02 2.88385256e+01] [-1.27296959e-01 9.91863763e-01 1.32637733e-03 -2.84171131e+00] [ 1.17564185e-02 1.71667402e-04 9.99930876e-01 -6.91512916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20327356 meters 0.07409357953859076 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.86, Z:-0.69 [[ 9.91952055e-01 1.26100683e-01 -1.13902708e-02 2.88957920e+01] [-1.26094214e-01 9.92017435e-01 1.28723273e-03 -2.85904898e+00] [ 1.14616682e-02 1.59374097e-04 9.99934300e-01 -6.91307999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.263273559999995 meters 0.07422851478031448 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.87, Z:-0.69 [[ 9.91899860e-01 1.26486902e-01 -1.16503540e-02 2.89535078e+01] [-1.26480193e-01 9.91968263e-01 1.31382734e-03 -2.87227304e+00] [ 1.17229634e-02 1.70353875e-04 9.99931269e-01 -6.90897391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32327356 meters 0.07417192479690421 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.89, Z:-0.69 [[ 9.91665626e-01 1.28365227e-01 -1.10297170e-02 2.90105307e+01] [-1.28359363e-01 9.91726945e-01 1.24081332e-03 -2.88802193e+00] [ 1.10977448e-02 1.85295535e-04 9.99938401e-01 -6.90932887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38327356 meters 0.07486486918324203 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.90, Z:-0.70 [[ 9.91133609e-01 1.32289315e-01 -1.23978471e-02 2.90672077e+01] [-1.32282170e-01 9.91211114e-01 1.39822879e-03 -2.90183702e+00] [ 1.24738546e-02 2.54182581e-04 9.99922166e-01 -6.95334904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44327356 meters 0.07461285580537778 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.92, Z:-0.69 [[ 9.90661425e-01 1.35751505e-01 -1.27071087e-02 2.91257710e+01] [-1.35744280e-01 9.90742871e-01 1.43339754e-03 -2.91635416e+00] [ 1.27840632e-02 3.04905669e-04 9.99918234e-01 -6.93330604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50327356 meters 0.07618705581000693 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.93, Z:-0.70 [[ 9.89729849e-01 1.42307590e-01 -1.35416469e-02 2.91844971e+01] [-1.42299997e-01 9.89822397e-01 1.52751966e-03 -2.92616202e+00] [ 1.36212031e-02 4.15144514e-04 9.99907141e-01 -6.99214993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56327356 meters 0.0758362181062202 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.94, Z:-0.70 [[ 9.89137306e-01 1.46389499e-01 -1.33230845e-02 2.92429224e+01] [-1.46382528e-01 9.89226920e-01 1.50216144e-03 -2.94238672e+00] [ 1.33994545e-02 4.64422875e-04 9.99910115e-01 -6.96950374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62327356 meters 0.07620845338791181 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.96, Z:-0.70 [[ 9.88306569e-01 1.51949126e-01 -1.27117234e-02 2.93016238e+01] [-1.51943238e-01 9.88388182e-01 1.43334628e-03 -2.95963876e+00] [ 1.27819129e-02 5.14874867e-04 9.99918175e-01 -6.97654172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.683273559999996 meters 0.07722522830300295 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.98, Z:-0.70 [[ 9.87921493e-01 1.54535307e-01 -1.14001333e-02 2.93581339e+01] [-1.54530771e-01 9.87987143e-01 1.28302815e-03 -2.97578404e+00] [ 1.14614582e-02 4.94140292e-04 9.99934193e-01 -7.00935078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74327356 meters 0.07619974059010277 Centerline is valid? [True, True] Translation: X:29.41, Y:-3.00, Z:-0.70 [[ 9.87902781e-01 1.54759523e-01 -9.87852740e-03 2.94149788e+01] [-1.54756186e-01 9.87952074e-01 1.10593412e-03 -2.99625427e+00] [ 9.93066547e-03 4.36207827e-04 9.99950595e-01 -7.00030136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80327356 meters 0.07625771156055326 Centerline is valid? [True, True] Translation: X:29.47, Y:-3.01, Z:-0.70 [[ 9.88055523e-01 1.53771697e-01 -1.00273765e-02 2.94726202e+01] [-1.53768225e-01 9.88106308e-01 1.12090136e-03 -3.01395667e+00] [ 1.00804768e-02 4.34379094e-04 9.99949096e-01 -7.02269195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.863273559999996 meters 0.07603665579159692 Centerline is valid? [True, True] Translation: X:29.53, Y:-3.04, Z:-0.71 [[ 9.88339188e-01 1.51931324e-01 -1.01253561e-02 2.95282351e+01] [-1.51927667e-01 9.88390964e-01 1.13393475e-03 -3.03809136e+00] [ 1.01800907e-02 4.17609579e-04 9.99948094e-01 -7.05739731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92327356 meters 0.07431091076855309 Centerline is valid? [True, True] Translation: X:29.58, Y:-3.07, Z:-0.71 [[ 9.88779458e-01 1.49189843e-01 -7.58778832e-03 2.95848707e+01] [-1.49187706e-01 9.88808528e-01 8.50102742e-04 -3.06863364e+00] [ 7.62969649e-03 2.91440604e-04 9.99970851e-01 -7.06849162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98327356 meters 0.07430853547872418 Centerline is valid? [True, True] Translation: X:29.64, Y:-3.09, Z:-0.71 [[ 9.89426853e-01 1.44899274e-01 -6.22121787e-03 2.96412485e+01] [-1.44897755e-01 9.89446388e-01 6.96676198e-04 -3.09267280e+00] [ 6.25650943e-03 2.12130365e-04 9.99980405e-01 -7.12417332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.043273559999996 meters 0.07248523104117964 Centerline is valid? [True, True] Translation: X:29.70, Y:-3.12, Z:-0.71 [[ 9.89685375e-01 1.43175257e-01 -4.86876448e-03 2.96979459e+01] [-1.43174332e-01 9.89697337e-01 5.39990033e-04 -3.11872886e+00] [ 4.89591645e-03 1.62661861e-04 9.99988002e-01 -7.10117668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10327356 meters 0.07298756713865423 Centerline is valid? [True, True] Translation: X:29.75, Y:-3.14, Z:-0.72 [[ 9.90406086e-01 1.38122570e-01 -4.23555419e-03 2.97549886e+01] [-1.38121809e-01 9.90415136e-01 4.72996244e-04 -3.14006247e+00] [ 4.26028843e-03 1.16564049e-04 9.99990918e-01 -7.16525847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16327356 meters 0.07126120894788457 Centerline is valid? [True, True] Translation: X:29.81, Y:-3.17, Z:-0.71 [[ 9.91039271e-01 1.33536539e-01 -3.02584524e-03 2.98113742e+01] [-1.33536130e-01 9.91043888e-01 3.37589707e-04 -3.17117959e+00] [ 3.04382599e-03 6.94950050e-05 9.99995365e-01 -7.12888506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.223273559999996 meters 0.07105173803975579 Centerline is valid? [True, True] Translation: X:29.87, Y:-3.19, Z:-0.71 [[ 9.91370606e-01 1.31018893e-01 -4.28617118e-03 2.98687992e+01] [-1.31018072e-01 9.91379867e-01 4.72969262e-04 -3.19006691e+00] [ 4.31119173e-03 9.26780605e-05 9.99990702e-01 -7.12895260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28327356 meters 0.07112057989583462 Centerline is valid? [True, True] Translation: X:29.93, Y:-3.21, Z:-0.71 [[ 9.91784342e-01 1.27809200e-01 -5.35047701e-03 2.99252823e+01] [-1.27807849e-01 9.91798770e-01 5.95063113e-04 -3.21129220e+00] [ 5.38265106e-03 9.36586810e-05 9.99985509e-01 -7.14805845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34327356 meters 0.07092736950416983 Centerline is valid? [True, True] Translation: X:29.98, Y:-3.23, Z:-0.72 [[ 9.92077792e-01 1.25440663e-01 -6.80406185e-03 2.99830995e+01] [-1.25438423e-01 9.92101119e-01 7.56643252e-04 -3.22701832e+00] [ 6.84523120e-03 1.02841820e-04 9.99976566e-01 -7.15165422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.403273559999995 meters 0.07049333503137634 Centerline is valid? [True, True] Translation: X:30.04, Y:-3.25, Z:-0.72 [[ 9.92432383e-01 1.22643015e-01 -6.05440156e-03 3.00402985e+01] [-1.22641193e-01 9.92450848e-01 6.72701102e-04 -3.24584065e+00] [ 6.09119805e-03 7.49086735e-05 9.99981446e-01 -7.15092802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46327356 meters 0.07043553372590348 Centerline is valid? [True, True] Translation: X:30.10, Y:-3.26, Z:-0.72 [[ 9.92810931e-01 1.19558537e-01 -5.67553354e-03 3.00962926e+01] [-1.19556897e-01 9.92827152e-01 6.28600101e-04 -3.26282532e+00] [ 5.70997831e-03 5.44681283e-05 9.99983696e-01 -7.16744538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52327356 meters 0.0702453447274683 Centerline is valid? [True, True] Translation: X:30.15, Y:-3.27, Z:-0.72 [[ 9.92942565e-01 1.18435991e-01 -6.16265731e-03 3.01548165e+01] [-1.18434029e-01 9.92961688e-01 6.83594769e-04 -3.27244092e+00] [ 6.20024483e-03 5.10979939e-05 9.99980777e-01 -7.17807246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.583273559999995 meters 0.07007801812040122 Centerline is valid? [True, True] Translation: X:30.21, Y:-3.29, Z:-0.72 [[ 9.93410948e-01 1.14437188e-01 -6.23040785e-03 3.02118405e+01] [-1.14435107e-01 9.93430485e-01 6.90711564e-04 -3.28837768e+00] [ 6.26852018e-03 2.68169556e-05 9.99980352e-01 -7.18878663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64327356 meters 0.069896983900158 Centerline is valid? [True, True] Translation: X:30.27, Y:-3.30, Z:-0.72 [[ 9.93820314e-01 1.10693538e-01 -8.25374812e-03 3.02693019e+01] [-1.10689757e-01 9.93854587e-01 9.14894860e-04 -3.30155430e+00] [ 8.30429838e-03 4.36427833e-06 9.99965519e-01 -7.18495290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70327356 meters 0.06978599326751468 Centerline is valid? [True, True] Translation: X:30.33, Y:-3.32, Z:-0.72 [[ 9.94562030e-01 1.03946067e-01 -6.44860533e-03 3.03265307e+01] [-1.03943622e-01 9.94582935e-01 7.13999194e-04 -3.31744302e+00] [ 6.48789022e-03 -3.98250922e-05 9.99978953e-01 -7.18029796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.763273559999995 meters 0.06998144981787588 Centerline is valid? [True, True] Translation: X:30.38, Y:-3.33, Z:-0.72 [[ 9.95354864e-01 9.60486970e-02 -6.58356474e-03 3.03834125e+01] [-9.60459789e-02 9.95376632e-01 7.28534794e-04 -3.33330187e+00] [ 6.62310131e-03 -9.28257312e-05 9.99978063e-01 -7.19986435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82327356 meters 0.06992161889651426 Centerline is valid? [True, True] Translation: X:30.44, Y:-3.34, Z:-0.72 [[ 9.95728154e-01 9.21241749e-02 -6.21129645e-03 3.04417568e+01] [-9.21216822e-02 9.95747520e-01 6.86833445e-04 -3.34481815e+00] [ 6.24815700e-03 -1.11704320e-04 9.99980474e-01 -7.19552553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88327356 meters 0.06997963800025342 Centerline is valid? [True, True] Translation: X:30.50, Y:-3.35, Z:-0.72 [[ 9.96029225e-01 8.89447127e-02 -3.82381253e-03 3.04994885e+01] [-8.89437514e-02 9.96036561e-01 4.21062752e-04 -3.35432826e+00] [ 3.84610839e-03 -7.92865757e-05 9.99992601e-01 -7.19248257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94327356 meters 0.07023729654554335 Centerline is valid? [True, True] Translation: X:30.56, Y:-3.36, Z:-0.72 [[ 9.96053625e-01 8.86881602e-02 -3.40374151e-03 3.05567975e+01] [-8.86873974e-02 9.96059439e-01 3.74670346e-04 -3.36293068e+00] [ 3.42355768e-03 -7.13227800e-05 9.99994137e-01 -7.21313625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00327356 meters 0.07017314728931304 Centerline is valid? [True, True] Translation: X:30.62, Y:-3.37, Z:-0.72 [[ 9.95829757e-01 9.11617005e-02 -3.55517910e-03 3.06154455e+01] [-9.11608833e-02 9.95836101e-01 3.91564468e-04 -3.36721189e+00] [ 3.57607138e-03 -6.58382822e-05 9.99993604e-01 -7.21935088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06327356 meters 0.06996680586753859 Centerline is valid? [True, True] Translation: X:30.67, Y:-3.37, Z:-0.72 [[ 9.95605379e-01 9.35412334e-02 -4.46842038e-03 3.06737493e+01] [-9.35399661e-02 9.95615404e-01 4.92220049e-04 -3.37172725e+00] [ 4.49487103e-03 -7.20810375e-05 9.99989895e-01 -7.24068754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12327356 meters 0.06991772551992798 Centerline is valid? [True, True] Translation: X:30.73, Y:-3.38, Z:-0.73 [[ 9.95428005e-01 9.54319082e-02 -3.97973727e-03 3.07327187e+01] [-9.54309198e-02 9.95435959e-01 4.37958329e-04 -3.37500344e+00] [ 4.00336879e-03 -5.61659972e-05 9.99991985e-01 -7.26895094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.183273559999996 meters 0.0699811696639963 Centerline is valid? [True, True] Translation: X:30.79, Y:-3.38, Z:-0.73 [[ 9.95489592e-01 9.48080847e-02 -3.44952391e-03 3.07913360e+01] [-9.48073400e-02 9.95495567e-01 3.79142973e-04 -3.37876206e+00] [ 3.46993158e-03 -5.03926971e-05 9.99993978e-01 -7.28402052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24327356 meters 0.07004450877342545 Centerline is valid? [True, True] Translation: X:30.85, Y:-3.39, Z:-0.73 [[ 9.95681666e-01 9.28166444e-02 -1.75809251e-03 3.08486058e+01] [-9.28164501e-02 9.95683218e-01 1.92009754e-04 -3.38516617e+00] [ 1.76832491e-03 -2.80006862e-05 9.99998436e-01 -7.30624744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30327356 meters 0.0699438246991983 Centerline is valid? [True, True] Translation: X:30.91, Y:-3.39, Z:-0.73 [[ 9.95870119e-01 9.07869857e-02 6.54738525e-04 3.09073382e+01] [-9.07869569e-02 9.95870334e-01 -7.36481211e-05 -3.38908052e+00] [-6.58720964e-04 1.39022450e-05 9.99999783e-01 -7.30378612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.363273559999996 meters 0.07040438663099506 Centerline is valid? [True, True] Translation: X:30.96, Y:-3.39, Z:-0.73 [[ 9.96028752e-01 8.89943943e-02 2.59292875e-03 3.09647281e+01] [-8.89939477e-02 9.96032125e-01 -2.87330067e-04 -3.39448947e+00] [-2.60821110e-03 5.54340425e-05 9.99996597e-01 -7.33929896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42327356 meters 0.07011966948524999 Centerline is valid? [True, True] Translation: X:31.02, Y:-3.40, Z:-0.73 [[ 9.96122708e-01 8.79341409e-02 2.67172673e-03 3.10238973e+01] [-8.79336646e-02 9.96126289e-01 -2.95459249e-04 -3.39688872e+00] [-2.68735819e-03 5.93789451e-05 9.99996387e-01 -7.34557309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48327356 meters 0.0706841702609915 Centerline is valid? [True, True] Translation: X:31.08, Y:-3.40, Z:-0.74 [[ 9.96372286e-01 8.51000524e-02 4.98153342e-04 3.10824744e+01] [-8.51000351e-02 9.96372411e-01 -5.58890550e-05 -3.40213712e+00] [-5.01102408e-04 1.32934386e-05 9.99999874e-01 -7.38481554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.543273559999996 meters 0.07121013652316205 Centerline is valid? [True, True] Translation: X:31.14, Y:-3.41, Z:-0.74 [[ 9.96614715e-01 8.22125293e-02 -4.57532309e-04 3.11417332e+01] [-8.22125152e-02 9.96614820e-01 4.95712184e-05 -3.40754781e+00] [ 4.60058855e-04 -1.17885238e-05 9.99999894e-01 -7.41481134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60327356 meters 0.07167227672073848 Centerline is valid? [True, True] Translation: X:31.20, Y:-3.41, Z:-0.74 [[ 9.96863144e-01 7.91329376e-02 1.36036526e-03 3.12001961e+01] [-7.91328052e-02 9.96864071e-01 -1.50919893e-04 -3.41355476e+00] [-1.36804198e-03 4.27969597e-05 9.99999063e-01 -7.42631702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66327356 meters 0.07189324604796635 Centerline is valid? [True, True] Translation: X:31.26, Y:-3.42, Z:-0.74 [[ 9.97180777e-01 7.49965661e-02 2.45215946e-03 3.12600898e+01] [-7.49961284e-02 9.97183788e-01 -2.70075224e-04 -3.41725556e+00] [-2.46550838e-03 8.54113555e-05 9.99996957e-01 -7.41929638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.723273559999996 meters 0.07273554461362192 Centerline is valid? [True, True] Translation: X:31.32, Y:-3.42, Z:-0.74 [[ 9.97413518e-01 7.18503943e-02 1.94790880e-03 3.13187244e+01] [-7.18501113e-02 9.97415418e-01 -2.14942864e-04 -3.42410050e+00] [-1.95831800e-03 7.44294539e-05 9.99998080e-01 -7.44075620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78327356 meters 0.07271749875439137 Centerline is valid? [True, True] Translation: X:31.38, Y:-3.43, Z:-0.75 [[ 9.97612630e-01 6.90417821e-02 1.50743808e-03 3.13781353e+01] [-6.90416091e-02 9.97613767e-01 -1.66540243e-04 -3.42639811e+00] [-1.51533922e-03 6.20666991e-05 9.99998850e-01 -7.45719742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84327356 meters 0.0731089219750726 Centerline is valid? [True, True] Translation: X:31.44, Y:-3.43, Z:-0.75 [[ 9.97691973e-01 6.78987601e-02 6.96750136e-04 3.14367583e+01] [-6.78987222e-02 9.97692216e-01 -7.78932468e-05 -3.43049688e+00] [-7.00431042e-04 3.04050232e-05 9.99999754e-01 -7.47857304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.903273559999995 meters 0.07372640007274207 Centerline is valid? [True, True] Translation: X:31.50, Y:-3.43, Z:-0.75 [[ 9.97815389e-01 6.60638282e-02 -1.44654071e-04 3.14964521e+01] [-6.60638267e-02 9.97815399e-01 1.51164003e-05 -3.43237900e+00] [ 1.45336707e-04 -5.52697536e-06 9.99999989e-01 -7.51271112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96327356 meters 0.07399999570477461 Centerline is valid? [True, True] Translation: X:31.56, Y:-3.44, Z:-0.75 [[ 9.97903406e-01 6.47175768e-02 6.54391861e-04 3.15551015e+01] [-6.47175427e-02 9.97903620e-01 -7.31818225e-05 -3.43514429e+00] [-6.57756157e-04 3.06777567e-05 9.99999783e-01 -7.53132957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02327356 meters 0.0736308604857798 Centerline is valid? [True, True] Translation: X:31.61, Y:-3.44, Z:-0.75 [[ 9.97971677e-01 6.36267092e-02 2.04277996e-03 3.16140008e+01] [-6.36263813e-02 9.97973764e-01 -2.25172931e-04 -3.43801923e+00] [-2.05296781e-03 9.47415118e-05 9.99997888e-01 -7.53223647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.083273559999995 meters 0.07384234541476375 Centerline is valid? [True, True] Translation: X:31.67, Y:-3.44, Z:-0.75 [[ 9.97903539e-01 6.46474748e-02 3.03829392e-03 3.16719239e+01] [-6.46467562e-02 9.97908155e-01 -3.34250151e-04 -3.44024653e+00] [-3.05354671e-03 1.37133562e-04 9.99995329e-01 -7.54623468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14327356 meters 0.07387987567168866 Centerline is valid? [True, True] Translation: X:31.73, Y:-3.44, Z:-0.76 [[ 9.97741868e-01 6.71389141e-02 1.87897610e-03 3.17297066e+01] [-6.71386427e-02 9.97743634e-01 -2.07227296e-04 -3.44329537e+00] [-1.88864946e-03 8.06074445e-05 9.99998213e-01 -7.56621352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20327356 meters 0.07268215920632015 Centerline is valid? [True, True] Translation: X:31.79, Y:-3.44, Z:-0.76 [[ 9.97257337e-01 7.40115445e-02 3.07774435e-04 3.17905506e+01] [-7.40115376e-02 9.97257385e-01 -3.37832944e-05 -3.43941271e+00] [-3.09430682e-04 1.09117790e-05 9.99999952e-01 -7.58382459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.263273559999995 meters 0.07190901473443015 Centerline is valid? [True, True] Translation: X:31.85, Y:-3.44, Z:-0.76 [[ 9.96514526e-01 8.34186452e-02 3.60456244e-04 3.18504912e+01] [-8.34186362e-02 9.96514591e-01 -3.98262664e-05 -3.43515162e+00] [-3.62522159e-04 9.61868474e-06 9.99999934e-01 -7.60476214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32327356 meters 0.07121176603898832 Centerline is valid? [True, True] Translation: X:31.91, Y:-3.43, Z:-0.76 [[ 9.95844585e-01 9.10558459e-02 1.54793522e-03 3.19111116e+01] [-9.10556918e-02 9.95845787e-01 -1.69903186e-04 -3.43263172e+00] [-1.55697545e-03 2.82488549e-05 9.99998788e-01 -7.61852281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38327356 meters 0.07055170032392434 Centerline is valid? [True, True] Translation: X:31.97, Y:-3.43, Z:-0.76 [[ 9.94617743e-01 1.03608854e-01 8.66439306e-04 3.19719715e+01] [-1.03608811e-01 9.94618120e-01 -9.53717582e-05 -3.42539371e+00] [-8.71657592e-04 5.08769692e-06 9.99999620e-01 -7.62399801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44327356 meters 0.07037623963550013 Centerline is valid? [True, True] Translation: X:32.03, Y:-3.42, Z:-0.76 [[ 9.93515642e-01 1.13688277e-01 1.28289524e-03 3.20307736e+01] [-1.13688188e-01 9.93516470e-01 -1.41828648e-04 -3.42108774e+00] [-1.29070181e-03 -4.94105604e-06 9.99999167e-01 -7.63593075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50327356 meters 0.07049485044045453 Centerline is valid? [True, True] Translation: X:32.09, Y:-3.43, Z:-0.76 [[ 9.93260016e-01 1.15904066e-01 8.87954489e-04 3.20889508e+01] [-1.15904024e-01 9.93260413e-01 -9.86509246e-05 -3.42517789e+00] [-8.93404085e-04 -4.93147968e-06 9.99999601e-01 -7.64492218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56327356 meters 0.07064948561516154 Centerline is valid? [True, True] Translation: X:32.15, Y:-3.43, Z:-0.77 [[ 9.92892367e-01 1.19011045e-01 1.05758504e-03 3.21481337e+01] [-1.19010988e-01 9.92892930e-01 -1.16688531e-04 -3.42883066e+00] [-1.06395594e-03 -1.00050890e-05 9.99999434e-01 -7.66591127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62327356 meters 0.07084307129611851 Centerline is valid? [True, True] Translation: X:32.21, Y:-3.43, Z:-0.77 [[ 9.92715892e-01 1.20474375e-01 1.04013018e-03 3.22061677e+01] [-1.20474320e-01 9.92716437e-01 -1.15874308e-04 -3.43415619e+00] [-1.04651421e-03 -1.02787098e-05 9.99999452e-01 -7.69537691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.683273559999996 meters 0.07067431682880336 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.44, Z:-0.77 [[ 9.92866000e-01 1.19229753e-01 1.17116383e-03 3.22638781e+01] [-1.19229684e-01 9.92866691e-01 -1.28818317e-04 -3.44327021e+00] [-1.17816853e-03 -1.17381658e-05 9.99999306e-01 -7.70872752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74327356 meters 0.07047634944821338 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.45, Z:-0.77 [[ 9.92985717e-01 1.18223920e-01 1.57162686e-03 3.23224111e+01] [-1.18223791e-01 9.92986961e-01 -1.75332344e-04 -3.45329689e+00] [-1.58133346e-03 -1.17011717e-05 9.99998750e-01 -7.71284709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80327356 meters 0.07036440328468882 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.46, Z:-0.77 [[ 9.93131438e-01 1.16991178e-01 1.73544568e-03 3.23800774e+01] [-1.16991026e-01 9.93132954e-01 -1.89709924e-04 -3.46390002e+00] [-1.74572268e-03 -1.46246801e-05 9.99998476e-01 -7.73114923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.863273559999996 meters 0.07017428975547697 Centerline is valid? [True, True] Translation: X:32.44, Y:-3.47, Z:-0.77 [[ 9.92999827e-01 1.18097462e-01 2.08136485e-03 3.24382542e+01] [-1.18097245e-01 9.93002009e-01 -2.27102932e-04 -3.47427856e+00] [-2.09361975e-03 -2.02902823e-05 9.99997808e-01 -7.74131357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92327356 meters 0.07027414411982458 Centerline is valid? [True, True] Translation: X:32.50, Y:-3.48, Z:-0.77 [[ 9.92517280e-01 1.22098274e-01 1.20809358e-03 3.24966752e+01] [-1.22098203e-01 9.92518016e-01 -1.32369874e-04 -3.48342975e+00] [-1.21521677e-03 -1.61266671e-05 9.99999261e-01 -7.74997980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98327356 meters 0.0704635722308777 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.49, Z:-0.78 [[ 9.92144346e-01 1.25098165e-01 2.16279088e-04 3.25538093e+01] [-1.25098162e-01 9.92144369e-01 -2.52281063e-05 -3.49056363e+00] [-2.17736069e-04 -2.02619336e-06 9.99999976e-01 -7.78022460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.043273559999996 meters 0.07037666133337654 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.50, Z:-0.78 [[ 9.91488104e-01 1.30196534e-01 -4.48908262e-04 3.26124932e+01] [-1.30196526e-01 9.91488206e-01 4.74755502e-05 -3.50012201e+00] [ 4.51268399e-04 1.13748528e-05 9.99999898e-01 -7.77583227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10327356 meters 0.07069371184908313 Centerline is valid? [True, True] Translation: X:32.67, Y:-3.51, Z:-0.78 [[ 9.90994874e-01 1.33899581e-01 2.49670359e-04 3.26709202e+01] [-1.33899577e-01 9.90994905e-01 -3.20243702e-05 -3.50695964e+00] [-2.51710104e-04 -1.69476881e-06 9.99999968e-01 -7.78078873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16327356 meters 0.07070967389184886 Centerline is valid? [True, True] Translation: X:32.73, Y:-3.52, Z:-0.78 [[ 9.90292376e-01 1.38998531e-01 6.46212406e-04 3.27298374e+01] [-1.38998515e-01 9.90292587e-01 -7.04867248e-05 -3.51703915e+00] [-6.49736906e-04 -2.00200985e-05 9.99999789e-01 -7.78811001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.223273559999996 meters 0.07201001044278069 Centerline is valid? [True, True] Translation: X:32.79, Y:-3.52, Z:-0.78 [[ 9.89707776e-01 1.43101078e-01 7.74628464e-04 3.27884096e+01] [-1.43101056e-01 9.89708079e-01 -8.46557202e-05 -3.52265000e+00] [-7.78770373e-04 -2.70657264e-05 9.99999696e-01 -7.80493642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28327356 meters 0.07165464530468499 Centerline is valid? [True, True] Translation: X:32.85, Y:-3.54, Z:-0.78 [[ 9.89399167e-01 1.45221429e-01 1.56615935e-04 3.28471869e+01] [-1.45221428e-01 9.89399180e-01 -1.76141279e-05 -3.53588750e+00] [-1.57513626e-04 -5.31658629e-06 9.99999988e-01 -7.80089900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34327356 meters 0.07728802923037846 Centerline is valid? [True, True] Translation: X:32.91, Y:-3.53, Z:-0.79 [[ 9.89268057e-01 1.46111493e-01 -3.77028055e-04 3.29061970e+01] [-1.46111490e-01 9.89268129e-01 3.41438945e-05 -3.53356540e+00] [ 3.77970654e-04 2.13106669e-05 9.99999928e-01 -7.91151592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.403273559999995 meters 0.07712928828919353 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.55, Z:-0.79 [[ 9.89214581e-01 1.46473514e-01 -1.52583849e-04 3.29630977e+01] [-1.46473513e-01 9.89214592e-01 1.44972589e-05 -3.55079202e+00] [ 1.53061634e-04 8.00859245e-06 9.99999988e-01 -7.90473133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46327356 meters 0.07829777244529786 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.56, Z:-0.79 [[ 9.89067556e-01 1.47463108e-01 3.09538014e-05 3.30198109e+01] [-1.47463107e-01 9.89067557e-01 -5.65460469e-06 -3.56167131e+00] [-3.14492463e-05 1.02824230e-06 1.00000000e+00 -7.91425370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52327356 meters 0.07299459717212883 Centerline is valid? [True, True] Translation: X:33.08, Y:-3.60, Z:-0.78 [[ 9.88913345e-01 1.48481065e-01 -1.94135108e-03 3.30757673e+01] [-1.48480946e-01 9.88915247e-01 2.06404554e-04 -3.59586336e+00] [ 1.95047885e-03 8.41374265e-05 9.99998094e-01 -7.83082009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.583273559999995 meters 0.07345566716677955 Centerline is valid? [True, True] Translation: X:33.13, Y:-3.61, Z:-0.78 [[ 9.88796101e-01 1.49244974e-01 -2.86508195e-03 3.31330524e+01] [-1.49244715e-01 9.88800244e-01 3.05277941e-04 -3.60958221e+00] [ 2.87855493e-03 1.25740703e-04 9.99995849e-01 -7.84753839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64327356 meters 0.07324317585742234 Centerline is valid? [True, True] Translation: X:33.19, Y:-3.63, Z:-0.78 [[ 9.88656174e-01 1.50173601e-01 -2.61896576e-03 3.31898050e+01] [-1.50173387e-01 9.88659636e-01 2.79054758e-04 -3.63001483e+00] [ 2.63117239e-03 1.17409750e-04 9.99996532e-01 -7.83941822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70327356 meters 0.0732375048711331 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.65, Z:-0.78 [[ 9.88753250e-01 1.49531106e-01 -2.73096876e-03 3.32470442e+01] [-1.49530872e-01 9.88757014e-01 2.90867069e-04 -3.65069160e+00] [ 2.74375819e-03 1.20768380e-04 9.99996229e-01 -7.83311686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.763273559999995 meters 0.07307492557898912 Centerline is valid? [True, True] Translation: X:33.30, Y:-3.67, Z:-0.78 [[ 9.88788606e-01 1.49299899e-01 -2.57546290e-03 3.33046159e+01] [-1.49299691e-01 9.88791953e-01 2.74036121e-04 -3.66774982e+00] [ 2.58751056e-03 1.13552021e-04 9.99996646e-01 -7.83808678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82327356 meters 0.07333305761707558 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.69, Z:-0.79 [[ 9.88831154e-01 1.48947855e-01 -5.24273723e-03 3.33611572e+01] [-1.48946983e-01 9.88845025e-01 5.58555675e-04 -3.68740773e+00] [ 5.26745029e-03 2.28572639e-04 9.99986101e-01 -7.86759740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88327356 meters 0.07320350193622657 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.71, Z:-0.79 [[ 9.89029470e-01 1.47582830e-01 -6.32581911e-03 3.34178448e+01] [-1.47581530e-01 9.89049664e-01 6.74248897e-04 -3.70892249e+00] [ 6.35605682e-03 2.66722036e-04 9.99979764e-01 -7.89150253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94327356 meters 0.07397228989363966 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.72, Z:-0.79 [[ 9.89206668e-01 1.46376110e-01 -6.64849620e-03 3.34743350e+01] [-1.46374653e-01 9.89228972e-01 7.07815376e-04 -3.72120220e+00] [ 6.68049232e-03 2.72995633e-04 9.99977648e-01 -7.92881364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00327356 meters 0.07211376297642971 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.75, Z:-0.79 [[ 9.89676828e-01 1.43256669e-01 -4.15971541e-03 3.35319183e+01] [-1.43256068e-01 9.89685557e-01 4.43537307e-04 -3.74659645e+00] [ 4.18034994e-03 1.56945878e-04 9.99991250e-01 -7.90094168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06327356 meters 0.07109063126824579 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.77, Z:-0.79 [[ 9.90073075e-01 1.40491489e-01 -4.17696910e-03 3.35898549e+01] [-1.40490861e-01 9.90081875e-01 4.44828387e-04 -3.76598029e+00] [ 4.19803600e-03 1.46413377e-04 9.99991177e-01 -7.88956450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12327356 meters 0.07154862692876056 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.78, Z:-0.79 [[ 9.90492476e-01 1.37491515e-01 -4.55388645e-03 3.36474369e+01] [-1.37490737e-01 9.90502934e-01 4.84888176e-04 -3.78347176e+00] [ 4.57730590e-03 1.45839114e-04 9.99989513e-01 -7.94218162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183273559999996 meters 0.07109795467631128 Centerline is valid? [True, True] Translation: X:33.71, Y:-3.80, Z:-0.80 [[ 9.90855742e-01 1.34778053e-01 -6.30676855e-03 3.37062179e+01] [-1.34776500e-01 9.90875796e-01 6.72577141e-04 -3.80188115e+00] [ 6.33987294e-03 1.83577267e-04 9.99979886e-01 -7.95704415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24327356 meters 0.07074508161414977 Centerline is valid? [True, True] Translation: X:33.77, Y:-3.82, Z:-0.80 [[ 9.91096083e-01 1.33043602e-01 -5.28721112e-03 3.37653767e+01] [-1.33042485e-01 9.91110175e-01 5.63847764e-04 -3.81920078e+00] [ 5.31522508e-03 1.44596399e-04 9.99985864e-01 -7.95265993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30327356 meters 0.07048144117355885 Centerline is valid? [True, True] Translation: X:33.83, Y:-3.83, Z:-0.80 [[ 9.91233785e-01 1.32026529e-01 -4.95784190e-03 3.38261391e+01] [-1.32025528e-01 9.91246175e-01 5.30089950e-04 -3.83217654e+00] [ 4.98442776e-03 1.29118625e-04 9.99987569e-01 -7.95805694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.363273559999996 meters 0.07033068264680717 Centerline is valid? [True, True] Translation: X:33.89, Y:-3.84, Z:-0.80 [[ 9.91410285e-01 1.30658605e-01 -5.82884901e-03 3.38871748e+01] [-1.30657167e-01 9.91427410e-01 6.28482959e-04 -3.84440889e+00] [ 5.86099739e-03 1.38496429e-04 9.99982815e-01 -7.97701652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42327356 meters 0.0701212566986277 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.86, Z:-0.80 [[ 9.91625008e-01 1.28996086e-01 -6.31294442e-03 3.39478886e+01] [-1.28994357e-01 9.91645093e-01 6.81903477e-04 -3.85723526e+00] [ 6.34816324e-03 1.38141667e-04 9.99979841e-01 -7.98491289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48327356 meters 0.06979894097561648 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.87, Z:-0.80 [[ 9.92185535e-01 1.24518471e-01 -7.93810790e-03 3.40086991e+01] [-1.24515589e-01 9.92217280e-01 8.58108760e-04 -3.87378516e+00] [ 7.98317823e-03 1.37015085e-04 9.99968125e-01 -7.99473027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.543273559999996 meters 0.06959540034969787 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.89, Z:-0.80 [[ 9.92931732e-01 1.18417197e-01 -7.99647627e-03 3.40684782e+01] [-1.18414110e-01 9.92963926e-01 8.60129603e-04 -3.88777409e+00] [ 8.04206661e-03 9.28456416e-05 9.99967658e-01 -8.01683169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60327356 meters 0.06926670291002109 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.90, Z:-0.80 [[ 9.93492975e-01 1.13717217e-01 -6.33267225e-03 3.41292905e+01] [-1.13715180e-01 9.93513157e-01 6.82026390e-04 -3.90085608e+00] [ 6.36915134e-03 4.25325368e-05 9.99979716e-01 -8.00852275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66327356 meters 0.0690835193271498 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.92, Z:-0.80 [[ 9.94234610e-01 1.07094291e-01 -5.32472721e-03 3.41897506e+01] [-1.07092726e-01 9.94248869e-01 5.78980635e-04 -3.91619366e+00] [ 5.35610953e-03 -5.40303457e-06 9.99985656e-01 -8.01035379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.723273559999996 meters 0.06934248519214802 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.93, Z:-0.81 [[ 9.94808523e-01 1.01520760e-01 -7.03836491e-03 3.42500374e+01] [-1.01517890e-01 9.94833420e-01 7.64760882e-04 -3.92871679e+00] [ 7.07963974e-03 -4.62706849e-05 9.99974938e-01 -8.05033625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78327356 meters 0.06961699389350634 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.94, Z:-0.81 [[ 9.95120283e-01 9.82839045e-02 -8.71186314e-03 3.43103579e+01] [-9.82794037e-02 9.95158413e-01 9.44272239e-04 -3.93806113e+00] [ 8.76249066e-03 -8.34677423e-05 9.99961605e-01 -8.08366417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84327356 meters 0.06935471523490093 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.94, Z:-0.81 [[ 9.95319819e-01 9.62057909e-02 -9.10509255e-03 3.43721118e+01] [-9.62007447e-02 9.95361459e-01 9.91593265e-04 -3.94468671e+00] [ 9.15825522e-03 -1.11035746e-04 9.99958056e-01 -8.06781214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.903273559999995 meters 0.06904822744661085 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.95, Z:-0.80 [[ 9.95387671e-01 9.56254245e-02 -7.69168718e-03 3.44337410e+01] [-9.56217837e-02 9.95417384e-01 8.40548566e-04 -3.94970700e+00] [ 7.73681694e-03 -1.01178832e-04 9.99970065e-01 -8.04922604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96327356 meters 0.06903331087811795 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.95, Z:-0.81 [[ 9.95308049e-01 9.65559711e-02 -6.23149545e-03 3.44946033e+01] [-9.65535874e-02 9.95327553e-01 6.82939595e-04 -3.95363881e+00] [ 6.26832101e-03 -7.80620360e-05 9.99980351e-01 -8.07379307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02327356 meters 0.06882359990921459 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.96, Z:-0.81 [[ 9.95146331e-01 9.81308166e-02 -7.35688082e-03 3.45567291e+01] [-9.81275269e-02 9.95173521e-01 8.07667441e-04 -3.95510403e+00] [ 7.40063006e-03 -8.18347698e-05 9.99972612e-01 -8.08139867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.083273559999995 meters 0.06891026918526338 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.96, Z:-0.81 [[ 9.95050372e-01 9.91424020e-02 -6.74849631e-03 3.46193586e+01] [-9.91396733e-02 9.95073253e-01 7.38501225e-04 -3.95828323e+00] [ 6.78846496e-03 -6.58021987e-05 9.99976956e-01 -8.10819149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14327356 meters 0.06895767624864846 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.96, Z:-0.81 [[ 9.94989138e-01 9.97005049e-02 -7.51163721e-03 3.46813487e+01] [-9.96971033e-02 9.95017489e-01 8.26876995e-04 -3.95965797e+00] [ 7.55665045e-03 -7.38451584e-05 9.99971445e-01 -8.13020244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20327356 meters 0.06893307550452975 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.96, Z:-0.82 [[ 9.95038314e-01 9.92208541e-02 -7.34681635e-03 3.47430030e+01] [-9.92175701e-02 9.95065433e-01 8.11020927e-04 -3.96156557e+00] [ 7.39103318e-03 -7.80636297e-05 9.99972683e-01 -8.15528869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.263273559999995 meters 0.06885198802110852 Centerline is valid? [True, True] Translation: X:34.81, Y:-3.96, Z:-0.82 [[ 9.95064073e-01 9.89885233e-02 -6.98308398e-03 3.48061440e+01] [-9.89855320e-02 9.95088572e-01 7.73544416e-04 -3.96414737e+00] [ 7.02535908e-03 -7.85019739e-05 9.99975319e-01 -8.15016126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32327356 meters 0.06892385498010901 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.97, Z:-0.82 [[ 9.95134995e-01 9.83515067e-02 -5.77261541e-03 3.48678558e+01] [-9.83494427e-02 9.95151735e-01 6.41016968e-04 -3.96672447e+00] [ 5.80767323e-03 -7.01649090e-05 9.99983133e-01 -8.16974646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38327356 meters 0.06906122249917544 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.97, Z:-0.82 [[ 9.95116766e-01 9.83856791e-02 -7.92967809e-03 3.49299459e+01] [-9.83817857e-02 9.95148355e-01 8.80524366e-04 -3.96970194e+00] [ 7.97783710e-03 -9.60886694e-05 9.99968172e-01 -8.19655877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.443273559999994 meters 0.06919739617510548 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.97, Z:-0.82 [[ 9.95041335e-01 9.90349578e-02 -9.20970331e-03 3.49924623e+01] [-9.90297216e-02 9.95083949e-01 1.02397088e-03 -3.97335678e+00] [ 9.26583685e-03 -1.06858997e-04 9.99957066e-01 -8.21914399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50327356 meters 0.06907872497734445 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.98, Z:-0.82 [[ 9.94880764e-01 1.00755300e-01 -7.78682864e-03 3.50537383e+01] [-1.00751634e-01 9.94911234e-01 8.62538659e-04 -3.97578336e+00] [ 7.83410863e-03 -7.35874084e-05 9.99969310e-01 -8.22386270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56327356 meters 0.06912571947251837 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.98, Z:-0.83 [[ 9.94789217e-01 1.01729930e-01 -6.74050485e-03 3.51143727e+01] [-1.01727169e-01 9.94812051e-01 7.52102189e-04 -3.97992816e+00] [ 6.78204676e-03 -6.24906691e-05 9.99977000e-01 -8.25269894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62327356 meters 0.06879477184365325 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.98, Z:-0.82 [[ 9.94766024e-01 1.02020853e-01 -5.68360657e-03 3.51761382e+01] [-1.02018909e-01 9.94782259e-01 6.31646941e-04 -3.98415182e+00] [ 5.71839215e-03 -4.85055747e-05 9.99983649e-01 -8.23395065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683273559999996 meters 0.06896450308131549 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.99, Z:-0.83 [[ 9.94643065e-01 1.03106042e-01 -7.37006907e-03 3.52377022e+01] [-1.03102786e-01 9.94670368e-01 8.21318014e-04 -3.98853246e+00] [ 7.41547216e-03 -5.70436122e-05 9.99972503e-01 -8.25366007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74327356 meters 0.06900845356531704 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.99, Z:-0.83 [[ 9.94463726e-01 1.04683356e-01 -9.12644830e-03 3.52992821e+01] [-1.04678452e-01 9.94505602e-01 1.01475056e-03 -3.99227343e+00] [ 9.18253145e-03 -5.37901440e-05 9.99957838e-01 -8.26742623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80327356 meters 0.06879489758296059 Centerline is valid? [True, True] Translation: X:35.36, Y:-4.00, Z:-0.83 [[ 9.94417162e-01 1.05294640e-01 -6.89544328e-03 3.53593243e+01] [-1.05291859e-01 9.94441068e-01 7.66135670e-04 -3.99769350e+00] [ 6.93778196e-03 -3.58244168e-05 9.99975933e-01 -8.27075481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863273559999996 meters 0.06878588868270878 Centerline is valid? [True, True] Translation: X:35.42, Y:-4.00, Z:-0.83 [[ 9.94398590e-01 1.05529974e-01 -5.90492539e-03 3.54196405e+01] [-1.05527924e-01 9.94416122e-01 6.58534718e-04 -4.00376815e+00] [ 5.94144815e-03 -3.17114762e-05 9.99982349e-01 -8.28632552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92327356 meters 0.06883169312738573 Centerline is valid? [True, True] Translation: X:35.48, Y:-4.01, Z:-0.83 [[ 9.94261279e-01 1.06760639e-01 -6.83194495e-03 3.54802961e+01] [-1.06757924e-01 9.94284751e-01 7.61920119e-04 -4.00842779e+00] [ 6.87424176e-03 -2.81834122e-05 9.99976372e-01 -8.30465682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98327356 meters 0.06897077403999713 Centerline is valid? [True, True] Translation: X:35.54, Y:-4.01, Z:-0.83 [[ 9.93891612e-01 1.10030540e-01 -8.52899699e-03 3.55397021e+01] [-1.10026452e-01 9.93928207e-01 9.48582699e-04 -4.01142485e+00] [ 8.58158375e-03 -4.37311393e-06 9.99963178e-01 -8.34056821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.043273559999996 meters 0.06907063935337099 Centerline is valid? [True, True] Translation: X:35.60, Y:-4.01, Z:-0.84 [[ 9.93481423e-01 1.13650506e-01 -8.84444984e-03 3.55996750e+01] [-1.13646258e-01 9.93520791e-01 9.83041480e-04 -4.01461874e+00] [ 8.89886796e-03 2.85051763e-05 9.99960404e-01 -8.35656956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10327356 meters 0.06897063839148691 Centerline is valid? [True, True] Translation: X:35.66, Y:-4.02, Z:-0.84 [[ 9.93087416e-01 1.17097810e-01 -8.09244621e-03 3.56596663e+01] [-1.17094371e-01 9.93120385e-01 8.99116223e-04 -4.01712027e+00] [ 8.14205784e-03 5.46788900e-05 9.99966851e-01 -8.35394227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16327356 meters 0.06886513345048892 Centerline is valid? [True, True] Translation: X:35.72, Y:-4.02, Z:-0.83 [[ 9.92543332e-01 1.21715671e-01 -6.55970137e-03 3.57199580e+01] [-1.21713514e-01 9.92565005e-01 7.28454865e-04 -4.01920370e+00] [ 6.59959439e-03 7.53812873e-05 9.99978220e-01 -8.34997979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.223273559999996 meters 0.0689026135337328 Centerline is valid? [True, True] Translation: X:35.78, Y:-4.02, Z:-0.84 [[ 9.92329552e-01 1.23497918e-01 -5.50685021e-03 3.57797033e+01] [-1.23496427e-01 9.92344829e-01 6.11228888e-04 -4.02430648e+00] [ 5.54017983e-03 7.35358366e-05 9.99984650e-01 -8.36561754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28327356 meters 0.0689500852713651 Centerline is valid? [True, True] Translation: X:35.84, Y:-4.03, Z:-0.84 [[ 9.92291846e-01 1.23786119e-01 -5.82136580e-03 3.58386032e+01] [-1.23784459e-01 9.92308919e-01 6.45988035e-04 -4.03013149e+00] [ 5.85655756e-03 7.95859580e-05 9.99982847e-01 -8.38412558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34327356 meters 0.06909555278388954 Centerline is valid? [True, True] Translation: X:35.90, Y:-4.04, Z:-0.84 [[ 9.92056991e-01 1.25628227e-01 -6.36207729e-03 3.58984462e+01] [-1.25626280e-01 9.92077386e-01 7.06300927e-04 -4.03545203e+00] [ 6.40040434e-03 9.85533332e-05 9.99979512e-01 -8.40428451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.403273559999995 meters 0.06893635792330852 Centerline is valid? [True, True] Translation: X:35.96, Y:-4.04, Z:-0.84 [[ 9.91759063e-01 1.28030999e-01 -4.69306140e-03 3.59580415e+01] [-1.28029970e-01 9.91770163e-01 5.20350553e-04 -4.04247186e+00] [ 4.72105927e-03 8.47901322e-05 9.99988852e-01 -8.39324438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46327356 meters 0.06968758645272004 Centerline is valid? [True, True] Translation: X:36.02, Y:-4.05, Z:-0.85 [[ 9.91655945e-01 1.28845527e-01 -4.16131302e-03 3.60170453e+01] [-1.28844724e-01 9.91664673e-01 4.61618638e-04 -4.04597478e+00] [ 4.18610461e-03 7.83963604e-05 9.99991235e-01 -8.45909975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52327356 meters 0.0689687879530562 Centerline is valid? [True, True] Translation: X:36.08, Y:-4.06, Z:-0.84 [[ 9.91613732e-01 1.29155033e-01 -4.60256592e-03 3.60771262e+01] [-1.29154052e-01 9.91624410e-01 5.10981335e-04 -4.05796277e+00] [ 4.63001252e-03 8.77439272e-05 9.99989278e-01 -8.42881865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.583273559999995 meters 0.06904244358901564 Centerline is valid? [True, True] Translation: X:36.14, Y:-4.07, Z:-0.85 [[ 9.91749121e-01 1.28103846e-01 -4.80467858e-03 3.61361237e+01] [-1.28102767e-01 9.91760756e-01 5.32968007e-04 -4.06603766e+00] [ 4.83336691e-03 8.69220672e-05 9.99988315e-01 -8.45129272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64327356 meters 0.0687379441464029 Centerline is valid? [True, True] Translation: X:36.20, Y:-4.08, Z:-0.85 [[ 9.91977995e-01 1.26337801e-01 -4.29153834e-03 3.61954952e+01] [-1.26336922e-01 9.91987276e-01 4.76376111e-04 -4.07696325e+00] [ 4.31733574e-03 6.96251234e-05 9.99990678e-01 -8.46259307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70327356 meters 0.06830579086087114 Centerline is valid? [True, True] Translation: X:36.26, Y:-4.09, Z:-0.85 [[ 9.92331107e-01 1.23591480e-01 -2.02998281e-03 3.62559951e+01] [-1.23591276e-01 9.92333183e-01 2.26164278e-04 -4.08881453e+00] [ 2.04237128e-03 2.64583170e-05 9.99997914e-01 -8.45265781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.763273559999995 meters 0.06819187393623055 Centerline is valid? [True, True] Translation: X:36.32, Y:-4.10, Z:-0.85 [[ 9.92807638e-01 1.19702930e-01 -2.05007412e-03 3.63166553e+01] [-1.19702703e-01 9.92809754e-01 2.33308062e-04 -4.10050936e+00] [ 2.06326124e-03 1.37693889e-05 9.99997871e-01 -8.47146619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82327356 meters 0.06820236765470648 Centerline is valid? [True, True] Translation: X:36.38, Y:-4.11, Z:-0.85 [[ 9.93437353e-01 1.14316319e-01 -3.74241512e-03 3.63777754e+01] [-1.14315537e-01 9.93444402e-01 4.22888651e-04 -4.11381984e+00] [ 3.76622442e-03 7.70281296e-06 9.99992908e-01 -8.51596429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88327356 meters 0.068119813795345 Centerline is valid? [True, True] Translation: X:36.44, Y:-4.13, Z:-0.85 [[ 9.93924746e-01 1.09936167e-01 -5.25722226e-03 3.64392834e+01] [-1.09934569e-01 9.93938650e-01 5.92852037e-04 -4.12571793e+00] [ 5.29053228e-03 -1.12998487e-05 9.99986005e-01 -8.51878396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.943273559999994 meters 0.06825238628976776 Centerline is valid? [True, True] Translation: X:36.50, Y:-4.14, Z:-0.85 [[ 9.94586374e-01 1.03865137e-01 -3.15884311e-03 3.65005263e+01] [-1.03864520e-01 9.94591390e-01 3.59002354e-04 -4.13732967e+00] [ 3.17904598e-03 -2.89671253e-05 9.99994946e-01 -8.53343057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00327356 meters 0.06829440384156178 Centerline is valid? [True, True] Translation: X:36.56, Y:-4.15, Z:-0.86 [[ 9.94952160e-01 1.00300566e-01 -3.16147518e-03 3.65609444e+01] [-1.00299937e-01 9.94957182e-01 3.57287538e-04 -4.14725476e+00] [ 3.18136858e-03 -3.83882465e-05 9.99994939e-01 -8.55216687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06327356 meters 0.06850715452351348 Centerline is valid? [True, True] Translation: X:36.62, Y:-4.16, Z:-0.86 [[ 9.95447219e-01 9.52835775e-02 -2.42372664e-03 3.66219793e+01] [-9.52831841e-02 9.95450168e-01 2.77547872e-04 -4.15848828e+00] [ 2.43914485e-03 -4.53438656e-05 9.99997024e-01 -8.55405475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12327356 meters 0.06874863605633895 Centerline is valid? [True, True] Translation: X:36.68, Y:-4.17, Z:-0.86 [[ 9.95796597e-01 9.15265963e-02 -3.46698523e-03 3.66833983e+01] [-9.15257882e-02 9.95802630e-01 3.91371808e-04 -4.16814427e+00] [ 3.48825394e-03 -7.24081584e-05 9.99993913e-01 -8.56668833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183273559999996 meters 0.06869122534329779 Centerline is valid? [True, True] Translation: X:36.75, Y:-4.17, Z:-0.86 [[ 9.95848543e-01 9.09234296e-02 -4.31396153e-03 3.67452956e+01] [-9.09221538e-02 9.95857882e-01 4.91337079e-04 -4.17465028e+00] [ 4.34076664e-03 -9.70626403e-05 9.99990574e-01 -8.58162501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24327356 meters 0.06885443119104907 Centerline is valid? [True, True] Translation: X:36.81, Y:-4.18, Z:-0.86 [[ 9.95794672e-01 9.15731858e-02 -2.70622529e-03 3.68063637e+01] [-9.15726805e-02 9.95798347e-01 3.10296328e-04 -4.17966440e+00] [ 2.72326949e-03 -6.11751262e-05 9.99996290e-01 -8.60692735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30327356 meters 0.06888011856198377 Centerline is valid? [True, True] Translation: X:36.87, Y:-4.18, Z:-0.86 [[ 9.95517533e-01 9.44912811e-02 -4.02974478e-03 3.68671780e+01] [-9.44901906e-02 9.95525686e-01 4.60558355e-04 -4.18233723e+00] [ 4.05523318e-03 -7.77225654e-05 9.99991774e-01 -8.63434365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363273559999996 meters 0.06875844317255048 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.18, Z:-0.86 [[ 9.95241229e-01 9.73371569e-02 -4.51374576e-03 3.69297814e+01] [-9.73358137e-02 9.95251462e-01 5.16824126e-04 -4.18480578e+00] [ 4.54261826e-03 -7.50155622e-05 9.99989679e-01 -8.64868809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42327356 meters 0.06853399512554856 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.18, Z:-0.87 [[ 9.94688505e-01 1.02839404e-01 -4.33982457e-03 3.69914176e+01] [-1.02838232e-01 9.94697972e-01 4.92939027e-04 -4.18394397e+00] [ 4.36750826e-03 -4.40208980e-05 9.99990461e-01 -8.66269627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48327356 meters 0.06833299562338276 Centerline is valid? [True, True] Translation: X:37.05, Y:-4.18, Z:-0.87 [[ 9.94115443e-01 1.08295002e-01 -2.58415136e-03 3.70531965e+01] [-1.08294604e-01 9.94118802e-01 2.93915236e-04 -4.18263641e+00] [ 2.60078301e-03 -1.23360261e-05 9.99996618e-01 -8.66461804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.543273559999996 meters 0.06820068791080171 Centerline is valid? [True, True] Translation: X:37.11, Y:-4.18, Z:-0.87 [[ 9.93810436e-01 1.11021185e-01 -3.88754183e-03 3.71144695e+01] [-1.11020306e-01 9.93818040e-01 4.41922796e-04 -4.18385613e+00] [ 3.91257199e-03 -7.59140326e-06 9.99992346e-01 -8.66643166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60327356 meters 0.06815109075951023 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.19, Z:-0.87 [[ 9.93821713e-01 1.10934900e-01 -3.44244160e-03 3.71752947e+01] [-1.10934210e-01 9.93827675e-01 3.91524789e-04 -4.18830336e+00] [ 3.46462750e-03 -7.22129718e-06 9.99993998e-01 -8.68398636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66327356 meters 0.06828220223479646 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.19, Z:-0.87 [[ 9.94349461e-01 1.06127958e-01 -2.45075044e-03 3.72366263e+01] [-1.06127587e-01 9.94352481e-01 2.81361735e-04 -4.19427464e+00] [ 2.46677013e-03 -1.96796577e-05 9.99996957e-01 -8.70603460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.723273559999996 meters 0.06857310223631574 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.20, Z:-0.87 [[ 9.94844998e-01 1.01325410e-01 -4.07328322e-03 3.72977082e+01] [-1.01324342e-01 9.94853335e-01 4.68452983e-04 -4.20206868e+00] [ 4.09978559e-03 -5.33153660e-05 9.99991594e-01 -8.72546893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78327356 meters 0.06912622115922237 Centerline is valid? [True, True] Translation: X:37.36, Y:-4.21, Z:-0.87 [[ 9.95642804e-01 9.31244980e-02 -4.82018239e-03 3.73582286e+01] [-9.31229256e-02 9.95654467e-01 5.50115892e-04 -4.21111633e+00] [ 4.85046540e-03 -9.88494432e-05 9.99988232e-01 -8.73206103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84327356 meters 0.06974858772577266 Centerline is valid? [True, True] Translation: X:37.42, Y:-4.22, Z:-0.87 [[ 9.96393621e-01 8.46670552e-02 -5.58944214e-03 3.74185160e+01] [-8.46648136e-02 9.96409285e-01 6.36873562e-04 -4.21765952e+00] [ 5.62329426e-03 -1.61347678e-04 9.99984176e-01 -8.73428936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.903273559999995 meters 0.07036378876187543 Centerline is valid? [True, True] Translation: X:37.48, Y:-4.22, Z:-0.87 [[ 9.96820681e-01 7.94749462e-02 -5.68001546e-03 3.74789982e+01] [-7.94725411e-02 9.96836845e-01 6.48247375e-04 -4.22487535e+00] [ 5.71356812e-03 -1.94781128e-04 9.99983658e-01 -8.74723101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96327356 meters 0.07746664408001237 Centerline is valid? [True, True] Translation: X:37.54, Y:-4.25, Z:-0.89 [[ 9.97401021e-01 7.18651438e-02 -5.15797442e-03 3.75373484e+01] [-7.18630606e-02 9.97414334e-01 5.88316186e-04 -4.24824178e+00] [ 5.18691705e-03 -2.16119336e-04 9.99986525e-01 -8.87408668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02327356 meters 0.0724603922436054 Centerline is valid? [True, True] Translation: X:37.60, Y:-4.24, Z:-0.88 [[ 9.97743235e-01 6.69550308e-02 -5.04597018e-03 3.76000446e+01] [-6.69529764e-02 9.97755966e-01 5.75168830e-04 -4.23519573e+00] [ 5.07315730e-03 -2.36028087e-04 9.99987104e-01 -8.78397553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.083273559999995 meters 0.07359818549821781 Centerline is valid? [True, True] Translation: X:37.66, Y:-4.24, Z:-0.88 [[ 9.98003108e-01 6.29219110e-02 -5.53434590e-03 3.76605860e+01] [-6.29193777e-02 9.98018414e-01 6.30836716e-04 -4.23854944e+00] [ 5.56307257e-03 -2.81359403e-04 9.99984486e-01 -8.80988448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14327356 meters 0.07336557259675484 Centerline is valid? [True, True] Translation: X:37.72, Y:-4.24, Z:-0.88 [[ 9.98046327e-01 6.21917372e-02 -5.97629676e-03 3.77209902e+01] [-6.21887701e-02 9.98064173e-01 6.81212828e-04 -4.24238230e+00] [ 6.00709349e-03 -3.08223416e-04 9.99981910e-01 -8.81957707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20327356 meters 0.07425901452262917 Centerline is valid? [True, True] Translation: X:37.78, Y:-4.24, Z:-0.88 [[ 9.98185046e-01 5.98467729e-02 -6.70651093e-03 3.77817344e+01] [-5.98429836e-02 9.98207510e-01 7.64446858e-04 -4.24422225e+00] [ 6.74023925e-03 -3.61721798e-04 9.99977219e-01 -8.84484422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.263273559999995 meters 0.0735447009779084 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.24, Z:-0.88 [[ 9.98251538e-01 5.87296722e-02 -6.68517974e-03 3.78424225e+01] [-5.87258886e-02 9.98273856e-01 7.61029656e-04 -4.24215971e+00] [ 6.71833518e-03 -3.67105904e-04 9.99977364e-01 -8.84800249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32327356 meters 0.07390261637443933 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.24, Z:-0.89 [[ 9.98282833e-01 5.82595478e-02 -6.09996070e-03 3.79030326e+01] [-5.82563906e-02 9.98301413e-01 6.94138971e-04 -4.24117048e+00] [ 6.13003961e-03 -3.37585325e-04 9.99981154e-01 -8.86466845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38327356 meters 0.07438141226584859 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.24, Z:-0.89 [[ 9.98311891e-01 5.79734664e-02 -3.52795065e-03 3.79629894e+01] [-5.79724116e-02 9.98318105e-01 4.00608847e-04 -4.23845147e+00] [ 3.54524169e-03 -1.95408769e-04 9.99993697e-01 -8.87441517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.443273559999994 meters 0.0736324612314146 Centerline is valid? [True, True] Translation: X:38.02, Y:-4.24, Z:-0.89 [[ 9.98307873e-01 5.80969420e-02 -2.47694343e-03 3.80231591e+01] [-5.80964226e-02 9.98310937e-01 2.81201684e-04 -4.23541888e+00] [ 2.48909667e-03 -1.36824303e-04 9.99996893e-01 -8.87629331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50327356 meters 0.0729624867146986 Centerline is valid? [True, True] Translation: X:38.08, Y:-4.23, Z:-0.89 [[ 9.98305731e-01 5.81438605e-02 -2.22675998e-03 3.80838885e+01] [-5.81434412e-02 9.98308207e-01 2.52626804e-04 -4.22906063e+00] [ 2.23768146e-03 -1.22727299e-04 9.99997489e-01 -8.88020184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56327356 meters 0.07529056565285822 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.23, Z:-0.89 [[ 9.98246216e-01 5.90618243e-02 -4.02395670e-03 3.81427974e+01] [-5.90604623e-02 9.98254303e-01 4.56559176e-04 -4.23254944e+00] [ 4.04389731e-03 -2.18101727e-04 9.99991800e-01 -8.94187412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62327356 meters 0.07370184412843955 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.23, Z:-0.90 [[ 9.98186235e-01 6.00176419e-02 -4.70341648e-03 3.82026864e+01] [-6.00157941e-02 9.98197285e-01 5.33157609e-04 -4.22668114e+00] [ 4.72693643e-03 -2.49911311e-04 9.99988797e-01 -8.95072390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.683273559999996 meters 0.07366398531059304 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.22, Z:-0.90 [[ 9.98033174e-01 6.25164255e-02 -4.63473755e-03 3.82630333e+01] [-6.25146555e-02 9.98043907e-01 5.25934231e-04 -4.22142126e+00] [ 4.65855110e-03 -2.35160788e-04 9.99989121e-01 -8.98417554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74327356 meters 0.07352947666697651 Centerline is valid? [True, True] Translation: X:38.32, Y:-4.22, Z:-0.90 [[ 9.97930823e-01 6.42052483e-02 -3.42899772e-03 3.83234186e+01] [-6.42042905e-02 9.97936700e-01 3.88806609e-04 -4.21719443e+00] [ 3.44688609e-03 -1.67845734e-04 9.99994045e-01 -9.00274050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80327356 meters 0.07338418418942415 Centerline is valid? [True, True] Translation: X:38.38, Y:-4.21, Z:-0.90 [[ 9.97752812e-01 6.69736566e-02 -1.96375795e-03 3.83829101e+01] [-6.69733492e-02 9.97754740e-01 2.21906637e-04 -4.21332271e+00] [ 1.97421070e-03 -8.98885238e-05 9.99998047e-01 -9.02575487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.863273559999996 meters 0.07295791676717227 Centerline is valid? [True, True] Translation: X:38.44, Y:-4.21, Z:-0.90 [[ 9.97642217e-01 6.86200769e-02 -1.13619629e-03 3.84422201e+01] [-6.86199761e-02 9.97642863e-01 1.27498378e-04 -4.21156730e+00] [ 1.14226707e-03 -4.92320020e-05 9.99999346e-01 -9.04067499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92327356 meters 0.07309447309768656 Centerline is valid? [True, True] Translation: X:38.50, Y:-4.21, Z:-0.91 [[ 9.97440897e-01 7.14447637e-02 -2.70247721e-03 3.85008201e+01] [-7.14441999e-02 9.97444552e-01 3.04684067e-04 -4.20783312e+00] [ 2.71733925e-03 -1.10828027e-04 9.99996302e-01 -9.07825633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98327356 meters 0.0718050095101785 Centerline is valid? [True, True] Translation: X:38.56, Y:-4.20, Z:-0.91 [[ 9.97087366e-01 7.61382433e-02 -4.44427863e-03 3.85618462e+01] [-7.61367562e-02 9.97097258e-01 5.03085754e-04 -4.19830740e+00] [ 4.46968209e-03 -1.63247491e-04 9.99989998e-01 -9.09737754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043273559999996 meters 0.07096556554852432 Centerline is valid? [True, True] Translation: X:38.62, Y:-4.19, Z:-0.91 [[ 9.96636659e-01 8.17880945e-02 -5.10655931e-03 3.86232483e+01] [-8.17862066e-02 9.96649729e-01 5.77797365e-04 -4.19194395e+00] [ 5.13670790e-03 -1.58207921e-04 9.99986795e-01 -9.10267474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10327356 meters 0.07082945037640183 Centerline is valid? [True, True] Translation: X:38.68, Y:-4.19, Z:-0.91 [[ 9.96311493e-01 8.57356967e-02 -3.57757322e-03 3.86822535e+01] [-8.57347979e-02 9.96317912e-01 4.04135739e-04 -4.19115646e+00] [ 3.59904914e-03 -9.59225650e-05 9.99993519e-01 -9.12098512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16327356 meters 0.07043170376589163 Centerline is valid? [True, True] Translation: X:38.74, Y:-4.19, Z:-0.91 [[ 9.95928473e-01 9.01120785e-02 -2.50802367e-03 3.87425270e+01] [-9.01116507e-02 9.95931629e-01 2.83282371e-04 -4.18822862e+00] [ 2.52334727e-03 -5.61268258e-05 9.99996815e-01 -9.13532073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.223273559999996 meters 0.07016232001438831 Centerline is valid? [True, True] Translation: X:38.80, Y:-4.19, Z:-0.91 [[ 9.95799225e-01 9.15439661e-02 -1.89879220e-03 3.88007831e+01] [-9.15437261e-02 9.95801035e-01 2.13091688e-04 -4.19082525e+00] [ 1.91032650e-03 -3.83740247e-05 9.99998175e-01 -9.14573032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28327356 meters 0.07010041636426347 Centerline is valid? [True, True] Translation: X:38.86, Y:-4.19, Z:-0.92 [[ 9.95750684e-01 9.20473460e-02 -2.80399483e-03 3.88596649e+01] [-9.20468220e-02 9.95754630e-01 3.15644389e-04 -4.19199895e+00] [ 2.82114506e-03 -5.62043029e-05 9.99996019e-01 -9.15697126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34327356 meters 0.07043665939828068 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.20, Z:-0.92 [[ 9.95927618e-01 8.99982909e-02 -5.33734207e-03 3.89187219e+01] [-8.99963553e-02 9.95941913e-01 6.02204398e-04 -4.19690140e+00] [ 5.36988003e-03 -1.19410658e-04 9.99985575e-01 -9.18687388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.403273559999995 meters 0.07079981456341522 Centerline is valid? [True, True] Translation: X:38.98, Y:-4.20, Z:-0.92 [[ 9.96214973e-01 8.67833217e-02 -4.93796467e-03 3.89771591e+01] [-8.67816293e-02 9.96227203e-01 5.56364216e-04 -4.20396277e+00] [ 4.96761786e-03 -1.25733743e-04 9.99987653e-01 -9.20421425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46327356 meters 0.07114790195393601 Centerline is valid? [True, True] Translation: X:39.04, Y:-4.21, Z:-0.92 [[ 9.96530427e-01 8.31793695e-02 -2.88097367e-03 3.90357764e+01] [-8.31787807e-02 9.96534588e-01 3.23803736e-04 -4.21213743e+00] [ 2.89792370e-03 -8.30443980e-05 9.99995798e-01 -9.20711693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52327356 meters 0.07151754786886907 Centerline is valid? [True, True] Translation: X:39.09, Y:-4.22, Z:-0.92 [[ 9.96668875e-01 8.15028850e-02 -2.90386949e-03 3.90939617e+01] [-8.15022802e-02 9.96673102e-01 3.26199104e-04 -4.21788476e+00] [ 2.92079478e-03 -8.84405095e-05 9.99995731e-01 -9.21788297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.583273559999995 meters 0.0716489100527145 Centerline is valid? [True, True] Translation: X:39.15, Y:-4.22, Z:-0.92 [[ 9.96598003e-01 8.22959674e-02 -4.44913963e-03 3.91521844e+01] [-8.22945535e-02 9.96607925e-01 5.00259716e-04 -4.22246196e+00] [ 4.47521717e-03 -1.32417875e-04 9.99989977e-01 -9.24057300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64327356 meters 0.07163676532209055 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.23, Z:-0.93 [[ 9.96521975e-01 8.32447371e-02 -3.77716874e-03 3.92111841e+01] [-8.32437317e-02 9.96529128e-01 4.22879588e-04 -4.22829074e+00] [ 3.79926117e-03 -1.06983181e-04 9.99992777e-01 -9.25507326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70327356 meters 0.07095273866470886 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.23, Z:-0.92 [[ 9.96674240e-01 8.13615746e-02 -4.55552298e-03 3.92696830e+01] [-8.13600888e-02 9.96684642e-01 5.10828075e-04 -4.23003617e+00] [ 4.58198157e-03 -1.38491429e-04 9.99989493e-01 -9.23148605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.763273559999995 meters 0.07161646618424929 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.24, Z:-0.93 [[ 9.96977726e-01 7.75897024e-02 -3.90533800e-03 3.93288755e+01] [-7.75885787e-02 9.96985366e-01 4.38658013e-04 -4.23959322e+00] [ 3.92760018e-03 -1.34322644e-04 9.99992278e-01 -9.25241917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82327356 meters 0.0739882476225024 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.26, Z:-0.93 [[ 9.97467303e-01 7.09567867e-02 -4.91055204e-03 3.93868649e+01] [-7.09549248e-02 9.97479370e-01 5.52555664e-04 -4.25536254e+00] [ 4.93738193e-03 -2.02728357e-04 9.99987791e-01 -9.30751282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88327356 meters 0.07454384860644112 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.26, Z:-0.93 [[ 9.97935030e-01 6.39387097e-02 -6.12514449e-03 3.94472611e+01] [-6.39356810e-02 9.97953783e-01 6.89210169e-04 -4.26309016e+00] [ 6.15667833e-03 -2.96171686e-04 9.99981004e-01 -9.30381219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.943273559999994 meters 0.0747040231956471 Centerline is valid? [True, True] Translation: X:39.51, Y:-4.27, Z:-0.93 [[ 9.98175929e-01 6.00888096e-02 -5.84379298e-03 3.95071626e+01] [-6.00859898e-02 9.98192988e-01 6.57056005e-04 -4.26963714e+00] [ 5.87271490e-03 -3.04727402e-04 9.99982709e-01 -9.30722644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00327356 meters 0.07623658114788769 Centerline is valid? [True, True] Translation: X:39.57, Y:-4.28, Z:-0.93 [[ 9.98484384e-01 5.46306414e-02 -6.66537726e-03 3.95669451e+01] [-5.46268488e-02 9.98506557e-01 7.49870679e-04 -4.27883812e+00] [ 6.69638881e-03 -3.84625608e-04 9.99977505e-01 -9.32319532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06327356 meters 0.07639911393282896 Centerline is valid? [True, True] Translation: X:39.63, Y:-4.28, Z:-0.93 [[ 9.98552246e-01 5.33809248e-02 -6.62491147e-03 3.96254659e+01] [-5.33771636e-02 9.98574146e-01 7.43379361e-04 -4.28469607e+00] [ 6.65514760e-03 -3.88684147e-04 9.99977779e-01 -9.33681222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12327356 meters 0.0776931614487482 Centerline is valid? [True, True] Translation: X:39.69, Y:-4.29, Z:-0.93 [[ 9.98714464e-01 5.03548030e-02 -5.81490642e-03 3.96850019e+01] [-5.03518494e-02 9.98731327e-01 6.53316263e-04 -4.29191132e+00] [ 5.84042682e-03 -3.59685109e-04 9.99982880e-01 -9.34969372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.183273559999996 meters 0.07899342457391151 Centerline is valid? [True, True] Translation: X:39.74, Y:-4.30, Z:-0.94 [[ 9.98847849e-01 4.76876362e-02 -5.37258535e-03 3.97438146e+01] [-4.76850817e-02 9.98862238e-01 6.02632103e-04 -4.29744732e+00] [ 5.39521073e-03 -3.45745608e-04 9.99985386e-01 -9.36237174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24327356 meters 0.07774637005739977 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.30, Z:-0.93 [[ 9.99010312e-01 4.41612439e-02 -5.30852701e-03 3.98046365e+01] [-4.41586974e-02 9.99024351e-01 5.96026303e-04 -4.29614776e+00] [ 5.32966901e-03 -3.61018786e-04 9.99985732e-01 -9.34971500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30327356 meters 0.07836618565210929 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.30, Z:-0.94 [[ 9.99102755e-01 4.18357519e-02 -6.59209774e-03 3.98651473e+01] [-4.18317715e-02 9.99124394e-01 7.40601664e-04 -4.30064344e+00] [ 6.61730929e-03 -4.64178036e-04 9.99977998e-01 -9.35734730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.363273559999996 meters 0.0804186760635881 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.31, Z:-0.94 [[ 9.99284486e-01 3.68578175e-02 -8.48631007e-03 3.99254989e+01] [-3.68510450e-02 9.99320315e-01 9.53092454e-04 -4.30558956e+00] [ 8.51567096e-03 -6.39681108e-04 9.99963536e-01 -9.38683060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42327356 meters 0.08058604510564805 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.31, Z:-0.94 [[ 9.99420297e-01 3.27213021e-02 -9.40141854e-03 3.99859687e+01] [-3.27128108e-02 9.99464235e-01 1.05559291e-03 -4.30511028e+00] [ 9.43092197e-03 -7.47434150e-04 9.99955249e-01 -9.39484308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48327356 meters 0.08443906434518224 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.32, Z:-0.94 [[ 9.99459989e-01 3.12811213e-02 -1.00609441e-02 4.00432954e+01] [-3.12713426e-02 9.99510296e-01 1.12783856e-03 -4.31511849e+00] [ 1.00912973e-02 -8.12610281e-04 9.99948751e-01 -9.43527698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543273559999996 meters 0.08206675549484367 Centerline is valid? [True, True] Translation: X:40.10, Y:-4.31, Z:-0.94 [[ 9.99551479e-01 2.80101061e-02 -1.05960226e-02 4.01046718e+01] [-2.79990618e-02 9.99607242e-01 1.18924645e-03 -4.30784607e+00] [ 1.06251718e-02 -8.92034353e-04 9.99943153e-01 -9.41179895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60327356 meters 0.08360959571151702 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.31, Z:-0.94 [[ 9.99636386e-01 2.47804205e-02 -1.06314306e-02 4.01653979e+01] [-2.47691206e-02 9.99692486e-01 1.19325779e-03 -4.30901631e+00] [ 1.06577307e-02 -9.29492718e-04 9.99942773e-01 -9.41085779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66327356 meters 0.08375928720313422 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.31, Z:-0.94 [[ 9.99736669e-01 1.99322405e-02 -1.13709828e-02 4.02266531e+01] [-1.99190014e-02 9.99800782e-01 1.27636494e-03 -4.30661449e+00] [ 1.13941583e-02 -1.04953021e-03 9.99934534e-01 -9.40601326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.723273559999996 meters 0.08617848762875527 Centerline is valid? [True, True] Translation: X:40.29, Y:-4.31, Z:-0.94 [[ 9.99805512e-01 1.70746088e-02 -9.86896712e-03 4.02854002e+01] [-1.70645096e-02 9.99853778e-01 1.10663868e-03 -4.31253831e+00] [ 9.88641949e-03 -9.38014365e-04 9.99950688e-01 -9.43014413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78327356 meters 0.08811713722866418 Centerline is valid? [True, True] Translation: X:40.35, Y:-4.31, Z:-0.95 [[ 9.99838292e-01 1.42161636e-02 -1.10131576e-02 4.03456266e+01] [-1.42034120e-02 9.99898364e-01 1.23520950e-03 -4.31318896e+00] [ 1.10295982e-02 -1.07858535e-03 9.99938590e-01 -9.46091663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84327356 meters 0.08643564994733016 Centerline is valid? [True, True] Translation: X:40.41, Y:-4.30, Z:-0.95 [[ 9.99861271e-01 1.19598724e-02 -1.15931507e-02 4.04073357e+01] [-1.19455970e-02 9.99927804e-01 1.29982919e-03 -4.30499710e+00] [ 1.16078595e-02 -1.16116176e-03 9.99931952e-01 -9.45851612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.903273559999995 meters 0.09268174830205374 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.31, Z:-0.95 [[ 9.99893850e-01 1.10518008e-02 -9.49455008e-03 4.04649345e+01] [-1.10422153e-02 9.99938470e-01 1.06140753e-03 -4.31144058e+00] [ 9.50569634e-03 -9.56453992e-04 9.99954362e-01 -9.47914978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96327356 meters 0.08940642527750778 Centerline is valid? [True, True] Translation: X:40.53, Y:-4.30, Z:-0.95 [[ 9.99906217e-01 1.11699466e-02 -7.92392663e-03 4.05253225e+01] [-1.11632737e-02 9.99937296e-01 8.85851344e-04 -4.30340993e+00] [ 7.93332468e-03 -7.97311305e-04 9.99968213e-01 -9.45702394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02327356 meters 0.08678536196414087 Centerline is valid? [True, True] Translation: X:40.59, Y:-4.29, Z:-0.95 [[ 9.99871950e-01 1.35120526e-02 -8.57364071e-03 4.05874158e+01] [-1.35043166e-02 9.99908352e-01 9.59555609e-04 -4.29165297e+00] [ 8.58582052e-03 -8.43651580e-04 9.99962785e-01 -9.47152095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.083273559999995 meters 0.08620755026224144 Centerline is valid? [True, True] Translation: X:40.65, Y:-4.28, Z:-0.95 [[ 9.99796318e-01 1.76725967e-02 -9.74690752e-03 4.06486982e+01] [-1.76627984e-02 9.99843406e-01 1.09043836e-03 -4.28303645e+00] [ 9.76465209e-03 -9.18058595e-04 9.99951903e-01 -9.49935677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14327356 meters 0.08579864007906148 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.27, Z:-0.95 [[ 9.99698829e-01 2.22186393e-02 -1.04203817e-02 4.07101628e+01] [-2.22076825e-02 9.99752699e-01 1.16602671e-03 -4.27458267e+00] [ 1.04437122e-02 -9.34263011e-04 9.99945027e-01 -9.51742357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20327356 meters 0.08687432108397483 Centerline is valid? [True, True] Translation: X:40.77, Y:-4.27, Z:-0.95 [[ 9.99673099e-01 2.33789904e-02 -1.03497823e-02 4.07686889e+01] [-2.33682626e-02 9.99726256e-01 1.15625881e-03 -4.27392695e+00] [ 1.03739812e-02 -9.14024393e-04 9.99945771e-01 -9.53960514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.263273559999995 meters 0.08568649968775792 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.27, Z:-0.95 [[ 9.99654076e-01 2.46341208e-02 -9.21345539e-03 4.08296413e+01] [-2.46256702e-02 9.99696212e-01 1.02953715e-03 -4.26537075e+00] [ 9.23601820e-03 -8.02293499e-04 9.99957025e-01 -9.54279747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32327356 meters 0.08695933954458661 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.26, Z:-0.96 [[ 9.99652981e-01 2.45565482e-02 -9.53385861e-03 4.08895929e+01] [-2.45475088e-02 9.99698098e-01 1.06401780e-03 -4.26152066e+00] [ 9.55710893e-03 -8.29616089e-04 9.99953986e-01 -9.57434706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38327356 meters 0.0872731135667857 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.26, Z:-0.96 [[ 9.99647743e-01 2.48697050e-02 -9.26757767e-03 4.09494739e+01] [-2.48611829e-02 9.99690379e-01 1.03364554e-03 -4.25693948e+00] [ 9.29041469e-03 -8.02878490e-04 9.99956521e-01 -9.59383206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.443273559999994 meters 0.0883526952540118 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.25, Z:-0.96 [[ 9.99646565e-01 2.51292551e-02 -8.67559714e-03 4.10091072e+01] [-2.51218023e-02 9.99683930e-01 9.66977325e-04 -4.25477531e+00] [ 8.69715447e-03 -7.48688925e-04 9.99961899e-01 -9.62448327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50327356 meters 0.08662897205501295 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.25, Z:-0.96 [[ 9.99672458e-01 2.40813100e-02 -8.66417443e-03 4.10695381e+01] [-2.40738388e-02 9.99709717e-01 9.65587028e-04 -4.24684172e+00] [ 8.68491196e-03 -7.56690819e-04 9.99961999e-01 -9.61660057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56327356 meters 0.08600161853819745 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.25, Z:-0.96 [[ 9.99684315e-01 2.39861864e-02 -7.47885806e-03 4.11290019e+01] [-2.39806247e-02 9.99712077e-01 8.32458780e-04 -4.24500697e+00] [ 7.49667223e-03 -6.52848297e-04 9.99971686e-01 -9.62073866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.623273559999994 meters 0.08659155082797039 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.24, Z:-0.96 [[ 9.99703674e-01 2.32800449e-02 -7.11356435e-03 4.11886301e+01] [-2.32749995e-02 9.99728787e-01 7.91252428e-04 -4.24301269e+00] [ 7.13005546e-03 -6.25449753e-04 9.99974385e-01 -9.63563602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.683273559999996 meters 0.0869028495509705 Centerline is valid? [True, True] Translation: X:41.25, Y:-4.24, Z:-0.96 [[ 9.99731807e-01 2.19341801e-02 -7.43006189e-03 4.12483362e+01] [-2.19286385e-02 9.99759197e-01 8.26497831e-04 -4.24183896e+00] [ 7.44640126e-03 -6.63345029e-04 9.99972055e-01 -9.64722660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74327356 meters 0.08730894581178379 Centerline is valid? [True, True] Translation: X:41.31, Y:-4.24, Z:-0.97 [[ 9.99752148e-01 2.10211901e-02 -7.33163489e-03 4.13073379e+01] [-2.10157764e-02 9.99778812e-01 8.14674329e-04 -4.24402442e+00] [ 7.34713864e-03 -6.60392411e-04 9.99972791e-01 -9.66079760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80327356 meters 0.08673407359506463 Centerline is valid? [True, True] Translation: X:41.37, Y:-4.24, Z:-0.97 [[ 9.99789039e-01 1.96726083e-02 -5.90469057e-03 4.13663868e+01] [-1.96690805e-02 9.99806330e-01 6.54942612e-04 -4.24105343e+00] [ 5.91643144e-03 -5.38664610e-04 9.99982353e-01 -9.65108806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.863273559999996 meters 0.08892764320230008 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.24, Z:-0.97 [[ 9.99810419e-01 1.85763920e-02 -5.83464612e-03 4.14252681e+01] [-1.85729263e-02 9.99827299e-01 6.47603238e-04 -4.24344698e+00] [ 5.84566860e-03 -5.39114013e-04 9.99982769e-01 -9.67331602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92327356 meters 0.08912553408265829 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.24, Z:-0.97 [[ 9.99824077e-01 1.78209976e-02 -5.85041549e-03 4.14848783e+01] [-1.78175049e-02 9.99841045e-01 6.48590624e-04 -4.24259006e+00] [ 5.86104407e-03 -5.44236715e-04 9.99982676e-01 -9.69581314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98327356 meters 0.08880193768617536 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.25, Z:-0.97 [[ 9.99828428e-01 1.74959315e-02 -6.08328558e-03 4.15437426e+01] [-1.74921516e-02 9.99846773e-01 6.74027453e-04 -4.24603890e+00] [ 6.09414620e-03 -5.67502056e-04 9.99981269e-01 -9.70522990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.043273559999996 meters 0.09032570208745058 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.25, Z:-0.97 [[ 9.99848085e-01 1.65859020e-02 -5.35864372e-03 4.16023391e+01] [-1.65829587e-02 9.99862317e-01 5.93212774e-04 -4.24981195e+00] [ 5.36774489e-03 -5.04260488e-04 9.99985466e-01 -9.72312529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10327356 meters 0.09100360507288949 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.25, Z:-0.97 [[ 9.99873559e-01 1.53192284e-02 -4.26460402e-03 4.16621108e+01] [-1.53173517e-02 9.99882571e-01 4.72376331e-04 -4.24973501e+00] [ 4.27133967e-03 -4.06994164e-04 9.99990795e-01 -9.73428367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16327356 meters 0.0943066963351824 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.26, Z:-0.97 [[ 9.99903949e-01 1.35577356e-02 -2.87761742e-03 4.17200306e+01] [-1.35568772e-02 9.99908051e-01 3.17594803e-04 -4.25517319e+00] [ 2.88165869e-03 -2.78552792e-04 9.99995809e-01 -9.74617664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.223273559999996 meters 0.09680712908183693 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.26, Z:-0.98 [[ 9.99923014e-01 1.21621255e-02 -2.45927340e-03 4.17782874e+01] [-1.21614952e-02 9.99926010e-01 2.71071444e-04 -4.25900947e+00] [ 2.46238825e-03 -2.41142134e-04 9.99996939e-01 -9.77816300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28327356 meters 0.09841158712151514 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.26, Z:-0.98 [[ 9.99928438e-01 1.15272571e-02 -3.20016111e-03 4.18374888e+01] [-1.15261833e-02 9.99933509e-01 3.53773626e-04 -4.26398349e+00] [ 3.20402636e-03 -3.16862666e-04 9.99994817e-01 -9.81404031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34327356 meters 0.09969295853044256 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.27, Z:-0.98 [[ 9.99955434e-01 8.58837385e-03 -3.92031805e-03 4.18974594e+01] [-8.58673832e-03 9.99963039e-01 4.33834894e-04 -4.26655131e+00] [ 3.92389909e-03 -4.00152815e-04 9.99992221e-01 -9.83783572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.403273559999995 meters 0.1002461886139022 Centerline is valid? [True, False] Translation: X:41.91, Y:-4.26, Z:-0.98 [[ 9.99936647e-01 1.70299608e-03 -1.11266195e-02 4.19068736e+01] [-1.68496917e-03 9.99997253e-01 1.62933387e-03 -4.26014039e+00] [ 1.11293637e-02 -1.61048263e-03 9.99936770e-01 -9.79132299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46327356 meters 0.0985325471957671 Centerline is valid? [False, True] Translation: X:41.91, Y:-4.26, Z:-0.98 [[ 9.99943035e-01 4.05960279e-04 -1.06659113e-02 4.19056038e+01] [-4.06278985e-04 9.99999917e-01 -2.77140785e-05 -4.25554694e+00] [ 1.06658991e-02 3.20458354e-05 9.99943117e-01 -9.78785758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52327356 meters 0.1021366384816399 Centerline is valid? [True, False] Translation: X:41.91, Y:-4.25, Z:-0.98 [[ 9.99944371e-01 -2.52347025e-04 -1.05446868e-02 4.19052197e+01] [ 2.41868957e-04 9.99999476e-01 -9.94945687e-04 -4.25266731e+00] [ 1.05449324e-02 9.92339907e-04 9.99943908e-01 -9.78627499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.583273559999995 meters 0.10627286847643991 Centerline is valid? [False, False] Translation: X:41.90, Y:-4.25, Z:-0.98 [[ 9.99945629e-01 -1.15310302e-03 -1.03638846e-02 4.19046513e+01] [ 1.12955997e-03 9.99996769e-01 -2.27720951e-03 -4.24882286e+00] [ 1.03664770e-02 2.26537907e-03 9.99943701e-01 -9.78414443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64327356 meters 0.10626087070160857 Centerline is valid? [False, False] Translation: X:41.91, Y:-4.25, Z:-0.98 [[ 9.99942552e-01 -1.54972928e-03 -1.06061972e-02 4.19053763e+01] [ 1.51589316e-03 9.99993739e-01 -3.19751738e-03 -4.24501708e+00] [ 1.06110861e-02 3.18125583e-03 9.99938640e-01 -9.78787996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70327356 meters 0.10846786396168487 Centerline is valid? [False, False] Translation: X:41.91, Y:-4.24, Z:-0.98 [[ 9.99944921e-01 2.15755142e-03 -1.02713254e-02 4.19051480e+01] [-2.15529127e-03 9.99997651e-01 2.31109180e-04 -4.24174160e+00] [ 1.02717999e-02 -2.08958753e-04 9.99947222e-01 -9.79510169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.763273559999995 meters 0.10648879671982903 Centerline is valid? [False, False] Translation: X:41.91, Y:-4.24, Z:-0.98 [[ 9.99939465e-01 2.23676366e-03 -1.07732994e-02 4.19065486e+01] [-2.23983270e-03 9.99997454e-01 -2.72817881e-04 -4.23892467e+00] [ 1.07726617e-02 2.96931754e-04 9.99941929e-01 -9.80092520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82327356 meters 0.10347936172114391 Centerline is valid? [False, False] Translation: X:41.91, Y:-4.23, Z:-0.98 [[ 9.99929735e-01 2.43102899e-03 -1.16023690e-02 4.19084829e+01] [-2.44306874e-03 9.99996492e-01 -1.02363734e-03 -4.23490995e+00] [ 1.15998398e-02 1.05191080e-03 9.99932166e-01 -9.80493967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88327356 meters 0.0999283158163802 Centerline is valid? [False, True] Translation: X:41.91, Y:-4.23, Z:-0.98 [[ 9.99925421e-01 2.18276019e-03 -1.20161535e-02 4.19091284e+01] [-2.20590051e-03 9.99995737e-01 -1.91285033e-03 -4.23184219e+00] [ 1.20119270e-02 1.93921411e-03 9.99925974e-01 -9.80207428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.943273559999994 meters 0.09929878904796367 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.23, Z:-0.98 [[ 9.99881040e-01 9.30156255e-03 -1.23039618e-02 4.19682231e+01] [-9.28700450e-03 9.99956106e-01 1.23980818e-03 -4.23462033e+00] [ 1.23149538e-02 -1.12539375e-03 9.99923535e-01 -9.83993421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00327356 meters 0.09384146977225394 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.23, Z:-0.99 [[ 9.99755808e-01 1.80401527e-02 -1.27623402e-02 4.20300510e+01] [-1.80251951e-02 9.99836706e-01 1.28607318e-03 -4.22728432e+00] [ 1.27834571e-02 -1.05571546e-03 9.99917731e-01 -9.85327833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06327356 meters 0.08591245669579196 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.21, Z:-0.98 [[ 9.99520494e-01 2.83571278e-02 -1.24360481e-02 4.20926661e+01] [-2.83437160e-02 9.99597450e-01 1.25342251e-03 -4.21350027e+00] [ 1.24665855e-02 -9.00337674e-04 9.99921884e-01 -9.84723810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.123273559999994 meters 0.08316602740623565 Centerline is valid? [True, True] Translation: X:42.15, Y:-4.21, Z:-0.99 [[ 9.99277304e-01 3.57419091e-02 -1.29377512e-02 4.21532460e+01] [-3.57280108e-02 9.99360700e-01 1.30386118e-03 -4.21141797e+00] [ 1.29760826e-02 -8.40678774e-04 9.99915454e-01 -9.85516813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.183273559999996 meters 0.07777022400086338 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.20, Z:-0.98 [[ 9.98837679e-01 4.65892235e-02 -1.23586088e-02 4.22154124e+01] [-4.65773714e-02 9.98913909e-01 1.24526793e-03 -4.20079674e+00] [ 1.24032023e-02 -6.68189012e-04 9.99922854e-01 -9.84224187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24327356 meters 0.07567089558158958 Centerline is valid? [True, True] Translation: X:42.27, Y:-4.20, Z:-0.98 [[ 9.98395930e-01 5.55041747e-02 -1.11738042e-02 4.22749404e+01] [-5.54950462e-02 9.98458328e-01 1.12559929e-03 -4.19840326e+00] [ 1.12190534e-02 -5.03702963e-04 9.99936938e-01 -9.84006623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30327356 meters 0.07405841976595796 Centerline is valid? [True, True] Translation: X:42.33, Y:-4.20, Z:-0.98 [[ 9.98127991e-01 6.00724343e-02 -1.14810907e-02 4.23348760e+01] [-6.00631033e-02 9.98193913e-01 1.15612822e-03 -4.19804309e+00] [ 1.15298063e-02 -4.64374000e-04 9.99933422e-01 -9.83621278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.363273559999996 meters 0.07177003885934126 Centerline is valid? [True, True] Translation: X:42.40, Y:-4.19, Z:-0.98 [[ 9.97704216e-01 6.67321775e-02 -1.15374703e-02 4.23961868e+01] [-6.67231988e-02 9.97770848e-01 1.16182500e-03 -4.19474801e+00] [ 1.15892827e-02 -3.89340779e-04 9.99932766e-01 -9.82955241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42327356 meters 0.07197051924366718 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.20, Z:-0.99 [[ 9.97308187e-01 7.22021995e-02 -1.27758654e-02 4.24549837e+01] [-7.21916450e-02 9.97389950e-01 1.28598307e-03 -4.20217291e+00] [ 1.28353706e-02 -3.60210702e-04 9.99917558e-01 -9.86983279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48327356 meters 0.07092967125040026 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.20, Z:-0.98 [[ 9.97106044e-01 7.50654789e-02 -1.20295622e-02 4.25138417e+01] [-7.50563416e-02 9.97178561e-01 1.20987953e-03 -4.20393255e+00] [ 1.20864417e-02 -3.03483265e-04 9.99926910e-01 -9.84413618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.543273559999996 meters 0.07090938571148318 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.21, Z:-0.98 [[ 9.97162321e-01 7.44730587e-02 -1.10031404e-02 4.25713841e+01] [-7.44654224e-02 9.97222987e-01 1.10265319e-03 -4.21267942e+00] [ 1.10547025e-02 -2.80170720e-04 9.99938856e-01 -9.83083115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60327356 meters 0.07249475504922048 Centerline is valid? [True, True] Translation: X:42.63, Y:-4.23, Z:-0.99 [[ 9.97271359e-01 7.29866218e-02 -1.10810454e-02 4.26278300e+01] [-7.29787927e-02 9.97332875e-01 1.10978771e-03 -4.22893789e+00] [ 1.11324905e-02 -2.98078185e-04 9.99937987e-01 -9.87740158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66327356 meters 0.07160330779590748 Centerline is valid? [True, True] Translation: X:42.69, Y:-4.23, Z:-0.98 [[ 9.97342910e-01 7.19113609e-02 -1.16566197e-02 4.26859063e+01] [-7.19026405e-02 9.97410974e-01 1.16601715e-03 -4.23326287e+00] [ 1.17102902e-02 -3.24777204e-04 9.99931379e-01 -9.84888108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.723273559999996 meters 0.07166543068710038 Centerline is valid? [True, True] Translation: X:42.74, Y:-4.24, Z:-0.99 [[ 9.97159054e-01 7.42168099e-02 -1.28718916e-02 4.27434174e+01] [-7.42063783e-02 9.97242076e-01 1.28679932e-03 -4.24240902e+00] [ 1.29318940e-02 -3.27967140e-04 9.99916326e-01 -9.86216768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78327356 meters 0.07065318243678066 Centerline is valid? [True, True] Translation: X:42.80, Y:-4.24, Z:-0.98 [[ 9.96766889e-01 7.92845235e-02 -1.30281493e-02 4.28030864e+01] [-7.92742722e-02 9.96851992e-01 1.30222478e-03 -4.24451136e+00] [ 1.30903828e-02 -2.65217490e-04 9.99914282e-01 -9.84633100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84327356 meters 0.06993639781232244 Centerline is valid? [True, True] Translation: X:42.86, Y:-4.25, Z:-0.98 [[ 9.95913954e-01 8.92494336e-02 -1.37816958e-02 4.28634532e+01] [-8.92389169e-02 9.96009296e-01 1.37740565e-03 -4.24617176e+00] [ 1.38496298e-02 -1.41913903e-04 9.99904079e-01 -9.84055630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.903273559999995 meters 0.06970132208829537 Centerline is valid? [True, True] Translation: X:42.92, Y:-4.25, Z:-0.98 [[ 9.95215488e-01 9.68261354e-02 -1.30702881e-02 4.29224447e+01] [-9.68173795e-02 9.95301310e-01 1.30249468e-03 -4.25012548e+00] [ 1.31349904e-02 -3.08318316e-05 9.99913732e-01 -9.83628258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96327356 meters 0.06966941860533131 Centerline is valid? [True, True] Translation: X:42.98, Y:-4.26, Z:-0.98 [[ 9.94612343e-01 1.02975018e-01 -1.19345424e-02 4.29803449e+01] [-1.02968165e-01 9.94683942e-01 1.18889152e-03 -4.25606841e+00] [ 1.19935238e-02 4.63917585e-05 9.99928074e-01 -9.83621519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02327356 meters 0.06976034413557082 Centerline is valid? [True, True] Translation: X:43.04, Y:-4.27, Z:-0.98 [[ 9.94229271e-01 1.06520567e-01 -1.27093064e-02 4.30381534e+01] [-1.06513131e-01 9.94310494e-01 1.26240959e-03 -4.26677570e+00] [ 1.27714693e-02 9.85834540e-05 9.99918437e-01 -9.83773048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.083273559999995 meters 0.06981475766754666 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.28, Z:-0.99 [[ 9.94385639e-01 1.04705190e-01 -1.52978673e-02 4.30945961e+01] [-1.04694207e-01 9.94503301e-01 1.51923331e-03 -4.28235436e+00] [ 1.53728511e-02 9.08942961e-05 9.99881827e-01 -9.86732509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14327356 meters 0.06986824608437936 Centerline is valid? [True, True] Translation: X:43.15, Y:-4.30, Z:-0.99 [[ 9.94947535e-01 9.90300635e-02 -1.65060548e-02 4.31515143e+01] [-9.90165713e-02 9.95084442e-01 1.63467008e-03 -4.30236257e+00] [ 1.65867998e-02 7.96198628e-06 9.99862430e-01 -9.85947480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20327356 meters 0.07021097168144902 Centerline is valid? [True, True] Translation: X:43.21, Y:-4.32, Z:-0.99 [[ 9.95358273e-01 9.46567800e-02 -1.73781962e-02 4.32083836e+01] [-9.46411690e-02 9.95509964e-01 1.72038311e-03 -4.31925265e+00] [ 1.74630134e-02 -6.77047585e-05 9.99847508e-01 -9.85648952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.263273559999995 meters 0.07074165920232856 Centerline is valid? [True, True] Translation: X:43.27, Y:-4.34, Z:-0.98 [[ 9.96180986e-01 8.57242646e-02 -1.65769093e-02 4.32652829e+01] [-8.57088979e-02 9.96318878e-01 1.63653805e-03 -4.34298226e+00] [ 1.66561787e-02 -2.09499461e-04 9.99861254e-01 -9.84719221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32327356 meters 0.0716581132318162 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.37, Z:-0.98 [[ 9.96974821e-01 7.57013148e-02 -1.76215119e-02 4.33229904e+01] [-7.56823697e-02 9.97130458e-01 1.74046534e-03 -4.36644750e+00] [ 1.77027017e-02 -4.01562343e-04 9.99843214e-01 -9.84126616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38327356 meters 0.07280559740379935 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.39, Z:-0.99 [[ 9.97576691e-01 6.71055854e-02 -1.83735324e-02 4.33817103e+01] [-6.70835330e-02 9.97745712e-01 1.81463683e-03 -4.38879261e+00] [ 1.84538855e-02 -5.77677931e-04 9.99829546e-01 -9.85031238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.443273559999994 meters 0.07414980338153958 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.41, Z:-0.98 [[ 9.98078828e-01 5.92836179e-02 -1.80029348e-02 4.34402966e+01] [-5.92611760e-02 9.98240929e-01 1.77797348e-03 -4.40994516e+00] [ 1.80766711e-02 -7.07682601e-04 9.99836353e-01 -9.84830642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50327356 meters 0.07486525856916594 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.42, Z:-0.99 [[ 9.98226572e-01 5.64696459e-02 -1.88385122e-02 4.34983797e+01] [-5.64445934e-02 9.98404002e-01 1.85935237e-03 -4.42374770e+00] [ 1.89134430e-02 -7.92722776e-04 9.99820811e-01 -9.85548730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56327356 meters 0.07483552655240112 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.44, Z:-0.98 [[ 9.98379841e-01 5.37567902e-02 -1.86521021e-02 4.35570606e+01] [-5.37317690e-02 9.98553709e-01 1.84039543e-03 -4.43586711e+00] [ 1.87240595e-02 -8.35203258e-04 9.99824341e-01 -9.84965075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.623273559999994 meters 0.07453981919752331 Centerline is valid? [True, True] Translation: X:43.62, Y:-4.45, Z:-0.98 [[ 9.98467071e-01 5.19766927e-02 -1.90244919e-02 4.36153359e+01] [-5.19504467e-02 9.98647910e-01 1.87154400e-03 -4.44586752e+00] [ 1.90960457e-02 -8.80344209e-04 9.99817266e-01 -9.84584193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.683273559999996 meters 0.07562484204633677 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.46, Z:-0.99 [[ 9.98511709e-01 5.07387171e-02 -1.99987368e-02 4.36730343e+01] [-5.07094669e-02 9.98711510e-01 1.96734127e-03 -4.45865087e+00] [ 2.00727890e-02 -9.50288015e-04 9.99798070e-01 -9.86967090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74327356 meters 0.07610804885627094 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.47, Z:-0.99 [[ 9.98569100e-01 4.96183277e-02 -1.99442920e-02 4.37310267e+01] [-4.95891233e-02 9.98767786e-01 1.95650403e-03 -4.46721320e+00] [ 2.00167948e-02 -9.64684510e-04 9.99799178e-01 -9.87398580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80327356 meters 0.07616897167051734 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.47, Z:-0.99 [[ 9.98646058e-01 4.80560464e-02 -1.99165058e-02 4.37890207e+01] [-4.80266323e-02 9.98844147e-01 1.95283114e-03 -4.47483044e+00] [ 1.99873306e-02 -9.93664415e-04 9.99799740e-01 -9.87763886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.863273559999996 meters 0.07763996324792745 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.48, Z:-0.99 [[ 9.98680304e-01 4.64973083e-02 -2.18094077e-02 4.38467156e+01] [-4.64617010e-02 9.98917787e-01 2.13681335e-03 -4.48474473e+00] [ 2.18851613e-02 -1.12069123e-03 9.99759863e-01 -9.90263569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92327356 meters 0.07637390304229223 Centerline is valid? [True, True] Translation: X:43.91, Y:-4.49, Z:-0.99 [[ 9.98742944e-01 4.50558666e-02 -2.19659124e-02 4.39052242e+01] [-4.50195303e-02 9.98983802e-01 2.14617460e-03 -4.48659433e+00] [ 2.20402884e-02 -1.15458168e-03 9.99756417e-01 -9.89077593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98327356 meters 0.07651078793448421 Centerline is valid? [True, True] Translation: X:43.96, Y:-4.49, Z:-0.99 [[ 9.98964419e-01 4.10433396e-02 -1.96349991e-02 4.39640459e+01] [-4.10135386e-02 9.99156750e-01 1.91820499e-03 -4.49239491e+00] [ 1.96971714e-02 -1.11091774e-03 9.99805375e-01 -9.85541651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.043273559999996 meters 0.07727837130034217 Centerline is valid? [True, True] Translation: X:44.02, Y:-4.50, Z:-0.99 [[ 9.99052503e-01 3.91257980e-02 -1.90595784e-02 4.40220702e+01] [-3.90974747e-02 9.99233677e-01 1.85655117e-03 -4.49935308e+00] [ 1.91176117e-02 -1.10961071e-03 9.99816626e-01 -9.86054656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10327356 meters 0.07891785736911823 Centerline is valid? [True, True] Translation: X:44.08, Y:-4.51, Z:-0.99 [[ 9.99173883e-01 3.55841703e-02 -1.96295400e-02 4.40803790e+01] [-3.55534390e-02 9.99365947e-01 1.91244035e-03 -4.50831927e+00] [ 1.96851464e-02 -1.21296279e-03 9.99805493e-01 -9.88373578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16327356 meters 0.08031748526389114 Centerline is valid? [True, True] Translation: X:44.14, Y:-4.52, Z:-0.99 [[ 9.99342233e-01 2.97503107e-02 -2.07369294e-02 4.41399046e+01] [-2.97147662e-02 9.99556377e-01 2.02016044e-03 -4.51696494e+00] [ 2.07878304e-02 -1.40263864e-03 9.99782926e-01 -9.89966647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.223273559999996 meters 0.08110439865331795 Centerline is valid? [True, True] Translation: X:44.20, Y:-4.52, Z:-0.99 [[ 9.99440424e-01 2.50487635e-02 -2.21674895e-02 4.41999139e+01] [-2.50069917e-02 9.99684944e-01 2.15962243e-03 -4.52271291e+00] [ 2.22146013e-02 -1.60407173e-03 9.99751938e-01 -9.90080344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28327356 meters 0.0856137607734609 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.54, Z:-0.99 [[ 9.99588085e-01 1.99869993e-02 -2.05956186e-02 4.42582200e+01] [-1.99498772e-02 9.99798968e-01 2.00633811e-03 -4.53535064e+00] [ 2.06315789e-02 -1.59463161e-03 9.99785875e-01 -9.93040787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34327356 meters 0.08476650217702707 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.54, Z:-0.99 [[ 9.99681532e-01 1.70680354e-02 -1.85880672e-02 4.43190150e+01] [-1.70372967e-02 9.99853215e-01 1.81079533e-03 -4.53587312e+00] [ 1.86162455e-02 -1.49352823e-03 9.99825587e-01 -9.89813370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.403273559999995 meters 0.08555668894470912 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.54, Z:-0.99 [[ 9.99725701e-01 1.48170434e-02 -1.81377296e-02 4.43795064e+01] [-1.47874083e-02 9.99889099e-01 1.76692475e-03 -4.53899127e+00] [ 1.81618987e-02 -1.49823007e-03 9.99833937e-01 -9.90036095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46327356 meters 0.08876387717569423 Centerline is valid? [True, True] Translation: X:44.44, Y:-4.55, Z:-0.99 [[ 9.99732457e-01 1.43488368e-02 -1.81417888e-02 4.44371893e+01] [-1.43191462e-02 9.99895917e-01 1.76543387e-03 -4.54698808e+00] [ 1.81652325e-02 -1.50518662e-03 9.99833866e-01 -9.91559223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52327356 meters 0.08433122717229184 Centerline is valid? [True, True] Translation: X:44.50, Y:-4.54, Z:-0.99 [[ 9.99684456e-01 1.46311132e-02 -2.04186114e-02 4.44970053e+01] [-1.45935854e-02 9.99891536e-01 1.98572768e-03 -4.53856394e+00] [ 2.04454501e-02 -1.68712034e-03 9.99789546e-01 -9.90608281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.583273559999995 meters 0.0849553295185528 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.54, Z:-0.99 [[ 9.99654753e-01 1.62654108e-02 -2.06352080e-02 4.45568125e+01] [-1.62274390e-02 9.99866314e-01 2.00627049e-03 -4.54158199e+00] [ 2.06650822e-02 -1.67072125e-03 9.99785058e-01 -9.91847454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64327356 meters 0.08493162118388797 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.54, Z:-0.99 [[ 9.99630332e-01 1.97050015e-02 -1.87326356e-02 4.46161907e+01] [-1.96743252e-02 9.99804784e-01 1.82048510e-03 -4.54079824e+00] [ 1.87648514e-02 -1.45126016e-03 9.99822871e-01 -9.90868628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70327356 meters 0.08470943328388203 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.54, Z:-0.99 [[ 9.99592240e-01 2.24019433e-02 -1.77061322e-02 4.46765457e+01] [-2.23749580e-02 9.99748168e-01 1.72072367e-03 -4.53959737e+00] [ 1.77402208e-02 -1.32384806e-03 9.99841753e-01 -9.90251848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.763273559999995 meters 0.0848489252302715 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.54, Z:-0.99 [[ 9.99581184e-01 2.28504075e-02 -1.77571401e-02 4.47348751e+01] [-2.28234269e-02 9.99738031e-01 1.72062109e-03 -4.54350846e+00] [ 1.77918052e-02 -1.31462168e-03 9.99840849e-01 -9.90621279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82327356 meters 0.08594735714978693 Centerline is valid? [True, True] Translation: X:44.79, Y:-4.55, Z:-0.99 [[ 9.99573113e-01 2.17485213e-02 -1.95087836e-02 4.47947010e+01] [-2.17157373e-02 9.99762398e-01 1.89076940e-03 -4.54632554e+00] [ 1.95452697e-02 -1.46631464e-03 9.99807898e-01 -9.93776424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88327356 meters 0.08859092337422798 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.55, Z:-1.00 [[ 9.99628836e-01 1.90652834e-02 -1.94603532e-02 4.48546552e+01] [-1.90321611e-02 9.99817093e-01 1.88584726e-03 -4.55309394e+00] [ 1.94927480e-02 -1.51477473e-03 9.99808851e-01 -9.97009743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.943273559999994 meters 0.09006774837313856 Centerline is valid? [True, True] Translation: X:44.91, Y:-4.56, Z:-1.00 [[ 9.99718536e-01 1.54321083e-02 -1.80193767e-02 4.49146679e+01] [-1.54031231e-02 9.99879840e-01 1.74624781e-03 -4.55792144e+00] [ 1.80441597e-02 -1.46820163e-03 9.99836113e-01 -9.95980126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00327356 meters 0.0902936952072689 Centerline is valid? [True, True] Translation: X:44.97, Y:-4.56, Z:-1.00 [[ 9.99790567e-01 1.25648404e-02 -1.61538653e-02 4.49745259e+01] [-1.25411805e-02 9.99920131e-01 1.56513024e-03 -4.56261403e+00] [ 1.61722407e-02 -1.36221391e-03 9.99868293e-01 -9.95127419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06327356 meters 0.08900604773550212 Centerline is valid? [True, True] Translation: X:45.03, Y:-4.56, Z:-0.99 [[ 9.99867953e-01 6.95125890e-03 -1.46886312e-02 4.50347116e+01] [-6.93110026e-03 9.99974967e-01 1.42285940e-03 -4.56388054e+00] [ 1.46981541e-02 -1.32086314e-03 9.99891104e-01 -9.93708335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.123273559999994 meters 0.09944997691116711 Centerline is valid? [True, True] Translation: X:45.09, Y:-4.59, Z:-1.00 [[ 9.99899813e-01 1.44931639e-03 -1.40806276e-02 4.50926777e+01] [-1.43025147e-03 9.99998047e-01 1.36395793e-03 -4.58607869e+00] [ 1.40825770e-02 -1.34368244e-03 9.99899933e-01 -9.95984872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.183273559999996 meters 0.09508064414705823 Centerline is valid? [True, True] Translation: X:45.15, Y:-4.58, Z:-1.00 [[ 9.99854770e-01 -3.44438968e-03 -1.66905404e-02 4.51538407e+01] [ 3.47185315e-03 9.99992666e-01 1.61675501e-03 -4.58083527e+00] [ 1.66848493e-02 -1.67446731e-03 9.99859396e-01 -9.96589836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24327356 meters 0.09613730862360861 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.59, Z:-1.00 [[ 9.99829359e-01 -5.92122264e-03 -1.74983602e-02 4.52138279e+01] [ 5.95178407e-03 9.99980851e-01 1.69496971e-03 -4.58641828e+00] [ 1.74879889e-02 -1.79882694e-03 9.99845455e-01 -9.97825859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30327356 meters 0.09896961790501939 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.59, Z:-1.00 [[ 9.99840067e-01 -7.84772397e-03 -1.60702575e-02 4.52732432e+01] [ 7.87374043e-03 9.99967791e-01 1.55628888e-03 -4.59355983e+00] [ 1.60575265e-02 -1.68257302e-03 9.99869654e-01 -9.97714766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.363273559999996 meters 0.09854130779394966 Centerline is valid? [True, True] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99874940e-01 -7.51832337e-03 -1.39132783e-02 4.53323808e+01] [ 7.53777543e-03 9.99970684e-01 1.34618090e-03 -4.59477616e+00] [ 1.39027494e-02 -1.45088771e-03 9.99902299e-01 -9.96127317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42327356 meters 0.1009158285790338 Centerline is valid? [True, False] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99903009e-01 -3.68927613e-03 -1.34298701e-02 4.53314373e+01] [ 3.75906888e-03 9.99979543e-01 5.17530147e-03 -4.59370809e+00] [ 1.34105022e-02 -5.22528332e-03 9.99896422e-01 -9.96298388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48327356 meters 0.10190750434545501 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99900621e-01 -3.83762338e-03 -1.35654090e-02 4.53321866e+01] [ 3.90197139e-03 9.99981247e-01 4.72025548e-03 -4.59131936e+00] [ 1.35470400e-02 -4.77271822e-03 9.99896844e-01 -9.97053855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.543273559999996 meters 0.10330458925254501 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99900830e-01 -4.08211851e-03 -1.34783882e-02 4.53322569e+01] [ 4.14114334e-03 9.99981946e-01 4.35421900e-03 -4.58982050e+00] [ 1.34603704e-02 -4.40960313e-03 9.99899682e-01 -9.97452802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60327356 meters 0.10404245219104034 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99901065e-01 -4.73649651e-03 -1.32448158e-02 4.53314898e+01] [ 4.78383865e-03 9.99982274e-01 3.54499551e-03 -4.58767380e+00] [ 1.32277901e-02 -3.60800585e-03 9.99906000e-01 -9.97142489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66327356 meters 0.10544138548153645 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.59, Z:-1.00 [[ 9.99900561e-01 -5.29050925e-03 -1.30720416e-02 4.53311076e+01] [ 5.32749319e-03 9.99981900e-01 2.79603912e-03 -4.58523644e+00] [ 1.30570125e-02 -2.86540230e-03 9.99910648e-01 -9.97166025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.723273559999996 meters 0.10256820798707028 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99898024e-01 -5.70193307e-03 -1.30931264e-02 4.53313956e+01] [ 5.72922292e-03 9.99981491e-01 2.04772650e-03 -4.58220512e+00] [ 1.30812081e-02 -2.12253112e-03 9.99912185e-01 -9.97555533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78327356 meters 0.10253393577623839 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99894803e-01 -6.10018686e-03 -1.31594202e-02 4.53314589e+01] [ 6.11832998e-03 9.99980387e-01 1.33889918e-03 -4.57980851e+00] [ 1.31509945e-02 -1.41927201e-03 9.99912515e-01 -9.97492313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84327356 meters 0.10342070952017116 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99918785e-01 -2.48053393e-03 -1.25008000e-02 4.53302436e+01] [ 2.54290157e-03 9.99984388e-01 4.97566939e-03 -4.57802840e+00] [ 1.24882625e-02 -5.00705359e-03 9.99909482e-01 -9.97840792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.903273559999995 meters 0.10400965227076708 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99919054e-01 -2.92650550e-03 -1.23822736e-02 4.53302668e+01] [ 2.97965694e-03 9.99986417e-01 4.27627440e-03 -4.57544630e+00] [ 1.23695909e-02 -4.31282318e-03 9.99914193e-01 -9.98288905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96327356 meters 0.10662670231506974 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99920385e-01 -3.47595715e-03 -1.21301627e-02 4.53297655e+01] [ 3.52025097e-03 9.99987208e-01 3.63210451e-03 -4.57337610e+00] [ 1.21173824e-02 -3.67451656e-03 9.99919830e-01 -9.98407602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02327356 meters 0.108389720806744 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99923597e-01 -3.97383361e-03 -1.17050968e-02 4.53288375e+01] [ 4.01197914e-03 9.99986712e-01 3.23720527e-03 -4.57226257e+00] [ 1.16920771e-02 -3.28391854e-03 9.99926253e-01 -9.98428620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.083273559999995 meters 0.11061800156409062 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99927750e-01 -4.45663918e-03 -1.11638821e-02 4.53277625e+01] [ 4.49023464e-03 9.99985461e-01 2.98604329e-03 -4.57157654e+00] [ 1.11504120e-02 -3.03595600e-03 9.99933223e-01 -9.98583187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14327356 meters 0.10973373223841727 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99898846e-01 -8.71027985e-03 -1.12440365e-02 4.53283568e+01] [ 8.69740920e-03 9.99961465e-01 -1.19305645e-03 -4.57098810e+00] [ 1.12539951e-02 1.09514178e-03 9.99936072e-01 -9.99160590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20327356 meters 0.1160808081011218 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99902136e-01 -9.14219285e-03 -1.05895630e-02 4.53271536e+01] [ 9.13066395e-03 9.99957669e-01 -1.13654066e-03 -4.57126569e+00] [ 1.05995052e-02 1.03973970e-03 9.99943283e-01 -9.99492568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.263273559999995 meters 0.10828293955000831 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99900794e-01 -9.41728355e-03 -1.04745526e-02 4.53267694e+01] [ 9.40303316e-03 9.99954798e-01 -1.40889559e-03 -4.57053954e+00] [ 1.04873471e-02 1.31026325e-03 9.99944148e-01 -9.99355418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32327356 meters 0.11123511125109231 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99899976e-01 -9.57255073e-03 -1.04117228e-02 4.53265530e+01] [ 9.55648785e-03 9.99953069e-01 -1.59142757e-03 -4.56991447e+00] [ 1.04264682e-02 1.49176889e-03 9.99944530e-01 -9.99251500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38327356 meters 0.11240308476104519 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99902018e-01 -9.40672834e-03 -1.03666587e-02 4.53268006e+01] [ 9.39395559e-03 9.99955056e-01 -1.28010601e-03 -4.57025288e+00] [ 1.03782344e-02 1.18259665e-03 9.99945445e-01 -9.99759064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.443273559999994 meters 0.11607150202659305 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99905099e-01 -9.34968113e-03 -1.01180792e-02 4.53263738e+01] [ 9.34150957e-03 9.99956002e-01 -8.54579710e-04 -4.57159375e+00] [ 1.01256240e-02 7.59980476e-04 9.99948446e-01 -9.99941580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50327356 meters 0.11793715790350448 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99909077e-01 -9.12990967e-03 -9.92379252e-03 4.53262176e+01] [ 9.12768569e-03 9.99958306e-01 -2.69375007e-04 -4.57310267e+00] [ 9.92583812e-03 1.78769256e-04 9.99950722e-01 -1.00031151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56327356 meters 0.11138444461859104 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.57, Z:-1.00 [[ 9.99910166e-01 -8.91516900e-03 -1.00089322e-02 4.53264957e+01] [ 8.91593094e-03 9.99960252e-01 3.15061388e-05 -4.57386869e+00] [ 1.00082535e-02 -1.20742257e-04 9.99949909e-01 -1.00044257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.623273559999994 meters 0.11297350629175329 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99914737e-01 -8.14297493e-03 -1.02083702e-02 4.53275771e+01] [ 8.15434934e-03 9.99966177e-01 1.07309678e-03 -4.57602785e+00] [ 1.01992867e-02 -1.15624790e-03 9.99947317e-01 -1.00134980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.683273559999996 meters 0.11499187600078059 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99916398e-01 -7.84620519e-03 -1.02778860e-02 4.53278781e+01] [ 7.86201522e-03 9.99967971e-01 1.49875628e-03 -4.57715504e+00] [ 1.02657973e-02 -1.57943588e-03 9.99946058e-01 -1.00154139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74327356 meters 0.1140516687908501 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99917545e-01 -7.31497815e-03 -1.05543555e-02 4.53288376e+01] [ 7.33722276e-03 9.99970939e-01 2.07044401e-03 -4.57818001e+00] [ 1.05389036e-02 -2.14771295e-03 9.99942158e-01 -1.00201367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80327356 meters 0.11167762868462822 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99943111e-01 -2.71859969e-03 -1.03142132e-02 4.53285441e+01] [ 2.79035813e-03 9.99971961e-01 6.94923868e-03 -4.58030845e+00] [ 1.02950318e-02 -6.97762370e-03 9.99922660e-01 -1.00230374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.863273559999996 meters 0.10268235839624856 Centerline is valid? [False, False] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99931234e-01 -1.78180956e-03 -1.15910216e-02 4.53311939e+01] [ 1.86255082e-03 9.99974053e-01 6.95878347e-03 -4.57971100e+00] [ 1.15783216e-02 -6.97989381e-03 9.99908608e-01 -1.00223184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92327356 meters 0.09944054096625568 Centerline is valid? [False, True] Translation: X:45.33, Y:-4.58, Z:-1.00 [[ 9.99919873e-01 -1.17019691e-03 -1.26046997e-02 4.53332270e+01] [ 1.25498527e-03 9.99976627e-01 6.72091733e-03 -4.57838796e+00] [ 1.25965403e-02 -6.73619752e-03 9.99897970e-01 -1.00211059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98327356 meters 0.09294736094733391 Centerline is valid? [True, True] Translation: X:45.40, Y:-4.57, Z:-1.00 [[ 9.99857542e-01 1.13116694e-02 -1.25276479e-02 4.53950742e+01] [-1.12965431e-02 9.99935376e-01 1.27753736e-03 -4.56959661e+00] [ 1.25412894e-02 -1.13583625e-03 9.99920710e-01 -9.98593114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04327356 meters 0.08755524765508094 Centerline is valid? [True, True] Translation: X:45.46, Y:-4.56, Z:-1.00 [[ 9.99615044e-01 2.46317509e-02 -1.27687247e-02 4.54559312e+01] [-2.46171167e-02 9.99696105e-01 1.30202887e-03 -4.56380850e+00] [ 1.27969156e-02 -9.87198462e-04 9.99917629e-01 -9.99529484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10327356 meters 0.08264351660815887 Centerline is valid? [True, True] Translation: X:45.52, Y:-4.56, Z:-1.00 [[ 9.99197930e-01 3.80003048e-02 -1.26282739e-02 4.55172323e+01] [-3.79870541e-02 9.99277402e-01 1.28758910e-03 -4.55760589e+00] [ 1.26680775e-02 -8.06845447e-04 9.99919431e-01 -1.00061563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16327356000001 meters 0.079920621455386 Centerline is valid? [True, True] Translation: X:45.58, Y:-4.56, Z:-1.00 [[ 9.98850018e-01 4.58810766e-02 -1.39128714e-02 4.55779694e+01] [-4.58657547e-02 9.98946605e-01 1.41853019e-03 -4.55596152e+00] [ 1.39632994e-02 -7.78774560e-04 9.99902205e-01 -1.00160757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22327356000001 meters 0.07720746617499667 Centerline is valid? [True, True] Translation: X:45.64, Y:-4.55, Z:-1.00 [[ 9.98342153e-01 5.59473263e-02 -1.35219533e-02 4.56376533e+01] [-5.59337791e-02 9.98433529e-01 1.37827677e-03 -4.55340009e+00] [ 1.35778825e-02 -6.19657844e-04 9.99907624e-01 -1.00302507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28327356 meters 0.07355323023731554 Centerline is valid? [True, True] Translation: X:45.70, Y:-4.55, Z:-1.00 [[ 9.97915695e-01 6.29365694e-02 -1.42567174e-02 4.56989753e+01] [-6.29222216e-02 9.98017376e-01 1.45316498e-03 -4.54570868e+00] [ 1.43199090e-02 -5.53071807e-04 9.99897312e-01 -9.99811869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34327356 meters 0.07291315313442295 Centerline is valid? [True, True] Translation: X:45.76, Y:-4.55, Z:-1.00 [[ 9.97701988e-01 6.62596661e-02 -1.41562803e-02 4.57584869e+01] [-6.62458627e-02 9.97802288e-01 1.44229028e-03 -4.54865766e+00] [ 1.42207345e-02 -5.01180881e-04 9.99898755e-01 -9.99887388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40327356 meters 0.0730709965725641 Centerline is valid? [True, True] Translation: X:45.82, Y:-4.56, Z:-1.00 [[ 9.97646553e-01 6.69534778e-02 -1.47846842e-02 4.58162004e+01] [-6.69385200e-02 9.97755967e-01 1.50481816e-03 -4.55595058e+00] [ 1.48522597e-02 -5.11611771e-04 9.99889568e-01 -1.00107559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46327356 meters 0.07372254845870622 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.56, Z:-1.00 [[ 9.97726317e-01 6.55275424e-02 -1.57587237e-02 4.58733200e+01] [-6.55103908e-02 9.97850600e-01 1.60270185e-03 -4.56477001e+00] [ 1.58298730e-02 -5.66697669e-04 9.99874539e-01 -1.00326048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52327356 meters 0.07670883606087064 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.58, Z:-1.01 [[ 9.97788144e-01 6.50993480e-02 -1.34497270e-02 4.59298162e+01] [-6.50868313e-02 9.97878668e-01 1.36672988e-03 -4.58302562e+00] [ 1.35101689e-02 -4.88306761e-04 9.99908614e-01 -1.00849236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58327356000001 meters 0.07346766087757169 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.58, Z:-1.00 [[ 9.97759476e-01 6.46586610e-02 -1.71839006e-02 4.59901648e+01] [-6.46381664e-02 9.97907240e-01 1.74598786e-03 -4.57660221e+00] [ 1.72608321e-02 -6.31340104e-04 9.99850821e-01 -1.00379953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64327356000001 meters 0.07392521963341725 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.59, Z:-1.00 [[ 9.97772488e-01 6.46086888e-02 -1.66066059e-02 4.60476034e+01] [-6.45895691e-02 9.97910490e-01 1.68567196e-03 -4.58501784e+00] [ 1.66808153e-02 -6.09303581e-04 9.99860680e-01 -1.00438985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70327356 meters 0.07359628802685442 Centerline is valid? [True, True] Translation: X:46.11, Y:-4.59, Z:-1.00 [[ 9.97609607e-01 6.74361213e-02 -1.50811842e-02 4.61070547e+01] [-6.74206796e-02 9.97723463e-01 1.53057626e-03 -4.58997075e+00] [ 1.51500675e-02 -5.10133894e-04 9.99885101e-01 -1.00488406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76327356 meters 0.07347113496630094 Centerline is valid? [True, True] Translation: X:46.17, Y:-4.59, Z:-1.01 [[ 9.97352614e-01 7.08506821e-02 -1.63690173e-02 4.61652941e+01] [-7.08329694e-02 9.97486809e-01 1.66007181e-03 -4.59379025e+00] [ 1.64454961e-02 -4.96210856e-04 9.99864641e-01 -1.00648024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82327356 meters 0.07243988834814805 Centerline is valid? [True, True] Translation: X:46.23, Y:-4.59, Z:-1.00 [[ 9.97146003e-01 7.39058209e-02 -1.54200830e-02 4.62251055e+01] [-7.38904730e-02 9.97265137e-01 1.56347168e-03 -4.59492738e+00] [ 1.54934608e-02 -4.19612311e-04 9.99879881e-01 -1.00495852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88327356 meters 0.07244771125373804 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.60, Z:-1.01 [[ 9.97047686e-01 7.50663035e-02 -1.61543094e-02 4.62826293e+01] [-7.50496510e-02 9.97178457e-01 1.63546776e-03 -4.60054242e+00] [ 1.62314979e-02 -4.18264065e-04 9.99868173e-01 -1.00629083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94327356000001 meters 0.07334053935368119 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.61, Z:-1.01 [[ 9.97189641e-01 7.33362345e-02 -1.53172109e-02 4.63398662e+01] [-7.33210874e-02 9.97307184e-01 1.54889300e-03 -4.61111442e+00] [ 1.53895545e-02 -4.21465490e-04 9.99881485e-01 -1.00896986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00327356000001 meters 0.07363091839658935 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.62, Z:-1.01 [[ 9.97516950e-01 6.90165348e-02 -1.40233074e-02 4.63992249e+01] [-6.90034126e-02 9.97615416e-01 1.41802466e-03 -4.61951353e+00] [ 1.40877348e-02 -4.46847568e-04 9.99900663e-01 -1.00703035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06327356 meters 0.07425026738366716 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.63, Z:-1.01 [[ 9.97920288e-01 6.27377917e-02 -1.48009406e-02 4.64588146e+01] [-6.27224853e-02 9.98029884e-01 1.49655433e-03 -4.62914267e+00] [ 1.48656716e-02 -5.65090148e-04 9.99889340e-01 -1.00718152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12327356 meters 0.07656971629770266 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.65, Z:-1.01 [[ 9.98313501e-01 5.61086493e-02 -1.48987769e-02 4.65169241e+01] [-5.60924072e-02 9.98424446e-01 1.50614009e-03 -4.64519366e+00] [ 1.49598106e-02 -6.67891727e-04 9.99887873e-01 -1.00898372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18327356 meters 0.07732261424576647 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.65, Z:-1.01 [[ 9.98545702e-01 5.18416496e-02 -1.47960691e-02 4.65764706e+01] [-5.18251667e-02 9.98655053e-01 1.49552627e-03 -4.65426927e+00] [ 1.48536997e-02 -7.26542585e-04 9.99889414e-01 -1.00843602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24327356 meters 0.07808836390702861 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.66, Z:-1.01 [[ 9.98779050e-01 4.72273558e-02 -1.44908765e-02 4.66364429e+01] [-4.72110646e-02 9.98883862e-01 1.46445814e-03 -4.66281605e+00] [ 1.45438652e-02 -7.78540402e-04 9.99893929e-01 -1.00780947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30327356000001 meters 0.07973981632027158 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.67, Z:-1.01 [[ 9.98952655e-01 4.33897777e-02 -1.45230729e-02 4.66957094e+01] [-4.33730153e-02 9.99057870e-01 1.46733112e-03 -4.67389438e+00] [ 1.45730575e-02 -8.35884851e-04 9.99893458e-01 -1.01027860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36327356000001 meters 0.08192523604679593 Centerline is valid? [True, True] Translation: X:46.76, Y:-4.68, Z:-1.01 [[ 9.99113923e-01 3.89774024e-02 -1.58786529e-02 4.67557690e+01] [-3.89568070e-02 9.99239607e-01 1.60441903e-03 -4.68367320e+00] [ 1.59291150e-02 -9.84415771e-04 9.99872639e-01 -1.01329137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42327356 meters 0.08413994688433676 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.69, Z:-1.01 [[ 9.99233885e-01 3.58100404e-02 -1.57887568e-02 4.68140211e+01] [-3.57892947e-02 9.99358086e-01 1.59464718e-03 -4.69278813e+00] [ 1.58357261e-02 -1.02835703e-03 9.99874078e-01 -1.01479177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48327356 meters 0.0854078472443052 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.70, Z:-1.01 [[ 9.99324656e-01 3.37390366e-02 -1.45571375e-02 4.68730235e+01] [-3.37211898e-02 9.99430198e-01 1.46977218e-03 -4.70060634e+00] [ 1.45984315e-02 -9.77895580e-04 9.99892959e-01 -1.01478109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54327356 meters 0.08778434872956103 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.71, Z:-1.02 [[ 9.99465274e-01 2.96440922e-02 -1.37983039e-02 4.69327171e+01] [-2.96276672e-02 9.99560033e-01 1.39330349e-03 -4.70996852e+00] [ 1.38335364e-02 -9.83746897e-04 9.99903828e-01 -1.01593055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60327356 meters 0.08634530032416089 Centerline is valid? [True, True] Translation: X:46.99, Y:-4.71, Z:-1.01 [[ 9.99542386e-01 2.70161017e-02 -1.36069142e-02 4.69929499e+01] [-2.69998913e-02 9.99634493e-01 1.37366173e-03 -4.71169469e+00] [ 1.36390517e-02 -1.00564792e-03 9.99906478e-01 -1.01393304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66327356000001 meters 0.08716112515462313 Centerline is valid? [True, True] Translation: X:47.05, Y:-4.72, Z:-1.01 [[ 9.99613332e-01 2.43815159e-02 -1.33689093e-02 4.70525378e+01] [-2.43656378e-02 9.99702203e-01 1.34931261e-03 -4.71719908e+00] [ 1.33978264e-02 -1.02304887e-03 9.99909722e-01 -1.01431025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72327356000001 meters 0.08774355673997523 Centerline is valid? [True, True] Translation: X:47.11, Y:-4.72, Z:-1.02 [[ 9.99632891e-01 2.31026784e-02 -1.41545164e-02 4.71122050e+01] [-2.30847594e-02 9.99732491e-01 1.42805885e-03 -4.72004060e+00] [ 1.41837219e-02 -1.10078099e-03 9.99898800e-01 -1.01545357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78327356 meters 0.08816382919701767 Centerline is valid? [True, True] Translation: X:47.17, Y:-4.72, Z:-1.02 [[ 9.99650467e-01 2.32136887e-02 -1.26518270e-02 4.71706757e+01] [-2.31993951e-02 9.99730044e-01 1.27538058e-03 -4.72266487e+00] [ 1.26780179e-02 -9.81420062e-04 9.99919149e-01 -1.01560353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84327356 meters 0.09054779976004872 Centerline is valid? [True, True] Translation: X:47.23, Y:-4.73, Z:-1.02 [[ 9.99682328e-01 2.22502970e-02 -1.18391886e-02 4.72285183e+01] [-2.22377266e-02 9.99752000e-01 1.19236016e-03 -4.72885259e+00] [ 1.18627828e-02 -9.28704746e-04 9.99929203e-01 -1.01643624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90327356 meters 0.08822352890348181 Centerline is valid? [True, True] Translation: X:47.29, Y:-4.73, Z:-1.01 [[ 9.99711334e-01 2.12394885e-02 -1.12308626e-02 4.72871327e+01] [-2.12281249e-02 9.99774019e-01 1.13007353e-03 -4.72854242e+00] [ 1.12523269e-02 -8.91337166e-04 9.99936293e-01 -1.01493845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96327356 meters 0.0946596436344034 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.74, Z:-1.02 [[ 9.99746383e-01 1.85506426e-02 -1.27688671e-02 4.73449263e+01] [-1.85357345e-02 9.99827373e-01 1.28490167e-03 -4.74459659e+00] [ 1.27904986e-02 -1.04789546e-03 9.99917649e-01 -1.01909013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02327356 meters 0.0980792556017038 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.75, Z:-1.02 [[ 9.99778899e-01 1.63571041e-02 -1.32135489e-02 4.74034504e+01] [-1.63409509e-02 9.99865594e-01 1.32952125e-03 -4.75319437e+00] [ 1.32335200e-02 -1.11330533e-03 9.99911813e-01 -1.02095096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08327356000001 meters 0.09822285668403256 Centerline is valid? [True, True] Translation: X:47.46, Y:-4.76, Z:-1.02 [[ 9.99808232e-01 1.52777117e-02 -1.22511502e-02 4.74619842e+01] [-1.52637590e-02 9.99882744e-01 1.23158933e-03 -4.75727132e+00] [ 1.22685296e-02 -1.04435455e-03 9.99924193e-01 -1.01939322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14327356000001 meters 0.09505508417528524 Centerline is valid? [True, True] Translation: X:47.52, Y:-4.76, Z:-1.02 [[ 9.99837976e-01 1.39561713e-02 -1.13686926e-02 4.75222610e+01] [-1.39440745e-02 9.99902124e-01 1.14262682e-03 -4.75653870e+00] [ 1.13835266e-02 -9.83915790e-04 9.99934721e-01 -1.01759031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20327356 meters 0.10113872213266713 Centerline is valid? [True, False] Translation: X:47.52, Y:-4.75, Z:-1.02 [[ 9.99883256e-01 9.45982161e-03 -1.19993840e-02 4.75229098e+01] [-9.50849276e-03 9.99946770e-01 -4.00559202e-03 -4.75441751e+00] [ 1.19608531e-02 4.11922045e-03 9.99919982e-01 -1.01663574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26327356 meters 0.10351028805918182 Centerline is valid? [False, False] Translation: X:47.52, Y:-4.75, Z:-1.02 [[ 9.99887293e-01 9.34353106e-03 -1.17516104e-02 4.75226760e+01] [-9.38959839e-03 9.99948424e-01 -3.87104074e-03 -4.75440678e+00] [ 1.17148351e-02 3.98094734e-03 9.99923454e-01 -1.01715618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32327356 meters 0.09593984782157564 Centerline is valid? [False, True] Translation: X:47.52, Y:-4.75, Z:-1.02 [[ 9.99888385e-01 9.28522684e-03 -1.17048240e-02 4.75227793e+01] [-9.33154710e-03 9.99948820e-01 -3.90898066e-03 -4.75384143e+00] [ 1.16679292e-02 4.01776848e-03 9.99923856e-01 -1.01748147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38327356 meters 0.0961743956801709 Centerline is valid? [True, True] Translation: X:47.58, Y:-4.76, Z:-1.02 [[ 9.99889502e-01 1.01406351e-02 -1.08697664e-02 4.75810405e+01] [-1.01296582e-02 9.99948127e-01 1.06442853e-03 -4.76188342e+00] [ 1.08799965e-02 -9.54203893e-04 9.99940356e-01 -1.01989005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44327356000001 meters 0.09591451786650002 Centerline is valid? [True, True] Translation: X:47.64, Y:-4.77, Z:-1.02 [[ 9.99884925e-01 1.14625410e-02 -9.93711068e-03 4.76403893e+01] [-1.14534333e-02 9.99933934e-01 9.72962327e-04 -4.76673327e+00] [ 9.94760680e-03 -8.59036329e-04 9.99950152e-01 -1.02038569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50327356000001 meters 0.09654241961409907 Centerline is valid? [True, True] Translation: X:47.70, Y:-4.77, Z:-1.02 [[ 9.99887657e-01 1.12745304e-02 -9.87714237e-03 4.76985184e+01] [-1.12655324e-02 9.99936075e-01 9.66153947e-04 -4.77287898e+00] [ 9.88740390e-03 -8.54774139e-04 9.99950753e-01 -1.01955147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56327356 meters 0.09266229836204129 Centerline is valid? [True, True] Translation: X:47.76, Y:-4.77, Z:-1.02 [[ 9.99894747e-01 1.13922778e-02 -8.98393269e-03 4.77579143e+01] [-1.13848449e-02 9.99934805e-01 8.78073138e-04 -4.77177989e+00] [ 8.99335024e-03 -7.75700038e-04 9.99959258e-01 -1.01895886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62327356 meters 0.11085676471558627 Centerline is valid? [True, False] Translation: X:47.76, Y:-4.77, Z:-1.02 [[ 9.99929512e-01 7.04038112e-03 -9.56056351e-03 4.77586136e+01] [-7.07836147e-03 9.99967168e-01 -3.94459606e-03 -4.77042924e+00] [ 9.53247816e-03 4.01199114e-03 9.99946516e-01 -1.01826153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68327356 meters 0.09637377209636937 Centerline is valid? [False, True] Translation: X:47.76, Y:-4.77, Z:-1.02 [[ 9.99933703e-01 6.89155859e-03 -9.22472065e-03 4.77578392e+01] [-6.92661476e-03 9.99968890e-01 -3.77370331e-03 -4.77127265e+00] [ 9.19842697e-03 3.83734921e-03 9.99950331e-01 -1.01824279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74327356 meters 0.09972433268555422 Centerline is valid? [True, True] Translation: X:47.82, Y:-4.79, Z:-1.02 [[ 9.99950820e-01 3.71594949e-03 -9.19504349e-03 4.78165613e+01] [-3.70800185e-03 9.99992737e-01 8.81236386e-04 -4.78575808e+00] [ 9.19825134e-03 -8.47097809e-04 9.99957336e-01 -1.02155381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80327356000001 meters 0.10579191964679183 Centerline is valid? [True, False] Translation: X:47.81, Y:-4.79, Z:-1.02 [[ 9.99958666e-01 3.33537074e-03 -8.45820515e-03 4.78149223e+01] [-3.32523678e-03 9.99993737e-01 1.21190220e-03 -4.78746203e+00] [ 8.46219432e-03 -1.18372657e-03 9.99963494e-01 -1.02151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86327356000001 meters 0.10251816427278755 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.79, Z:-1.02 [[ 9.99962898e-01 -9.57486985e-04 -8.56075392e-03 4.78149565e+01] [ 9.31729604e-04 9.99995029e-01 -3.01225699e-03 -4.78772870e+00] [ 8.56359556e-03 3.00416892e-03 9.99958819e-01 -1.02128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92327356 meters 0.11213201940823664 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.79, Z:-1.02 [[ 9.99965912e-01 -7.58734671e-04 -8.22192092e-03 4.78147116e+01] [ 7.40169821e-04 9.99997171e-01 -2.26077746e-03 -4.78941202e+00] [ 8.22361298e-03 2.25461478e-03 9.99963644e-01 -1.02205827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98327356 meters 0.1085589286342208 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.79, Z:-1.02 [[ 9.99969859e-01 -8.41273219e-04 -7.71841604e-03 4.78136936e+01] [ 8.28731876e-04 9.99998332e-01 -1.62791414e-03 -4.79139967e+00] [ 7.71977268e-03 1.62146857e-03 9.99968887e-01 -1.02223653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04327356 meters 0.1108238105629685 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.79, Z:-1.02 [[ 9.99971759e-01 -4.85236700e-04 -7.49969571e-03 4.78136748e+01] [ 4.80094547e-04 9.99999648e-01 -6.87433295e-04 -4.79363335e+00] [ 7.50002665e-03 6.83813319e-04 9.99971641e-01 -1.02295428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10327356 meters 0.11293859307534473 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.80, Z:-1.02 [[ 9.99973428e-01 -4.25124584e-04 -7.27756956e-03 4.78131750e+01] [ 4.23200884e-04 9.99999875e-01 -2.65870709e-04 -4.79524240e+00] [ 7.27768168e-03 2.62783770e-04 9.99973483e-01 -1.02295538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16327356000001 meters 0.1121508120743012 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.80, Z:-1.02 [[ 9.99973342e-01 -2.04431985e-04 -7.29890804e-03 4.78132603e+01] [ 2.05450380e-04 9.99999969e-01 1.38777558e-04 -4.79638562e+00] [ 7.29887944e-03 -1.40273422e-04 9.99973353e-01 -1.02301640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22327356000001 meters 0.11501884912057297 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.80, Z:-1.02 [[ 9.99973239e-01 6.39853745e-05 -7.31561041e-03 4.78132702e+01] [-5.95536371e-05 9.99999815e-01 6.06008111e-04 -4.79782892e+00] [ 7.31564783e-03 -6.05556222e-04 9.99973057e-01 -1.02295597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28327356 meters 0.11598889749210683 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.80, Z:-1.02 [[ 9.99973534e-01 3.76131226e-04 -7.26567613e-03 4.78130368e+01] [-3.67115157e-04 9.99999161e-01 1.24220638e-03 -4.80037270e+00] [ 7.26613727e-03 -1.23950617e-03 9.99972833e-01 -1.02271881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34327356 meters 0.11871135264598394 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.80, Z:-1.02 [[ 9.99973629e-01 9.62612566e-04 -7.19826492e-03 4.78131524e+01] [-9.45480403e-04 9.99996714e-01 2.38306494e-03 -4.80373730e+00] [ 7.20053524e-03 -2.37619627e-03 9.99971253e-01 -1.02311333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40327356 meters 0.12029979135159097 Centerline is valid? [False, False] Translation: X:47.82, Y:-4.81, Z:-1.02 [[ 9.99964105e-01 -2.40523436e-03 -8.12429179e-03 4.78152060e+01] [ 2.39514928e-03 9.99996349e-01 -1.25085131e-03 -4.80508845e+00] [ 8.12727072e-03 1.23134752e-03 9.99966215e-01 -1.02306795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46327356 meters 0.10997466913812771 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.81, Z:-1.02 [[ 9.99969038e-01 -1.88083737e-03 -7.64097743e-03 4.78140342e+01] [ 1.88263329e-03 9.99998202e-01 2.27852154e-04 -4.81165091e+00] [ 7.64053514e-03 -2.42230258e-04 9.99970781e-01 -1.02258001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52327356 meters 0.10798478073686424 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.81, Z:-1.02 [[ 9.99969840e-01 -1.41880587e-03 -7.63585690e-03 4.78143202e+01] [ 1.42638064e-03 9.99998496e-01 9.86644996e-04 -4.81370135e+00] [ 7.63444555e-03 -9.97506877e-04 9.99970360e-01 -1.02298098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58327356000001 meters 0.1160020568570727 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.82, Z:-1.02 [[ 9.99971390e-01 -6.58604429e-04 -7.53565109e-03 4.78143584e+01] [ 6.76787594e-04 9.99996865e-01 2.41065646e-03 -4.81814697e+00] [ 7.53403980e-03 -2.41568752e-03 9.99968701e-01 -1.02330871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64327356000001 meters 0.11816941834855182 Centerline is valid? [False, False] Translation: X:47.81, Y:-4.82, Z:-1.02 [[ 9.99969178e-01 2.75782174e-04 -7.84650559e-03 4.78149962e+01] [-2.47219885e-04 9.99993341e-01 3.64086571e-03 -4.82225822e+00] [ 7.84745743e-03 -3.63881368e-03 9.99962588e-01 -1.02313645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70327356 meters 0.10538088970843972 Centerline is valid? [False, False] Translation: X:47.82, Y:-4.82, Z:-1.02 [[ 9.99967523e-01 7.79854140e-04 -8.02152995e-03 4.78154505e+01] [-7.45518573e-04 9.99990552e-01 4.28252612e-03 -4.82428750e+00] [ 8.02479391e-03 -4.27640684e-03 9.99958657e-01 -1.02316514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76327356 meters 0.09978870274915846 Centerline is valid? [False, True] Translation: X:47.82, Y:-4.83, Z:-1.02 [[ 9.99964173e-01 1.39857446e-03 -8.34842190e-03 4.78161246e+01] [-1.35688855e-03 9.99986595e-01 4.99684588e-03 -4.82663617e+00] [ 8.35529846e-03 -4.98533898e-03 9.99952667e-01 -1.02306577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82327356 meters 0.09436793995802607 Centerline is valid? [True, True] Translation: X:47.88, Y:-4.82, Z:-1.02 [[ 9.99938712e-01 4.89237250e-03 -9.93162307e-03 4.78767539e+01] [-4.88215190e-03 9.99987528e-01 1.05308034e-03 -4.82443293e+00] [ 9.93665126e-03 -1.00452810e-03 9.99950126e-01 -1.02179512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88327356 meters 0.09755796873447141 Centerline is valid? [True, True] Translation: X:47.94, Y:-4.84, Z:-1.02 [[ 9.99912518e-01 9.63842530e-03 -9.05856486e-03 4.79350709e+01] [-9.63011911e-03 9.99953168e-01 9.60115433e-04 -4.83840686e+00] [ 9.06739463e-03 -8.72796381e-04 9.99958509e-01 -1.02419920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94327356000001 meters 0.09220846827527672 Centerline is valid? [True, True] Translation: X:48.00, Y:-4.84, Z:-1.02 [[ 9.99856928e-01 1.41617540e-02 -9.25029529e-03 4.79956786e+01] [-1.41532853e-02 9.99899357e-01 9.80325698e-04 -4.83555478e+00] [ 9.26324744e-03 -8.49263372e-04 9.99956735e-01 -1.02203203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00327356000001 meters 0.09039494374205494 Centerline is valid? [True, True] Translation: X:48.06, Y:-4.84, Z:-1.02 [[ 9.99779843e-01 1.83432296e-02 -1.01878429e-02 4.80552783e+01] [-1.83331765e-02 9.99831351e-01 1.07929807e-03 -4.84008420e+00] [ 1.02059226e-02 -8.92284929e-04 9.99947520e-01 -1.02245964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06327356 meters 0.08859302286321008 Centerline is valid? [True, True] Translation: X:48.12, Y:-4.84, Z:-1.02 [[ 9.99681529e-01 2.27883360e-02 -1.08412565e-02 4.81155799e+01] [-2.27772099e-02 9.99739906e-01 1.14865896e-03 -4.84256184e+00] [ 1.08646127e-02 -9.01359572e-04 9.99940572e-01 -1.02296755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12327356 meters 0.08502498614433061 Centerline is valid? [True, True] Translation: X:48.18, Y:-4.84, Z:-1.02 [[ 9.99504823e-01 2.94927192e-02 -1.09676093e-02 4.81762772e+01] [-2.94817326e-02 9.99564644e-01 1.16209112e-03 -4.84078360e+00] [ 1.09971077e-02 -8.38171555e-04 9.99939179e-01 -1.02267456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18327356 meters 0.08652591944169746 Centerline is valid? [True, True] Translation: X:48.23, Y:-4.85, Z:-1.03 [[ 9.99301509e-01 3.59328384e-02 -1.02628023e-02 4.82346928e+01] [-3.59235608e-02 9.99353949e-01 1.08697871e-03 -4.84933661e+00] [ 1.02952302e-02 -7.17543067e-04 9.99946745e-01 -1.02575513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24327356 meters 0.08308621681807968 Centerline is valid? [True, True] Translation: X:48.30, Y:-4.85, Z:-1.03 [[ 9.99122755e-01 4.03084716e-02 -1.13555075e-02 4.82953075e+01] [-4.02973919e-02 9.99187006e-01 1.20292678e-03 -4.84658363e+00] [ 1.13947637e-02 -7.44274179e-04 9.99934801e-01 -1.02513184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30327356000001 meters 0.08021391570994989 Centerline is valid? [True, True] Translation: X:48.35, Y:-4.85, Z:-1.03 [[ 9.99055881e-01 4.17953557e-02 -1.18530953e-02 4.83547363e+01] [-4.17834536e-02 9.99125908e-01 1.25011689e-03 -4.84704592e+00] [ 1.18949837e-02 -7.53673376e-04 9.99928968e-01 -1.02564852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36327356000001 meters 0.08102492255421466 Centerline is valid? [True, True] Translation: X:48.41, Y:-4.86, Z:-1.03 [[ 9.99082793e-01 4.12947092e-02 -1.13278480e-02 4.84122114e+01] [-4.12838494e-02 9.99146749e-01 1.19094782e-03 -4.85635096e+00] [ 1.13673623e-02 -7.22198307e-04 9.99935129e-01 -1.02608258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42327356 meters 0.08230525989275012 Centerline is valid? [True, True] Translation: X:48.47, Y:-4.87, Z:-1.03 [[ 9.99144595e-01 3.99864614e-02 -1.05432973e-02 4.84689543e+01] [-3.99769668e-02 9.99199985e-01 1.10982966e-03 -4.86662198e+00] [ 1.05792406e-02 -6.87391264e-04 9.99943802e-01 -1.02676085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48327356 meters 0.08282436356087794 Centerline is valid? [True, True] Translation: X:48.53, Y:-4.87, Z:-1.03 [[ 9.99130272e-01 4.00562680e-02 -1.15842148e-02 4.85261474e+01] [-4.00448717e-02 9.99197145e-01 1.21415721e-03 -4.87450418e+00] [ 1.16235490e-02 -7.49212824e-04 9.99932164e-01 -1.02872325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54327356 meters 0.08367452147506058 Centerline is valid? [True, True] Translation: X:48.58, Y:-4.88, Z:-1.03 [[ 9.99087507e-01 4.06850988e-02 -1.29952329e-02 4.85843911e+01] [-4.06708359e-02 9.99171674e-01 1.36004965e-03 -4.88252056e+00] [ 1.30398023e-02 -8.30281627e-04 9.99914633e-01 -1.03173472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60327356 meters 0.08292562899087833 Centerline is valid? [True, True] Translation: X:48.64, Y:-4.89, Z:-1.03 [[ 9.98931791e-01 4.41660066e-02 -1.35882559e-02 4.86438303e+01] [-4.41507009e-02 9.99023867e-01 1.42446087e-03 -4.88625908e+00] [ 1.36379047e-02 -8.23008223e-04 9.99906661e-01 -1.03334046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66327356000001 meters 0.07719808718953178 Centerline is valid? [True, True] Translation: X:48.71, Y:-4.88, Z:-1.03 [[ 9.98702001e-01 4.96601734e-02 -1.13216466e-02 4.87053204e+01] [-4.96499065e-02 9.98765978e-01 1.18627678e-03 -4.87846904e+00] [ 1.13665861e-02 -6.22618302e-04 9.99935204e-01 -1.02824298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72327356000001 meters 0.0797862461727684 Centerline is valid? [True, True] Translation: X:48.76, Y:-4.89, Z:-1.03 [[ 9.98534011e-01 5.33741753e-02 -9.00149894e-03 4.87633775e+01] [-5.33678367e-02 9.98574476e-01 9.43078374e-04 -4.89230413e+00] [ 9.03900312e-03 -4.61305306e-04 9.99959041e-01 -1.03146386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78327356 meters 0.07642377469298656 Centerline is valid? [True, True] Translation: X:48.82, Y:-4.89, Z:-1.03 [[ 9.98569055e-01 5.27770173e-02 -8.62725930e-03 4.88227271e+01] [-5.27712145e-02 9.98606224e-01 8.99037353e-04 -4.89062285e+00] [ 8.66268334e-03 -4.42479929e-04 9.99962380e-01 -1.02779158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84327356 meters 0.077049557619457 Centerline is valid? [True, True] Translation: X:48.88, Y:-4.90, Z:-1.03 [[ 9.98831855e-01 4.70337591e-02 -1.10793068e-02 4.88822955e+01] [-4.70237915e-02 9.98893098e-01 1.15859120e-03 -4.90237336e+00] [ 1.11215360e-02 -6.36246781e-04 9.99937951e-01 -1.02789233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90327356 meters 0.0806300271196961 Centerline is valid? [True, True] Translation: X:48.94, Y:-4.92, Z:-1.03 [[ 9.99049852e-01 4.19947371e-02 -1.16548341e-02 4.89404584e+01] [-4.19833703e-02 9.99117567e-01 1.21834547e-03 -4.91974658e+00] [ 1.16957136e-02 -7.27878646e-04 9.99931338e-01 -1.03298276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96327356 meters 0.08467466969068901 Centerline is valid? [True, True] Translation: X:49.00, Y:-4.94, Z:-1.03 [[ 9.99466303e-01 3.03759483e-02 -1.20171203e-02 4.89991922e+01] [-3.03630265e-02 9.99538147e-01 1.25631042e-03 -4.93916328e+00] [ 1.20497318e-02 -8.90763787e-04 9.99927003e-01 -1.03453562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02327356 meters 0.08643117361666283 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.95, Z:-1.03 [[ 9.99627246e-01 2.50429170e-02 -1.08729794e-02 4.90581166e+01] [-2.50320271e-02 9.99686004e-01 1.13651571e-03 -4.95130498e+00] [ 1.08980269e-02 -8.63919357e-04 9.99940242e-01 -1.03436491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08327356000001 meters 0.08848326000554708 Centerline is valid? [True, True] Translation: X:49.12, Y:-4.96, Z:-1.03 [[ 9.99773275e-01 1.85718538e-02 -1.04156336e-02 4.91173215e+01] [-1.85615112e-02 9.99827127e-01 1.08878882e-03 -4.96343755e+00] [ 1.04340539e-02 -8.95212064e-04 9.99945163e-01 -1.03355929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14327356000001 meters 0.09591973141755275 Centerline is valid? [True, True] Translation: X:49.17, Y:-4.98, Z:-1.04 [[ 9.99834993e-01 1.53838345e-02 -9.66040775e-03 4.91747072e+01] [-1.53747939e-02 9.99881291e-01 1.00941310e-03 -4.98461662e+00] [ 9.67478962e-03 -8.60719757e-04 9.99952828e-01 -1.03578558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20327356 meters 0.09349631173222658 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.99, Z:-1.04 [[ 9.99831648e-01 1.53546038e-02 -1.00454935e-02 4.92336501e+01] [-1.53448395e-02 9.99881711e-01 1.04837221e-03 -4.98675922e+00] [ 1.00604026e-02 -8.94049227e-04 9.99948993e-01 -1.03634055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26327356 meters 0.09262991441179096 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.99, Z:-1.04 [[ 9.99805284e-01 1.65009692e-02 -1.08218351e-02 4.92928918e+01] [-1.64897065e-02 9.99863398e-01 1.12914537e-03 -4.99085918e+00] [ 1.08389888e-02 -9.50476623e-04 9.99940805e-01 -1.03761866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32327356 meters 0.08957933171403697 Centerline is valid? [True, True] Translation: X:49.35, Y:-4.99, Z:-1.04 [[ 9.99767469e-01 1.76678118e-02 -1.23634844e-02 4.93518166e+01] [-1.76532122e-02 9.99843339e-01 1.28900866e-03 -4.98977212e+00] [ 1.23843215e-02 -1.07045371e-03 9.99922738e-01 -1.03745961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38327356 meters 0.08610112710504812 Centerline is valid? [True, True] Translation: X:49.41, Y:-4.99, Z:-1.04 [[ 9.99721769e-01 2.06670010e-02 -1.13692578e-02 4.94128857e+01] [-2.06548391e-02 9.99785962e-01 1.18611081e-03 -4.98877046e+00] [ 1.13913377e-02 -9.50950609e-04 9.99934664e-01 -1.03593108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44327356000001 meters 0.08783445761616768 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.00, Z:-1.04 [[ 9.99706390e-01 2.12978719e-02 -1.15556935e-02 4.94705953e+01] [-2.12853688e-02 9.99772716e-01 1.20390444e-03 -4.99798156e+00] [ 1.15787077e-02 -9.57583765e-04 9.99932506e-01 -1.03741745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50327356000001 meters 0.08445505014062543 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.00, Z:-1.04 [[ 9.99657053e-01 2.42560650e-02 -9.87014494e-03 4.95313311e+01] [-2.42470798e-02 9.99705467e-01 1.02901187e-03 -4.99565760e+00] [ 9.89219763e-03 -7.89336784e-04 9.99950759e-01 -1.03562296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56327356 meters 0.08583033177861125 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.00, Z:-1.04 [[ 9.99560986e-01 2.77064446e-02 -1.04970669e-02 4.95905413e+01] [-2.76964754e-02 9.99615780e-01 1.09392418e-03 -5.00348604e+00] [ 1.05233425e-02 -8.02712174e-04 9.99944306e-01 -1.03871035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62327356 meters 0.08452392150668216 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.00, Z:-1.04 [[ 9.99431350e-01 3.15976995e-02 -1.17712174e-02 4.96510233e+01] [-3.15854287e-02 9.99500303e-01 1.22693677e-03 -5.00363921e+00] [ 1.18041038e-02 -8.54440125e-04 9.99929964e-01 -1.03981521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68327356 meters 0.08168762685801678 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.00, Z:-1.04 [[ 9.99241988e-01 3.65811576e-02 -1.33142377e-02 4.97121661e+01] [-3.65659000e-02 9.99330280e-01 1.38767623e-03 -4.99914095e+00] [ 1.33560837e-02 -8.99777266e-04 9.99910399e-01 -1.04034761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74327356 meters 0.08159124873056448 Centerline is valid? [True, True] Translation: X:49.77, Y:-5.00, Z:-1.04 [[ 9.99031851e-01 4.25774784e-02 -1.10688457e-02 4.97715330e+01] [-4.25673049e-02 9.99092936e-01 1.15318970e-03 -5.00034662e+00] [ 1.11079055e-02 -6.80902306e-04 9.99938073e-01 -1.04247383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80327356000001 meters 0.07712930259328576 Centerline is valid? [True, True] Translation: X:49.83, Y:-4.99, Z:-1.04 [[ 9.98797380e-01 4.81207121e-02 -9.39104088e-03 4.98327415e+01] [-4.81136369e-02 9.98841390e-01 9.78005335e-04 -4.99053544e+00] [ 9.42722264e-03 -5.24992035e-04 9.99955425e-01 -1.03891750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86327356000001 meters 0.07605862853839183 Centerline is valid? [True, True] Translation: X:49.89, Y:-4.99, Z:-1.04 [[ 9.98625773e-01 5.14480865e-02 -9.98296293e-03 4.98932425e+01] [-5.14402570e-02 9.98675532e-01 1.03964439e-03 -4.99018736e+00] [ 1.00232285e-02 -5.24689506e-04 9.99949629e-01 -1.03937871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92327356 meters 0.07656764671126236 Centerline is valid? [True, True] Translation: X:49.95, Y:-4.99, Z:-1.04 [[ 9.98563677e-01 5.23068773e-02 -1.16005604e-02 4.99513231e+01] [-5.22963959e-02 9.98630880e-01 1.20524389e-03 -4.99404261e+00] [ 1.16477204e-02 -5.96845271e-04 9.99931985e-01 -1.04175006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98327356 meters 0.07515319445785454 Centerline is valid? [True, True] Translation: X:50.01, Y:-4.99, Z:-1.04 [[ 9.98616883e-01 5.12159070e-02 -1.18849490e-02 5.00108672e+01] [-5.12048813e-02 9.98687412e-01 1.23035523e-03 -4.99300458e+00] [ 1.19323627e-02 -6.20086104e-04 9.99928615e-01 -1.04030256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04327356 meters 0.07757276190218831 Centerline is valid? [True, True] Translation: X:50.07, Y:-5.00, Z:-1.04 [[ 9.98669110e-01 5.02188429e-02 -1.17506041e-02 5.00675527e+01] [-5.02079835e-02 9.98738042e-01 1.21752456e-03 -5.00328439e+00] [ 1.17969180e-02 -6.25930029e-04 9.99930218e-01 -1.04436945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10327356 meters 0.07768426180011155 Centerline is valid? [True, True] Translation: X:50.13, Y:-5.01, Z:-1.05 [[ 9.98622694e-01 5.10396963e-02 -1.21517536e-02 5.01261856e+01] [-5.10282001e-02 9.98696425e-01 1.25443873e-03 -5.00624423e+00] [ 1.21999390e-02 -6.32628873e-04 9.99925378e-01 -1.04578793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16327356000001 meters 0.07537578488042104 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.00, Z:-1.04 [[ 9.98520001e-01 5.33738134e-02 -1.04423546e-02 5.01869118e+01] [-5.33654281e-02 9.98574466e-01 1.08020426e-03 -5.00361076e+00] [ 1.04851232e-02 -5.21344838e-04 9.99944894e-01 -1.04347083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22327356000001 meters 0.07449508318568475 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.01, Z:-1.04 [[ 9.98449995e-01 5.47524091e-02 -9.98901622e-03 5.02455369e+01] [-5.47448187e-02 9.98499845e-01 1.03192857e-03 -5.00539182e+00] [ 1.00305317e-02 -4.83482194e-04 9.99949576e-01 -1.04297977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28327356 meters 0.0738574794994504 Centerline is valid? [True, True] Translation: X:50.30, Y:-5.01, Z:-1.04 [[ 9.98361857e-01 5.63976451e-02 -9.63889920e-03 5.03047439e+01] [-5.63906956e-02 9.98408286e-01 9.91465147e-04 -5.00768951e+00] [ 9.67947313e-03 -4.46296754e-04 9.99953053e-01 -1.04411090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34327356 meters 0.07341158928041523 Centerline is valid? [True, True] Translation: X:50.36, Y:-5.01, Z:-1.05 [[ 9.98292284e-01 5.75423096e-02 -1.00696382e-02 5.03638551e+01] [-5.75347813e-02 9.98342965e-01 1.03595233e-03 -5.01163595e+00] [ 1.01125636e-02 -4.54828789e-04 9.99948763e-01 -1.04546911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40327356 meters 0.07466840323853341 Centerline is valid? [True, True] Translation: X:50.42, Y:-5.02, Z:-1.05 [[ 9.98213028e-01 5.89526417e-02 -9.76409766e-03 5.04212645e+01] [-5.89456300e-02 9.98260689e-01 1.00459425e-03 -5.02130904e+00] [ 9.80633835e-03 -4.27248179e-04 9.99951825e-01 -1.04906965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46327356 meters 0.07445912895798938 Centerline is valid? [True, True] Translation: X:50.48, Y:-5.03, Z:-1.05 [[ 9.98240204e-01 5.86285898e-02 -8.89856153e-03 5.04796241e+01] [-5.86227913e-02 9.98279789e-01 9.11291680e-04 -5.02681524e+00] [ 8.93668187e-03 -3.88029477e-04 9.99959992e-01 -1.04937453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52327356 meters 0.07407379924073983 Centerline is valid? [True, True] Translation: X:50.54, Y:-5.03, Z:-1.05 [[ 9.98479722e-01 5.44903774e-02 -8.30921109e-03 5.05393909e+01] [-5.44851578e-02 9.98514216e-01 8.53415259e-04 -5.03219935e+00] [ 8.34336832e-03 -3.99389153e-04 9.99965114e-01 -1.04781945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58327356000001 meters 0.07538550548562856 Centerline is valid? [True, True] Translation: X:50.60, Y:-5.04, Z:-1.05 [[ 9.98658904e-01 5.10504394e-02 -8.61661857e-03 5.05980225e+01] [-5.10447004e-02 9.98695978e-01 8.84798285e-04 -5.04335162e+00] [ 8.65055165e-03 -4.43778972e-04 9.99962485e-01 -1.04889288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64327356 meters 0.07789540448339638 Centerline is valid? [True, True] Translation: X:50.66, Y:-5.06, Z:-1.05 [[ 9.98961203e-01 4.48785172e-02 -7.90145237e-03 5.06571861e+01] [-4.48734968e-02 9.98992348e-01 8.11611038e-04 -5.05839193e+00] [ 7.92991436e-03 -4.56202141e-04 9.99968454e-01 -1.04958732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70327356 meters 0.08072941607779398 Centerline is valid? [True, True] Translation: X:50.72, Y:-5.07, Z:-1.05 [[ 9.99217393e-01 3.87079885e-02 -8.14210728e-03 5.07167962e+01] [-3.87024532e-02 9.99250429e-01 8.36358216e-04 -5.07287925e+00] [ 8.16837794e-03 -5.20584150e-04 9.99966503e-01 -1.05136739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76327356 meters 0.08348181062879528 Centerline is valid? [True, True] Translation: X:50.78, Y:-5.09, Z:-1.05 [[ 9.99389195e-01 3.41456415e-02 -7.43714658e-03 5.07765765e+01] [-3.41408976e-02 9.99416738e-01 7.63922937e-04 -5.08662021e+00] [ 7.45889341e-03 -5.09545470e-04 9.99972052e-01 -1.05149304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82327356 meters 0.08625500730321708 Centerline is valid? [True, True] Translation: X:50.84, Y:-5.10, Z:-1.05 [[ 9.99537222e-01 2.93960691e-02 -7.82384094e-03 5.08360518e+01] [-2.93906741e-02 9.99567678e-01 8.03669704e-04 -5.09978194e+00] [ 7.84408325e-03 -5.73349824e-04 9.99969070e-01 -1.05307146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88327356 meters 0.08878316906881314 Centerline is valid? [True, True] Translation: X:50.90, Y:-5.11, Z:-1.05 [[ 9.99610753e-01 2.69878888e-02 -7.07087362e-03 5.08951646e+01] [-2.69834248e-02 9.99635617e-01 7.25977706e-04 -5.11196068e+00] [ 7.08788973e-03 -5.34898734e-04 9.99974738e-01 -1.05465520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94327356000001 meters 0.0909030306338893 Centerline is valid? [True, True] Translation: X:50.95, Y:-5.12, Z:-1.06 [[ 9.99709893e-01 2.31041535e-02 -6.80641089e-03 5.09548113e+01] [-2.30999263e-02 9.99732917e-01 6.99037740e-04 -5.12269910e+00] [ 6.82074369e-03 -5.41607354e-04 9.99976592e-01 -1.05589316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00327356000001 meters 0.08805551323771979 Centerline is valid? [True, True] Translation: X:51.02, Y:-5.12, Z:-1.05 [[ 9.99785688e-01 1.98163984e-02 -5.99062308e-03 5.10156333e+01] [-1.98130661e-02 9.99803513e-01 6.15087220e-04 -5.12362367e+00] [ 6.00163481e-03 -4.96262788e-04 9.99981867e-01 -1.05444178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06327356 meters 0.09112196634973262 Centerline is valid? [True, True] Translation: X:51.08, Y:-5.13, Z:-1.06 [[ 9.99861416e-01 1.58631350e-02 -5.05071583e-03 5.10756155e+01] [-1.58607158e-02 9.99874076e-01 5.18685943e-04 -5.13498991e+00] [ 5.05830781e-03 -4.38506093e-04 9.99987111e-01 -1.05583919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12327356 meters 0.09451282195375658 Centerline is valid? [True, True] Translation: X:51.14, Y:-5.15, Z:-1.06 [[ 9.99927019e-01 1.15786189e-02 -3.44864514e-03 5.11354808e+01] [-1.15774661e-02 9.99932916e-01 3.54034315e-04 -5.14755684e+00] [ 3.45251302e-03 -3.14081904e-04 9.99993991e-01 -1.05671149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18327356 meters 0.09818268007782424 Centerline is valid? [True, True] Translation: X:51.19, Y:-5.16, Z:-1.06 [[ 9.99957926e-01 9.12543581e-03 -9.33839852e-04 5.11937674e+01] [-9.12535038e-03 9.99958359e-01 9.56992725e-05 -5.15917958e+00] [ 9.34674263e-04 -8.71736303e-05 9.99999559e-01 -1.05748445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24327356 meters 0.09625462491844522 Centerline is valid? [True, True] Translation: X:51.25, Y:-5.16, Z:-1.06 [[ 9.99975504e-01 6.99503135e-03 2.44977983e-04 5.12544824e+01] [-6.99502540e-03 9.99975534e-01 -2.51527866e-05 -5.16078170e+00] [-2.45147934e-04 2.34385432e-05 9.99999970e-01 -1.05726277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30327356000001 meters 0.0952093120398725 Centerline is valid? [True, True] Translation: X:51.31, Y:-5.16, Z:-1.06 [[ 9.99979034e-01 6.47373501e-03 1.48729518e-04 5.13132152e+01] [-6.47373267e-03 9.99979045e-01 -1.62020175e-05 -5.16491714e+00] [-1.48831288e-04 1.52388426e-05 9.99999989e-01 -1.05826179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36327356000001 meters 0.09958193914139186 Centerline is valid? [True, True] Translation: X:51.37, Y:-5.18, Z:-1.06 [[ 9.99982528e-01 5.90650159e-03 2.40550574e-04 5.13703090e+01] [-5.90649555e-03 9.99982556e-01 -2.58125767e-05 -5.17803164e+00] [-2.40698840e-04 2.43913148e-05 9.99999971e-01 -1.06086001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42327356 meters 0.09908388769147623 Centerline is valid? [True, True] Translation: X:51.43, Y:-5.18, Z:-1.06 [[ 9.99978234e-01 6.59000072e-03 3.22783329e-04 5.14294032e+01] [-6.58999009e-03 9.99978285e-01 -3.39898313e-05 -5.18106067e+00] [-3.23000313e-04 3.18619525e-05 9.99999947e-01 -1.06308767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48327356 meters 0.09619346775169878 Centerline is valid? [True, True] Translation: X:51.49, Y:-5.18, Z:-1.06 [[ 9.99973396e-01 7.09623477e-03 1.68832479e-03 5.14884610e+01] [-7.09595138e-03 9.99974808e-01 -1.73785241e-04 -5.18024591e+00] [-1.68951548e-03 1.61800347e-04 9.99998560e-01 -1.06245593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54327356 meters 0.09682757276294321 Centerline is valid? [True, True] Translation: X:51.55, Y:-5.19, Z:-1.06 [[ 9.99968866e-01 7.82804692e-03 9.94465911e-04 5.15470097e+01] [-7.82794865e-03 9.99969356e-01 -1.02667053e-04 -5.18557900e+00] [-9.95239119e-04 9.48792286e-05 9.99999500e-01 -1.06493752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60327356 meters 0.09804458124976644 Centerline is valid? [True, True] Translation: X:51.61, Y:-5.19, Z:-1.07 [[ 9.99954709e-01 9.51430186e-03 2.38829757e-04 5.16051568e+01] [-9.51429613e-03 9.99954738e-01 -2.51077754e-05 -5.19070751e+00] [-2.39057830e-04 2.28343412e-05 9.99999971e-01 -1.06784638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66327356000001 meters 0.09739017864268086 Centerline is valid? [True, True] Translation: X:51.67, Y:-5.19, Z:-1.07 [[ 9.99929827e-01 1.15509538e-02 2.62983157e-03 5.16654125e+01] [-1.15502859e-02 9.99933257e-01 -2.69011674e-04 -5.19364502e+00] [-2.63276339e-03 2.38617490e-04 9.99996506e-01 -1.06695478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72327356000001 meters 0.09909900924700073 Centerline is valid? [True, True] Translation: X:51.72, Y:-5.20, Z:-1.07 [[ 9.99925051e-01 1.16625265e-02 3.72531587e-03 5.17240736e+01] [-1.16611853e-02 9.99931933e-01 -3.81560790e-04 -5.19974563e+00] [-3.72951227e-03 3.38090594e-04 9.99992988e-01 -1.06678039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78327356 meters 0.09797804472610681 Centerline is valid? [True, True] Translation: X:51.78, Y:-5.20, Z:-1.07 [[ 9.99933083e-01 1.10732057e-02 3.34858189e-03 5.17824737e+01] [-1.10721186e-02 9.99938643e-01 -3.43032357e-04 -5.20224185e+00] [-3.35217490e-03 3.05933507e-04 9.99994335e-01 -1.06829574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84327356 meters 0.09556581749557953 Centerline is valid? [True, True] Translation: X:51.84, Y:-5.20, Z:-1.07 [[ 9.99952771e-01 8.87806746e-03 3.95418953e-03 5.18428148e+01] [-8.87653912e-03 9.99960521e-01 -4.03892425e-04 -5.20163070e+00] [-3.95761921e-03 3.68773832e-04 9.99992101e-01 -1.06882983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90327356 meters 0.09857131998696021 Centerline is valid? [True, True] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99977862e-01 6.10044018e-03 2.65727485e-03 5.19012937e+01] [-6.09974013e-03 9.99981360e-01 -2.71473319e-04 -5.21204387e+00] [-2.65888142e-03 2.55258623e-04 9.99996433e-01 -1.06999686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96327356 meters 0.10214564079475853 Centerline is valid? [True, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99994949e-01 1.75990424e-03 2.64681898e-03 5.19015812e+01] [-1.74781261e-03 9.99988059e-01 -4.56376007e-03 -5.21120883e+00] [-2.65481915e-03 4.55911087e-03 9.99986083e-01 -1.07052012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02327356 meters 0.10676958370615054 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99993170e-01 1.14399053e-03 3.51444195e-03 5.18997373e+01] [-1.12812944e-03 9.99989185e-01 -4.51178787e-03 -5.21187286e+00] [-3.51956538e-03 4.50779231e-03 9.99983646e-01 -1.07048201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08327356000001 meters 0.10931608405828164 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99992383e-01 1.08004375e-03 3.75075489e-03 5.18993990e+01] [-1.06378032e-03 9.99990037e-01 -4.33533303e-03 -5.21208736e+00] [-3.75539987e-03 4.33131002e-03 9.99983568e-01 -1.07078335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14327356 meters 0.10802937717361148 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991952e-01 1.16634022e-03 3.83872023e-03 5.18997837e+01] [-1.15069987e-03 9.99991039e-01 -4.07405407e-03 -5.21197315e+00] [-3.84343756e-03 4.06960406e-03 9.99984333e-01 -1.07168823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20327356 meters 0.10835668828778088 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991967e-01 1.42668961e-03 3.74563413e-03 5.19006419e+01] [-1.41266479e-03 9.99991992e-01 -3.74429101e-03 -5.21177511e+00] [-3.75094607e-03 3.73896961e-03 9.99985975e-01 -1.07267093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26327356 meters 0.11115034744474621 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991949e-01 1.48931369e-03 3.72605836e-03 5.19010756e+01] [-1.47582289e-03 9.99992356e-01 -3.62079431e-03 -5.21127830e+00] [-3.73142237e-03 3.61526616e-03 9.99986503e-01 -1.07331084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32327356 meters 0.1123312712848928 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991452e-01 1.66219865e-03 3.78584362e-03 5.19015253e+01] [-1.64962540e-03 9.99993122e-01 -3.32182662e-03 -5.21122948e+00] [-3.79133911e-03 3.31555300e-03 9.99987316e-01 -1.07417954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38327356 meters 0.11304141927101564 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991686e-01 1.74369134e-03 3.68606697e-03 5.19020074e+01] [-1.73155186e-03 9.99993076e-01 -3.29397212e-03 -5.21067043e+00] [-3.69178512e-03 3.28756212e-03 9.99987781e-01 -1.07459715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44327356000001 meters 0.10739758899762301 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991713e-01 1.81967600e-03 3.64178077e-03 5.19022790e+01] [-1.80792872e-03 9.99993161e-01 -3.22639466e-03 -5.21048262e+00] [-3.64762685e-03 3.21978384e-03 9.99988164e-01 -1.07484456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50327356000001 meters 0.10757358752374012 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.07 [[ 9.99991314e-01 1.80914927e-03 3.75477539e-03 5.19020766e+01] [-1.79748465e-03 9.99993556e-01 -3.10766114e-03 -5.21082690e+00] [-3.76037342e-03 3.10088500e-03 9.99988122e-01 -1.07493081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56327356 meters 0.11099546862954893 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.08 [[ 9.99990579e-01 2.07374631e-03 3.81338587e-03 5.19023204e+01] [-2.06402331e-03 9.99994614e-01 -2.55187349e-03 -5.21192795e+00] [-3.81865727e-03 2.54397853e-03 9.99989473e-01 -1.07551312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62327356 meters 0.11013128574467378 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.21, Z:-1.08 [[ 9.99989965e-01 2.22614965e-03 3.88758893e-03 5.19024011e+01] [-2.21770851e-03 9.99995177e-01 -2.17426722e-03 -5.21282039e+00] [-3.89241043e-03 2.16562387e-03 9.99990080e-01 -1.07589715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68327356 meters 0.11408840601716644 Centerline is valid? [False, False] Translation: X:51.92, Y:-5.21, Z:-1.07 [[ 9.99974999e-01 -4.47140045e-03 -5.47803018e-03 5.19156897e+01] [ 4.47430950e-03 9.99989856e-01 5.18899665e-04 -5.21306992e+00] [ 5.47565440e-03 -5.43397094e-04 9.99984861e-01 -1.07278615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74327356 meters 0.1079852498627584 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.22, Z:-1.08 [[ 9.99994332e-01 5.32406857e-04 3.32446501e-03 5.19048797e+01] [-5.26963776e-04 9.99998520e-01 -1.63794173e-03 -5.21584378e+00] [-3.32533214e-03 1.63618058e-03 9.99993133e-01 -1.07835161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80327356000001 meters 0.11253786246660091 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.22, Z:-1.08 [[ 9.99993317e-01 8.79625028e-04 3.54865542e-03 5.19045839e+01] [-8.76664168e-04 9.99999266e-01 -8.35830270e-04 -5.21830298e+00] [-3.54938803e-03 8.32713704e-04 9.99993354e-01 -1.07858143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86327356000001 meters 0.1162385159325988 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.22, Z:-1.08 [[ 9.99992359e-01 1.24007363e-03 3.70744201e-03 5.19042662e+01] [-1.24015902e-03 9.99999231e-01 2.07321712e-05 -5.22100425e+00] [-3.70741344e-03 -2.53298304e-05 9.99993127e-01 -1.07860496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92327356 meters 0.11471537829102675 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.22, Z:-1.08 [[ 9.99991485e-01 1.85618251e-03 3.68576620e-03 5.19047899e+01] [-1.86003648e-03 9.99997727e-01 1.04248158e-03 -5.22365169e+00] [-3.68382279e-03 -1.04932836e-03 9.99992664e-01 -1.07926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98327356 meters 0.11584225509655012 Centerline is valid? [False, False] Translation: X:51.90, Y:-5.23, Z:-1.08 [[ 9.99990140e-01 2.40061492e-03 3.73598421e-03 5.19049008e+01] [-2.40833042e-03 9.99994974e-01 2.06205913e-03 -5.22720552e+00] [-3.73101522e-03 -2.07103628e-03 9.99990895e-01 -1.07952394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04327356 meters 0.11494553643576605 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.23, Z:-1.08 [[ 9.99996516e-01 -5.64167907e-04 2.57872751e-03 5.19076587e+01] [ 5.67378157e-04 9.99999065e-01 -1.24433490e-03 -5.22903895e+00] [-2.57802309e-03 1.24579368e-03 9.99995901e-01 -1.07988662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10327356 meters 0.10943943203182577 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.23, Z:-1.08 [[ 9.99997187e-01 -1.07920566e-04 2.36935323e-03 5.19076397e+01] [ 1.09502914e-04 9.99999771e-01 -6.67720164e-04 -5.23177512e+00] [-2.36928063e-03 6.67977737e-04 9.99996970e-01 -1.07913247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16327356000001 meters 0.11341490236923531 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.24, Z:-1.08 [[ 9.99996918e-01 6.20161824e-04 2.40424158e-03 5.19077285e+01] [-6.21578323e-04 9.99999634e-01 5.88464337e-04 -5.23600836e+00] [-2.40387576e-03 -5.89956947e-04 9.99996937e-01 -1.07926708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22327356000001 meters 0.11081181411558944 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.24, Z:-1.08 [[ 9.99996835e-01 1.10663110e-03 2.25970597e-03 5.19083267e+01] [-1.10931317e-03 9.99998681e-01 1.18600625e-03 -5.23761295e+00] [-2.25839052e-03 -1.18850921e-03 9.99996744e-01 -1.07959655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28327356 meters 0.1090162904234397 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.24, Z:-1.08 [[ 9.99996345e-01 1.90115005e-03 1.92222535e-03 5.19092086e+01] [-1.90529427e-03 9.99995860e-01 2.15642080e-03 -5.24053457e+00] [-1.91811772e-03 -2.16007532e-03 9.99995827e-01 -1.07975338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34327356 meters 0.1091611098574597 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.24, Z:-1.08 [[ 9.99999436e-01 -9.12801980e-04 5.42760497e-04 5.19126203e+01] [ 9.13470287e-04 9.99998823e-01 -1.23234096e-03 -5.24103830e+00] [-5.41634975e-04 1.23283606e-03 9.99999093e-01 -1.08055844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40327356 meters 0.10663779138640063 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.24, Z:-1.08 [[ 9.99999914e-01 -2.73538246e-04 3.10175539e-04 5.19133905e+01] [ 2.73687664e-04 9.99999846e-01 -4.81779088e-04 -5.24315403e+00] [-3.10043706e-04 4.81863938e-04 9.99999836e-01 -1.08088588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46327356 meters 0.10317851943411864 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.25, Z:-1.08 [[ 9.99999907e-01 4.28338157e-04 4.45198278e-05 5.19140685e+01] [-4.28355945e-04 9.99999828e-01 4.00306880e-04 -5.24574638e+00] [-4.43483534e-05 -4.00325914e-04 9.99999919e-01 -1.08099050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52327356 meters 0.10576594424048023 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.25, Z:-1.08 [[ 9.99999816e-01 5.99596442e-04 9.44504749e-05 5.19134443e+01] [-5.99666585e-04 9.99999543e-01 7.44367082e-04 -5.24797083e+00] [-9.40041119e-05 -7.44423584e-04 9.99999718e-01 -1.08018058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58327356000001 meters 0.10647897949512221 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.25, Z:-1.08 [[ 9.99999596e-01 8.70038942e-04 2.24455669e-04 5.19128386e+01] [-8.70348858e-04 9.99998663e-01 1.38436124e-03 -5.25088044e+00] [-2.23250921e-04 -1.38455604e-03 9.99999017e-01 -1.07967768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64327356 meters 0.10725969535067285 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.25, Z:-1.08 [[ 9.99999368e-01 1.09534307e-03 2.51936875e-04 5.19128133e+01] [-1.09579129e-03 9.99997805e-01 1.78591064e-03 -5.25237450e+00] [-2.49980137e-04 -1.78618558e-03 9.99998374e-01 -1.07968140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70327356 meters 0.10168185019522172 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.25, Z:-1.08 [[ 9.99998919e-01 1.41434092e-03 4.00843284e-04 5.19124959e+01] [-1.41533852e-03 9.99995875e-01 2.49947565e-03 -5.25490602e+00] [-3.97306520e-04 -2.50004028e-03 9.99996796e-01 -1.07966054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76327356 meters 0.1004781069057599 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.26, Z:-1.08 [[ 9.99998412e-01 1.67644954e-03 6.04889915e-04 5.19122414e+01] [-1.67835761e-03 9.99993574e-01 3.16782186e-03 -5.25697132e+00] [-5.99575334e-04 -3.16883205e-03 9.99994799e-01 -1.07992169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82327356 meters 0.10625970626719614 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.26, Z:-1.08 [[ 9.99998388e-01 -1.78773782e-03 1.64792076e-04 5.19131743e+01] [ 1.78774428e-03 9.99998401e-01 -3.90864232e-05 -5.25997982e+00] [-1.64721936e-04 3.93809663e-05 9.99999986e-01 -1.07988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88327356 meters 0.10958125310595199 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.26, Z:-1.08 [[ 9.99997949e-01 -1.95149196e-03 5.42240660e-04 5.19118537e+01] [ 1.95139449e-03 9.99998080e-01 1.80230784e-04 -5.26194755e+00] [-5.42591338e-04 -1.79172289e-04 9.99999837e-01 -1.07904007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94327356000001 meters 0.105747711751728 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99997450e-01 -1.99548080e-03 1.05746347e-03 5.19104841e+01] [ 1.99465872e-03 9.99997708e-01 7.77895390e-04 -5.26514489e+00] [-1.05901332e-03 -7.75784127e-04 9.99999138e-01 -1.07843376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00327356000001 meters 0.10486429960029706 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99997628e-01 -1.72844283e-03 1.32515664e-03 5.19098827e+01] [ 1.72636045e-03 9.99997276e-01 1.57095392e-03 -5.26820290e+00] [-1.32786833e-03 -1.56866250e-03 9.99997888e-01 -1.07828236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06327356 meters 0.11251459915350258 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99998194e-01 -1.33669914e-03 1.35108455e-03 5.19100983e+01] [ 1.33368531e-03 9.99996626e-01 2.22911609e-03 -5.27001213e+00] [-1.35405965e-03 -2.22731014e-03 9.99996603e-01 -1.07863182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12327356 meters 0.10717271760465452 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99998556e-01 -1.04480895e-03 1.34018152e-03 5.19100028e+01] [ 1.04113685e-03 9.99995710e-01 2.73777711e-03 -5.27202494e+00] [-1.34303623e-03 -2.73637784e-03 9.99995354e-01 -1.07840714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18327356 meters 0.11024466823503408 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99999415e-01 -5.28636321e-04 9.43682916e-04 5.19110067e+01] [ 5.25680196e-04 9.99994963e-01 3.13004469e-03 -5.27289624e+00] [-9.45332818e-04 -3.12954678e-03 9.99994656e-01 -1.07858677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24327356 meters 0.10251148122428501 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99999611e-01 -4.65069025e-04 7.50019907e-04 5.19109532e+01] [ 4.62764634e-04 9.99995181e-01 3.06969276e-03 -5.27336396e+00] [-7.51443912e-04 -3.06934448e-03 9.99995007e-01 -1.07788929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30327356000001 meters 0.10452458893433889 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.27, Z:-1.08 [[ 9.99999655e-01 -2.67947892e-04 7.86011478e-04 5.19107975e+01] [ 2.65252185e-04 9.99994090e-01 3.42770357e-03 -5.27477991e+00] [-7.86925279e-04 -3.42749390e-03 9.99993816e-01 -1.07774703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36327356000001 meters 0.10621683473708346 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.28, Z:-1.08 [[ 9.99999626e-01 3.27638957e-05 8.64678796e-04 5.19104696e+01] [-3.62641594e-05 9.99991805e-01 4.04834571e-03 -5.27726533e+00] [-8.64539070e-04 -4.04837555e-03 9.99991432e-01 -1.07743796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42327356 meters 0.10292158546404066 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.28, Z:-1.08 [[ 9.99994047e-01 -3.45012125e-03 4.97663658e-05 5.19120816e+01] [ 3.45010196e-03 9.99993975e-01 3.82664230e-04 -5.27849215e+00] [-5.10863040e-05 -3.82490253e-04 9.99999926e-01 -1.07732078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48327356 meters 0.10344409512049572 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.28, Z:-1.08 [[ 9.99995094e-01 -3.13246630e-03 1.37745747e-05 5.19118385e+01] [ 3.13245213e-03 9.99994661e-01 9.30340727e-04 -5.28074630e+00] [-1.66887622e-05 -9.30293014e-04 9.99999567e-01 -1.07680573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54327356 meters 0.10078070836441763 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.28, Z:-1.08 [[ 9.99996819e-01 -2.51548681e-03 -1.87775129e-04 5.19124471e+01] [ 2.51581378e-03 9.99995283e-01 1.76185059e-03 -5.28284808e+00] [ 1.83342331e-04 -1.76231739e-03 9.99998430e-01 -1.07704564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60327356 meters 0.10631675855702145 Centerline is valid? [False, False] Translation: X:51.91, Y:-5.29, Z:-1.08 [[ 9.99997949e-01 -2.01639582e-03 -1.89310332e-04 5.19124116e+01] [ 2.01688298e-03 9.99994562e-01 2.60939630e-03 -5.28584501e+00] [ 1.84047727e-04 -2.60977277e-03 9.99996578e-01 -1.07689610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66327356000001 meters 0.09825445523507217 Centerline is valid? [False, True] Translation: X:51.91, Y:-5.29, Z:-1.08 [[ 9.99998923e-01 -1.45971527e-03 -1.55602146e-04 5.19123959e+01] [ 1.46027120e-03 9.99992329e-01 3.63456538e-03 -5.28925395e+00] [ 1.50295522e-04 -3.63478868e-03 9.99993383e-01 -1.07691373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72327356000001 meters 0.09900689191267173 Centerline is valid? [True, True] Translation: X:51.97, Y:-5.30, Z:-1.08 [[ 9.99997811e-01 -9.51788030e-04 -1.86337186e-03 5.19719918e+01] [ 9.52180150e-04 9.99999525e-01 2.09559995e-04 -5.29802494e+00] [ 1.86317152e-03 -2.11333802e-04 9.99998242e-01 -1.07716522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78327356 meters 0.09862647582830569 Centerline is valid? [True, True] Translation: X:52.03, Y:-5.31, Z:-1.08 [[ 9.99996233e-01 2.42942904e-03 -1.27716380e-03 5.20315652e+01] [-2.42924853e-03 9.99997039e-01 1.42866633e-04 -5.30706510e+00] [ 1.27750710e-03 -1.39763547e-04 9.99999174e-01 -1.07798771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84327356 meters 0.09642476566549689 Centerline is valid? [True, True] Translation: X:52.09, Y:-5.31, Z:-1.08 [[ 9.99979839e-01 6.02669392e-03 -1.99992363e-03 5.20917879e+01] [-6.02625771e-03 9.99981817e-01 2.24070347e-04 -5.31206102e+00] [ 2.00123766e-03 -2.12013774e-04 9.99997975e-01 -1.07916082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90327356 meters 0.09576113853109956 Centerline is valid? [True, True] Translation: X:52.15, Y:-5.32, Z:-1.08 [[ 9.99951182e-01 9.37403869e-03 -3.12428466e-03 5.21520966e+01] [-9.37298590e-03 9.99956011e-01 3.51440839e-04 -5.31991186e+00] [ 3.12744165e-03 -3.22139806e-04 9.99995058e-01 -1.08061396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96327356 meters 0.09136864637102145 Centerline is valid? [True, True] Translation: X:52.21, Y:-5.32, Z:-1.08 [[ 9.99914776e-01 1.26275210e-02 -3.31469660e-03 5.22132418e+01] [-1.26263536e-02 9.99920215e-01 3.72902315e-04 -5.32036026e+00] [ 3.31914097e-03 -3.31018003e-04 9.99994437e-01 -1.08127427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02327356 meters 0.08970897318053554 Centerline is valid? [True, True] Translation: X:52.27, Y:-5.32, Z:-1.08 [[ 9.99866996e-01 1.58873043e-02 -3.68563834e-03 5.22737141e+01] [-1.58858842e-02 9.99873726e-01 4.14263270e-04 -5.32442862e+00] [ 3.69175446e-03 -3.55658548e-04 9.99993122e-01 -1.08272757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08327356000001 meters 0.09384853201334763 Centerline is valid? [True, True] Translation: X:52.33, Y:-5.34, Z:-1.09 [[ 9.99774594e-01 2.09028536e-02 -3.71917837e-03 5.23319474e+01] [-2.09014426e-02 9.99781454e-01 4.17865311e-04 -5.33907299e+00] [ 3.72710013e-03 -3.40034928e-04 9.99992997e-01 -1.08604969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14327356 meters 0.08857743858700047 Centerline is valid? [True, True] Translation: X:52.39, Y:-5.34, Z:-1.09 [[ 9.99750890e-01 2.20840814e-02 -3.23278365e-03 5.23925927e+01] [-2.20830233e-02 9.99756075e-01 3.62636180e-04 -5.33520275e+00] [ 3.24000358e-03 -2.91156207e-04 9.99994709e-01 -1.08525671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20327356 meters 0.08725004981388514 Centerline is valid? [True, True] Translation: X:52.45, Y:-5.34, Z:-1.09 [[ 9.99651025e-01 2.61223018e-02 -3.93122893e-03 5.24528217e+01] [-2.61207684e-02 9.99658697e-01 4.40898560e-04 -5.33859193e+00] [ 3.94140447e-03 -3.38057976e-04 9.99992175e-01 -1.08650198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26327356 meters 0.08804117646827807 Centerline is valid? [True, True] Translation: X:52.51, Y:-5.35, Z:-1.09 [[ 9.99550365e-01 2.96868774e-02 -4.21384608e-03 5.25117897e+01] [-2.96851458e-02 9.99559187e-01 4.72903943e-04 -5.34602005e+00] [ 4.22602760e-03 -3.47602674e-04 9.99991010e-01 -1.08835680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32327356 meters 0.0886936669948055 Centerline is valid? [True, True] Translation: X:52.57, Y:-5.35, Z:-1.09 [[ 9.99503905e-01 3.13073303e-02 -3.43440592e-03 5.25703398e+01] [-3.13061909e-02 9.99509767e-01 3.85009390e-04 -5.35306439e+00] [ 3.44477588e-03 -2.77300221e-04 9.99994028e-01 -1.08965150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38327356 meters 0.08344069072330129 Centerline is valid? [True, True] Translation: X:52.63, Y:-5.35, Z:-1.09 [[ 9.99419444e-01 3.38979959e-02 -3.42075175e-03 5.26312364e+01] [-3.38968799e-02 9.99425262e-01 3.83711840e-04 -5.34695206e+00] [ 3.43179278e-03 -2.67536263e-04 9.99994076e-01 -1.08782225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44327356000001 meters 0.08750154050475138 Centerline is valid? [True, True] Translation: X:52.69, Y:-5.36, Z:-1.09 [[ 9.99387908e-01 3.48593489e-02 -2.93846763e-03 5.26874827e+01] [-3.48585340e-02 9.99392203e-01 3.28074017e-04 -5.36050494e+00] [ 2.94811808e-03 -2.25442532e-04 9.99995629e-01 -1.09164370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50327356000001 meters 0.08266471394381894 Centerline is valid? [True, True] Translation: X:52.75, Y:-5.35, Z:-1.09 [[ 9.99345613e-01 3.59404015e-02 -4.07836321e-03 5.27478103e+01] [-3.59388383e-02 9.99353887e-01 4.55962181e-04 -5.35342084e+00] [ 4.09211559e-03 -3.09092169e-04 9.99991579e-01 -1.08968810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56327356 meters 0.08438505060650443 Centerline is valid? [True, True] Translation: X:52.81, Y:-5.36, Z:-1.09 [[ 9.99384570e-01 3.48736483e-02 -3.78273918e-03 5.28051619e+01] [-3.48722986e-02 9.99391687e-01 4.22207958e-04 -5.36102295e+00] [ 3.79516202e-03 -2.90035309e-04 9.99992756e-01 -1.09169807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62327356 meters 0.08626802290091366 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.37, Z:-1.09 [[ 9.99457406e-01 3.28334449e-02 -2.61887529e-03 5.28643629e+01] [-3.28327900e-02 9.99460816e-01 2.92681734e-04 -5.36831922e+00] [ 2.62707299e-03 -2.06537944e-04 9.99996528e-01 -1.09367566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68327356 meters 0.08671493835612983 Centerline is valid? [True, True] Translation: X:52.92, Y:-5.37, Z:-1.10 [[ 9.99492588e-01 3.16321582e-02 -3.73804957e-03 5.29239517e+01] [-3.16308151e-02 9.99499533e-01 4.17897565e-04 -5.37406753e+00] [ 3.74939780e-03 -2.99447964e-04 9.99992926e-01 -1.09610004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74327356 meters 0.0894415478407645 Centerline is valid? [True, True] Translation: X:52.98, Y:-5.38, Z:-1.10 [[ 9.99538848e-01 3.01747564e-02 -3.40229397e-03 5.29818588e+01] [-3.01736372e-02 9.99544600e-01 3.79840872e-04 -5.38303134e+00] [ 3.41220617e-03 -2.77006124e-04 9.99994140e-01 -1.09994066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80327356000001 meters 0.09079932873480423 Centerline is valid? [True, True] Translation: X:53.04, Y:-5.39, Z:-1.10 [[ 9.99572195e-01 2.90223006e-02 -3.62391706e-03 5.30409610e+01] [-2.90210223e-02 9.99578719e-01 4.04846928e-04 -5.38980195e+00] [ 3.63413996e-03 -2.99503955e-04 9.99993352e-01 -1.10142076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86327356000001 meters 0.09152738127141188 Centerline is valid? [True, True] Translation: X:53.10, Y:-5.40, Z:-1.10 [[ 9.99578727e-01 2.89169689e-02 -2.48535148e-03 5.30997649e+01] [-2.89163697e-02 9.99581796e-01 2.76707090e-04 -5.39566001e+00] [ 2.49231362e-03 -2.04723179e-04 9.99996873e-01 -1.10206258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92327356 meters 0.08630742350638114 Centerline is valid? [True, True] Translation: X:53.16, Y:-5.39, Z:-1.10 [[ 9.99500307e-01 3.15383198e-02 -2.11442064e-03 5.31616814e+01] [-3.15378900e-02 9.99502529e-01 2.36295680e-04 -5.38830679e+00] [ 2.12082114e-03 -1.69493239e-04 9.99997737e-01 -1.10053676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98327356 meters 0.08300925255370994 Centerline is valid? [True, True] Translation: X:53.22, Y:-5.38, Z:-1.10 [[ 9.99340063e-01 3.62768302e-02 -1.85231169e-03 5.32224796e+01] [-3.62765094e-02 9.99341769e-01 2.06532975e-04 -5.38406792e+00] [ 1.85858481e-03 -1.39201274e-04 9.99998263e-01 -1.10078994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04327356 meters 0.08504504775889707 Centerline is valid? [True, True] Translation: X:53.28, Y:-5.39, Z:-1.10 [[ 9.99147159e-01 4.12635982e-02 -1.50673097e-03 5.32812873e+01] [-4.12633917e-02 9.99148289e-01 1.67867710e-04 -5.39257069e+00] [ 1.51237450e-03 -1.05551716e-04 9.99998851e-01 -1.10480386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10327356 meters 0.08015280119536328 Centerline is valid? [True, True] Translation: X:53.34, Y:-5.38, Z:-1.10 [[ 9.98726989e-01 5.03965127e-02 -2.14299351e-03 5.33435384e+01] [-5.03961140e-02 9.98729280e-01 2.39679934e-04 -5.38430993e+00] [ 2.15234940e-03 -1.31376273e-04 9.99997675e-01 -1.10382219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16327356000001 meters 0.07647712590040816 Centerline is valid? [True, True] Translation: X:53.40, Y:-5.38, Z:-1.10 [[ 9.98122903e-01 6.12319417e-02 -1.14843570e-03 5.34046552e+01] [-6.12318348e-02 9.98123562e-01 1.28055661e-04 -5.37725136e+00] [ 1.15412182e-03 -5.74944632e-05 9.99999332e-01 -1.10443239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22327356000001 meters 0.07432849080541827 Centerline is valid? [True, True] Translation: X:53.47, Y:-5.37, Z:-1.11 [[ 9.97432163e-01 7.16152288e-02 -5.83109343e-04 5.34659663e+01] [-7.16152030e-02 9.97432333e-01 6.50519834e-05 -5.37429849e+00] [ 5.86270825e-04 -2.31254465e-05 9.99999828e-01 -1.10586979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28327356 meters 0.07295927449877165 Centerline is valid? [True, True] Translation: X:53.53, Y:-5.38, Z:-1.11 [[ 9.96964109e-01 7.78619950e-02 -2.72662927e-04 5.35270287e+01] [-7.78619897e-02 9.96964147e-01 3.02490022e-05 -5.37529147e+00] [ 2.74190410e-04 -8.92709155e-06 9.99999962e-01 -1.10680717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34327356 meters 0.0718580125008634 Centerline is valid? [True, True] Translation: X:53.59, Y:-5.38, Z:-1.11 [[ 9.96396972e-01 8.48042599e-02 1.14494010e-03 5.35874659e+01] [-8.48041687e-02 9.96397630e-01 -1.28051065e-04 -5.37607265e+00] [-1.15167487e-03 3.04940006e-05 9.99999336e-01 -1.10879217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40327356 meters 0.07160967166653492 Centerline is valid? [True, True] Translation: X:53.65, Y:-5.38, Z:-1.11 [[ 9.96061427e-01 8.86651133e-02 -3.61664950e-04 5.36451343e+01] [-8.86651052e-02 9.96061493e-01 3.83718572e-05 -5.38190547e+00] [ 3.63642775e-04 -6.15366604e-06 9.99999934e-01 -1.11133632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46327356 meters 0.07133415661872164 Centerline is valid? [True, True] Translation: X:53.70, Y:-5.39, Z:-1.11 [[ 9.95960646e-01 8.97844426e-02 -1.06987675e-03 5.37035274e+01] [-8.97843709e-02 9.95961221e-01 1.14935980e-04 -5.38785215e+00] [ 1.07587521e-03 -1.84135028e-05 9.99999421e-01 -1.11242452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52327356 meters 0.07147974419029825 Centerline is valid? [True, True] Translation: X:53.76, Y:-5.40, Z:-1.11 [[ 9.96037887e-01 8.89252400e-02 -9.10377181e-04 5.37612295e+01] [-8.89251884e-02 9.96038303e-01 9.70245873e-05 -5.39686030e+00] [ 9.15398477e-04 -1.56847025e-05 9.99999581e-01 -1.11460748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58327356000001 meters 0.07227848878833179 Centerline is valid? [True, True] Translation: X:53.82, Y:-5.41, Z:-1.12 [[ 9.96315557e-01 8.57630786e-02 6.76171669e-05 5.38175589e+01] [-8.57630782e-02 9.96315560e-01 -8.98110906e-06 -5.41106473e+00] [-6.81382831e-05 3.14896230e-06 9.99999998e-01 -1.11530259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64327356 meters 0.07368927654616479 Centerline is valid? [True, True] Translation: X:53.88, Y:-5.43, Z:-1.12 [[ 9.96863788e-01 7.91339203e-02 6.40813537e-04 5.38764537e+01] [-7.91338909e-02 9.96863994e-01 -7.11883275e-05 -5.42934439e+00] [-6.44437353e-04 2.02549973e-05 9.99999792e-01 -1.11680980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70327356 meters 0.07499695702377382 Centerline is valid? [True, True] Translation: X:53.94, Y:-5.45, Z:-1.12 [[ 9.97399512e-01 7.20679731e-02 -6.47958884e-04 5.39350263e+01] [-7.20679418e-02 9.97399723e-01 7.16335930e-05 -5.44526299e+00] [ 6.51436499e-04 -2.47502476e-05 9.99999788e-01 -1.11740788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76327356 meters 0.0801517367091007 Centerline is valid? [True, True] Translation: X:53.99, Y:-5.47, Z:-1.12 [[ 9.98124713e-01 6.11647513e-02 -2.43521161e-03 5.39911963e+01] [-6.11642713e-02 9.98127676e-01 2.71158992e-04 -5.47358438e+00] [ 2.44723748e-03 -1.21702547e-04 9.99996998e-01 -1.12261817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82327356 meters 0.08519889212566796 Centerline is valid? [True, True] Translation: X:54.05, Y:-5.50, Z:-1.12 [[ 9.98712610e-01 5.06796860e-02 -2.16630768e-03 5.40486645e+01] [-5.06792833e-02 9.98714951e-01 2.40420679e-04 -5.49681088e+00] [ 2.17570831e-03 -1.30324244e-04 9.99997625e-01 -1.12442117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88327356 meters 0.08878279815286233 Centerline is valid? [True, True] Translation: X:54.11, Y:-5.51, Z:-1.13 [[ 9.99058829e-01 4.33003435e-02 -2.55678702e-03 5.41072068e+01] [-4.32997577e-02 9.99062085e-01 2.84039039e-04 -5.51315770e+00] [ 2.56668796e-03 -1.73063452e-04 9.99996691e-01 -1.12503099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94327356000001 meters 0.08289085952316026 Centerline is valid? [True, True] Translation: X:54.17, Y:-5.51, Z:-1.12 [[ 9.99186137e-01 4.02882666e-02 -1.97975809e-03 5.41684646e+01] [-4.02879104e-02 9.99188088e-01 2.19485315e-04 -5.50695967e+00] [ 1.98699338e-03 -1.39546367e-04 9.99998016e-01 -1.12202260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00327356000001 meters 0.08444640126861686 Centerline is valid? [True, True] Translation: X:54.23, Y:-5.52, Z:-1.12 [[ 9.99278911e-01 3.79111978e-02 -2.09737397e-03 5.42284624e+01] [-3.79107919e-02 9.99281100e-01 2.32955434e-04 -5.51639569e+00] [ 2.10469779e-03 -1.53274345e-04 9.99997773e-01 -1.12371834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06327356 meters 0.0824308722841678 Centerline is valid? [True, True] Translation: X:54.29, Y:-5.52, Z:-1.12 [[ 9.99300962e-01 3.73482323e-02 -1.64236261e-03 5.42871117e+01] [-3.73479849e-02 9.99302304e-01 1.81042985e-04 -5.51743372e+00] [ 1.64797837e-03 -1.19577495e-04 9.99998635e-01 -1.12347436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12327356 meters 0.08335957391822843 Centerline is valid? [True, True] Translation: X:54.35, Y:-5.52, Z:-1.13 [[ 9.99309714e-01 3.71096667e-02 -1.72298267e-03 5.43457043e+01] [-3.71093941e-02 9.99311191e-01 1.89896468e-04 -5.52288054e+00] [ 1.72884286e-03 -1.25826543e-04 9.99998498e-01 -1.12513637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18327356 meters 0.08390791778817443 Centerline is valid? [True, True] Translation: X:54.40, Y:-5.53, Z:-1.13 [[ 9.99264635e-01 3.83246238e-02 -1.18807622e-03 5.44042817e+01] [-3.83244956e-02 9.99265338e-01 1.30496516e-04 -5.52749483e+00] [ 1.19220462e-03 -8.48681320e-05 9.99999286e-01 -1.12742915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24327356 meters 0.08703054152664552 Centerline is valid? [True, True] Translation: X:54.46, Y:-5.54, Z:-1.13 [[ 9.99212971e-01 3.96652846e-02 -3.21710967e-04 5.44626627e+01] [-3.96652754e-02 9.99213023e-01 3.50490568e-05 -5.53529374e+00] [ 3.22848018e-04 -2.22607182e-05 9.99999948e-01 -1.13079716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30327356000001 meters 0.08206751727261843 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.53, Z:-1.13 [[ 9.99208635e-01 3.97755507e-02 -9.68197737e-05 5.45234016e+01] [-3.97755499e-02 9.99208640e-01 9.45512293e-06 -5.52538799e+00] [ 9.71192371e-05 -5.59658073e-06 9.99999995e-01 -1.12909683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36327356000001 meters 0.08630112066223432 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.54, Z:-1.13 [[ 9.99201276e-01 3.99569450e-02 5.01723462e-04 5.45797319e+01] [-3.99569213e-02 9.99201402e-01 -5.70973702e-05 -5.53731829e+00] [-5.03604223e-04 3.70044403e-05 9.99999873e-01 -1.13319757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42327356 meters 0.08384011209211374 Centerline is valid? [True, True] Translation: X:54.64, Y:-5.53, Z:-1.13 [[ 9.99226699e-01 3.92910209e-02 1.48954884e-03 5.46392287e+01] [-3.92908169e-02 9.99227804e-01 -1.66014763e-04 -5.53161689e+00] [-1.49492150e-03 1.07360793e-04 9.99998877e-01 -1.13335819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48327356 meters 0.08361564774506265 Centerline is valid? [True, True] Translation: X:54.70, Y:-5.53, Z:-1.13 [[ 9.99251153e-01 3.86552971e-02 1.70344167e-03 5.46981871e+01] [-3.86550298e-02 9.99252597e-01 -1.89576916e-04 -5.53113687e+00] [-1.70949666e-03 1.23588364e-04 9.99998531e-01 -1.13386382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54327356 meters 0.0854056416721292 Centerline is valid? [True, True] Translation: X:54.76, Y:-5.54, Z:-1.14 [[ 9.99273981e-01 3.80201499e-02 2.44501705e-03 5.47555468e+01] [-3.80195984e-02 9.99276957e-01 -2.71659412e-04 -5.53689777e+00] [-2.45357773e-03 1.78503616e-04 9.99996974e-01 -1.13552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60327356 meters 0.08252191389012914 Centerline is valid? [True, True] Translation: X:54.82, Y:-5.53, Z:-1.14 [[ 9.99293503e-01 3.75624932e-02 1.24625229e-03 5.48152871e+01] [-3.75623491e-02 9.99294276e-01 -1.38891375e-04 -5.52999793e+00] [-1.25058988e-03 9.19810856e-05 9.99999214e-01 -1.13718996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66327356000001 meters 0.08419458840408119 Centerline is valid? [True, True] Translation: X:54.87, Y:-5.53, Z:-1.14 [[ 9.99333273e-01 3.65001175e-02 8.66120421e-04 5.48748179e+01] [-3.65000478e-02 9.99333647e-01 -9.62382134e-05 -5.53271491e+00] [-8.69055984e-04 6.45606121e-05 9.99999620e-01 -1.14129395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72327356000001 meters 0.08472451683679184 Centerline is valid? [True, True] Translation: X:54.93, Y:-5.53, Z:-1.14 [[ 9.99379792e-01 3.52084618e-02 6.29189008e-04 5.49340158e+01] [-3.52084244e-02 9.99379989e-01 -7.03847248e-05 -5.53498698e+00] [-6.31277041e-04 4.81883180e-05 9.99999800e-01 -1.14291060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78327356 meters 0.08855880468506608 Centerline is valid? [True, True] Translation: X:54.99, Y:-5.54, Z:-1.15 [[ 9.99453831e-01 3.29808652e-02 2.07403980e-03 5.49922713e+01] [-3.29804592e-02 9.99455970e-01 -2.29649913e-04 -5.54229171e+00] [-2.08048551e-03 1.61121700e-04 9.99997823e-01 -1.14512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84327356 meters 0.0895867624025391 Centerline is valid? [True, True] Translation: X:55.05, Y:-5.54, Z:-1.15 [[ 9.99520553e-01 3.06956646e-02 4.05461103e-03 5.50518429e+01] [-3.06940990e-02 9.99528725e-01 -4.47815576e-04 -5.54360334e+00] [-4.06644619e-03 3.23148239e-04 9.99991680e-01 -1.14529562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90327356 meters 0.09085527254201722 Centerline is valid? [True, True] Translation: X:55.11, Y:-5.55, Z:-1.15 [[ 9.99555124e-01 2.94345038e-02 4.81285078e-03 5.51099582e+01] [-2.94322803e-02 9.99566635e-01 -5.32196477e-04 -5.54742137e+00] [-4.82642999e-03 3.90306543e-04 9.99988277e-01 -1.14586429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96327356 meters 0.09264962958175775 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.55, Z:-1.15 [[ 9.99597536e-01 2.80419936e-02 4.29101862e-03 5.51699863e+01] [-2.80402203e-02 9.99606684e-01 -4.72878623e-04 -5.54948883e+00] [-4.30259135e-03 3.52367199e-04 9.99990682e-01 -1.14873104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02327356 meters 0.09478745618535385 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.56, Z:-1.15 [[ 9.99617144e-01 2.74280383e-02 3.64267832e-03 5.52287749e+01] [-2.74267546e-02 9.99623735e-01 -4.01910346e-04 -5.55541060e+00] [-3.65233132e-03 3.01849628e-04 9.99993285e-01 -1.15245620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08327356000001 meters 0.09608199347819976 Centerline is valid? [True, True] Translation: X:55.29, Y:-5.56, Z:-1.16 [[ 9.99642630e-01 2.65479083e-02 3.13374874e-03 5.52876279e+01] [-2.65469540e-02 9.99647508e-01 -3.45717976e-04 -5.55699564e+00] [-3.14182220e-03 2.62402943e-04 9.99995030e-01 -1.15545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14327356 meters 0.09802934106900107 Centerline is valid? [True, True] Translation: X:55.35, Y:-5.56, Z:-1.16 [[ 9.99642953e-01 2.64896336e-02 3.50239636e-03 5.53453846e+01] [-2.64884418e-02 9.99649045e-01 -3.86242167e-04 -5.55844572e+00] [-3.51139859e-03 2.93331238e-04 9.99993792e-01 -1.15620383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20327356 meters 0.09967312314368597 Centerline is valid? [True, True] Translation: X:55.40, Y:-5.56, Z:-1.16 [[ 9.99639154e-01 2.65257481e-02 4.23639328e-03 5.54036924e+01] [-2.65240077e-02 9.99648068e-01 -4.66499140e-04 -5.56053110e+00] [-4.24727660e-03 3.53964678e-04 9.99990918e-01 -1.15820855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26327356 meters 0.09470906652489762 Centerline is valid? [True, True] Translation: X:55.46, Y:-5.55, Z:-1.16 [[ 9.99627560e-01 2.69566024e-02 4.25238788e-03 5.54636785e+01] [-2.69548550e-02 9.99636542e-01 -4.67721467e-04 -5.55351530e+00] [-4.26345050e-03 3.52924771e-04 9.99990849e-01 -1.15939408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32327356 meters 0.09400569844224713 Centerline is valid? [True, True] Translation: X:55.52, Y:-5.55, Z:-1.16 [[ 9.99605739e-01 2.77237288e-02 4.44527665e-03 5.55226268e+01] [-2.77218284e-02 9.99615557e-01 -4.88572261e-04 -5.55165667e+00] [-4.45711274e-03 3.65148440e-04 9.99990000e-01 -1.16112641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38327356 meters 0.08992063106682324 Centerline is valid? [True, True] Translation: X:55.58, Y:-5.55, Z:-1.16 [[ 9.99588731e-01 2.84219208e-02 3.81626764e-03 5.55828160e+01] [-2.84205263e-02 9.99595967e-01 -4.19136237e-04 -5.54590535e+00] [-3.82663840e-03 3.10503525e-04 9.99992630e-01 -1.16115370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44327356000001 meters 0.09265372681980588 Centerline is valid? [True, True] Translation: X:55.64, Y:-5.55, Z:-1.16 [[ 9.99597054e-01 2.81403053e-02 3.72195768e-03 5.56402393e+01] [-2.81389757e-02 9.99603937e-01 -4.09130272e-04 -5.55158773e+00] [-3.73199660e-03 3.04233338e-04 9.99992990e-01 -1.16463760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50327356000001 meters 0.09296018715679943 Centerline is valid? [True, True] Translation: X:55.70, Y:-5.55, Z:-1.16 [[ 9.99624411e-01 2.69811467e-02 4.80155283e-03 5.56994740e+01] [-2.69789263e-02 9.99635864e-01 -5.26617239e-04 -5.55394571e+00] [-4.81401315e-03 3.96878707e-04 9.99988334e-01 -1.16484530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56327356 meters 0.0923552324566218 Centerline is valid? [True, True] Translation: X:55.76, Y:-5.56, Z:-1.17 [[ 9.99557775e-01 2.92521594e-02 5.34474209e-03 5.57594174e+01] [-2.92494457e-02 9.99571972e-01 -5.85209015e-04 -5.55620602e+00] [-5.35957302e-03 4.28619477e-04 9.99985546e-01 -1.16537931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62327356 meters 0.09138139618200117 Centerline is valid? [True, True] Translation: X:55.82, Y:-5.56, Z:-1.17 [[ 9.99429591e-01 3.32527599e-02 5.89459881e-03 5.58189250e+01] [-3.32495314e-02 9.99446873e-01 -6.44882268e-04 -5.55719534e+00] [-5.91278247e-03 4.48521773e-04 9.99982419e-01 -1.16594256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68327356 meters 0.08847614154832438 Centerline is valid? [True, True] Translation: X:55.88, Y:-5.56, Z:-1.17 [[ 9.99331747e-01 3.61243780e-02 5.57579706e-03 5.58791471e+01] [-3.61215345e-02 9.99347218e-01 -6.09872199e-04 -5.55691486e+00] [-5.59418853e-03 4.08058304e-04 9.99984269e-01 -1.16687968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74327356 meters 0.08634404045377868 Centerline is valid? [True, True] Translation: X:55.94, Y:-5.56, Z:-1.17 [[ 9.99229704e-01 3.90284015e-02 4.09669057e-03 5.59393332e+01] [-3.90268907e-02 9.99238060e-01 -4.48108486e-04 -5.55817119e+00] [-4.11105810e-03 2.87882215e-04 9.99991508e-01 -1.16825534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80327356000001 meters 0.08736277582318717 Centerline is valid? [True, True] Translation: X:56.00, Y:-5.57, Z:-1.17 [[ 9.99234153e-01 3.89067701e-02 4.16792158e-03 5.59972851e+01] [-3.89052024e-02 9.99242802e-01 -4.56596859e-04 -5.56897829e+00] [-4.18253035e-03 2.94093342e-04 9.99991210e-01 -1.17112027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86327356000001 meters 0.08937818468307404 Centerline is valid? [True, True] Translation: X:56.06, Y:-5.58, Z:-1.17 [[ 9.99334515e-01 3.60649726e-02 5.46310694e-03 5.60565522e+01] [-3.60622452e-02 9.99349367e-01 -5.96962632e-04 -5.58243983e+00] [-5.48108191e-03 3.99553461e-04 9.99984899e-01 -1.17225274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92327356 meters 0.09296994588641731 Centerline is valid? [True, True] Translation: X:56.11, Y:-5.60, Z:-1.17 [[ 9.99387994e-01 3.45218032e-02 5.64644128e-03 5.61141372e+01] [-3.45188632e-02 9.99403856e-01 -6.17342301e-04 -5.59643639e+00] [-5.66438696e-03 4.22055750e-04 9.99983868e-01 -1.17328705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98327356 meters 0.09686282067074864 Centerline is valid? [True, True] Translation: X:56.17, Y:-5.61, Z:-1.17 [[ 9.99473606e-01 3.17741286e-02 6.55102425e-03 5.61714995e+01] [-3.17701172e-02 9.99494946e-01 -7.15510559e-04 -5.61168095e+00] [-6.57045035e-03 5.07007111e-04 9.99978286e-01 -1.17351974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04327356 meters 0.09700289726136155 Centerline is valid? [True, True] Translation: X:56.23, Y:-5.62, Z:-1.17 [[ 9.99563669e-01 2.89493180e-02 5.86589757e-03 5.62312197e+01] [-2.89460556e-02 9.99580770e-01 -6.40322349e-04 -5.62192865e+00] [-5.88197531e-03 4.70248359e-04 9.99982590e-01 -1.17437756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10327356 meters 0.09490187007575238 Centerline is valid? [True, True] Translation: X:56.29, Y:-5.63, Z:-1.18 [[ 9.99626859e-01 2.69434233e-02 4.49381807e-03 5.62907051e+01] [-2.69414884e-02 9.99636892e-01 -4.90560768e-04 -5.62876564e+00] [-4.50540371e-03 3.69307572e-04 9.99989782e-01 -1.17698713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16327356000001 meters 0.09383303456443198 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.64, Z:-1.18 [[ 9.99643567e-01 2.63594317e-02 4.23317983e-03 5.63491925e+01] [-2.63577064e-02 9.99652468e-01 -4.62829024e-04 -5.63551613e+00] [-4.24390857e-03 3.51087145e-04 9.99990933e-01 -1.17806511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22327356000001 meters 0.09858761037130163 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.65, Z:-1.18 [[ 9.99618930e-01 2.68742827e-02 6.30621887e-03 5.64058067e+01] [-2.68704712e-02 9.99638687e-01 -6.88362868e-04 -5.65481587e+00] [-6.32243961e-03 5.18649481e-04 9.99979879e-01 -1.17876177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28327356 meters 0.09265107155825926 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.65, Z:-1.18 [[ 9.99591057e-01 2.78934191e-02 6.29883096e-03 5.64655124e+01] [-2.78896407e-02 9.99610772e-01 -6.86914128e-04 -5.65462452e+00] [-6.31553967e-03 5.10961087e-04 9.99979926e-01 -1.17823856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34327356 meters 0.09729456504566333 Centerline is valid? [True, True] Translation: X:56.52, Y:-5.67, Z:-1.18 [[ 9.99550414e-01 2.94598248e-02 5.57575537e-03 5.65223806e+01] [-2.94568894e-02 9.99565867e-01 -6.07863495e-04 -5.67209965e+00] [-5.59124230e-03 4.43345799e-04 9.99984271e-01 -1.18114612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40327356 meters 0.09030870938002716 Centerline is valid? [True, True] Translation: X:56.58, Y:-5.67, Z:-1.18 [[ 9.99471569e-01 3.22882671e-02 3.74829278e-03 5.65833530e+01] [-3.22869618e-02 9.99478557e-01 -4.08238313e-04 -5.66931137e+00] [-3.75951957e-03 2.87001601e-04 9.99992892e-01 -1.18175802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46327356 meters 0.08951982160352698 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.68, Z:-1.18 [[ 9.99442782e-01 3.31417448e-02 3.96870477e-03 5.66420170e+01] [-3.31402865e-02 9.99450616e-01 -4.32675445e-04 -5.67710037e+00] [-3.98086404e-03 3.00910338e-04 9.99992031e-01 -1.18257519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52327356 meters 0.08757728205998346 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.68, Z:-1.18 [[ 9.99406919e-01 3.42441507e-02 3.62598148e-03 5.67006729e+01] [-3.42429409e-02 9.99413460e-01 -3.95219453e-04 -5.68464412e+00] [-3.63738865e-03 2.70820787e-04 9.99993348e-01 -1.18312271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58327356000001 meters 0.08751010786454834 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.70, Z:-1.19 [[ 9.99354976e-01 3.58351996e-02 2.33876034e-03 5.67579084e+01] [-3.58346995e-02 9.99357698e-01 -2.55417624e-04 -5.69598769e+00] [-2.34641109e-03 1.71444099e-04 9.99997232e-01 -1.18570951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64327356 meters 0.08941372181754458 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.71, Z:-1.19 [[ 9.99279771e-01 3.78697971e-02 2.41182301e-03 5.68154636e+01] [-3.78692723e-02 9.99282667e-01 -2.62878979e-04 -5.70904230e+00] [-2.42004810e-03 1.71355664e-04 9.99997057e-01 -1.18859099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70327356 meters 0.08902271355222813 Centerline is valid? [True, True] Translation: X:56.87, Y:-5.72, Z:-1.19 [[ 9.99138074e-01 4.13918146e-02 3.13470081e-03 5.68743511e+01] [-4.13909484e-02 9.99142969e-01 -3.40721138e-04 -5.71853345e+00] [-3.14611734e-03 2.10679222e-04 9.99995029e-01 -1.18814073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76327356 meters 0.0836462341149872 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.72, Z:-1.19 [[ 9.99041063e-01 4.36405693e-02 3.52925532e-03 5.69349307e+01] [-4.36394858e-02 9.99047270e-01 -3.83459137e-04 -5.71807909e+00] [-3.54262727e-03 2.29076537e-04 9.99993699e-01 -1.18667169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82327356 meters 0.0840734925429494 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.73, Z:-1.19 [[ 9.98976883e-01 4.51743063e-02 2.11406720e-03 5.69916289e+01] [-4.51739172e-02 9.98979111e-01 -2.31450707e-04 -5.72880373e+00] [-2.12236460e-03 1.35713209e-04 9.99997739e-01 -1.19156878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88327356 meters 0.08383953075368374 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.74, Z:-1.19 [[ 9.98935195e-01 4.61313621e-02 6.11995703e-04 5.70502793e+01] [-4.61313276e-02 9.98935381e-01 -7.02664387e-05 -5.73702583e+00] [-6.14585647e-04 4.19594443e-05 9.99999810e-01 -1.19314930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94327356000001 meters 0.08407961329492722 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.75, Z:-1.19 [[ 9.98872529e-01 4.74612054e-02 1.05070710e-03 5.71079036e+01] [-4.74611107e-02 9.98873080e-01 -1.14869195e-04 -5.74530722e+00] [-1.05497486e-03 6.48719578e-05 9.99999441e-01 -1.19475058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00327356000001 meters 0.08331148749006079 Centerline is valid? [True, True] Translation: X:57.17, Y:-5.75, Z:-1.19 [[ 9.98809520e-01 4.87784995e-02 4.47457066e-04 5.71667647e+01] [-4.87784821e-02 9.98809620e-01 -4.95930179e-05 -5.75053762e+00] [-4.49343495e-04 2.77077020e-05 9.99999899e-01 -1.19474862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06327356 meters 0.0798918119476905 Centerline is valid? [True, True] Translation: X:57.23, Y:-5.75, Z:-1.19 [[ 9.98720324e-01 5.05735271e-02 1.81097979e-04 5.72258334e+01] [-5.05735242e-02 9.98720340e-01 -2.08556096e-05 -5.74867846e+00] [-1.81920977e-04 1.16701581e-05 9.99999983e-01 -1.19425768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12327356 meters 0.08072137006436698 Centerline is valid? [True, True] Translation: X:57.28, Y:-5.76, Z:-1.20 [[ 9.98658730e-01 5.17684682e-02 8.75168626e-04 5.72829527e+01] [-5.17684038e-02 9.98659113e-01 -9.60478539e-05 -5.75731301e+00] [-8.78967373e-04 5.06129450e-05 9.99999612e-01 -1.19596261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18327356 meters 0.07828377320127902 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.76, Z:-1.19 [[ 9.98673526e-01 5.14665987e-02 1.54195007e-03 5.73416202e+01] [-5.14663953e-02 9.98674712e-01 -1.71291048e-04 -5.75686463e+00] [-1.54872231e-03 9.17052227e-05 9.99998797e-01 -1.19442001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24327356 meters 0.07897728845013186 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.77, Z:-1.20 [[ 9.98730994e-01 5.03448369e-02 1.34161087e-03 5.73983431e+01] [-5.03446857e-02 9.98731892e-01 -1.46256916e-04 -5.76538308e+00] [-1.34727284e-03 7.85283379e-05 9.99999089e-01 -1.19607627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30327356000001 meters 0.08048235093651461 Centerline is valid? [True, True] Translation: X:57.46, Y:-5.78, Z:-1.20 [[ 9.98829018e-01 4.83752102e-02 6.57375393e-04 5.74560585e+01] [-4.83751733e-02 9.98829233e-01 -7.20176888e-05 -5.77598564e+00] [-6.60089631e-04 4.01327088e-05 9.99999781e-01 -1.19808403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36327356000001 meters 0.08096276490816504 Centerline is valid? [True, True] Translation: X:57.51, Y:-5.78, Z:-1.20 [[ 9.98898749e-01 4.69171082e-02 2.70819627e-04 5.75145407e+01] [-4.69171009e-02 9.98898786e-01 -3.34420523e-05 -5.78417328e+00] [-2.72090401e-04 2.06991524e-05 9.99999963e-01 -1.19988451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42327356 meters 0.08222702614076882 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.79, Z:-1.20 [[ 9.98998549e-01 4.47425725e-02 -2.16442294e-05 5.75736741e+01] [-4.47425724e-02 9.98998550e-01 1.69888368e-06 -5.79452247e+00] [ 2.16985662e-05 -7.28763830e-07 1.00000000e+00 -1.20072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48327356 meters 0.0884120625732668 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.81, Z:-1.21 [[ 9.99123272e-01 4.18602765e-02 -6.35647395e-04 5.76308869e+01] [-4.18602419e-02 9.99123474e-01 6.75176067e-05 -5.81478321e+00] [ 6.37916538e-04 -4.08500584e-05 9.99999796e-01 -1.20532452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54327356 meters 0.08683822271903577 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.82, Z:-1.20 [[ 9.99285882e-01 3.77837550e-02 -3.38403353e-04 5.76906913e+01] [-3.77837450e-02 9.99285939e-01 3.59389410e-05 -5.81959485e+00] [ 3.39519620e-04 -2.31271303e-05 9.99999942e-01 -1.20349834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60327356 meters 0.08959210347189957 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.83, Z:-1.21 [[ 9.99401050e-01 3.46022782e-02 4.73594588e-04 5.77489258e+01] [-3.46022578e-02 9.99401161e-01 -5.10605113e-05 -5.83284839e+00] [-4.75077792e-04 3.46424865e-05 9.99999887e-01 -1.20505270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66327356000001 meters 0.09175101722264645 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.84, Z:-1.21 [[ 9.99532284e-01 3.05702740e-02 -8.20083911e-04 5.78081222e+01] [-3.05702124e-02 9.99532618e-01 8.75753837e-05 -5.84458733e+00] [ 8.22377822e-04 -6.24642839e-05 9.99999660e-01 -1.20576306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72327356000001 meters 0.08964201356291053 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.85, Z:-1.21 [[ 9.99582805e-01 2.88574323e-02 -1.20983850e-03 5.78675109e+01] [-2.88572977e-02 9.99583533e-01 1.28613697e-04 -5.84718378e+00] [ 1.21304611e-03 -9.36473704e-05 9.99999260e-01 -1.20531369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78327356 meters 0.08842158780962055 Centerline is valid? [True, True] Translation: X:57.93, Y:-5.85, Z:-1.21 [[ 9.99620758e-01 2.74561902e-02 -2.12058980e-03 5.79263536e+01] [-2.74557722e-02 9.99622994e-01 2.25993013e-04 -5.85152095e+00] [ 2.12599523e-03 -1.67684876e-04 9.99997726e-01 -1.20673287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84327356 meters 0.08967937034084099 Centerline is valid? [True, True] Translation: X:57.98, Y:-5.86, Z:-1.21 [[ 9.99617287e-01 2.75870057e-02 -2.05836226e-03 5.79838148e+01] [-2.75866139e-02 9.99619393e-01 2.18505391e-04 -5.85985453e+00] [ 2.06360674e-03 -1.61638522e-04 9.99997858e-01 -1.20749845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90327356 meters 0.08918574665469986 Centerline is valid? [True, True] Translation: X:58.04, Y:-5.87, Z:-1.21 [[ 9.99575809e-01 2.91131738e-02 -7.90616268e-04 5.80420944e+01] [-2.91131168e-02 9.99576120e-01 8.35474923e-05 -5.86511245e+00] [ 7.92713475e-04 -6.04947485e-05 9.99999684e-01 -1.20807713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96327356 meters 0.08615231390093582 Centerline is valid? [True, True] Translation: X:58.10, Y:-5.87, Z:-1.21 [[ 9.99538079e-01 3.03725219e-02 1.06748982e-03 5.81018936e+01] [-3.03724166e-02 9.99538645e-01 -1.14722736e-04 -5.86512899e+00] [-1.07048175e-03 8.22474975e-05 9.99999424e-01 -1.20574336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02327356 meters 0.08695783690769318 Centerline is valid? [True, True] Translation: X:58.16, Y:-5.87, Z:-1.21 [[ 9.99518346e-01 3.10259758e-02 6.81986760e-04 5.81593233e+01] [-3.10259322e-02 9.99518577e-01 -7.44089586e-05 -5.87247239e+00] [-6.83967047e-04 5.32138442e-05 9.99999765e-01 -1.20766328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08327356000001 meters 0.08511066263795324 Centerline is valid? [True, True] Translation: X:58.22, Y:-5.87, Z:-1.21 [[ 9.99465423e-01 3.26820214e-02 -8.68487072e-04 5.82184490e+01] [-3.26819542e-02 9.99465798e-01 9.13757445e-05 -5.87298018e+00] [ 8.71009468e-04 -6.29430423e-05 9.99999619e-01 -1.20957802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14327356 meters 0.08598570663616617 Centerline is valid? [True, True] Translation: X:58.28, Y:-5.88, Z:-1.21 [[ 9.99389345e-01 3.48461124e-02 -2.58569655e-03 5.82770005e+01] [-3.48455164e-02 9.99392673e-01 2.75182393e-04 -5.87902359e+00] [ 2.59371522e-03 -1.84914420e-04 9.99996619e-01 -1.21304931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20327356 meters 0.08684865586748142 Centerline is valid? [True, True] Translation: X:58.34, Y:-5.89, Z:-1.21 [[ 9.99333650e-01 3.64351956e-02 -2.17544938e-03 5.83359099e+01] [-3.64347778e-02 9.99336006e-01 2.31370279e-04 -5.88515962e+00] [ 2.18243492e-03 -1.51954090e-04 9.99997607e-01 -1.21482549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26327356 meters 0.08495538545841932 Centerline is valid? [True, True] Translation: X:58.40, Y:-5.89, Z:-1.21 [[ 9.99332837e-01 3.64843066e-02 -1.66608071e-03 5.83954904e+01] [-3.64840685e-02 9.99334220e-01 1.73125475e-04 -5.88521130e+00] [ 1.67128783e-03 -1.12224569e-04 9.99998597e-01 -1.21360120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32327356 meters 0.08577116623005501 Centerline is valid? [True, True] Translation: X:58.45, Y:-5.89, Z:-1.21 [[ 9.99352548e-01 3.59766238e-02 -4.09660997e-04 5.84527810e+01] [-3.59766096e-02 9.99352631e-01 4.19670531e-05 -5.89180303e+00] [ 4.10905628e-04 -2.72016677e-05 9.99999915e-01 -1.21407378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38327356 meters 0.0877605395813935 Centerline is valid? [True, True] Translation: X:58.51, Y:-5.90, Z:-1.22 [[ 9.99427020e-01 3.38455064e-02 -3.36564495e-04 5.85114464e+01] [-3.38454966e-02 9.99427076e-01 3.48388537e-05 -5.90166973e+00] [ 3.37550808e-04 -2.34276992e-05 9.99999943e-01 -1.21550479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44327356000001 meters 0.09193863690530554 Centerline is valid? [True, True] Translation: X:58.57, Y:-5.91, Z:-1.22 [[ 9.99582839e-01 2.88491395e-02 -1.36938809e-03 5.85697619e+01] [-2.88489674e-02 9.99583771e-01 1.45238798e-04 -5.91471497e+00] [ 1.37300813e-03 -1.05672778e-04 9.99999052e-01 -1.21785699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50327356000001 meters 0.09070937252073581 Centerline is valid? [True, True] Translation: X:58.63, Y:-5.92, Z:-1.22 [[ 9.99677473e-01 2.53567533e-02 -1.40920274e-03 5.86302299e+01] [-2.53565673e-02 9.99678459e-01 1.49719527e-04 -5.91819885e+00] [ 1.41254602e-03 -1.13938695e-04 9.99998996e-01 -1.21857785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56327356 meters 0.09244633092231891 Centerline is valid? [True, True] Translation: X:58.69, Y:-5.93, Z:-1.22 [[ 9.99669774e-01 2.56854653e-02 -7.75098566e-04 5.86875108e+01] [-2.56854104e-02 9.99670072e-01 8.07030468e-05 -5.92581496e+00] [ 7.76915735e-04 -6.07676717e-05 9.99999696e-01 -1.22075268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62327356 meters 0.08915179821915821 Centerline is valid? [True, True] Translation: X:58.75, Y:-5.92, Z:-1.22 [[ 9.99614187e-01 2.77719862e-02 -4.39468458e-04 5.87477078e+01] [-2.77719687e-02 9.99614283e-01 4.59945162e-05 -5.92412271e+00] [ 4.40576307e-04 -3.37718667e-05 9.99999902e-01 -1.21965432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68327356 meters 0.08732744936066511 Centerline is valid? [True, True] Translation: X:58.81, Y:-5.92, Z:-1.22 [[ 9.99471375e-01 3.24626886e-02 1.77350796e-03 5.88081563e+01] [-3.24624051e-02 9.99472939e-01 -1.88455620e-04 -5.92400285e+00] [-1.77869099e-03 1.30783664e-04 9.99998410e-01 -1.21893714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74327356 meters 0.08577953099395381 Centerline is valid? [True, True] Translation: X:58.87, Y:-5.92, Z:-1.22 [[ 9.99318483e-01 3.68927364e-02 1.22309514e-03 5.88691805e+01] [-3.68926049e-02 9.99319228e-01 -1.29873314e-04 -5.92403512e+00] [-1.22705387e-03 8.46616373e-05 9.99999244e-01 -1.21970148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80327356000001 meters 0.08543415887615574 Centerline is valid? [True, True] Translation: X:58.93, Y:-5.93, Z:-1.22 [[ 9.99214496e-01 3.96278917e-02 -1.44137441e-04 5.89292496e+01] [-3.96278900e-02 9.99214507e-01 1.49848768e-05 -5.92743250e+00] [ 1.44618041e-04 -9.26124347e-06 9.99999989e-01 -1.22310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86327356000001 meters 0.08096703321890203 Centerline is valid? [True, True] Translation: X:58.99, Y:-5.92, Z:-1.22 [[ 9.99041218e-01 4.37260328e-02 -2.16324920e-03 5.89904777e+01] [-4.37256386e-02 9.99043551e-01 2.29199018e-04 -5.92035704e+00] [ 2.17120212e-03 -1.34389813e-04 9.99997634e-01 -1.22278648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92327356 meters 0.08006031794123893 Centerline is valid? [True, True] Translation: X:59.05, Y:-5.92, Z:-1.22 [[ 9.98932178e-01 4.61733710e-02 -1.58877651e-03 5.90506931e+01] [-4.61731625e-02 9.98933437e-01 1.67692216e-04 -5.92131220e+00] [ 1.59482490e-03 -9.41543146e-05 9.99998724e-01 -1.22364216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98327356 meters 0.08009035184652451 Centerline is valid? [True, True] Translation: X:59.11, Y:-5.93, Z:-1.22 [[ 9.98761568e-01 4.97408776e-02 -1.08392492e-03 5.91092360e+01] [-4.97407828e-02 9.98762155e-01 1.14306619e-04 -5.92608639e+00] [ 1.08826890e-03 -6.02497846e-05 9.99999406e-01 -1.22355755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04327356 meters 0.07751689634051763 Centerline is valid? [True, True] Translation: X:59.17, Y:-5.93, Z:-1.22 [[ 9.98721526e-01 5.05417024e-02 9.21874147e-04 5.91686458e+01] [-5.05416324e-02 9.98721950e-01 -9.89966907e-05 -5.92534667e+00] [-9.25699407e-04 5.22771017e-05 9.99999570e-01 -1.22061003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10327356 meters 0.07868283756724984 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.94, Z:-1.22 [[ 9.98768264e-01 4.96104614e-02 -8.69558462e-04 5.92269351e+01] [-4.96104008e-02 9.98768642e-01 9.11050926e-05 -5.93508479e+00] [ 8.73007489e-04 -4.78537314e-05 9.99999618e-01 -1.22244695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16327356000001 meters 0.07787841621545774 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.94, Z:-1.22 [[ 9.98835178e-01 4.81671207e-02 -2.86626007e-03 5.92864211e+01] [-4.81664496e-02 9.98839277e-01 3.02751570e-04 -5.93989624e+00] [ 2.87751581e-03 -1.64341347e-04 9.99995846e-01 -1.22464052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22327356000001 meters 0.0795509068116373 Centerline is valid? [True, True] Translation: X:59.34, Y:-5.95, Z:-1.23 [[ 9.98898408e-01 4.67625311e-02 -3.90343770e-03 5.93449718e+01] [-4.67612752e-02 9.98906008e-01 4.12421333e-04 -5.95166338e+00] [ 3.91845324e-03 -2.29437288e-04 9.99992297e-01 -1.22850179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28327356 meters 0.08074905273330713 Centerline is valid? [True, True] Translation: X:59.40, Y:-5.96, Z:-1.23 [[ 9.98896399e-01 4.68707843e-02 -3.01893340e-03 5.94023214e+01] [-4.68700379e-02 9.98900945e-01 3.17557502e-04 -5.96137712e+00] [ 3.03049960e-03 -1.75709522e-04 9.99995393e-01 -1.23072027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34327356 meters 0.07850172663954189 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.96, Z:-1.23 [[ 9.98865959e-01 4.75885875e-02 -1.45666585e-03 5.94616299e+01] [-4.75884201e-02 9.98867018e-01 1.49395797e-04 -5.96292207e+00] [ 1.46212501e-03 -7.99059493e-05 9.99998928e-01 -1.22818571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40327356 meters 0.07744652584779699 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.97, Z:-1.23 [[ 9.98822715e-01 4.85091249e-02 -2.21498573e-04 5.95204914e+01] [-4.85091219e-02 9.98822739e-01 1.90036440e-05 -5.96785528e+00] [ 2.22159661e-04 -8.23657002e-06 9.99999975e-01 -1.22751971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46327356 meters 0.07929712809572761 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.98, Z:-1.23 [[ 9.98739401e-01 5.01956789e-02 5.37997865e-05 5.95775538e+01] [-5.01956786e-02 9.98739402e-01 -6.96401272e-06 -5.98022857e+00] [-5.40815300e-05 4.25471710e-06 9.99999999e-01 -1.23024912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52327356 meters 0.07645384418187401 Centerline is valid? [True, True] Translation: X:59.64, Y:-5.98, Z:-1.23 [[ 9.98652081e-01 5.18907738e-02 -1.16975008e-03 5.96369803e+01] [-5.18906680e-02 9.98652764e-01 1.20609530e-04 -5.98125464e+00] [ 1.17443267e-03 -5.97478446e-05 9.99999309e-01 -1.23024272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58327356000001 meters 0.07677418355550665 Centerline is valid? [True, True] Translation: X:59.69, Y:-5.99, Z:-1.23 [[ 9.98592751e-01 5.30329583e-02 -1.50921560e-04 5.96938921e+01] [-5.30329569e-02 9.98592762e-01 1.35892363e-05 -5.99138641e+00] [ 1.51429855e-04 -5.56629631e-06 9.99999989e-01 -1.23196050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64327356 meters 0.07726922618905994 Centerline is valid? [True, True] Translation: X:59.75, Y:-6.00, Z:-1.23 [[ 9.98615458e-01 5.25977419e-02 -8.03048231e-04 5.97519248e+01] [-5.25976948e-02 9.98615780e-01 7.96919254e-05 -6.00136395e+00] [ 8.06128251e-04 -3.73431028e-05 9.99999674e-01 -1.23342427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70327356 meters 0.078425161888627 Centerline is valid? [True, True] Translation: X:59.81, Y:-6.02, Z:-1.23 [[ 9.98704518e-01 5.08712925e-02 -1.18199563e-03 5.98093660e+01] [-5.08711827e-02 9.98705216e-01 1.22802917e-04 -6.01544544e+00] [ 1.18671234e-03 -6.25143119e-05 9.99999294e-01 -1.23364300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76327356 meters 0.07892318459914263 Centerline is valid? [True, True] Translation: X:59.87, Y:-6.02, Z:-1.23 [[ 9.98752387e-01 4.99354613e-02 -3.44263532e-04 5.98670486e+01] [-4.99354523e-02 9.98752447e-01 3.44752581e-05 -6.02439419e+00] [ 3.45555583e-04 -1.72412911e-05 9.99999940e-01 -1.23457240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82327356 meters 0.08011972097172676 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.04, Z:-1.24 [[ 9.98859318e-01 4.77282256e-02 1.44190896e-03 5.99254524e+01] [-4.77280567e-02 9.98860355e-01 -1.51380762e-04 -6.03913479e+00] [-1.44749083e-03 8.23885723e-05 9.99998949e-01 -1.23515387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88327356 meters 0.0785275481339197 Centerline is valid? [True, True] Translation: X:59.98, Y:-6.05, Z:-1.23 [[ 9.98993631e-01 4.48381095e-02 1.12690947e-03 5.99848959e+01] [-4.48380047e-02 9.98994264e-01 -1.18135974e-04 -6.04810837e+00] [-1.13107309e-03 6.74887138e-05 9.99999358e-01 -1.23480788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94327356000001 meters 0.08110231048757373 Centerline is valid? [True, True] Translation: X:60.04, Y:-6.07, Z:-1.24 [[ 9.99179657e-01 4.04940876e-02 4.92392459e-04 6.00422585e+01] [-4.04940671e-02 9.99179778e-01 -5.14596433e-05 -6.06713091e+00] [-4.94072399e-04 3.14784554e-05 9.99999877e-01 -1.23717737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00327356000001 meters 0.08227715113235548 Centerline is valid? [True, True] Translation: X:60.10, Y:-6.08, Z:-1.24 [[ 9.99297923e-01 3.74651356e-02 -1.55036701e-04 6.01016007e+01] [-3.74651336e-02 9.99297935e-01 1.58957127e-05 -6.08117767e+00] [ 1.55523390e-04 -1.00760820e-05 9.99999988e-01 -1.23741385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06327356 meters 0.08322448703468725 Centerline is valid? [True, True] Translation: X:60.16, Y:-6.10, Z:-1.24 [[ 9.99433629e-01 3.36508388e-02 2.06837950e-04 6.01604792e+01] [-3.36508350e-02 9.99433650e-01 -2.17143775e-05 -6.09802663e+00] [-2.07451514e-04 1.47418093e-05 9.99999978e-01 -1.23751683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12327356 meters 0.08412116258145429 Centerline is valid? [True, True] Translation: X:60.22, Y:-6.11, Z:-1.24 [[ 9.99462344e-01 3.27668977e-02 1.16329156e-03 6.02174955e+01] [-3.27667765e-02 9.99463017e-01 -1.23054099e-04 -6.11135541e+00] [-1.16669899e-03 8.48706234e-05 9.99999316e-01 -1.23793732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18327356 meters 0.08102404104677667 Centerline is valid? [True, True] Translation: X:60.28, Y:-6.12, Z:-1.24 [[ 9.99423138e-01 3.38827443e-02 2.31302788e-03 6.02758029e+01] [-3.38822729e-02 9.99425801e-01 -2.42710133e-04 -6.11793002e+00] [-2.31992342e-03 1.64199482e-04 9.99997295e-01 -1.23618629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24327356 meters 0.0801228965435805 Centerline is valid? [True, True] Translation: X:60.34, Y:-6.13, Z:-1.24 [[ 9.99315126e-01 3.69409706e-02 2.15469769e-03 6.03352040e+01] [-3.69405706e-02 9.99317439e-01 -2.25178487e-04 -6.12916448e+00] [-2.16154529e-03 1.45428506e-04 9.99997653e-01 -1.23655848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30327356000001 meters 0.07721976391836428 Centerline is valid? [True, True] Translation: X:60.40, Y:-6.13, Z:-1.24 [[ 9.99207641e-01 3.97782704e-02 1.33400760e-03 6.03950420e+01] [-3.97781194e-02 9.99208528e-01 -1.39519303e-04 -6.13243197e+00] [-1.33850160e-03 8.63444402e-05 9.99999100e-01 -1.23667602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36327356000001 meters 0.07535855158477812 Centerline is valid? [True, True] Translation: X:60.46, Y:-6.14, Z:-1.24 [[ 9.99007548e-01 4.45411296e-02 8.58158085e-05 6.04553791e+01] [-4.45411290e-02 9.99007551e-01 -9.01068815e-06 -6.14008959e+00] [-8.61319870e-05 5.17941247e-06 9.99999996e-01 -1.23816230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42327356 meters 0.07470912018793123 Centerline is valid? [True, True] Translation: X:60.51, Y:-6.15, Z:-1.24 [[ 9.98798011e-01 4.90070352e-02 9.18874458e-04 6.05143607e+01] [-4.90069673e-02 9.98798432e-01 -9.62349438e-05 -6.15002443e+00] [-9.22486557e-04 5.10880198e-05 9.99999573e-01 -1.24044946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48327356 meters 0.07407327433855568 Centerline is valid? [True, True] Translation: X:60.57, Y:-6.16, Z:-1.24 [[ 9.98681567e-01 5.13217978e-02 1.09581615e-03 6.05740582e+01] [-5.13217029e-02 9.98682166e-01 -1.14603974e-04 -6.15837116e+00] [-1.10025373e-03 5.82137256e-05 9.99999393e-01 -1.24168644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54327356 meters 0.07391490819807453 Centerline is valid? [True, True] Translation: X:60.63, Y:-6.17, Z:-1.24 [[ 9.98596360e-01 5.29610882e-02 6.58627875e-04 6.06315160e+01] [-5.29610536e-02 9.98596576e-01 -6.98572495e-05 -6.16929914e+00] [-6.61403257e-04 3.48775688e-05 9.99999781e-01 -1.24356083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60327356 meters 0.07381771053433084 Centerline is valid? [True, True] Translation: X:60.69, Y:-6.18, Z:-1.25 [[ 9.98614034e-01 5.26048110e-02 1.65660282e-03 6.06894893e+01] [-5.26045904e-02 9.98615404e-01 -1.76467178e-04 -6.17883199e+00] [-1.66359212e-03 8.90776873e-05 9.99998612e-01 -1.24566428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66327356000001 meters 0.07100641728910745 Centerline is valid? [True, True] Translation: X:60.75, Y:-6.18, Z:-1.24 [[ 9.98769974e-01 4.95804078e-02 5.67943636e-04 6.07492013e+01] [-4.95803820e-02 9.98770135e-01 -5.93893179e-05 -6.18373197e+00] [-5.70189688e-04 3.11574050e-05 9.99999837e-01 -1.24417314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72327356000001 meters 0.07504301426347809 Centerline is valid? [True, True] Translation: X:60.81, Y:-6.21, Z:-1.25 [[ 9.99020588e-01 4.42448195e-02 -5.10248801e-04 6.08064576e+01] [-4.42447983e-02 9.99020718e-01 5.27514789e-05 -6.20688385e+00] [ 5.12083103e-04 -3.01239582e-05 9.99999868e-01 -1.24815981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78327356 meters 0.0755509773090609 Centerline is valid? [True, True] Translation: X:60.87, Y:-6.22, Z:-1.25 [[ 9.99153522e-01 4.11368285e-02 2.53747077e-05 6.08658851e+01] [-4.11368284e-02 9.99153522e-01 -2.93863976e-06 -6.21851373e+00] [-2.54741149e-05 1.89231727e-06 1.00000000e+00 -1.24985778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84327356 meters 0.07692611312190974 Centerline is valid? [True, True] Translation: X:60.92, Y:-6.23, Z:-1.25 [[ 9.99245314e-01 3.88239382e-02 1.22670550e-03 6.09233809e+01] [-3.88238097e-02 9.99246063e-01 -1.28371654e-04 -6.23190834e+00] [-1.23076453e-03 8.06493925e-05 9.99999239e-01 -1.24989904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90327356 meters 0.07379404909310988 Centerline is valid? [True, True] Translation: X:60.98, Y:-6.23, Z:-1.25 [[ 9.99277083e-01 3.78972608e-02 3.01800050e-03 6.09819942e+01] [-3.78964825e-02 9.99281621e-01 -3.14668861e-04 -6.23377098e+00] [-3.02775751e-03 2.00069778e-04 9.99995396e-01 -1.24670571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96327356 meters 0.07177676453231763 Centerline is valid? [True, True] Translation: X:61.04, Y:-6.24, Z:-1.25 [[ 9.99301628e-01 3.72683559e-02 2.70678165e-03 6.10405531e+01] [-3.72677276e-02 9.99305277e-01 -2.82198700e-04 -6.23734429e+00] [-2.71541827e-03 1.81126019e-04 9.99996297e-01 -1.24746359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02327356 meters 0.06975447419957842 Centerline is valid? [True, True] Translation: X:61.10, Y:-6.24, Z:-1.25 [[ 9.99337975e-01 3.62971394e-02 2.47569656e-03 6.10994602e+01] [-3.62966109e-02 9.99341028e-01 -2.58074797e-04 -6.24154866e+00] [-2.48343253e-03 1.68044550e-04 9.99996902e-01 -1.24645817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08327356000001 meters 0.06989151503159784 Centerline is valid? [True, True] Translation: X:61.16, Y:-6.25, Z:-1.25 [[ 9.99327406e-01 3.66344822e-02 1.62828166e-03 6.11580871e+01] [-3.66342535e-02 9.99328726e-01 -1.70048848e-04 -6.24900460e+00] [-1.63341829e-03 1.10283591e-04 9.99998660e-01 -1.24880245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14327356 meters 0.06866633477682614 Centerline is valid? [True, True] Translation: X:61.22, Y:-6.25, Z:-1.25 [[ 9.99248788e-01 3.87024581e-02 1.99505326e-03 6.12174960e+01] [-3.87021209e-02 9.99250771e-01 -2.07360320e-04 -6.25393507e+00] [-2.00158386e-03 1.29991755e-04 9.99997988e-01 -1.25066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20327356 meters 0.06725064027538781 Centerline is valid? [True, True] Translation: X:61.28, Y:-6.26, Z:-1.25 [[ 9.99175999e-01 4.05160108e-02 2.40320579e-03 6.12770490e+01] [-4.05155272e-02 9.99178878e-01 -2.49573444e-04 -6.25807333e+00] [-2.41134419e-03 1.52000646e-04 9.99997081e-01 -1.25116131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26327356 meters 0.06686912833562669 Centerline is valid? [True, True] Translation: X:61.34, Y:-6.26, Z:-1.25 [[ 9.99066986e-01 4.30548851e-02 3.38153442e-03 6.13352383e+01] [-4.30539439e-02 9.99072688e-01 -3.50661883e-04 -6.26449333e+00] [-3.39349638e-03 2.04746317e-04 9.99994221e-01 -1.25213652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32327356 meters 0.06371728783967368 Centerline is valid? [True, True] Translation: X:61.40, Y:-6.27, Z:-1.25 [[ 9.98964328e-01 4.53543826e-02 3.64023196e-03 6.13953751e+01] [-4.53533066e-02 9.98970938e-01 -3.77644978e-04 -6.26528562e+00] [-3.65361379e-03 2.12157305e-04 9.99993303e-01 -1.25102482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38327356 meters 0.06488053075152972 Centerline is valid? [True, True] Translation: X:61.45, Y:-6.28, Z:-1.25 [[ 9.98883855e-01 4.71289048e-02 3.14818639e-03 6.14525206e+01] [-4.71281052e-02 9.98888800e-01 -3.27720598e-04 -6.27566246e+00] [-3.16013324e-03 1.78986755e-04 9.99994991e-01 -1.25342507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44327356000001 meters 0.06119503898671095 Centerline is valid? [True, True] Translation: X:61.51, Y:-6.27, Z:-1.25 [[ 9.98744012e-01 5.00464666e-02 2.39767822e-03 6.15131047e+01] [-5.00460145e-02 9.98746882e-01 -2.48195870e-04 -6.27470264e+00] [-2.40709497e-03 1.27889900e-04 9.99997095e-01 -1.25375588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50327356 meters 0.06340723981229472 Centerline is valid? [True, True] Translation: X:61.57, Y:-6.29, Z:-1.26 [[ 9.98669061e-01 5.15525559e-02 1.56194731e-03 6.15701224e+01] [-5.15523640e-02 9.98670280e-01 -1.62899582e-04 -6.28752211e+00] [-1.56826825e-03 8.21606963e-05 9.99998767e-01 -1.25738244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56327356 meters 0.05910650018861962 Centerline is valid? [True, True] Translation: X:61.63, Y:-6.29, Z:-1.26 [[ 9.98649947e-01 5.19124559e-02 1.83849016e-03 6.16289514e+01] [-5.19121867e-02 9.98651635e-01 -1.93900729e-04 -6.28764292e+00] [-1.84607707e-03 9.81989079e-05 9.99998291e-01 -1.25580810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62327356 meters 0.06333518356131695 Centerline is valid? [True, True] Translation: X:61.69, Y:-6.30, Z:-1.26 [[ 9.98656774e-01 5.17340470e-02 2.86998567e-03 6.16855340e+01] [-5.17334062e-02 9.98660887e-01 -2.97113051e-04 -6.30499164e+00] [-2.88151329e-03 1.48239826e-04 9.99995837e-01 -1.26021434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68327356 meters 0.060237320236852444 Centerline is valid? [True, True] Translation: X:61.75, Y:-6.31, Z:-1.26 [[ 9.98763403e-01 4.95943338e-02 3.47379679e-03 6.17452557e+01] [-4.95933869e-02 9.98769427e-01 -3.58236421e-04 -6.30985329e+00] [-3.48728853e-03 1.85516079e-04 9.99993902e-01 -1.25782895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74327356 meters 0.06079202712897925 Centerline is valid? [True, True] Translation: X:61.80, Y:-6.32, Z:-1.26 [[ 9.98874194e-01 4.73080515e-02 3.50619462e-03 6.18039905e+01] [-4.73070733e-02 9.98880328e-01 -3.61455012e-04 -6.32116738e+00] [-3.51936857e-03 1.95180278e-04 9.99993788e-01 -1.25912033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80327356000001 meters 0.06029747649942268 Centerline is valid? [True, True] Translation: X:61.86, Y:-6.33, Z:-1.26 [[ 9.99012165e-01 4.42653161e-02 3.90833791e-03 6.18631953e+01] [-4.42640791e-02 9.99019784e-01 -4.02483051e-04 -6.33244426e+00] [-3.92232293e-03 2.29086486e-04 9.99992281e-01 -1.25981485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86327356000001 meters 0.06152505700063907 Centerline is valid? [True, True] Translation: X:61.92, Y:-6.35, Z:-1.26 [[ 9.99121339e-01 4.16881634e-02 4.31811140e-03 6.19216754e+01] [-4.16866299e-02 9.99130636e-01 -4.44576101e-04 -6.34620762e+00] [-4.33289095e-03 2.64177957e-04 9.99990578e-01 -1.26128302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92327356 meters 0.05927575119600117 Centerline is valid? [True, True] Translation: X:61.98, Y:-6.35, Z:-1.26 [[ 9.99156739e-01 4.08071947e-02 4.53699203e-03 6.19801214e+01] [-4.08054899e-02 9.99167000e-01 -4.67733310e-04 -6.35099005e+00] [-4.55229960e-03 2.82204706e-04 9.99989598e-01 -1.26099043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98327356 meters 0.06054286859276605 Centerline is valid? [True, True] Translation: X:62.04, Y:-6.36, Z:-1.26 [[ 9.99213602e-01 3.92919517e-02 5.32173537e-03 6.20378695e+01] [-3.92895890e-02 9.99227716e-01 -5.47838651e-04 -6.36333960e+00] [-5.33915113e-03 3.38319036e-04 9.99985689e-01 -1.26234594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04327356 meters 0.05507930689951763 Centerline is valid? [True, True] Translation: X:62.10, Y:-6.36, Z:-1.26 [[ 9.99264074e-01 3.80047622e-02 5.19126037e-03 6.20973878e+01] [-3.80024964e-02 9.99277501e-01 -5.34455691e-04 -6.36283041e+00] [-5.20782156e-03 3.36781517e-04 9.99986382e-01 -1.26076874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10327356 meters 0.05685067802030638 Centerline is valid? [True, True] Translation: X:62.15, Y:-6.37, Z:-1.26 [[ 9.99326988e-01 3.63627278e-02 4.82946428e-03 6.21549517e+01] [-3.63607501e-02 9.99338606e-01 -4.96716763e-04 -6.37454380e+00] [-4.84433207e-03 3.20779522e-04 9.99988215e-01 -1.26129175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16327356000001 meters 0.056639283793440694 Centerline is valid? [True, True] Translation: X:62.21, Y:-6.38, Z:-1.26 [[ 9.99461006e-01 3.23602988e-02 5.52346748e-03 6.22144515e+01] [-3.23576569e-02 9.99476193e-01 -5.67030315e-04 -6.38442763e+00] [-5.53892352e-03 3.87998223e-04 9.99984585e-01 -1.26224426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22327356000001 meters 0.05873043221811845 Centerline is valid? [True, True] Translation: X:62.27, Y:-6.40, Z:-1.26 [[ 9.99559249e-01 2.94301504e-02 3.89547304e-03 6.22727154e+01] [-2.94288126e-02 9.99566799e-01 -4.00308686e-04 -6.39816719e+00] [-3.90556666e-03 2.85493103e-04 9.99992332e-01 -1.26436696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 746.69 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%| | 0/2842 [00:00