+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters 0.041993900608169564 Centerline is valid? [0, True] SLAMing on 0.085779523 meters 0.04902346363488436 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99892386e-01 -1.06109372e-02 -1.01304137e-02 6.05878361e-02] [ 1.06191328e-02 9.99943330e-01 7.55560977e-04 -3.87359543e-03] [ 1.01218224e-02 -8.63055875e-04 9.99948401e-01 -7.78844155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145779523 meters 0.052843512438940435 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 0.99976382 -0.01591867 -0.01479556 0.12115312] [ 0.01593693 0.99987237 0.00111725 -0.00257283] [ 0.01477589 -0.00135278 0.99988992 -0.01077849] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters 0.057814547474743724 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:-0.02 [[ 0.99941853 -0.02080337 -0.02701519 0.18276293] [ 0.02086594 0.99978021 0.00203604 0.00290133] [ 0.02696689 -0.00259855 0.99963295 -0.02176465] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters 0.06906835249099447 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.05 [[ 0.99767883 -0.02679622 -0.06260122 0.24716131] [ 0.02714408 0.99962042 0.00471276 0.01707016] [ 0.06245117 -0.00640107 0.99802749 -0.04950782] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters 0.08308347331893084 Centerline is valid? [True, True] Translation: X:0.31, Y:0.03, Z:-0.07 [[ 0.99571713 -0.0264194 -0.08859696 0.30906421] [ 0.02711601 0.99961005 0.00666818 0.02628433] [ 0.08838625 -0.00904202 0.99604524 -0.06752188] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters 0.09170068055198906 Centerline is valid? [True, True] Translation: X:0.37, Y:0.06, Z:-0.11 [[ 0.98997042 -0.02049517 -0.13978025 0.37475795] [ 0.02218135 0.99969866 0.0105157 0.05617706] [ 0.13952261 -0.01351075 0.99012671 -0.11078747] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters 0.09403562076995078 Centerline is valid? [True, True] Translation: X:0.44, Y:0.10, Z:-0.14 [[ 0.98492487 -0.00517612 -0.17290521 0.44057513] [ 0.0075373 0.99988706 0.01300216 0.09904023] [ 0.17281838 -0.01410939 0.98485265 -0.13855545] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters 0.09352744383202106 Centerline is valid? [True, True] Translation: X:0.51, Y:0.13, Z:-0.19 [[ 0.94861468 -0.01732015 -0.31595918 0.50685814] [ 0.02615167 0.99937623 0.02373251 0.12560091] [ 0.31535104 -0.03077587 0.94847592 -0.18871578] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters 0.002818607236446784 Centerline is valid? [True, True] Translation: X:-0.55, Y:0.33, Z:1.39 [[-0.98975921 0.06697263 0.12606102 -0.54987879] [ 0.06677404 0.99775124 -0.00580518 0.33023344] [-0.12616633 0.00267187 -0.9920055 1.38839065] [ 0. 0. 0. 1. ]] SLAMing on 0.625779523 meters 0.03819393078188414 Centerline is valid? [True, True] Translation: X:0.38, Y:0.19, Z:1.42 [[-0.92976932 0.13473171 0.34260235 0.37998988] [ 0.15469152 0.98746116 0.03147993 0.18946993] [-0.33406517 0.08226676 -0.93895295 1.42191431] [ 0. 0. 0. 1. ]] SLAMing on 0.6857795229999999 meters 0.1429494661266092 Centerline is valid? [True, False] Translation: X:-0.36, Y:-2.37, Z:-0.46 [[ 0.8061434 -0.0121593 0.59159528 -0.35572066] [-0.32840014 0.82248613 0.46440274 -2.3673523 ] [-0.49222573 -0.56865518 0.65904865 -0.46335885] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.805779523 meters 0.04956536171854669 Centerline is valid? [False, True] SLAMing on 0.8657795229999999 meters 0.09990324792616231 Centerline is valid? [True, True] SLAMing on 0.9257795229999999 meters 0.12362878818393397 Centerline is valid? [True, False] SLAMing on 0.9857795229999999 meters 0.19126923704195867 Centerline is valid? [False, False] Translation: X:-0.23, Y:-1.31, Z:-0.49 [[ 0.99838909 0.04083932 -0.0393875 -0.23370379] [-0.05443892 0.88512296 -0.46216203 -1.3131775 ] [ 0.0159884 0.46356174 0.88592036 -0.48938497] [ 0. 0. 0. 1. ]] SLAMing on 1.045779523 meters 0.17707965673310483 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.70, Z:-0.28 [[ 0.99273952 0.04359685 0.11210516 -0.97056101] [-0.03788628 0.99789801 -0.05257565 -1.69803231] [-0.11416165 0.04794668 0.99230451 -0.27824733] [ 0. 0. 0. 1. ]] SLAMing on 1.105779523 meters 0.186354972777843 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.75, Z:-0.23 [[ 0.9932883 0.07093382 0.09136049 -0.83102728] [-0.06951675 0.99740728 -0.01860467 -1.74508099] [-0.09244331 0.01212872 0.99564408 -0.22840137] [ 0. 0. 0. 1. ]] SLAMing on 1.1657795229999999 meters 0.2034464743925948 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.76, Z:-0.20 [[ 0.99426517 0.06444853 0.08534146 -0.79739003] [-0.06354488 0.99789081 -0.01326586 -1.76231897] [-0.08601642 0.00776677 0.99626345 -0.19904761] [ 0. 0. 0. 1. ]] SLAMing on 1.225779523 meters 0.2112330094363928 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.78, Z:-0.18 [[ 0.99534701 0.05361616 0.08006019 -0.78970165] [-0.05285415 0.99853477 -0.01160849 -1.77600413] [-0.08056528 0.00732297 0.99672243 -0.17973915] [ 0. 0. 0. 1. ]] SLAMing on 1.285779523 meters 0.216476081941033 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.80, Z:-0.16 [[ 0.99638983 0.04755919 0.07032377 -0.78173851] [-0.04668045 0.99881053 -0.01408762 -1.79622626] [-0.07091012 0.01075401 0.99742474 -0.15768108] [ 0. 0. 0. 1. ]] SLAMing on 1.3457795229999998 meters 0.2182640950814587 Centerline is valid? [False, False] Translation: X:-0.77, Y:-1.81, Z:-0.15 [[ 9.97544157e-01 4.16264403e-02 5.63284543e-02 -7.72400133e-01] [-4.17009031e-02 9.99130128e-01 1.46668604e-04 -1.81045681e+00] [-5.62733505e-02 -2.49525583e-03 9.98412281e-01 -1.45754631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4057795229999999 meters 0.22300712591515615 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.83, Z:-0.14 [[ 0.99754892 0.04078025 0.05686056 -0.77608014] [-0.041162 0.99913703 0.0055583 -1.82972896] [-0.05658482 -0.00788517 0.99836666 -0.13778466] [ 0. 0. 0. 1. ]] SLAMing on 1.465779523 meters 0.22598559509680077 Centerline is valid? [False, False] Translation: X:-0.76, Y:-1.86, Z:-0.13 [[ 9.97716864e-01 4.04630879e-02 5.40721447e-02 -7.61232297e-01] [-4.04244389e-02 9.99180961e-01 -1.80874369e-03 -1.85871363e+00] [-5.41010449e-02 -3.81222027e-04 9.98535393e-01 -1.26699111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.525779523 meters 0.22508304888962252 Centerline is valid? [False, False] Translation: X:-0.75, Y:-1.87, Z:-0.12 [[ 0.99859422 0.03777908 0.03717961 -0.75334885] [-0.03793559 0.99927401 0.00351303 -1.86934398] [-0.0370199 -0.00491853 0.99930242 -0.12089961] [ 0. 0. 0. 1. ]] SLAMing on 1.585779523 meters 0.2265395582417128 Centerline is valid? [False, False] Translation: X:-0.74, Y:-1.88, Z:-0.11 [[ 0.99922616 0.0345612 0.01877796 -0.74156409] [-0.03471043 0.9993679 0.00768033 -1.87549738] [-0.01850065 -0.00832617 0.99979418 -0.11459878] [ 0. 0. 0. 1. ]] SLAMing on 1.6457795229999999 meters 0.22560710651927016 Centerline is valid? [False, False] Translation: X:-0.72, Y:-1.88, Z:-0.11 [[ 9.99378184e-01 3.52123699e-02 1.82601205e-03 -7.24656564e-01] [-3.52097914e-02 9.99378926e-01 -1.42550800e-03 -1.88313353e+00] [-1.87507347e-03 1.36032809e-03 9.99997317e-01 -1.10944440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.705779523 meters 0.22392113441078176 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.88, Z:-0.11 [[ 9.99711208e-01 2.40137403e-02 -9.17135995e-04 -7.12937492e-01] [-2.40049253e-02 9.99674450e-01 8.64622795e-03 -1.88264175e+00] [ 1.12446569e-03 -8.62171521e-03 9.99962200e-01 -1.13930394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.765779523 meters 0.220308309270531 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.87, Z:-0.12 [[ 9.99629715e-01 2.71816395e-02 -1.26187530e-03 -7.10873930e-01] [-2.71680250e-02 9.99583041e-01 9.77969441e-03 -1.87300064e+00] [ 1.52717728e-03 -9.74179048e-03 9.99951381e-01 -1.15634500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8257795229999998 meters 0.2187602565327793 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.87, Z:-0.12 [[ 9.99734085e-01 2.29900420e-02 -1.79379436e-03 -7.09494469e-01] [-2.29820241e-02 9.99726331e-01 4.36921514e-03 -1.86948999e+00] [ 1.89375189e-03 -4.32682827e-03 9.99988846e-01 -1.16655479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8857795229999998 meters 0.21211648270560776 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.86, Z:-0.12 [[ 0.99965405 0.02623386 -0.00188587 -0.70772405] [-0.02622111 0.99963506 0.00649575 -1.86458738] [ 0.00205559 -0.00644405 0.99997712 -0.11870701] [ 0. 0. 0. 1. ]] SLAMing on 1.945779523 meters 0.20610726197728352 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.86, Z:-0.12 [[ 9.99517334e-01 3.10317668e-02 -1.45870506e-03 -7.09618787e-01] [-3.10157553e-02 9.99469363e-01 9.95067785e-03 -1.86006522e+00] [ 1.76671813e-03 -9.90063216e-03 9.99949427e-01 -1.16774126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.005779523 meters 0.19629548780980238 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.86, Z:-0.11 [[ 9.99136805e-01 4.15301617e-02 -9.43410266e-04 -7.12405853e-01] [-4.15036765e-02 9.98945519e-01 1.96289371e-02 -1.85889046e+00] [ 1.75760839e-03 -1.95728385e-02 9.99806889e-01 -1.13464238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0657795230000002 meters 0.1903772704412642 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.85, Z:-0.11 [[ 0.99878673 0.04897594 0.00513984 -0.70533567] [-0.04904367 0.99869848 0.0140022 -1.8547124 ] [-0.00444738 -0.01423729 0.99988875 -0.11434248] [ 0. 0. 0. 1. ]] SLAMing on 2.1257795230000003 meters 0.1855139351462138 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.85, Z:-0.12 [[ 0.99897642 0.04500292 0.00456612 -0.70408884] [-0.04504178 0.99894636 0.00879832 -1.85163152] [-0.00416536 -0.00899498 0.99995087 -0.11559833] [ 0. 0. 0. 1. ]] SLAMing on 2.1857795230000003 meters 0.17992320556007874 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.85, Z:-0.11 [[ 0.99908205 0.0426114 0.00439687 -0.70575849] [-0.04263653 0.99907388 0.00578907 -1.85094374] [-0.00414611 -0.00597123 0.99997358 -0.11324405] [ 0. 0. 0. 1. ]] SLAMing on 2.245779523 meters 0.17624281540401568 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.85, Z:-0.11 [[ 0.99921471 0.03936508 0.00451081 -0.70750938] [-0.03937959 0.99921928 0.00317418 -1.85410897] [-0.00438234 -0.00334932 0.99998479 -0.1108763 ] [ 0. 0. 0. 1. ]] SLAMing on 2.305779523 meters 0.1718345039213225 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.86, Z:-0.11 [[ 0.99918726 0.04001475 0.00486292 -0.70897474] [-0.04003444 0.99919021 0.00401987 -1.85536549] [-0.00469813 -0.00421129 0.9999801 -0.10941499] [ 0. 0. 0. 1. ]] SLAMing on 2.365779523 meters 0.165283827396615 Centerline is valid? [False, False] Translation: X:-0.71, Y:-1.86, Z:-0.11 [[ 0.99926298 0.03808168 0.00482514 -0.71075389] [-0.03809375 0.9992712 0.00243431 -1.85906391] [-0.00472892 -0.00261632 0.9999854 -0.10697921] [ 0. 0. 0. 1. ]] SLAMing on 2.425779523 meters 0.16002023768341755 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.86, Z:-0.11 [[ 9.99548409e-01 3.00331078e-02 9.95585123e-04 -6.96056558e-01] [-3.00346225e-02 9.99547668e-01 1.54306958e-03 -1.86179823e+00] [-9.48791613e-04 -1.57227476e-03 9.99998314e-01 -1.10231641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.485779523 meters 0.150520283945291 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.87, Z:-0.11 [[ 9.99900042e-01 1.41111466e-02 8.84435984e-04 -6.98319991e-01] [-1.41156572e-02 9.99886216e-01 5.32009885e-03 -1.87002097e+00] [-8.09262655e-04 -5.33205146e-03 9.99985457e-01 -1.10289194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545779523 meters 0.14007875826186178 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.88, Z:-0.11 [[ 9.99996612e-01 2.59557823e-03 1.95188629e-04 -6.96710395e-01] [-2.59493033e-03 9.99991354e-01 -3.24942288e-03 -1.88148016e+00] [-2.03621072e-04 3.24890537e-03 9.99994702e-01 -1.10267487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6057795230000003 meters 0.13201320977200243 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.89, Z:-0.11 [[ 9.99998806e-01 -1.52751452e-03 2.32152252e-04 -6.96570462e-01] [ 1.52883255e-03 9.99982084e-01 -5.78745787e-03 -1.88646388e+00] [-2.23307667e-04 5.78780588e-03 9.99983226e-01 -1.10289172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.665779523 meters 0.12141060653940748 Centerline is valid? [False, False] Translation: X:-0.70, Y:-1.89, Z:-0.11 [[ 9.99891146e-01 -1.47528088e-02 2.26643919e-04 -6.95027868e-01] [ 1.47545326e-02 9.99748655e-01 -1.68798876e-02 -1.89390167e+00] [ 2.24388018e-05 1.68813942e-02 9.99857499e-01 -1.11577499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725779523 meters 0.11613180911569874 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.92, Z:-0.10 [[ 9.99898654e-01 -1.42214362e-02 -6.58299263e-04 -6.94040327e-01] [ 1.42184942e-02 9.99889766e-01 -4.27661628e-03 -1.91821696e+00] [ 7.19046322e-04 4.26682284e-03 9.99990639e-01 -1.04436339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.785779523 meters 0.1109155950387588 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.92, Z:-0.10 [[ 9.99906062e-01 -1.36728128e-02 -9.59423310e-04 -6.93168909e-01] [ 1.36706873e-02 9.99904158e-01 -2.18803008e-03 -1.92377569e+00] [ 9.89247883e-04 2.17470857e-03 9.99997146e-01 -1.04994762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845779523 meters 0.10321216537837943 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.92, Z:-0.11 [[ 9.99949047e-01 -1.00430793e-02 -1.02013770e-03 -6.92490682e-01] [ 1.00445606e-02 9.99948490e-01 1.45744113e-03 -1.92291152e+00] [ 1.00544796e-03 -1.46761370e-03 9.99998418e-01 -1.06198193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.905779523 meters 0.10409551827881243 Centerline is valid? [False, False] Translation: X:-0.69, Y:-1.93, Z:-0.11 [[ 9.99946971e-01 -1.01676879e-02 -1.63489309e-03 -6.90423390e-01] [ 1.01708661e-02 9.99946379e-01 1.94751986e-03 -1.92617446e+00] [ 1.61500365e-03 -1.96404486e-03 9.99996767e-01 -1.07466152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.965779523 meters 0.10601559007197134 Centerline is valid? [False, False] Translation: X:-0.68, Y:-1.93, Z:-0.11 [[ 0.99998902 -0.00393139 0.00254889 -0.68021732] [ 0.00394256 0.99998259 -0.00439027 -1.92583211] [-0.00253159 0.00440027 0.99998711 -0.11128211] [ 0. 0. 0. 1. ]] SLAMing on 3.025779523 meters 0.09766163844595503 Centerline is valid? [False, True] Translation: X:-0.68, Y:-1.92, Z:-0.11 [[ 9.99990894e-01 3.65574830e-03 2.20180026e-03 -6.78617037e-01] [-3.65867209e-03 9.99992429e-01 1.32534500e-03 -1.91818231e+00] [-2.19693847e-03 -1.33338860e-03 9.99996698e-01 -1.13912701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0857795230000002 meters 0.0881089319992623 Centerline is valid? [True, True] Translation: X:-0.62, Y:-1.91, Z:-0.12 [[ 9.99922406e-01 1.21132069e-02 2.90713217e-03 -6.17331198e-01] [-1.21127596e-02 9.99926623e-01 -1.71406816e-04 -1.91173998e+00] [-2.90899514e-03 1.36180123e-04 9.99995760e-01 -1.16363600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1457795230000003 meters 0.08065488047659486 Centerline is valid? [True, True] Translation: X:-0.56, Y:-1.91, Z:-0.11 [[ 9.99778507e-01 1.94031571e-02 8.15201716e-03 -5.56386211e-01] [-1.93998786e-02 9.99811689e-01 -4.81056852e-04 -1.91175673e+00] [-8.15981606e-03 3.22802158e-04 9.99966656e-01 -1.12214311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205779523 meters 0.06760544174614849 Centerline is valid? [True, True] Translation: X:-0.49, Y:-1.90, Z:-0.10 [[ 9.99365607e-01 2.89105369e-02 2.07981650e-02 -4.94461836e-01] [-2.88912370e-02 9.99581807e-01 -1.22790325e-03 -1.90177123e+00] [-2.08249667e-02 6.26239563e-04 9.99782941e-01 -1.04327781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265779523 meters 0.061857640402009126 Centerline is valid? [True, True] Translation: X:-0.43, Y:-1.90, Z:-0.10 [[ 9.98842056e-01 3.94826954e-02 2.74893271e-02 -4.32435710e-01] [-3.94529757e-02 9.99220110e-01 -1.62287922e-03 -1.89996804e+00] [-2.75319642e-02 5.36464260e-04 9.99620780e-01 -9.63624988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325779523 meters 0.057281721291141875 Centerline is valid? [True, True] Translation: X:-0.37, Y:-1.89, Z:-0.09 [[ 9.97624530e-01 5.87876275e-02 3.59070006e-02 -3.71333643e-01] [-5.87493396e-02 9.98270512e-01 -2.12138834e-03 -1.88647451e+00] [-3.59696113e-02 6.83647741e-06 9.99352884e-01 -9.31508175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.385779523 meters 0.05545038830750409 Centerline is valid? [True, True] Translation: X:-0.31, Y:-1.88, Z:-0.09 [[ 9.96980747e-01 6.83696998e-02 3.68099814e-02 -3.07474660e-01] [-6.83364342e-02 9.97659990e-01 -2.16258779e-03 -1.87624732e+00] [-3.68717012e-02 -3.59404480e-04 9.99319943e-01 -9.43000423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.445779523 meters 0.050516830048977016 Centerline is valid? [True, True] Translation: X:-0.25, Y:-1.88, Z:-0.09 [[ 9.97073890e-01 6.56903837e-02 3.90951530e-02 -2.45893066e-01] [-6.56499675e-02 9.97840021e-01 -2.31807218e-03 -1.88314699e+00] [-3.91629833e-02 -2.55306272e-04 9.99232803e-01 -9.35076070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.505779523 meters 0.04837546932668833 Centerline is valid? [True, True] Translation: X:-0.19, Y:-1.90, Z:-0.09 [[ 9.97212936e-01 5.89065514e-02 4.57862263e-02 -1.86347549e-01] [-5.88437188e-02 9.98263501e-01 -2.72009042e-03 -1.89508155e+00] [-4.58669498e-02 1.82775302e-05 9.98947557e-01 -9.46696877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5657795230000002 meters 0.045668969522853674 Centerline is valid? [True, True] Translation: X:-0.12, Y:-1.91, Z:-0.08 [[ 9.97330773e-01 5.16694078e-02 5.15907112e-02 -1.24892413e-01] [-5.15799987e-02 9.98664166e-01 -3.06384710e-03 -1.90520203e+00] [-5.16801017e-02 3.94620186e-04 9.98663613e-01 -7.90197895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625779523 meters 0.045381146884031075 Centerline is valid? [True, True] Translation: X:-0.06, Y:-1.91, Z:-0.09 [[ 9.97520756e-01 4.66557138e-02 5.26838371e-02 -6.43403978e-02] [-4.65556754e-02 9.98910808e-01 -3.12513802e-03 -1.90906579e+00] [-5.27722598e-02 6.64658416e-04 9.98606352e-01 -8.61784481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685779523 meters 0.04262742984477878 Centerline is valid? [True, True] Translation: X:-0.00, Y:-1.91, Z:-0.09 [[ 9.97908585e-01 4.05639832e-02 5.03291000e-02 -2.59844759e-03] [-4.04644998e-02 9.99176490e-01 -2.99442254e-03 -1.90657384e+00] [-5.04091192e-02 9.51618109e-04 9.98728199e-01 -8.71404174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745779523 meters 0.04098224506005929 Centerline is valid? [True, True] Translation: X:0.06, Y:-1.91, Z:-0.09 [[ 9.98194724e-01 3.41594856e-02 4.94006266e-02 5.79505841e-02] [-3.40557004e-02 9.99415608e-01 -2.94131024e-03 -1.91384196e+00] [-4.94722309e-02 1.25362742e-03 9.98774713e-01 -9.32006049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805779523 meters 0.042944015047546746 Centerline is valid? [True, True] Translation: X:0.12, Y:-1.92, Z:-0.11 [[ 9.98776736e-01 2.67474362e-02 4.15885455e-02 1.18109445e-01] [-2.66674726e-02 9.99641292e-01 -2.47641487e-03 -1.91863914e+00] [-4.16398651e-02 1.36432416e-03 9.99131753e-01 -1.06073369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865779523 meters 0.040761516722981936 Centerline is valid? [True, True] Translation: X:0.18, Y:-1.92, Z:-0.11 [[ 9.98564887e-01 2.25121773e-02 4.85939053e-02 1.79337928e-01] [-2.23979152e-02 9.99744945e-01 -2.89467828e-03 -1.92261266e+00] [-4.86466767e-02 1.80212192e-03 9.98814424e-01 -1.05579057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925779523 meters 0.03915534752246867 Centerline is valid? [True, True] Translation: X:0.24, Y:-1.94, Z:-0.10 [[ 0.99820493 0.02023428 0.05636933 0.2407589 ] [-0.02007671 0.9997928 -0.00336022 -1.93884918] [-0.05642565 0.00222248 0.99840433 -0.09830407] [ 0. 0. 0. 1. ]] SLAMing on 3.985779523 meters 0.03985088833552041 Centerline is valid? [True, True] Translation: X:0.30, Y:-1.95, Z:-0.11 [[ 0.99848192 0.01710827 0.05235618 0.30084236] [-0.01696796 0.99985116 -0.00312331 -1.95090292] [-0.05240182 0.00223019 0.99862359 -0.10518518] [ 0. 0. 0. 1. ]] SLAMing on 4.045779522999999 meters 0.041615993429518536 Centerline is valid? [True, True] Translation: X:0.36, Y:-1.95, Z:-0.12 [[ 0.99863534 0.01230473 0.05075481 0.36018303] [-0.01216667 0.9999214 -0.00302818 -1.95378511] [-0.05078808 0.00240653 0.99870655 -0.11987781] [ 0. 0. 0. 1. ]] SLAMing on 4.105779523 meters 0.043852985182511676 Centerline is valid? [True, True] Translation: X:0.42, Y:-1.96, Z:-0.13 [[ 0.99869542 0.00582273 0.0507302 0.42003799] [-0.0056765 0.99997931 -0.00302609 -1.96425912] [-0.05074677 0.00273418 0.99870781 -0.12604221] [ 0. 0. 0. 1. ]] SLAMing on 4.165779522999999 meters 0.05047115001603052 Centerline is valid? [True, True] Translation: X:0.48, Y:-1.99, Z:-0.13 [[ 0.99852748 -0.0099786 0.0533226 0.47779193] [ 0.01016273 0.99994329 -0.00318296 -1.99170316] [-0.05328782 0.00372018 0.99857227 -0.12764044] [ 0. 0. 0. 1. ]] SLAMing on 4.225779523 meters 0.055168479095855046 Centerline is valid? [True, True] Translation: X:0.54, Y:-2.01, Z:-0.13 [[ 0.99839875 -0.01879728 0.05335358 0.53792803] [ 0.01899424 0.99981451 -0.00318701 -2.01131523] [-0.05328378 0.00419531 0.9985706 -0.1294165 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2857795229999995 meters 0.060847562483276836 Centerline is valid? [True, True] Translation: X:0.60, Y:-2.03, Z:-0.13 [[ 0.99807227 -0.02813483 0.05531887 0.5960139 ] [ 0.0283608 0.99959229 -0.00330402 -2.03374354] [-0.05520335 0.00486654 0.99846327 -0.12955106] [ 0. 0. 0. 1. ]] SLAMing on 4.345779523 meters 0.06382854646500838 Centerline is valid? [True, True] Translation: X:0.66, Y:-2.04, Z:-0.14 [[ 0.99792735 -0.03200969 0.05582465 0.65646562] [ 0.03224603 0.99947439 -0.00333774 -2.04302549] [-0.05568847 0.00513095 0.99843501 -0.13729037] [ 0. 0. 0. 1. ]] SLAMing on 4.405779523 meters 0.06953391600982944 Centerline is valid? [True, True] Translation: X:0.71, Y:-2.06, Z:-0.15 [[ 0.99804787 -0.03735935 0.05004728 0.71406667] [ 0.03755597 0.99929004 -0.00299364 -2.05980523] [-0.04989991 0.00486737 0.99874236 -0.15009048] [ 0. 0. 0. 1. ]] SLAMing on 4.465779522999999 meters 0.07236423415422016 Centerline is valid? [True, True] Translation: X:0.77, Y:-2.07, Z:-0.16 [[ 0.99801426 -0.03976265 0.04885141 0.77354143] [ 0.03995287 0.99919729 -0.00292334 -2.07179663] [-0.04869595 0.00486929 0.99880178 -0.15622603] [ 0. 0. 0. 1. ]] SLAMing on 4.525779523 meters 0.07032465744820311 Centerline is valid? [True, True] Translation: X:0.84, Y:-2.08, Z:-0.15 [[ 0.99777383 -0.03374018 0.05752381 0.83529087] [ 0.03399417 0.9994161 -0.00344228 -2.07657731] [-0.05737408 0.00539009 0.9983382 -0.14891116] [ 0. 0. 0. 1. ]] SLAMing on 4.585779522999999 meters 0.06461506102350016 Centerline is valid? [True, True] Translation: X:0.90, Y:-2.08, Z:-0.14 [[ 0.99773369 -0.02303936 0.06321917 0.89667095] [ 0.02332501 0.99972077 -0.00378399 -2.07585523] [-0.06311433 0.00525 0.99799249 -0.14079549] [ 0. 0. 0. 1. ]] SLAMing on 4.645779523 meters 0.04852935195838643 Centerline is valid? [True, True] Translation: X:0.96, Y:-2.06, Z:-0.14 [[ 0.99789732 -0.0061513 0.06452216 0.95838634] [ 0.00641383 0.99997197 -0.00386242 -2.05713857] [-0.06449659 0.00426813 0.9979088 -0.14057122] [ 0. 0. 0. 1. ]] SLAMing on 4.7057795229999995 meters 0.03902975013346104 Centerline is valid? [True, True] Translation: X:1.02, Y:-2.04, Z:-0.14 [[ 9.97777253e-01 1.57794531e-03 6.66187943e-02 1.02010312e+00] [-1.31515023e-03 9.99991181e-01 -3.98843033e-03 -2.04375902e+00] [-6.66245003e-02 3.89195134e-03 9.97770529e-01 -1.43705119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765779523 meters 0.04189924830296533 Centerline is valid? [True, True] Translation: X:1.08, Y:-2.05, Z:-0.16 [[ 9.97864564e-01 1.63238067e-03 6.52966160e-02 1.08070356e+00] [-1.38024842e-03 9.99991418e-01 -3.90626177e-03 -2.04706324e+00] [-6.53024321e-02 3.80779464e-03 9.97858253e-01 -1.55303607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825779523 meters 0.04901827535435833 Centerline is valid? [True, True] Translation: X:1.14, Y:-2.06, Z:-0.16 [[ 0.99805108 -0.01254001 0.0611293 1.14026577] [ 0.01278833 0.99991148 -0.00367251 -2.06445526] [-0.06107783 0.0044471 0.9981231 -0.16164507] [ 0. 0. 0. 1. ]] SLAMing on 4.885779522999999 meters 0.05331167202493837 Centerline is valid? [True, True] Translation: X:1.20, Y:-2.07, Z:-0.17 [[ 0.99801756 -0.01918796 0.05993981 1.20055022] [ 0.01943862 0.99980457 -0.00360158 -2.07408909] [-0.05985899 0.00475959 0.9981955 -0.16688559] [ 0. 0. 0. 1. ]] SLAMing on 4.945779523 meters 0.0679888142774845 Centerline is valid? [True, True] Translation: X:1.26, Y:-2.11, Z:-0.17 [[ 0.99732759 -0.03959388 0.06140028 1.25818486] [ 0.03989524 0.99919706 -0.0036896 -2.10659952] [-0.06120489 0.00612932 0.9981064 -0.16698957] [ 0. 0. 0. 1. ]] SLAMing on 5.005779522999999 meters 0.07049282688957564 Centerline is valid? [True, True] Translation: X:1.32, Y:-2.11, Z:-0.18 [[ 0.99714831 -0.04468557 0.06081488 1.31808784] [ 0.04499062 0.99898072 -0.00365532 -2.11447593] [-0.06058955 0.006381 0.99814237 -0.17545652] [ 0. 0. 0. 1. ]] SLAMing on 5.065779523 meters 0.06966676876360049 Centerline is valid? [True, True] Translation: X:1.38, Y:-2.12, Z:-0.18 [[ 0.99677255 -0.03998155 0.0696129 1.378922 ] [ 0.04037018 0.99917603 -0.00418434 -2.11913728] [-0.06938824 0.00698112 0.9975653 -0.17860223] [ 0. 0. 0. 1. ]] SLAMing on 5.125779522999999 meters 0.06614205048659819 Centerline is valid? [True, True] Translation: X:1.44, Y:-2.13, Z:-0.18 [[ 0.99701552 -0.03216167 0.07018324 1.43934827] [ 0.03253761 0.9994616 -0.00421956 -2.12740992] [-0.07000975 0.00649057 0.99752519 -0.17733901] [ 0. 0. 0. 1. ]] SLAMing on 5.185779523 meters 0.06236995961477125 Centerline is valid? [True, True] Translation: X:1.50, Y:-2.13, Z:-0.19 [[ 0.99772376 -0.02233495 0.06362738 1.49923699] [ 0.02262399 0.99973672 -0.00382575 -2.12710139] [-0.06352518 0.00525655 0.99796639 -0.18997683] [ 0. 0. 0. 1. ]] SLAMing on 5.2457795229999995 meters 0.06305440038783905 Centerline is valid? [True, True] Translation: X:1.56, Y:-2.13, Z:-0.19 [[ 0.99715338 -0.02150824 0.07226705 1.55920865] [ 0.02187923 0.99975118 -0.00434585 -2.13494943] [-0.0721556 0.00591462 0.99737585 -0.18680846] [ 0. 0. 0. 1. ]] SLAMing on 5.305779522999999 meters 0.0690727833086733 Centerline is valid? [True, True] Translation: X:1.62, Y:-2.15, Z:-0.19 [[ 0.99680357 -0.02834247 0.07469506 1.6183137 ] [ 0.0287579 0.99957631 -0.00449186 -2.15190389] [-0.0745361 0.00662557 0.99719631 -0.1883922 ] [ 0. 0. 0. 1. ]] SLAMing on 5.365779523 meters 0.08308718920178888 Centerline is valid? [True, True] Translation: X:1.68, Y:-2.17, Z:-0.20 [[ 0.99672396 -0.03804123 0.0713738 1.67577991] [ 0.03844504 0.9992515 -0.00429201 -2.16808985] [-0.07115711 0.00702192 0.9974404 -0.20211669] [ 0. 0. 0. 1. ]] SLAMing on 5.425779522999999 meters 0.08105481561207895 Centerline is valid? [True, True] Translation: X:1.74, Y:-2.16, Z:-0.21 [[ 0.99673445 -0.04061723 0.06979026 1.73649077] [ 0.04100959 0.99914993 -0.00419784 -2.16074243] [-0.06956043 0.0070462 0.99755285 -0.21118972] [ 0. 0. 0. 1. ]] SLAMing on 5.485779523 meters 0.08122144001126318 Centerline is valid? [True, True] Translation: X:1.80, Y:-2.16, Z:-0.22 [[ 0.99687988 -0.03816108 0.06909587 1.79679923] [ 0.03853986 0.99924842 -0.0041566 -2.1573303 ] [-0.06888532 0.00680658 0.99760137 -0.21806209] [ 0. 0. 0. 1. ]] SLAMing on 5.545779522999999 meters 0.07394221236924733 Centerline is valid? [True, True] Translation: X:1.86, Y:-2.14, Z:-0.22 [[ 0.99689891 -0.02784478 0.07360185 1.85896499] [ 0.02824688 0.99959117 -0.00442762 -2.14371216] [-0.07344847 0.00649291 0.99727788 -0.21545606] [ 0. 0. 0. 1. ]] SLAMing on 5.605779523 meters 0.06977345296227011 Centerline is valid? [True, True] Translation: X:1.92, Y:-2.13, Z:-0.21 [[ 0.99664721 -0.02142377 0.07896428 1.92111325] [ 0.02186686 0.9997496 -0.00475077 -2.13454135] [-0.07884273 0.00646155 0.99686613 -0.21143006] [ 0. 0. 0. 1. ]] SLAMing on 5.665779522999999 meters 0.03133359378207204 Centerline is valid? [True, True] Translation: X:1.99, Y:-2.07, Z:-0.21 [[ 0.99633203 -0.00610149 0.08535377 1.98587156] [ 0.00656375 0.99996527 -0.00513619 -2.06892608] [-0.08531946 0.00567759 0.99633747 -0.21216498] [ 0. 0. 0. 1. ]] SLAMing on 5.725779523 meters 0.027745188706966954 Centerline is valid? [True, True] Translation: X:2.05, Y:-2.06, Z:-0.22 [[ 0.99643618 0.004226 0.08424415 2.04713441] [-0.00381242 0.99997988 -0.00506953 -2.06262716] [-0.08426388 0.00473029 0.99643225 -0.21768662] [ 0. 0. 0. 1. ]] SLAMing on 5.7857795229999995 meters 0.02991704027637731 Centerline is valid? [True, True] Translation: X:2.11, Y:-2.07, Z:-0.23 [[ 9.96851816e-01 -4.19875437e-04 7.92860740e-02 2.10685780e+00] [ 8.00780133e-04 9.99988291e-01 -4.77244728e-03 -2.06549857e+00] [-7.92831419e-02 4.82091345e-03 9.96840480e-01 -2.25564025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845779522999999 meters 0.03448732668565298 Centerline is valid? [True, True] Translation: X:2.17, Y:-2.07, Z:-0.23 [[ 0.9967253 -0.01503449 0.07945219 2.1665782 ] [ 0.01546318 0.999869 -0.00478309 -2.07283608] [-0.07936987 0.00599601 0.9968272 -0.23059777] [ 0. 0. 0. 1. ]] SLAMing on 5.905779523 meters 0.040535797772688516 Centerline is valid? [True, True] Translation: X:2.23, Y:-2.09, Z:-0.23 [[ 0.99583161 -0.03064694 0.08590796 2.22671362] [ 0.0312061 0.99949958 -0.00517321 -2.08756982] [-0.08570643 0.0078325 0.99628965 -0.22768116] [ 0. 0. 0. 1. ]] SLAMing on 5.965779522999999 meters 0.05132464182233184 Centerline is valid? [True, True] Translation: X:2.29, Y:-2.12, Z:-0.22 [[ 0.99501098 -0.04251248 0.09025434 2.28546034] [ 0.04317823 0.9990526 -0.00543585 -2.11806652] [-0.08993774 0.00930576 0.99590391 -0.22298399] [ 0. 0. 0. 1. ]] SLAMing on 6.025779523 meters 0.046865887499055285 Centerline is valid? [True, True] Translation: X:2.35, Y:-2.12, Z:-0.23 [[ 0.9950492 -0.03668483 0.09236511 2.34581852] [ 0.03735752 0.99928647 -0.00556397 -2.11714281] [-0.09209509 0.00898695 0.99570966 -0.22802512] [ 0. 0. 0. 1. ]] SLAMing on 6.085779522999999 meters 0.04543948694750664 Centerline is valid? [True, True] Translation: X:2.40, Y:-2.12, Z:-0.24 [[ 0.9959015 -0.02606371 0.0866076 2.40466318] [ 0.02661508 0.99963214 -0.00521754 -2.11952112] [-0.08643976 0.00750122 0.99622884 -0.23750892] [ 0. 0. 0. 1. ]] SLAMing on 6.145779523 meters 0.044998887518471434 Centerline is valid? [True, True] Translation: X:2.46, Y:-2.12, Z:-0.24 [[ 0.9961416 -0.02121646 0.0851574 2.4648274 ] [ 0.02173189 0.99975067 -0.00513017 -2.12266959] [-0.08502733 0.00696101 0.9963543 -0.2426827 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2057795229999995 meters 0.04449248326030718 Centerline is valid? [True, True] Translation: X:2.53, Y:-2.13, Z:-0.24 [[ 0.99578273 -0.01789354 0.08998097 2.52596579] [ 0.01845582 0.99981498 -0.00542068 -2.1252014 ] [-0.08986733 0.00705849 0.99592873 -0.23956096] [ 0. 0. 0. 1. ]] SLAMing on 6.265779523 meters 0.0460759604124587 Centerline is valid? [True, True] Translation: X:2.59, Y:-2.13, Z:-0.25 [[ 0.99619596 -0.01757422 0.08535081 2.58800434] [ 0.01807882 0.99982334 -0.0051427 -2.13096375] [-0.08524535 0.00666618 0.99633769 -0.2470532 ] [ 0. 0. 0. 1. ]] SLAMing on 6.325779523 meters 0.04937165453804206 Centerline is valid? [True, True] Translation: X:2.65, Y:-2.14, Z:-0.27 [[ 0.99712585 -0.02008297 0.07305287 2.64664272] [ 0.02045933 0.99978097 -0.00440715 -2.13694612] [-0.07294836 0.0058891 0.99731833 -0.26887259] [ 0. 0. 0. 1. ]] SLAMing on 6.385779522999999 meters 0.053382583357227384 Centerline is valid? [True, True] Translation: X:2.71, Y:-2.15, Z:-0.27 [[ 0.99677375 -0.02461054 0.07639638 2.70693315] [ 0.02503549 0.99967594 -0.00460955 -2.14943749] [-0.07625818 0.0065073 0.99706687 -0.27015832] [ 0. 0. 0. 1. ]] SLAMing on 6.445779523 meters 0.058899905332961765 Centerline is valid? [True, True] Translation: X:2.77, Y:-2.16, Z:-0.27 [[ 0.99652277 -0.03030283 0.0776151 2.76647002] [ 0.03075866 0.99951587 -0.00468391 -2.1586172 ] [-0.07743559 0.00705496 0.9969724 -0.27116665] [ 0. 0. 0. 1. ]] SLAMing on 6.505779522999999 meters 0.050372972039510126 Centerline is valid? [True, True] Translation: X:2.83, Y:-2.16, Z:-0.28 [[ 0.9963418 -0.03959902 0.07572936 2.82686948] [ 0.04005953 0.99918684 -0.00457101 -2.15731963] [-0.07548677 0.00758797 0.99711793 -0.27887369] [ 0. 0. 0. 1. ]] SLAMing on 6.565779523 meters 0.07139503392813637 Centerline is valid? [True, True] Translation: X:2.88, Y:-2.20, Z:-0.28 [[ 0.99622726 -0.0431479 0.07529613 2.88478631] [ 0.04361314 0.99903816 -0.00454467 -2.19818163] [-0.07502762 0.00781142 0.99715086 -0.28205942] [ 0. 0. 0. 1. ]] SLAMing on 6.625779522999999 meters 0.05448873717575253 Centerline is valid? [True, True] Translation: X:2.95, Y:-2.18, Z:-0.29 [[ 0.99621523 -0.04329956 0.07536819 2.94869256] [ 0.04376616 0.99903144 -0.00454952 -2.17536383] [-0.0750982 0.00783088 0.99714539 -0.2852025 ] [ 0. 0. 0. 1. ]] SLAMing on 6.685779523 meters 0.05395119258699339 Centerline is valid? [True, True] Translation: X:3.01, Y:-2.17, Z:-0.30 [[ 0.99647609 -0.03963306 0.0739231 3.00923362] [ 0.04007228 0.9991868 -0.00446736 -2.17153321] [-0.07368593 0.00741388 0.99725394 -0.29624958] [ 0. 0. 0. 1. ]] SLAMing on 6.7457795229999995 meters 0.05461806524999876 Centerline is valid? [True, True] Translation: X:3.07, Y:-2.18, Z:-0.30 [[ 0.99655719 -0.03583378 0.07476441 3.06890828] [ 0.0362726 0.99933171 -0.00451935 -2.18003128] [-0.0745525 0.00721569 0.99719098 -0.30112176] [ 0. 0. 0. 1. ]] SLAMing on 6.805779522999999 meters 0.05312993785372408 Centerline is valid? [True, True] Translation: X:3.13, Y:-2.18, Z:-0.31 [[ 0.99685787 -0.02948709 0.07351805 3.12916842] [ 0.02989432 0.99954318 -0.00444472 -2.18410923] [-0.0733534 0.00662853 0.99728398 -0.30663128] [ 0. 0. 0. 1. ]] SLAMing on 6.865779523 meters 0.05115133640406026 Centerline is valid? [True, True] Translation: X:3.19, Y:-2.18, Z:-0.32 [[ 0.99724063 -0.02123893 0.07113388 3.18988668] [ 0.02159933 0.99975746 -0.00430109 -2.17699802] [-0.07102528 0.00582566 0.9974575 -0.31538177] [ 0. 0. 0. 1. ]] SLAMing on 6.925779522999999 meters 0.0412994748869151 Centerline is valid? [True, True] Translation: X:3.25, Y:-2.16, Z:-0.32 [[ 0.99703214 -0.01559501 0.07539033 3.25211823] [ 0.015984 0.99986185 -0.00455899 -2.15711177] [-0.07530881 0.00575049 0.99714368 -0.31597006] [ 0. 0. 0. 1. ]] SLAMing on 6.985779523 meters 0.03330660088990197 Centerline is valid? [True, True] Translation: X:3.31, Y:-2.15, Z:-0.31 [[ 0.99648559 -0.01339399 0.08268663 3.31435326] [ 0.01385475 0.99989151 -0.00500112 -2.1508987 ] [-0.08261068 0.00612915 0.99656305 -0.30956296] [ 0. 0. 0. 1. ]] SLAMing on 7.045779522999999 meters 0.03712144178305859 Centerline is valid? [True, True] Translation: X:3.38, Y:-2.15, Z:-0.31 [[ 0.99570442 -0.01979319 0.0904485 3.37507356] [ 0.02037125 0.99977751 -0.00547221 -2.15150769] [-0.09032007 0.00729125 0.9958861 -0.3063931 ] [ 0. 0. 0. 1. ]] SLAMing on 7.105779523 meters 0.04028152691139103 Centerline is valid? [True, True] Translation: X:3.44, Y:-2.15, Z:-0.32 [[ 0.9958214 -0.02472014 0.08791271 3.43535249] [ 0.0252852 0.99966612 -0.00531954 -2.15027563] [-0.08775186 0.0075202 0.99611398 -0.31639033] [ 0. 0. 0. 1. ]] SLAMing on 7.165779522999999 meters 0.04479265317786131 Centerline is valid? [True, True] Translation: X:3.50, Y:-2.16, Z:-0.32 [[ 0.9958472 -0.03298044 0.08485662 3.49541547] [ 0.03353668 0.99942428 -0.00513748 -2.1627729 ] [-0.08463833 0.00796195 0.99637993 -0.31967879] [ 0. 0. 0. 1. ]] SLAMing on 7.225779522999999 meters 0.04143777300211163 Centerline is valid? [True, True] Translation: X:3.56, Y:-2.16, Z:-0.33 [[ 0.9959065 -0.04576364 0.07794825 3.55516338] [ 0.0462714 0.99891776 -0.0047195 -2.16342802] [-0.07764791 0.00830695 0.99694624 -0.32859821] [ 0. 0. 0. 1. ]] SLAMing on 7.2857795229999995 meters 0.04520820908675769 Centerline is valid? [True, True] Translation: X:3.61, Y:-2.17, Z:-0.34 [[ 0.99565471 -0.0502827 0.07837953 3.61395176] [ 0.05081 0.99869706 -0.0047465 -2.16566658] [-0.07803874 0.00870834 0.99691229 -0.33750057] [ 0. 0. 0. 1. ]] SLAMing on 7.345779522999999 meters 0.04569189220562802 Centerline is valid? [True, True] Translation: X:3.67, Y:-2.18, Z:-0.34 [[ 0.99546131 -0.04686353 0.08282872 3.67447896] [ 0.04744114 0.99886143 -0.00501817 -2.17522457] [-0.08249924 0.00892488 0.99655116 -0.33920237] [ 0. 0. 0. 1. ]] SLAMing on 7.405779523 meters 0.043620786359771097 Centerline is valid? [True, True] Translation: X:3.73, Y:-2.18, Z:-0.34 [[ 0.99585134 -0.03889492 0.08226357 3.73476573] [ 0.03943784 0.99920959 -0.00498466 -2.17620384] [-0.08200467 0.00820828 0.99659814 -0.34327091] [ 0. 0. 0. 1. ]] SLAMing on 7.465779522999999 meters 0.03749803278500274 Centerline is valid? [True, True] Translation: X:3.80, Y:-2.17, Z:-0.35 [[ 0.99631195 -0.02919335 0.08068613 3.79546987] [ 0.02968409 0.99954737 -0.00488909 -2.16751958] [-0.08050688 0.00726615 0.99672757 -0.34857572] [ 0. 0. 0. 1. ]] SLAMing on 7.525779523 meters 0.03498593876589519 Centerline is valid? [True, True] Translation: X:3.86, Y:-2.17, Z:-0.35 [[ 0.99664152 -0.0165246 0.08020357 3.85666901] [ 0.01696884 0.99984421 -0.00486045 -2.16796524] [-0.08011076 0.00620509 0.99676665 -0.35000238] [ 0. 0. 0. 1. ]] SLAMing on 7.585779522999999 meters 0.033301347995418625 Centerline is valid? [True, True] Translation: X:3.92, Y:-2.17, Z:-0.35 [[ 0.996502 -0.00715426 0.08326214 3.91791444] [ 0.00760073 0.99995838 -0.0050465 -2.16868913] [-0.08322257 0.0056617 0.9965149 -0.35197705] [ 0. 0. 0. 1. ]] SLAMing on 7.645779523 meters 0.03131534840996891 Centerline is valid? [True, True] Translation: X:3.98, Y:-2.17, Z:-0.35 [[ 9.96256861e-01 3.24015453e-03 8.63815287e-02 3.97825931e+00] [-2.79822729e-03 9.99982374e-01 -5.23658574e-03 -2.16516325e+00] [-8.63969734e-02 4.97526932e-03 9.96248367e-01 -3.54851778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057795229999995 meters 0.029774756254721313 Centerline is valid? [True, True] Translation: X:4.04, Y:-2.16, Z:-0.37 [[ 0.99673718 0.00739309 0.08037618 4.03853424] [-0.00702406 0.99996346 -0.00487311 -2.15979622] [-0.08040927 0.00429264 0.99675269 -0.371596 ] [ 0. 0. 0. 1. ]] SLAMing on 7.765779522999999 meters 0.02863738449492985 Centerline is valid? [True, True] Translation: X:4.10, Y:-2.17, Z:-0.39 [[ 9.97624198e-01 1.38185090e-02 6.74907991e-02 4.09709675e+00] [-1.35731467e-02 9.99899505e-01 -4.09271637e-03 -2.17270392e+00] [-6.75405719e-02 3.16693037e-03 9.97711502e-01 -3.90981653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825779523 meters 0.028705198645013908 Centerline is valid? [True, True] Translation: X:4.16, Y:-2.18, Z:-0.39 [[ 9.97531193e-01 1.64822817e-02 6.82631256e-02 4.15721881e+00] [-1.62374209e-02 9.99859592e-01 -4.14035617e-03 -2.18026300e+00] [-6.83217834e-02 3.02171733e-03 9.97658761e-01 -3.93800129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885779522999999 meters 0.02767768362835871 Centerline is valid? [True, True] Translation: X:4.22, Y:-2.18, Z:-0.40 [[ 9.97209729e-01 1.71611454e-02 7.26515797e-02 4.21986157e+00] [-1.68855394e-02 9.99847721e-01 -4.40607033e-03 -2.17537427e+00] [-7.27161296e-02 3.16701509e-03 9.97347650e-01 -3.98072334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945779523 meters 0.0279485159360357 Centerline is valid? [True, True] Translation: X:4.28, Y:-2.19, Z:-0.39 [[ 9.97121521e-01 1.24936144e-02 7.47835725e-02 4.28063231e+00] [-1.21869942e-02 9.99915361e-01 -4.55504723e-03 -2.19450117e+00] [-7.48341519e-02 3.63054866e-03 9.97189385e-01 -3.94682938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005779523 meters 0.03048591672896907 Centerline is valid? [True, True] Translation: X:4.34, Y:-2.21, Z:-0.40 [[ 9.97290295e-01 6.91807481e-03 7.32407580e-02 4.34066003e+00] [-6.60883405e-03 9.99968199e-01 -4.46375418e-03 -2.21031835e+00] [-7.32693094e-02 3.96762270e-03 9.97304300e-01 -3.98117441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065779523 meters 0.04134252106613477 Centerline is valid? [True, True] Translation: X:4.40, Y:-2.22, Z:-0.41 [[ 0.99683336 -0.00449952 0.07939149 4.39986241] [ 0.00489914 0.99997629 -0.00483944 -2.21767329] [-0.07936784 0.00521307 0.99683177 -0.40648869] [ 0. 0. 0. 1. ]] SLAMing on 8.125779523 meters 0.032572001024640584 Centerline is valid? [True, True] Translation: X:4.46, Y:-2.22, Z:-0.40 [[ 0.99618295 -0.01450802 0.08607586 4.4613384 ] [ 0.01501516 0.9998735 -0.0052472 -2.21530056] [-0.08598884 0.00651962 0.99627477 -0.40180599] [ 0. 0. 0. 1. ]] SLAMing on 8.185779523 meters 0.03703163987019882 Centerline is valid? [True, True] Translation: X:4.52, Y:-2.23, Z:-0.41 [[ 0.99610956 -0.02104265 0.0855743 4.51997682] [ 0.02156783 0.99975377 -0.0052171 -2.22641757] [-0.08544345 0.00704246 0.99631813 -0.40627956] [ 0. 0. 0. 1. ]] SLAMing on 8.245779523 meters 0.0367159255130905 Centerline is valid? [True, True] Translation: X:4.58, Y:-2.22, Z:-0.42 [[ 0.99682292 -0.02653599 0.07509936 4.57980017] [ 0.02695569 0.99962614 -0.00458041 -2.22370729] [-0.07494974 0.00659021 0.99716554 -0.42342905] [ 0. 0. 0. 1. ]] SLAMing on 8.305779523 meters 0.0388120492665456 Centerline is valid? [True, True] Translation: X:4.64, Y:-2.22, Z:-0.43 [[ 9.96965933e-01 -2.51761216e-02 7.36552244e-02 4.63989794e+00] [ 2.55761795e-02 9.99662778e-01 -4.49320473e-03 -2.21810681e+00] [-7.35172648e-02 6.36339129e-03 9.97273643e-01 -4.33108122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365779523 meters 0.038946733325783536 Centerline is valid? [True, True] Translation: X:4.70, Y:-2.21, Z:-0.44 [[ 9.96796483e-01 -2.43176177e-02 7.61933380e-02 4.70250632e+00] [ 2.47439140e-02 9.99682981e-01 -4.65576010e-03 -2.20946688e+00] [-7.60559663e-02 6.52616669e-03 9.97082193e-01 -4.35939865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425779523000001 meters 0.0435922494410401 Centerline is valid? [True, True] Translation: X:4.76, Y:-2.22, Z:-0.44 [[ 0.99658025 -0.02723399 0.07801357 4.76199899] [ 0.0276914 0.99960506 -0.00478726 -2.2162691 ] [-0.07785238 0.0069312 0.9969408 -0.43712508] [ 0. 0. 0. 1. ]] SLAMing on 8.485779523 meters 0.04536440442836398 Centerline is valid? [True, True] Translation: X:4.82, Y:-2.21, Z:-0.44 [[ 9.96085021e-01 -4.16196617e-02 7.79899670e-02 4.82281436e+00] [ 4.21203218e-02 9.99101088e-01 -4.78487728e-03 -2.21456632e+00] [-7.77207159e-02 8.05110709e-03 9.96942661e-01 -4.44208274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545779523 meters 0.04961363627350672 Centerline is valid? [True, True] Translation: X:4.88, Y:-2.23, Z:-0.45 [[ 9.95847036e-01 -5.08061977e-02 7.55474059e-02 4.88242852e+00] [ 5.13020060e-02 9.98672427e-01 -4.63552487e-03 -2.22993621e+00] [-7.52115978e-02 8.49200718e-03 9.97131436e-01 -4.48643243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605779523 meters 0.044760223936379046 Centerline is valid? [True, True] Translation: X:4.94, Y:-2.24, Z:-0.45 [[ 9.95581406e-01 -4.92720981e-02 7.99369975e-02 4.94331660e+00] [ 4.98225542e-02 9.98746041e-01 -4.90505854e-03 -2.23700888e+00] [-7.95950772e-02 8.86605047e-03 9.96787849e-01 -4.46063198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665779523000001 meters 0.04107813467880636 Centerline is valid? [True, True] Translation: X:5.00, Y:-2.23, Z:-0.45 [[ 0.99529294 -0.04083541 0.08788877 5.00495263] [ 0.04146901 0.99912523 -0.00539457 -2.23388506] [-0.0875916 0.00901384 0.99611569 -0.44503354] [ 0. 0. 0. 1. ]] SLAMing on 8.725779523 meters 0.04572899042180737 Centerline is valid? [True, True] Translation: X:5.06, Y:-2.24, Z:-0.45 [[ 0.99528877 -0.03595148 0.09004309 5.06405444] [ 0.03659694 0.99931482 -0.00552713 -2.24315773] [-0.08978268 0.00879639 0.99592253 -0.44822151] [ 0. 0. 0. 1. ]] SLAMing on 8.785779523 meters 0.04038821936165287 Centerline is valid? [True, True] Translation: X:5.12, Y:-2.24, Z:-0.46 [[ 0.99596462 -0.028111 0.08523055 5.12410395] [ 0.02866072 0.9995755 -0.00523281 -2.23932445] [-0.08504727 0.00765447 0.99634752 -0.46189721] [ 0. 0. 0. 1. ]] SLAMing on 8.845779523000001 meters 0.04475797084790788 Centerline is valid? [True, True] Translation: X:5.18, Y:-2.25, Z:-0.47 [[ 9.96072927e-01 -2.94117086e-02 8.35085318e-02 5.18302857e+00] [ 2.99439221e-02 9.99538428e-01 -5.12758553e-03 -2.24892854e+00] [-8.33191756e-02 7.60802210e-03 9.96493870e-01 -4.70127701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905779523 meters 0.045008301819669666 Centerline is valid? [True, True] Translation: X:5.24, Y:-2.25, Z:-0.48 [[ 9.95838457e-01 -3.75682587e-02 8.30324846e-02 5.24342406e+00] [ 3.81224391e-02 9.99260069e-01 -5.09836718e-03 -2.25289758e+00] [-8.27795095e-02 8.24255094e-03 9.96533799e-01 -4.75324991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965779523 meters 0.0477754593861196 Centerline is valid? [True, True] Translation: X:5.30, Y:-2.27, Z:-0.47 [[ 9.95275027e-01 -4.62670411e-02 8.53638192e-02 5.30312256e+00] [ 4.68845304e-02 9.98886561e-01 -5.24199435e-03 -2.26954025e+00] [-8.50262403e-02 9.21946864e-03 9.96336058e-01 -4.74078680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025779523 meters 0.04199468197300357 Centerline is valid? [True, True] Translation: X:5.36, Y:-2.27, Z:-0.48 [[ 9.95088264e-01 -4.83194561e-02 8.63977799e-02 5.36425216e+00] [ 4.89597792e-02 9.98786654e-01 -5.30654587e-03 -2.26597087e+00] [-8.60365401e-02 9.51049774e-03 9.96246588e-01 -4.79935942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085779523000001 meters 0.04266677321721079 Centerline is valid? [True, True] Translation: X:5.43, Y:-2.27, Z:-0.49 [[ 9.95146901e-01 -4.69882800e-02 8.64566240e-02 5.42546912e+00] [ 4.76246726e-02 9.98851177e-01 -5.31187199e-03 -2.26768721e+00] [-8.61077049e-02 9.40356136e-03 9.96241455e-01 -4.87302716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145779523 meters 0.041638381881537255 Centerline is valid? [True, True] Translation: X:5.49, Y:-2.28, Z:-0.49 [[ 9.95295947e-01 -4.38887013e-02 8.63698999e-02 5.48595246e+00] [ 4.45126683e-02 9.98994703e-01 -5.31085664e-03 -2.27812925e+00] [-8.60499859e-02 9.13042879e-03 9.96248983e-01 -4.88605068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205779523 meters 0.04309301155850942 Centerline is valid? [True, True] Translation: X:5.55, Y:-2.29, Z:-0.49 [[ 9.95536425e-01 -4.36469017e-02 8.36789985e-02 5.54746151e+00] [ 4.42316814e-02 9.99008045e-01 -5.14638087e-03 -2.29290182e+00] [-8.33713690e-02 8.82467241e-03 9.96479473e-01 -4.87184318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265779523 meters 0.04323774769978068 Centerline is valid? [True, True] Translation: X:5.61, Y:-2.29, Z:-0.49 [[ 9.95594121e-01 -4.20679147e-02 8.38011696e-02 5.60840309e+00] [ 4.26505495e-02 9.99076655e-01 -5.17373259e-03 -2.28884727e+00] [-8.35061441e-02 8.72510368e-03 9.96469064e-01 -4.94427700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325779523 meters 0.04346787742703918 Centerline is valid? [True, True] Translation: X:5.67, Y:-2.30, Z:-0.50 [[ 9.95949128e-01 -4.10579632e-02 7.99973572e-02 5.66922220e+00] [ 4.15856051e-02 9.99122731e-01 -4.94019761e-03 -2.29934435e+00] [-7.97243435e-02 8.24692400e-03 9.96782834e-01 -5.01992517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385779523 meters 0.04165743075121565 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.30, Z:-0.51 [[ 9.95962873e-01 -4.35001632e-02 7.85219126e-02 5.72964104e+00] [ 4.40162740e-02 9.99019026e-01 -4.85321981e-03 -2.29859569e+00] [-7.82337688e-02 8.28986877e-03 9.96900575e-01 -5.10285637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445779523 meters 0.04324243410579439 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.30, Z:-0.52 [[ 9.96123584e-01 -4.47499686e-02 7.57314101e-02 5.78980353e+00] [ 4.52335164e-02 9.98965473e-01 -4.68100232e-03 -2.29914534e+00] [-7.54435892e-02 8.08845479e-03 9.97117266e-01 -5.19849459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505779523000001 meters 0.04560611411199362 Centerline is valid? [True, True] Translation: X:5.85, Y:-2.31, Z:-0.52 [[ 9.96156482e-01 -4.98624658e-02 7.20138735e-02 5.84965206e+00] [ 5.03128425e-02 9.98723582e-01 -4.45252825e-03 -2.30772909e+00] [-7.16999396e-02 8.05863756e-03 9.97393692e-01 -5.23452645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565779523 meters 0.05161240757389111 Centerline is valid? [True, True] Translation: X:5.91, Y:-2.33, Z:-0.52 [[ 9.95956447e-01 -5.33606361e-02 7.22730775e-02 5.90857817e+00] [ 5.38233783e-02 9.98540471e-01 -4.46896623e-03 -2.32561894e+00] [-7.19291260e-02 8.34087692e-03 9.97374870e-01 -5.22030782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625779523 meters 0.05358003133205412 Centerline is valid? [True, True] Translation: X:5.97, Y:-2.32, Z:-0.53 [[ 9.95932348e-01 -5.24064312e-02 7.32961364e-02 5.97054267e+00] [ 5.28798033e-02 9.98590603e-01 -4.53143857e-03 -2.32046160e+00] [-7.29553565e-02 8.38889153e-03 9.97299926e-01 -5.30228076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685779523 meters 0.04275251755862527 Centerline is valid? [True, True] Translation: X:6.03, Y:-2.30, Z:-0.54 [[ 9.96550889e-01 -4.48807145e-02 6.98000459e-02 6.03175554e+00] [ 4.52919308e-02 9.98964457e-01 -4.31912874e-03 -2.30428632e+00] [-6.95339193e-02 7.46561044e-03 9.97551652e-01 -5.40464423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745779523 meters 0.048295384964963044 Centerline is valid? [True, True] Translation: X:6.09, Y:-2.32, Z:-0.54 [[ 9.96936114e-01 -3.76051460e-02 6.85874395e-02 6.09100617e+00] [ 3.79851485e-02 9.99269291e-01 -4.24419959e-03 -2.31736622e+00] [-6.83777182e-02 6.83649992e-03 9.97636081e-01 -5.43611800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805779523 meters 0.04699079965062979 Centerline is valid? [True, True] Translation: X:6.15, Y:-2.31, Z:-0.54 [[ 9.96792271e-01 -3.48616793e-02 7.20404808e-02 6.15229341e+00] [ 3.52739860e-02 9.99367734e-01 -4.45859221e-03 -2.31426884e+00] [-7.18394980e-02 6.98544517e-03 9.97391744e-01 -5.42448728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865779523 meters 0.04524395177416734 Centerline is valid? [True, True] Translation: X:6.21, Y:-2.31, Z:-0.54 [[ 9.96062261e-01 -3.79144909e-02 8.01402711e-02 6.21416581e+00] [ 3.84348414e-02 9.99248799e-01 -4.95987193e-03 -2.30666355e+00] [-7.98920187e-02 8.02051986e-03 9.96771256e-01 -5.37340813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925779523000001 meters 0.04795846334109007 Centerline is valid? [True, True] Translation: X:6.27, Y:-2.32, Z:-0.54 [[ 9.95877934e-01 -4.04447800e-02 8.11871948e-02 6.27343400e+00] [ 4.09871980e-02 9.99147036e-01 -5.02497976e-03 -2.31903093e+00] [-8.09147108e-02 8.33190209e-03 9.96686204e-01 -5.39769482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985779523 meters 0.050445413444514337 Centerline is valid? [True, True] Translation: X:6.33, Y:-2.33, Z:-0.55 [[ 9.96268477e-01 -4.19321463e-02 7.54375069e-02 6.33304058e+00] [ 4.24043488e-02 9.99089626e-01 -4.66801749e-03 -2.33048659e+00] [-7.51730906e-02 7.84947703e-03 9.97139605e-01 -5.49034102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045779523 meters 0.050924210122680606 Centerline is valid? [True, True] Translation: X:6.40, Y:-2.32, Z:-0.56 [[ 9.96573488e-01 -4.12681368e-02 7.16814123e-02 6.39552068e+00] [ 4.16927054e-02 9.99120632e-01 -4.43626622e-03 -2.31863464e+00] [-7.14353016e-02 7.40965731e-03 9.97417713e-01 -5.63164558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105779523 meters 0.05271019082970345 Centerline is valid? [True, True] Translation: X:6.46, Y:-2.32, Z:-0.57 [[ 9.97036952e-01 -4.05892693e-02 6.53439139e-02 6.45625380e+00] [ 4.09405752e-02 9.99153393e-01 -4.04567299e-03 -2.32356839e+00] [-6.51243823e-02 6.70890289e-03 9.97854601e-01 -5.74213397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165779523 meters 0.05532190444050829 Centerline is valid? [True, True] Translation: X:6.52, Y:-2.34, Z:-0.57 [[ 9.96597267e-01 -4.16612469e-02 7.11212159e-02 6.51656583e+00] [ 4.20815571e-02 9.99104397e-01 -4.42104006e-03 -2.33983627e+00] [-7.08733335e-02 7.39888795e-03 9.97457882e-01 -5.69716989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225779523 meters 0.061671204317143735 Centerline is valid? [True, True] Translation: X:6.58, Y:-2.35, Z:-0.57 [[ 9.95488303e-01 -5.08193204e-02 8.01276216e-02 6.57600404e+00] [ 5.13833121e-02 9.98666533e-01 -4.99118348e-03 -2.34968711e+00] [-7.97671255e-02 9.08588736e-03 9.96772117e-01 -5.65050438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285779523 meters 0.06630170055767155 Centerline is valid? [True, True] Translation: X:6.64, Y:-2.35, Z:-0.57 [[ 9.95326750e-01 -5.54204202e-02 7.90774124e-02 6.63644776e+00] [ 5.59840755e-02 9.98419505e-01 -4.92706438e-03 -2.35174490e+00] [-7.86793710e-02 9.33111481e-03 9.96856302e-01 -5.72138487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345779523000001 meters 0.0709037649204582 Centerline is valid? [True, True] Translation: X:6.69, Y:-2.35, Z:-0.59 [[ 9.95798124e-01 -5.70390380e-02 7.16424795e-02 6.69483048e+00] [ 5.75055006e-02 9.98335211e-01 -4.46368696e-03 -2.35488496e+00] [-7.12686055e-02 8.56476775e-03 9.97420388e-01 -5.86678841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405779523 meters 0.05427755983593639 Centerline is valid? [True, True] Translation: X:6.76, Y:-2.34, Z:-0.59 [[ 9.95937665e-01 -5.94845996e-02 6.75999262e-02 6.75651625e+00] [ 5.99053966e-02 9.98195168e-01 -4.21303595e-03 -2.34262853e+00] [-6.72273089e-02 8.24552158e-03 9.97703613e-01 -5.88509627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465779523 meters 0.0572192206070026 Centerline is valid? [True, True] Translation: X:6.82, Y:-2.34, Z:-0.59 [[ 9.95501702e-01 -6.09835717e-02 7.25076895e-02 6.81823060e+00] [ 6.14718252e-02 9.98098587e-01 -4.51938005e-03 -2.33878761e+00] [-7.20942145e-02 8.95623054e-03 9.97357614e-01 -5.89871646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525779523 meters 0.05817711331073654 Centerline is valid? [True, True] Translation: X:6.88, Y:-2.34, Z:-0.60 [[ 9.95721937e-01 -5.78860932e-02 7.20209993e-02 6.87855499e+00] [ 5.83600136e-02 9.98285497e-01 -4.49172515e-03 -2.33873020e+00] [-7.16375107e-02 8.67565577e-03 9.97393002e-01 -5.96428292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585779523 meters 0.05277305868770525 Centerline is valid? [True, True] Translation: X:6.94, Y:-2.34, Z:-0.60 [[ 9.95838893e-01 -5.53076864e-02 7.24289991e-02 6.93895714e+00] [ 5.57802860e-02 9.98432850e-01 -4.51707523e-03 -2.33868795e+00] [-7.20656630e-02 8.53838947e-03 9.97363342e-01 -5.98244001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645779523 meters 0.04421087058957724 Centerline is valid? [True, True] Translation: X:7.00, Y:-2.32, Z:-0.60 [[ 9.96030552e-01 -4.54487124e-02 7.65346579e-02 7.00046771e+00] [ 4.59478854e-02 9.98932435e-01 -4.77306200e-03 -2.32490880e+00] [-7.62360226e-02 8.27072126e-03 9.97055497e-01 -5.96904049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705779523 meters 0.043178333023904183 Centerline is valid? [True, True] Translation: X:7.06, Y:-2.32, Z:-0.61 [[ 9.96190804e-01 -4.09161794e-02 7.70048594e-02 7.06124848e+00] [ 4.14081869e-02 9.99130770e-01 -4.80282932e-03 -2.31521333e+00] [-7.67414110e-02 7.97316601e-03 9.97019149e-01 -6.06768792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765779523 meters 0.04544506561570779 Centerline is valid? [True, True] Translation: X:7.12, Y:-2.32, Z:-0.61 [[ 9.96225664e-01 -3.99991812e-02 7.70356486e-02 7.12174807e+00] [ 4.04889175e-02 9.99168433e-01 -4.80530200e-03 -2.32167393e+00] [-7.67793801e-02 7.90625520e-03 9.97016759e-01 -6.13300092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825779523 meters 0.048227273771913264 Centerline is valid? [True, True] Translation: X:7.18, Y:-2.34, Z:-0.62 [[ 9.96204609e-01 -4.29396254e-02 7.57137057e-02 7.18114208e+00] [ 4.34218508e-02 9.99045612e-01 -4.73366805e-03 -2.34235725e+00] [-7.54381835e-02 8.00333116e-03 9.97118362e-01 -6.16733748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885779523 meters 0.05134163334493145 Centerline is valid? [True, True] Translation: X:7.24, Y:-2.35, Z:-0.62 [[ 9.96147375e-01 -4.50871024e-02 7.52167581e-02 7.24014462e+00] [ 4.55690807e-02 9.98950119e-01 -4.70312465e-03 -2.35195789e+00] [-7.49257391e-02 8.11256379e-03 9.97156116e-01 -6.21712348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945779523 meters 0.05478529517100753 Centerline is valid? [True, True] Translation: X:7.30, Y:-2.36, Z:-0.63 [[ 9.96268858e-01 -4.56994986e-02 7.32114599e-02 7.30089904e+00] [ 4.61574902e-02 9.98923698e-01 -4.57521225e-03 -2.35650233e+00] [-7.29235773e-02 7.93739873e-03 9.97305946e-01 -6.28955892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005779523000001 meters 0.057730756058319906 Centerline is valid? [True, True] Translation: X:7.36, Y:-2.37, Z:-0.64 [[ 9.96316793e-01 -4.94866176e-02 7.00280087e-02 7.36073988e+00] [ 4.99159058e-02 9.98743765e-01 -4.39259092e-03 -2.37037095e+00] [-6.97226626e-02 7.87192358e-03 9.97535354e-01 -6.36806768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065779523 meters 0.05759157131793976 Centerline is valid? [True, True] Translation: X:7.42, Y:-2.38, Z:-0.64 [[ 9.95433793e-01 -5.86366505e-02 7.53213625e-02 7.42045637e+00] [ 5.91593586e-02 9.98237367e-01 -4.72547299e-03 -2.38014402e+00] [-7.49115126e-02 9.15985900e-03 9.97148115e-01 -6.39443771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125779523 meters 0.0671445116406533 Centerline is valid? [True, True] Translation: X:7.48, Y:-2.40, Z:-0.64 [[ 9.95093077e-01 -5.83781139e-02 7.98859383e-02 7.48086383e+00] [ 5.89655383e-02 9.98247436e-01 -5.01210098e-03 -2.39643473e+00] [-7.94533361e-02 9.69802434e-03 9.96791410e-01 -6.39854772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185779523 meters 0.05642365682110186 Centerline is valid? [True, True] Translation: X:7.54, Y:-2.39, Z:-0.64 [[ 9.95496774e-01 -4.74027621e-02 8.20923342e-02 7.54256531e+00] [ 4.79867702e-02 9.98834671e-01 -5.15459369e-03 -2.39035368e+00] [-8.17523276e-02 9.07072737e-03 9.96611398e-01 -6.38286280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245779523 meters 0.04711933991968112 Centerline is valid? [True, True] Translation: X:7.60, Y:-2.37, Z:-0.65 [[ 9.96252082e-01 -3.68402430e-02 7.82597287e-02 7.60374386e+00] [ 3.73386434e-02 9.99290586e-01 -4.91431891e-03 -2.37252977e+00] [-7.80231655e-02 7.81801255e-03 9.96920892e-01 -6.51952963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305779523 meters 0.04955653599451842 Centerline is valid? [True, True] Translation: X:7.66, Y:-2.38, Z:-0.66 [[ 9.96229454e-01 -3.58800651e-02 7.89904805e-02 7.66326212e+00] [ 3.63848994e-02 9.99325538e-01 -4.96063711e-03 -2.38333864e+00] [-7.87592164e-02 7.81599348e-03 9.96863028e-01 -6.58997071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365779523 meters 0.05118773070672997 Centerline is valid? [True, True] Translation: X:7.72, Y:-2.40, Z:-0.67 [[ 9.96265436e-01 -3.72948851e-02 7.78734378e-02 7.72327941e+00] [ 3.77898660e-02 9.99273735e-01 -4.89176071e-03 -2.39582793e+00] [-7.76344434e-02 7.81631890e-03 9.96951252e-01 -6.65084714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425779523000001 meters 0.05274600909209878 Centerline is valid? [True, True] Translation: X:7.79, Y:-2.40, Z:-0.68 [[ 9.96677618e-01 -3.67512434e-02 7.26847410e-02 7.78540832e+00] [ 3.71807817e-02 9.99298129e-01 -4.56497643e-03 -2.40120494e+00] [-7.24659572e-02 7.25228532e-03 9.97344519e-01 -6.75981173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485779523 meters 0.05140734244723992 Centerline is valid? [True, True] Translation: X:7.85, Y:-2.41, Z:-0.68 [[ 9.96620271e-01 -3.04185075e-02 7.63069479e-02 7.84559428e+00] [ 3.08753807e-02 9.99511647e-01 -4.81447343e-03 -2.40716213e+00] [-7.61232340e-02 7.15420788e-03 9.97072751e-01 -6.75986283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545779523 meters 0.050159954388815896 Centerline is valid? [True, True] Translation: X:7.91, Y:-2.41, Z:-0.67 [[ 9.96120029e-01 -2.48644288e-02 8.44194727e-02 7.90724714e+00] [ 2.54042438e-02 9.99663072e-01 -5.32607915e-03 -2.41432196e+00] [-8.42585995e-02 7.45002699e-03 9.96416070e-01 -6.67365249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605779523 meters 0.046232254688628086 Centerline is valid? [True, True] Translation: X:7.97, Y:-2.41, Z:-0.68 [[ 9.96495898e-01 -1.42833221e-02 8.24130525e-02 7.96754401e+00] [ 1.47618071e-02 9.99877520e-01 -5.19951031e-03 -2.41226432e+00] [-8.23286923e-02 6.39785627e-03 9.96584695e-01 -6.77486549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665779523 meters 0.03299492610455773 Centerline is valid? [True, True] Translation: X:8.03, Y:-2.40, Z:-0.69 [[ 9.96786893e-01 -9.74130942e-03 7.95046957e-02 8.02852761e+00] [ 1.01722465e-02 9.99935675e-01 -5.01705160e-03 -2.40037264e+00] [-7.94507089e-02 5.80967264e-03 9.96821866e-01 -6.88938765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725779523 meters 0.04771648980401576 Centerline is valid? [True, True] Translation: X:8.09, Y:-2.43, Z:-0.69 [[ 9.96562358e-01 -8.54744297e-03 8.24039368e-02 8.08785403e+00] [ 9.00651045e-03 9.99945916e-01 -5.20082672e-03 -2.42939768e+00] [-8.23550263e-02 5.92512006e-03 9.96585442e-01 -6.87691586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785779523 meters 0.03346467438823609 Centerline is valid? [True, True] Translation: X:8.15, Y:-2.42, Z:-0.69 [[ 9.96187643e-01 -1.17053620e-02 8.64474699e-02 8.14988381e+00] [ 1.22242108e-02 9.99910293e-01 -5.47495301e-03 -2.41985839e+00] [-8.63756287e-02 6.51083263e-03 9.96241366e-01 -6.86054230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845779523000001 meters 0.03434600749940517 Centerline is valid? [True, True] Translation: X:8.21, Y:-2.42, Z:-0.69 [[ 9.96149122e-01 -1.61044772e-02 8.61833623e-02 8.21035407e+00] [ 1.66365461e-02 9.99846701e-01 -5.45896982e-03 -2.42261108e+00] [-8.60822366e-02 6.87174148e-03 9.96264336e-01 -6.94856161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905779523 meters 0.03695986677720405 Centerline is valid? [True, True] Translation: X:8.27, Y:-2.44, Z:-0.70 [[ 9.96335819e-01 -1.77314617e-02 8.36691749e-02 8.26911291e+00] [ 1.82386835e-02 9.99819605e-01 -5.30172084e-03 -2.43970085e+00] [-8.35600742e-02 6.80830997e-03 9.96479483e-01 -7.01502892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965779523 meters 0.04046123818591477 Centerline is valid? [True, True] Translation: X:8.33, Y:-2.46, Z:-0.71 [[ 9.96585466e-01 -2.32962073e-02 7.92129762e-02 8.32827697e+00] [ 2.37680867e-02 9.99704899e-01 -5.01934404e-03 -2.46131315e+00] [-7.90726687e-02 6.88494621e-03 9.96845079e-01 -7.06594801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025779523 meters 0.04457122368521702 Centerline is valid? [True, True] Translation: X:8.39, Y:-2.46, Z:-0.72 [[ 9.96611028e-01 -2.75729062e-02 7.74996409e-02 8.38776929e+00] [ 2.80373676e-02 9.99594811e-01 -4.91119413e-03 -2.46455109e+00] [-7.73328230e-02 7.06743615e-03 9.96980284e-01 -7.17200609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085779523 meters 0.05002063654914483 Centerline is valid? [True, True] Translation: X:8.45, Y:-2.48, Z:-0.72 [[ 9.96407554e-01 -3.34228857e-02 7.78132154e-02 8.44597320e+00] [ 3.39088355e-02 9.99412762e-01 -4.93182652e-03 -2.47949312e+00] [-7.76026846e-02 7.55266472e-03 9.96955757e-01 -7.21746727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145779523 meters 0.04120952806935318 Centerline is valid? [True, True] Translation: X:8.51, Y:-2.48, Z:-0.72 [[ 9.96719614e-01 -3.03582041e-02 7.50226043e-02 8.50615905e+00] [ 3.08015525e-02 9.99514189e-01 -4.75930842e-03 -2.48344760e+00] [-7.48416734e-02 7.05450874e-03 9.97170476e-01 -7.21782513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205779523 meters 0.03836012137940435 Centerline is valid? [True, True] Translation: X:8.57, Y:-2.48, Z:-0.73 [[ 9.96607009e-01 -2.89171125e-02 7.70601725e-02 8.56813211e+00] [ 2.93806773e-02 9.99556341e-01 -4.88846263e-03 -2.48108757e+00] [-7.68846238e-02 7.13595617e-03 9.97014460e-01 -7.25228219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265779523 meters 0.04109144651125921 Centerline is valid? [True, True] Translation: X:8.63, Y:-2.48, Z:-0.73 [[ 9.96028181e-01 -3.32235372e-02 8.26078671e-02 8.62937801e+00] [ 3.37715422e-02 9.99415816e-01 -5.24501138e-03 -2.47896824e+00] [-8.23853511e-02 8.01397421e-03 9.96568327e-01 -7.30796804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325779523 meters 0.06017691144284255 Centerline is valid? [True, True] Translation: X:8.69, Y:-2.51, Z:-0.74 [[ 9.96103541e-01 -3.65325464e-02 8.02689761e-02 8.68663050e+00] [ 3.70606565e-02 9.99300010e-01 -5.09882155e-03 -2.51067869e+00] [-8.00265157e-02 8.05377516e-03 9.96760199e-01 -7.36835331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385779523 meters 0.04725640040102912 Centerline is valid? [True, True] Translation: X:8.75, Y:-2.50, Z:-0.74 [[ 9.96051961e-01 -4.10435750e-02 7.87141456e-02 8.74807029e+00] [ 4.15652099e-02 9.99123286e-01 -4.99932180e-03 -2.50032895e+00] [-7.84399457e-02 8.25135427e-03 9.96884692e-01 -7.39714898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445779523 meters 0.048860832278558315 Centerline is valid? [True, True] Translation: X:8.81, Y:-2.50, Z:-0.74 [[ 9.95908175e-01 -4.14830394e-02 8.02873906e-02 8.81038412e+00] [ 4.20272926e-02 9.99103446e-01 -5.10013587e-03 -2.49944652e+00] [-8.00038395e-02 8.45352866e-03 9.96758709e-01 -7.42632706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505779523000001 meters 0.047001598865092836 Centerline is valid? [True, True] Translation: X:8.87, Y:-2.49, Z:-0.75 [[ 9.95833986e-01 -3.76620230e-02 8.30436347e-02 8.87138893e+00] [ 3.82317759e-02 9.99254945e-01 -5.28082649e-03 -2.49415240e+00] [-8.27828760e-02 8.43373213e-03 9.96531920e-01 -7.45161297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565779523 meters 0.04455428677757456 Centerline is valid? [True, True] Translation: X:8.93, Y:-2.49, Z:-0.75 [[ 9.96196117e-01 -3.16627299e-02 8.11835434e-02 8.93167364e+00] [ 3.21874426e-02 9.99468518e-01 -5.16242159e-03 -2.49416676e+00] [-8.09769394e-02 7.75587499e-03 9.96685799e-01 -7.50634375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625779523 meters 0.0391315021031329 Centerline is valid? [True, True] Translation: X:8.99, Y:-2.49, Z:-0.76 [[ 9.96950225e-01 -2.38930830e-02 7.42924585e-02 8.99178951e+00] [ 2.43109080e-02 9.99693281e-01 -4.72471435e-03 -2.49167522e+00] [-7.41567836e-02 6.51642216e-03 9.97225304e-01 -7.61238362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685779523 meters 0.03519341996761172 Centerline is valid? [True, True] Translation: X:9.05, Y:-2.48, Z:-0.77 [[ 9.97028162e-01 -1.52356339e-02 7.55163581e-02 9.05271950e+00] [ 1.56427278e-02 9.99866113e-01 -4.80221894e-03 -2.48213841e+00] [-7.54330825e-02 5.96922936e-03 9.97132999e-01 -7.68243884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745779523 meters 0.03499466593928948 Centerline is valid? [True, True] Translation: X:9.11, Y:-2.49, Z:-0.76 [[ 9.96326143e-01 -4.87839957e-03 8.55009875e-02 9.11295935e+00] [ 5.36297246e-03 9.99970829e-01 -5.43867881e-03 -2.48592308e+00] [-8.54719613e-02 5.87723732e-03 9.96323242e-01 -7.62837524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805779523 meters 0.03399308864288717 Centerline is valid? [True, True] Translation: X:9.17, Y:-2.49, Z:-0.77 [[ 9.96397900e-01 4.04291366e-04 8.48001228e-02 9.17391960e+00] [ 5.33588321e-05 9.99985448e-01 -5.39447463e-03 -2.48997204e+00] [-8.48010697e-02 5.37956803e-03 9.96383379e-01 -7.65345271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865779523 meters 0.027480880439730283 Centerline is valid? [True, True] Translation: X:9.23, Y:-2.48, Z:-0.78 [[ 9.96993865e-01 5.97436323e-03 7.72498492e-02 9.23375348e+00] [-5.61135935e-03 9.99972176e-01 -4.91529956e-03 -2.48047780e+00] [-7.72770656e-02 4.46704684e-03 9.96999649e-01 -7.83745363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925779523000001 meters 0.03234364972269541 Centerline is valid? [True, True] Translation: X:9.29, Y:-2.51, Z:-0.78 [[ 9.96554438e-01 7.31756293e-03 8.26178323e-02 9.29390357e+00] [-6.90673720e-03 9.99962328e-01 -5.25731129e-03 -2.51363072e+00] [-8.26531907e-02 4.66857724e-03 9.96567436e-01 -7.75390895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985779523 meters 0.02755975042458377 Centerline is valid? [True, True] Translation: X:9.36, Y:-2.51, Z:-0.78 [[ 9.96503705e-01 9.46518414e-03 8.30106941e-02 9.35534116e+00] [-9.05631689e-03 9.99944942e-01 -5.30063822e-03 -2.51113789e+00] [-8.30562952e-02 4.53033448e-03 9.96534559e-01 -7.79870597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045779523 meters 0.028462077374030035 Centerline is valid? [True, True] Translation: X:9.41, Y:-2.52, Z:-0.80 [[ 9.97216332e-01 1.30140955e-02 7.34181193e-02 9.41303064e+00] [-1.27038889e-02 9.99908300e-01 -4.69062077e-03 -2.52348788e+00] [-7.34724310e-02 3.74486801e-03 9.97290217e-01 -8.04272913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105779523 meters 0.025034091092336834 Centerline is valid? [True, True] Translation: X:9.47, Y:-2.55, Z:-0.81 [[ 9.97348342e-01 1.55008779e-02 7.11056042e-02 9.47301811e+00] [-1.52162717e-02 9.99873907e-01 -4.54253918e-03 -2.54690706e+00] [-7.11670516e-02 3.44853173e-03 9.97458449e-01 -8.05973280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165779523 meters 0.02448399152997035 Centerline is valid? [True, True] Translation: X:9.53, Y:-2.56, Z:-0.80 [[ 9.96728505e-01 2.35597218e-02 7.73125295e-02 9.53277883e+00] [-2.32470291e-02 9.99717535e-01 -4.94215396e-03 -2.56375006e+00] [-7.74071272e-02 3.12869910e-03 9.96994658e-01 -8.01067848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225779523 meters 0.019794168024269258 Centerline is valid? [True, True] Translation: X:9.59, Y:-2.56, Z:-0.81 [[ 9.96381288e-01 2.97837087e-02 7.96069120e-02 9.59350349e+00] [-2.94719413e-02 9.99552655e-01 -5.08868253e-03 -2.55708765e+00] [-7.97228601e-02 2.72409781e-03 9.96813345e-01 -8.09144552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285779523 meters 0.018076582866974167 Centerline is valid? [True, True] Translation: X:9.65, Y:-2.57, Z:-0.81 [[ 9.96064457e-01 3.59899111e-02 8.09958201e-02 9.65371562e+00] [-3.56874858e-02 9.99349580e-01 -5.17886486e-03 -2.56963243e+00] [-8.11295257e-02 2.26794604e-03 9.96700987e-01 -8.13133537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345779523000001 meters 0.01583904899532565 Centerline is valid? [True, True] Translation: X:9.71, Y:-2.60, Z:-0.82 [[ 9.96091029e-01 4.47524275e-02 7.61569590e-02 9.71292370e+00] [-4.45105939e-02 9.98997039e-01 -4.87072010e-03 -2.59681130e+00] [-7.62985531e-02 1.46188912e-03 9.97083945e-01 -8.15953147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405779523 meters 0.016055501606113062 Centerline is valid? [True, True] Translation: X:9.77, Y:-2.60, Z:-0.82 [[ 9.95633811e-01 4.66962825e-02 8.08255669e-02 9.77419389e+00] [-4.64300826e-02 9.98908159e-01 -5.17085749e-03 -2.60160499e+00] [-8.09787781e-02 1.39554280e-03 9.96714849e-01 -8.19865188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465779523 meters 0.016777992782536253 Centerline is valid? [True, True] Translation: X:9.83, Y:-2.61, Z:-0.83 [[ 9.95884304e-01 4.21937277e-02 8.02131040e-02 9.83458357e+00] [-4.19154047e-02 9.99107884e-01 -5.15118239e-03 -2.61240246e+00] [-8.03588923e-02 1.76781697e-03 9.96764427e-01 -8.32391748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525779523 meters 0.019664252707876338 Centerline is valid? [True, True] Translation: X:9.89, Y:-2.65, Z:-0.83 [[ 9.96188034e-01 3.45491160e-02 8.00984370e-02 9.89220021e+00] [-3.42454506e-02 9.99400121e-01 -5.16218121e-03 -2.65440937e+00] [-8.02287364e-02 2.39949608e-03 9.96773591e-01 -8.28077786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585779523 meters 0.021477105671356574 Centerline is valid? [True, True] Translation: X:9.95, Y:-2.67, Z:-0.84 [[ 9.96741448e-01 3.14074598e-02 7.42970835e-02 9.95181580e+00] [-3.11372413e-02 9.99503627e-01 -4.79279925e-03 -2.66581520e+00] [-7.44107341e-02 2.46377545e-03 9.97224635e-01 -8.43523212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645779523 meters 0.020433287916107313 Centerline is valid? [True, True] Translation: X:10.01, Y:-2.66, Z:-0.86 [[ 9.96732524e-01 3.16465073e-02 7.43153630e-02 1.00141407e+01] [-3.13767468e-02 9.99496127e-01 -4.79493642e-03 -2.66197203e+00] [-7.44296606e-02 2.44749475e-03 9.97223263e-01 -8.58956432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705779523 meters 0.021316983479585407 Centerline is valid? [True, True] Translation: X:10.07, Y:-2.69, Z:-0.86 [[ 9.96415438e-01 3.26108823e-02 7.80564227e-02 1.00741896e+01] [-3.23143389e-02 9.99464949e-01 -5.05951545e-03 -2.68596252e+00] [-7.81796538e-02 2.51903761e-03 9.96936104e-01 -8.55659956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765779523 meters 0.023156407725288895 Centerline is valid? [True, True] Translation: X:10.13, Y:-2.71, Z:-0.84 [[ 9.95694070e-01 2.42437261e-02 8.94737961e-02 1.01346010e+01] [-2.38182064e-02 9.99699362e-01 -5.82059372e-03 -2.71425811e+00] [-8.95880097e-02 3.66442532e-03 9.95972169e-01 -8.42334633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825779523 meters 0.02617422712025489 Centerline is valid? [True, True] Translation: X:10.19, Y:-2.72, Z:-0.86 [[ 9.95570975e-01 1.77010396e-02 9.23315051e-02 1.01932361e+01] [-1.72195251e-02 9.99833675e-01 -6.00917424e-03 -2.72055461e+00] [-9.24225167e-02 4.39265480e-03 9.95710190e-01 -8.55526155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885779523 meters 0.028144420308731582 Centerline is valid? [True, True] Translation: X:10.25, Y:-2.73, Z:-0.87 [[ 9.96222035e-01 1.89604010e-02 8.47476297e-02 1.02520652e+01] [-1.85595016e-02 9.99812542e-01 -5.51593291e-03 -2.73479381e+00] [-8.48363274e-02 3.92222014e-03 9.96387181e-01 -8.74219626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945779523 meters 0.021514237808687896 Centerline is valid? [True, True] Translation: X:10.31, Y:-2.74, Z:-0.87 [[ 9.96560686e-01 3.07420895e-02 7.69527372e-02 1.03127660e+01] [-3.04465546e-02 9.99523835e-01 -5.01102184e-03 -2.74457584e+00] [-7.70701443e-02 2.65084165e-03 9.97022149e-01 -8.74662676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005779523 meters 0.015216727669664346 Centerline is valid? [True, True] Translation: X:10.37, Y:-2.74, Z:-0.87 [[ 9.95201812e-01 5.46862676e-02 8.11342397e-02 1.03744144e+01] [-5.44368583e-02 9.98503231e-01 -5.28451142e-03 -2.73880937e+00] [-8.13017907e-02 8.42462223e-04 9.96689174e-01 -8.70814534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065779523 meters 0.0155331911446552 Centerline is valid? [True, True] Translation: X:10.43, Y:-2.74, Z:-0.88 [[ 9.94886731e-01 5.44337628e-02 8.50726650e-02 1.04343155e+01] [-5.41584438e-02 9.98516972e-01 -5.54254344e-03 -2.73982271e+00] [-8.52482014e-02 9.06799774e-04 9.96359334e-01 -8.84220128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125779523 meters 0.01801225532857149 Centerline is valid? [True, True] Translation: X:10.50, Y:-2.74, Z:-0.89 [[ 9.94231709e-01 5.51013028e-02 9.20171459e-02 1.04963737e+01] [-5.47798872e-02 9.98480325e-01 -6.01698613e-03 -2.74495547e+00] [-9.22088536e-02 9.41589532e-04 9.95739243e-01 -8.86290654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185779523 meters 0.014864981177096915 Centerline is valid? [True, True] Translation: X:10.56, Y:-2.74, Z:-0.89 [[ 9.93838150e-01 7.11695630e-02 8.49742634e-02 1.05576635e+01] [-7.09525778e-02 9.97464112e-01 -5.57470311e-03 -2.74247400e+00] [-8.51555274e-02 -4.88790414e-04 9.96367551e-01 -8.87291096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245779523 meters 0.015903978435368678 Centerline is valid? [True, True] Translation: X:10.62, Y:-2.74, Z:-0.90 [[ 9.93899591e-01 7.97942954e-02 7.61345701e-02 1.06186793e+01] [-7.96452569e-02 9.96810747e-01 -4.99671810e-03 -2.73718163e+00] [-7.62904673e-02 -1.09752131e-03 9.97085032e-01 -9.01664252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305779523 meters 0.016285809392446147 Centerline is valid? [True, True] Translation: X:10.68, Y:-2.74, Z:-0.92 [[ 9.94096458e-01 8.11336430e-02 7.20386289e-02 1.06801959e+01] [-8.10032197e-02 9.96702593e-01 -4.73494065e-03 -2.73538359e+00] [-7.21852512e-02 -1.12837315e-03 9.97390604e-01 -9.15583713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365779523 meters 0.01532140281630073 Centerline is valid? [True, True] Translation: X:10.74, Y:-2.75, Z:-0.92 [[ 9.94732762e-01 6.66688824e-02 7.78587995e-02 1.07401633e+01] [-6.64705763e-02 9.97775153e-01 -5.13871853e-03 -2.75136457e+00] [-7.80281682e-02 -6.36675931e-05 9.96951153e-01 -9.15460144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425779523 meters 0.014714853924010134 Centerline is valid? [True, True] Translation: X:10.80, Y:-2.76, Z:-0.92 [[ 9.94900443e-01 6.25887243e-02 7.90933618e-02 1.08024573e+01] [-6.23710033e-02 9.98039369e-01 -5.22258801e-03 -2.75940755e+00] [-7.92651640e-02 2.62822794e-04 9.96853532e-01 -9.19470952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485779523 meters 0.016326389485016555 Centerline is valid? [True, True] Translation: X:10.86, Y:-2.77, Z:-0.92 [[ 9.95088443e-01 5.97157414e-02 7.89494865e-02 1.08639525e+01] [-5.94880786e-02 9.98215291e-01 -5.23457145e-03 -2.76927477e+00] [-7.91211710e-02 5.12308293e-04 9.96864874e-01 -9.19041959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545779523 meters 0.01441298525101677 Centerline is valid? [True, True] Translation: X:10.93, Y:-2.77, Z:-0.92 [[ 9.94705974e-01 6.65521019e-02 7.82997029e-02 1.09262623e+01] [-6.63478674e-02 9.97782951e-01 -5.20988624e-03 -2.77261282e+00] [-7.84728376e-02 -1.27133427e-05 9.96916252e-01 -9.17830025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605779523 meters 0.014589015281373087 Centerline is valid? [True, True] Translation: X:10.99, Y:-2.77, Z:-0.93 [[ 9.94184707e-01 6.99331182e-02 8.18909473e-02 1.09891549e+01] [-6.97194258e-02 9.97551645e-01 -5.46959450e-03 -2.76832765e+00] [-8.20729550e-02 -2.71602620e-04 9.96626287e-01 -9.27033725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665779523 meters 0.016957763509390465 Centerline is valid? [True, True] Translation: X:11.05, Y:-2.78, Z:-0.94 [[ 9.94550019e-01 6.63669007e-02 8.04095403e-02 1.10512710e+01] [-6.61474979e-02 9.97795286e-01 -5.39221373e-03 -2.77638750e+00] [-8.05901248e-02 4.39363725e-05 9.96747325e-01 -9.36447679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725779523 meters 0.01727580298678555 Centerline is valid? [True, True] Translation: X:11.11, Y:-2.79, Z:-0.93 [[ 9.94709044e-01 6.52757653e-02 7.93283817e-02 1.11135366e+01] [-6.50570084e-02 9.97867251e-01 -5.34176846e-03 -2.78712440e+00] [-7.95078822e-02 1.52638201e-04 9.96834226e-01 -9.33728396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785779523 meters 0.014480937916583704 Centerline is valid? [True, True] Translation: X:11.18, Y:-2.79, Z:-0.94 [[ 9.94938650e-01 6.58432689e-02 7.59061661e-02 1.11750806e+01] [-6.56431003e-02 9.97829970e-01 -5.13172284e-03 -2.78689879e+00] [-7.60793368e-02 1.23033326e-04 9.97101760e-01 -9.42569012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845779523000001 meters 0.01756371288700372 Centerline is valid? [True, True] Translation: X:11.24, Y:-2.79, Z:-0.96 [[ 9.95736673e-01 6.15995341e-02 6.86584039e-02 1.12359473e+01] [-6.14244925e-02 9.98100856e-01 -4.65970546e-03 -2.78571026e+00] [-6.88150474e-02 4.22531988e-04 9.97629345e-01 -9.63594063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905779523 meters 0.016396835187320775 Centerline is valid? [True, True] Translation: X:11.30, Y:-2.80, Z:-0.96 [[ 9.95963359e-01 5.62382710e-02 6.99588749e-02 1.12981984e+01] [-5.60431017e-02 9.98417047e-01 -4.75097159e-03 -2.79958862e+00] [-7.01153197e-02 8.11081283e-04 9.97538563e-01 -9.59499622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965779523 meters 0.023727041236889714 Centerline is valid? [True, True] Translation: X:11.36, Y:-2.82, Z:-0.95 [[ 9.96432154e-01 3.23879230e-02 7.79357722e-02 1.13589234e+01] [-3.20710477e-02 9.99471463e-01 -5.31439723e-03 -2.82060416e+00] [-7.80667025e-02 2.79595442e-03 9.96944217e-01 -9.52185998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025779523 meters 0.030193265066624394 Centerline is valid? [True, True] Translation: X:11.42, Y:-2.83, Z:-0.96 [[ 9.96480106e-01 1.25428286e-02 8.28859146e-02 1.14173512e+01] [-1.21157244e-02 9.99910617e-01 -5.65390498e-03 -2.82936330e+00] [-8.29494220e-02 4.62978094e-03 9.96543004e-01 -9.60563333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085779523 meters 0.0321627151191039 Centerline is valid? [True, True] Translation: X:11.48, Y:-2.84, Z:-0.96 [[ 9.96366994e-01 1.26826609e-03 8.51540095e-02 1.14778243e+01] [-7.76007446e-04 9.99982799e-01 -5.81365541e-03 -2.83959875e+00] [-8.51599180e-02 5.72645422e-03 9.96350840e-01 -9.62072768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145779523 meters 0.028595779440085612 Centerline is valid? [True, True] Translation: X:11.54, Y:-2.84, Z:-0.96 [[ 9.96595566e-01 1.05657755e-02 8.17657795e-02 1.15391411e+01] [-1.01430289e-02 9.99932967e-01 -5.58387149e-03 -2.83612900e+00] [-8.18192965e-02 4.73550890e-03 9.96635930e-01 -9.61658058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205779523 meters 0.027497658145486326 Centerline is valid? [True, True] Translation: X:11.60, Y:-2.82, Z:-0.98 [[ 9.96725677e-01 1.67430777e-02 7.91049565e-02 1.16000891e+01] [-1.63667905e-02 9.99851458e-01 -5.40282607e-03 -2.82379032e+00] [-7.91836660e-02 4.09044122e-03 9.96851652e-01 -9.75314440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265779523 meters 0.023852181994706678 Centerline is valid? [True, True] Translation: X:11.66, Y:-2.82, Z:-0.98 [[ 9.96826575e-01 2.16598940e-02 7.66004468e-02 1.16610271e+01] [-2.13215370e-02 9.99758978e-01 -5.23233063e-03 -2.81915894e+00] [-7.66953162e-02 3.58248696e-03 9.97048140e-01 -9.84099820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325779523 meters 0.025835588268503157 Centerline is valid? [True, True] Translation: X:11.72, Y:-2.84, Z:-0.98 [[ 9.96761162e-01 2.26209559e-02 7.71717452e-02 1.17213455e+01] [-2.22803409e-02 9.99737862e-01 -5.27197545e-03 -2.83857886e+00] [-7.72707727e-02 3.53548759e-03 9.97003876e-01 -9.79154605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385779523 meters 0.02366005300248247 Centerline is valid? [True, True] Translation: X:11.78, Y:-2.83, Z:-1.00 [[ 9.96738448e-01 2.82998149e-02 7.55750389e-02 1.17815785e+01] [-2.79880831e-02 9.99594830e-01 -5.18094654e-03 -2.82565996e+00] [-7.56910380e-02 3.04884814e-03 9.97126658e-01 -9.95296704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445779523 meters 0.02010463270916603 Centerline is valid? [True, True] Translation: X:11.84, Y:-2.82, Z:-1.00 [[ 9.96284390e-01 3.99141306e-02 7.63169459e-02 1.18425047e+01] [-3.96302366e-02 9.99200719e-01 -5.23136663e-03 -2.81823912e+00] [-7.64647527e-02 2.18747029e-03 9.97069886e-01 -1.00363473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505779523 meters 0.01877256577810706 Centerline is valid? [True, True] Translation: X:11.90, Y:-2.83, Z:-0.99 [[ 9.95334314e-01 5.45326876e-02 7.95976684e-02 1.19043428e+01] [-5.42703229e-02 9.98511367e-01 -5.45736885e-03 -2.82835262e+00] [-7.97767817e-02 1.11211532e-03 9.96812133e-01 -9.91241072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565779523 meters 0.016817189884417032 Centerline is valid? [True, True] Translation: X:11.97, Y:-2.83, Z:-1.00 [[ 9.94964706e-01 5.96784540e-02 8.05215274e-02 1.19661407e+01] [-5.94266855e-02 9.98217401e-01 -5.52171027e-03 -2.82580002e+00] [-8.07075169e-02 7.08779350e-04 9.96737575e-01 -9.96556967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625779523 meters 0.014727979892761424 Centerline is valid? [True, True] Translation: X:12.03, Y:-2.82, Z:-1.02 [[ 9.95235903e-01 6.20502351e-02 7.52015049e-02 1.20266304e+01] [-6.18361318e-02 9.98072903e-01 -5.17436103e-03 -2.82334574e+00] [-7.53776546e-02 4.99539697e-04 9.97154933e-01 -1.02049527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685779523 meters 0.015209107669409444 Centerline is valid? [True, True] Translation: X:12.09, Y:-2.85, Z:-1.02 [[ 9.95619896e-01 5.87867898e-02 7.26989363e-02 1.20876273e+01] [-5.85771906e-02 9.98270292e-01 -5.01368348e-03 -2.85037817e+00] [-7.28679267e-02 7.33223584e-04 9.97341330e-01 -1.01866058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745779523 meters 0.016403940819907387 Centerline is valid? [True, True] Translation: X:12.15, Y:-2.87, Z:-1.02 [[ 9.95835023e-01 5.34475440e-02 7.38645179e-02 1.21493420e+01] [-5.32151407e-02 9.98569984e-01 -5.11222812e-03 -2.86945489e+00] [-7.40321265e-02 1.16022509e-03 9.97255182e-01 -1.01536017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805779523 meters 0.01780624779946984 Centerline is valid? [True, True] Translation: X:12.21, Y:-2.87, Z:-1.03 [[ 9.95956482e-01 4.84357052e-02 7.56615364e-02 1.22103858e+01] [-4.81759452e-02 9.98825038e-01 -5.25564522e-03 -2.86600888e+00] [-7.58271979e-02 1.58932789e-03 9.97119707e-01 -1.02959257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865779523 meters 0.018037024836972223 Centerline is valid? [True, True] Translation: X:12.27, Y:-2.87, Z:-1.04 [[ 9.95930955e-01 4.75897665e-02 7.65293898e-02 1.22714059e+01] [-4.73208592e-02 9.98865550e-01 -5.32435778e-03 -2.87071413e+00] [-7.66959560e-02 1.68125625e-03 9.97053110e-01 -1.03757166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925779523 meters 0.016875920463337215 Centerline is valid? [True, True] Translation: X:12.33, Y:-2.88, Z:-1.03 [[ 9.95651819e-01 5.18001863e-02 7.74221994e-02 1.23327804e+01] [-5.15361538e-02 9.98656499e-01 -5.40577986e-03 -2.87884146e+00] [-7.75982030e-02 1.39223217e-03 9.96983741e-01 -1.03454490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985779523 meters 0.016388458615111758 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.88, Z:-1.04 [[ 9.95988350e-01 5.34581141e-02 7.17595688e-02 1.23951002e+01] [-5.32356499e-02 9.98569407e-01 -5.01048414e-03 -2.87929028e+00] [-7.19247611e-02 1.17021656e-03 9.97409374e-01 -1.04298257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045779523 meters 0.0170540797655018 Centerline is valid? [True, True] Translation: X:12.46, Y:-2.88, Z:-1.06 [[ 9.96182116e-01 5.39190188e-02 6.86580745e-02 1.24562030e+01] [-5.37152234e-02 9.98544699e-01 -4.81233266e-03 -2.88031565e+00] [-6.88176326e-02 1.10597593e-03 9.97628643e-01 -1.05528170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105779523 meters 0.018832289400010954 Centerline is valid? [True, True] Translation: X:12.52, Y:-2.89, Z:-1.05 [[ 9.95842584e-01 5.25478153e-02 7.44061555e-02 1.25170516e+01] [-5.23031273e-02 9.98617535e-01 -5.23462606e-03 -2.88761520e+00] [-7.45783597e-02 1.32118892e-03 9.97214281e-01 -1.05305584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165779523 meters 0.018231327689106257 Centerline is valid? [True, True] Translation: X:12.58, Y:-2.89, Z:-1.06 [[ 9.96263415e-01 5.18213580e-02 6.90923694e-02 1.25774217e+01] [-5.16077239e-02 9.98655537e-01 -4.87461741e-03 -2.89083753e+00] [-6.92520866e-02 1.29070306e-03 9.97598357e-01 -1.06478452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225779523 meters 0.017364091298711287 Centerline is valid? [True, True] Translation: X:12.64, Y:-2.89, Z:-1.08 [[ 9.96466772e-01 5.65730980e-02 6.20762216e-02 1.26387574e+01] [-5.64092148e-02 9.98398078e-01 -4.39079696e-03 -2.88780288e+00] [-6.22251813e-02 8.73612353e-04 9.98061753e-01 -1.08332860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285779523 meters 0.016505983123813007 Centerline is valid? [True, True] Translation: X:12.70, Y:-2.89, Z:-1.09 [[ 9.96072694e-01 6.06996810e-02 6.44572547e-02 1.26985938e+01] [-6.05304446e-02 9.98155858e-01 -4.57697322e-03 -2.88969698e+00] [-6.46162072e-02 6.57371756e-04 9.97909973e-01 -1.08867554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345779523 meters 0.014603684643672735 Centerline is valid? [True, True] Translation: X:12.76, Y:-2.90, Z:-1.07 [[ 9.94836415e-01 6.52552559e-02 7.77319636e-02 1.27605920e+01] [-6.50221307e-02 9.97868505e-01 -5.52901419e-03 -2.89687243e+00] [-7.79270755e-02 4.46166758e-04 9.96958962e-01 -1.07418253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405779523 meters 0.016870551129851107 Centerline is valid? [True, True] Translation: X:12.82, Y:-2.92, Z:-1.06 [[ 9.94982233e-01 5.60441840e-02 8.28818775e-02 1.28217456e+01] [-5.57470141e-02 9.98427511e-01 -5.89714653e-03 -2.91966803e+00] [-8.30820474e-02 1.24713883e-03 9.96541930e-01 -1.06412878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465779523 meters 0.017782767733172482 Centerline is valid? [True, True] Translation: X:12.88, Y:-2.92, Z:-1.07 [[ 9.94965317e-01 5.51411080e-02 8.36867775e-02 1.28823218e+01] [-5.48334778e-02 9.98477655e-01 -5.97173873e-03 -2.92281153e+00] [-8.38886657e-02 1.35283585e-03 9.96474215e-01 -1.07335413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525779523 meters 0.01452504409182316 Centerline is valid? [True, True] Translation: X:12.94, Y:-2.91, Z:-1.09 [[ 9.94531738e-01 6.58591167e-02 8.10505963e-02 1.29433491e+01] [-6.56048234e-02 9.97828830e-01 -5.79941878e-03 -2.91068081e+00] [-8.12565662e-02 4.50395981e-04 9.96693116e-01 -1.09193982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585779523 meters 0.014168048234684044 Centerline is valid? [True, True] Translation: X:13.01, Y:-2.91, Z:-1.10 [[ 9.94336842e-01 7.10796103e-02 7.90059033e-02 1.30055930e+01] [-7.08542766e-02 9.97470645e-01 -5.65536370e-03 -2.91288358e+00] [-7.92080504e-02 2.54303618e-05 9.96858106e-01 -1.09713322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645779523 meters 0.014193394341520121 Centerline is valid? [True, True] Translation: X:13.07, Y:-2.92, Z:-1.10 [[ 9.94674289e-01 6.96376934e-02 7.59845465e-02 1.30677081e+01] [-6.94238084e-02 9.97572338e-01 -5.45583765e-03 -2.91867632e+00] [-7.61800136e-02 1.51644840e-04 9.97094069e-01 -1.10019989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705779523 meters 0.01443092879426766 Centerline is valid? [True, True] Translation: X:13.13, Y:-2.93, Z:-1.10 [[ 9.94990421e-01 6.63378884e-02 7.47886798e-02 1.31288974e+01] [-6.61200535e-02 9.97797130e-01 -5.38764435e-03 -2.92808138e+00] [-7.49813350e-02 4.15623012e-04 9.97184851e-01 -1.10214971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765779523 meters 0.01695444480189236 Centerline is valid? [True, True] Translation: X:13.19, Y:-2.94, Z:-1.11 [[ 9.95593441e-01 5.85972880e-02 7.32124117e-02 1.31889174e+01] [-5.83663403e-02 9.98281206e-01 -5.29180397e-03 -2.93886208e+00] [-7.33966601e-02 9.95344791e-04 9.97302331e-01 -1.11073269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825779523 meters 0.01787694610926995 Centerline is valid? [True, True] Translation: X:13.25, Y:-2.94, Z:-1.12 [[ 9.96046305e-01 5.18174813e-02 7.21575090e-02 1.32489399e+01] [-5.15740986e-02 9.98655459e-01 -5.23327610e-03 -2.94392139e+00] [-7.23316654e-02 1.49112685e-03 9.97379520e-01 -1.11984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885779523 meters 0.019421537306296886 Centerline is valid? [True, True] Translation: X:13.31, Y:-2.95, Z:-1.13 [[ 9.96198301e-01 4.46054305e-02 7.48284789e-02 1.33096649e+01] [-4.43232555e-02 9.99002494e-01 -5.42820790e-03 -2.94948767e+00] [-7.49959646e-02 2.09092970e-03 9.97181645e-01 -1.12505215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945779523 meters 0.021623785955164464 Centerline is valid? [True, True] Translation: X:13.37, Y:-2.95, Z:-1.13 [[ 9.96187349e-01 3.80237276e-02 7.85172711e-02 1.33706892e+01] [-3.76923515e-02 9.99273142e-01 -5.69869558e-03 -2.95241139e+00] [-7.86768858e-02 2.71746786e-03 9.96896466e-01 -1.12926001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005779523 meters 0.023902308078277798 Centerline is valid? [True, True] Translation: X:13.43, Y:-2.96, Z:-1.13 [[ 9.96407163e-01 3.33134195e-02 7.78651520e-02 1.34314654e+01] [-3.29730953e-02 9.99440255e-01 -5.65264573e-03 -2.95728198e+00] [-7.80098763e-02 3.06488162e-03 9.96947875e-01 -1.13489111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065779523 meters 0.027438183834770383 Centerline is valid? [True, True] Translation: X:13.49, Y:-2.98, Z:-1.13 [[ 9.97046877e-01 2.61237884e-02 7.22154628e-02 1.34919422e+01] [-2.58121942e-02 9.99653051e-01 -5.24482042e-03 -2.97910475e+00] [-7.23274223e-02 3.36529227e-03 9.97375265e-01 -1.12717546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125779523 meters 0.027555706615205094 Centerline is valid? [True, True] Translation: X:13.55, Y:-2.98, Z:-1.13 [[ 9.97090674e-01 2.21008154e-02 7.29502697e-02 1.35527390e+01] [-2.17719597e-02 9.99748914e-01 -5.30016247e-03 -2.98187686e+00] [-7.30490908e-02 3.69647224e-03 9.97321496e-01 -1.13023446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185779523 meters 0.02805046067832339 Centerline is valid? [True, True] Translation: X:13.61, Y:-2.97, Z:-1.15 [[ 9.96650821e-01 1.98384735e-02 7.93320610e-02 1.36137703e+01] [-1.94421570e-02 9.99794362e-01 -5.76503688e-03 -2.97196622e+00] [-7.94301169e-02 4.20334235e-03 9.96831575e-01 -1.14831124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245779523 meters 0.024687989910409474 Centerline is valid? [True, True] Translation: X:13.67, Y:-2.98, Z:-1.16 [[ 9.96978343e-01 2.67020125e-02 7.29464547e-02 1.36739377e+01] [-2.63841711e-02 9.99637734e-01 -5.31748972e-03 -2.97535996e+00] [-7.30620164e-02 3.37679035e-03 9.97321683e-01 -1.15983415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305779523 meters 0.021550548263512895 Centerline is valid? [True, True] Translation: X:13.73, Y:-2.98, Z:-1.16 [[ 9.96556647e-01 3.88415981e-02 7.32542091e-02 1.37345602e+01] [-3.85537005e-02 9.99242258e-01 -5.34057581e-03 -2.97883957e+00] [-7.34061379e-02 2.49796549e-03 9.97299002e-01 -1.15508309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365779523 meters 0.017649567156057352 Centerline is valid? [True, True] Translation: X:13.80, Y:-2.97, Z:-1.15 [[ 9.95774804e-01 4.98218738e-02 7.71383195e-02 1.37959991e+01] [-4.95353406e-02 9.98756533e-01 -5.62467366e-03 -2.97057928e+00] [-7.73226323e-02 1.77983538e-03 9.97004535e-01 -1.15214209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425779523 meters 0.015481058748664426 Centerline is valid? [True, True] Translation: X:13.86, Y:-2.96, Z:-1.16 [[ 9.94839646e-01 5.93478999e-02 8.22915868e-02 1.38572119e+01] [-5.90541811e-02 9.98236743e-01 -6.00077974e-03 -2.96104151e+00] [-8.25026193e-02 1.11015133e-03 9.96590229e-01 -1.15911677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485779523 meters 0.015181431006926826 Centerline is valid? [True, True] Translation: X:13.92, Y:-2.97, Z:-1.17 [[ 9.94886095e-01 6.33310789e-02 7.86818388e-02 1.39178606e+01] [-6.30749769e-02 9.97992293e-01 -5.73844197e-03 -2.96773785e+00] [-7.88872905e-02 7.46240953e-04 9.96883262e-01 -1.16991684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545779523 meters 0.016565313733252277 Centerline is valid? [True, True] Translation: X:13.98, Y:-2.97, Z:-1.19 [[ 9.95240085e-01 7.07395683e-02 6.70304968e-02 1.39774889e+01] [-7.05696375e-02 9.97494808e-01 -4.90254539e-03 -2.97274900e+00] [-6.72093765e-02 1.48891828e-04 9.97738882e-01 -1.18704781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605779523 meters 0.017562391899713176 Centerline is valid? [True, True] Translation: X:14.04, Y:-2.98, Z:-1.19 [[ 9.95099192e-01 7.36948888e-02 6.59292123e-02 1.40383430e+01] [-7.35360107e-02 9.97280834e-01 -4.83663099e-03 -2.98343593e+00] [-6.61063749e-02 -3.52436702e-05 9.97812581e-01 -1.18725864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665779523 meters 0.014471547769953614 Centerline is valid? [True, True] Translation: X:14.10, Y:-2.99, Z:-1.18 [[ 9.94168803e-01 7.34185085e-02 7.89817254e-02 1.41007753e+01] [-7.31878292e-02 9.97301220e-01 -5.81541463e-03 -2.99075949e+00] [-7.91955301e-02 1.00277472e-06 9.96859101e-01 -1.17806503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725779523 meters 0.014665809355100451 Centerline is valid? [True, True] Translation: X:14.16, Y:-3.00, Z:-1.19 [[ 9.93995230e-01 7.12649532e-02 8.30348660e-02 1.41628935e+01] [-7.10020288e-02 9.97457403e-01 -6.11884264e-03 -2.99599485e+00] [-8.32598009e-02 1.86456450e-04 9.96527858e-01 -1.18906968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785779523 meters 0.015168724795120983 Centerline is valid? [True, True] Translation: X:14.22, Y:-3.00, Z:-1.20 [[ 9.93840023e-01 8.05126086e-02 7.61559523e-02 1.42230288e+01] [-8.03170649e-02 9.96753455e-01 -5.63195879e-03 -2.99870173e+00] [-7.63621523e-02 -5.19356517e-04 9.97080013e-01 -1.19750321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845779523 meters 0.014854769611767245 Centerline is valid? [True, True] Translation: X:14.29, Y:-3.01, Z:-1.19 [[ 9.94075501e-01 7.89292979e-02 7.47266028e-02 1.42860382e+01] [-7.87359797e-02 9.96880143e-01 -5.53405854e-03 -3.01194478e+00] [-7.49302658e-02 -3.82400266e-04 9.97188703e-01 -1.19055017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905779523 meters 0.015190142824005931 Centerline is valid? [True, True] Translation: X:14.35, Y:-3.01, Z:-1.21 [[ 9.94781128e-01 6.94377371e-02 7.47589997e-02 1.43484161e+01] [-6.92159045e-02 9.97586225e-01 -5.55724993e-03 -3.01083216e+00] [-7.49644311e-02 3.53735569e-04 9.97186146e-01 -1.20625593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965779523 meters 0.017061393737848304 Centerline is valid? [True, True] Translation: X:14.41, Y:-3.01, Z:-1.22 [[ 9.95211169e-01 5.78455880e-02 7.87947826e-02 1.44077909e+01] [-5.75609343e-02 9.98324673e-01 -5.88101196e-03 -3.01461850e+00] [-7.90029662e-02 1.31734748e-03 9.96873510e-01 -1.21642875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025779523 meters 0.02016615891535856 Centerline is valid? [True, True] Translation: X:14.47, Y:-3.03, Z:-1.22 [[ 9.95803810e-01 4.42972729e-02 8.00782344e-02 1.44682317e+01] [-4.39594272e-02 9.99015432e-01 -5.97783086e-03 -3.03417367e+00] [-8.02641936e-02 2.43255343e-03 9.96770657e-01 -1.21546002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085779523 meters 0.02552000108020489 Centerline is valid? [True, True] Translation: X:14.53, Y:-3.05, Z:-1.22 [[ 9.96829319e-01 2.92868035e-02 7.39837267e-02 1.45284305e+01] [-2.89571677e-02 9.99565387e-01 -5.52447543e-03 -3.04532141e+00] [-7.41133667e-02 3.36459990e-03 9.97244147e-01 -1.22049487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145779523 meters 0.030194820566290848 Centerline is valid? [True, True] Translation: X:14.59, Y:-3.05, Z:-1.22 [[ 9.96937096e-01 1.68530940e-02 7.63701444e-02 1.45885260e+01] [-1.64653292e-02 9.99848165e-01 -5.70429269e-03 -3.05425988e+00] [-7.64546838e-02 4.42936143e-03 9.97063219e-01 -1.22142627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205779523 meters 0.03215979099334777 Centerline is valid? [True, True] Translation: X:14.65, Y:-3.06, Z:-1.22 [[ 9.96674892e-01 1.19030265e-02 8.06069365e-02 1.46487885e+01] [-1.14547755e-02 9.99916264e-01 -6.02110317e-03 -3.06314578e+00] [-8.06718562e-02 5.07774799e-03 9.96727780e-01 -1.22188488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265779523 meters 0.036474473587098044 Centerline is valid? [True, True] Translation: X:14.71, Y:-3.06, Z:-1.23 [[ 9.96104947e-01 4.93552988e-03 8.80373493e-02 1.47079853e+01] [-4.37339737e-03 9.99968808e-01 -6.57690383e-03 -3.06176780e+00] [-8.80670638e-02 6.16626413e-03 9.96095462e-01 -1.22906148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325779523 meters 0.03042116553242215 Centerline is valid? [True, True] Translation: X:14.77, Y:-3.05, Z:-1.24 [[ 9.96565404e-01 9.14375451e-03 8.23030228e-02 1.47686239e+01] [-8.66702305e-03 9.99943542e-01 -6.14780512e-03 -3.05127894e+00] [-8.23545901e-02 5.41336769e-03 9.96588389e-01 -1.24350116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385779523 meters 0.025692562297980687 Centerline is valid? [True, True] Translation: X:14.83, Y:-3.05, Z:-1.24 [[ 9.96854075e-01 2.84523140e-02 7.39758016e-02 1.48288973e+01] [-2.81203038e-02 9.99589272e-01 -5.52597443e-03 -3.04920461e+00] [-7.41026444e-02 3.42836811e-03 9.97244726e-01 -1.24481778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445779523 meters 0.021884445999158727 Centerline is valid? [True, True] Translation: X:14.89, Y:-3.04, Z:-1.25 [[ 9.96163373e-01 4.04750853e-02 7.75906008e-02 1.48902067e+01] [-4.01460548e-02 9.99177009e-01 -5.79638914e-03 -3.04112595e+00] [-7.77613538e-02 2.65919405e-03 9.96968455e-01 -1.24506161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505779523 meters 0.018996040057617687 Centerline is valid? [True, True] Translation: X:14.95, Y:-3.04, Z:-1.25 [[ 9.95253729e-01 4.98431078e-02 8.35803808e-02 1.49502096e+01] [-4.94939860e-02 9.98754896e-01 -6.24517221e-03 -3.03749390e+00] [-8.37875934e-02 2.07880474e-03 9.96481469e-01 -1.24997258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565779523 meters 0.017165589391061848 Centerline is valid? [True, True] Translation: X:15.01, Y:-3.04, Z:-1.26 [[ 9.94865266e-01 5.40895730e-02 8.55419188e-02 1.50112412e+01] [-5.37395371e-02 9.98534534e-01 -6.39110885e-03 -3.04037172e+00] [-8.57622524e-02 1.76130910e-03 9.96314074e-01 -1.25765958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625779523 meters 0.017164944588176207 Centerline is valid? [True, True] Translation: X:15.07, Y:-3.05, Z:-1.26 [[ 9.95227036e-01 5.60406657e-02 7.98911177e-02 1.50714141e+01] [-5.57415248e-02 9.98427376e-01 -5.97140642e-03 -3.05065664e+00] [-8.01001206e-02 1.48965240e-03 9.96785710e-01 -1.26301408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685779523 meters 0.01776211563296641 Centerline is valid? [True, True] Translation: X:15.13, Y:-3.05, Z:-1.28 [[ 9.95995980e-01 5.57382950e-02 6.98945707e-02 1.51321779e+01] [-5.55077800e-02 9.98444518e-01 -5.23745056e-03 -3.05462658e+00] [-7.00777776e-02 1.33678725e-03 9.97540635e-01 -1.28177795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745779523 meters 0.018189244063735156 Centerline is valid? [True, True] Translation: X:15.19, Y:-3.07, Z:-1.28 [[ 9.95565019e-01 5.22972339e-02 7.82003311e-02 1.51943512e+01] [-5.19962900e-02 9.98629961e-01 -5.88101365e-03 -3.06550626e+00] [-7.84007544e-02 1.78880437e-03 9.96920319e-01 -1.27852960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805779522999998 meters 0.022239449109207794 Centerline is valid? [True, True] Translation: X:15.25, Y:-3.08, Z:-1.27 [[ 9.95521318e-01 3.71155312e-02 8.69467838e-02 1.52541808e+01] [-3.66836272e-02 9.99305394e-01 -6.56053771e-03 -3.08476812e+00] [-8.71298879e-02 3.34163174e-03 9.96191355e-01 -1.27255108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865779523 meters 0.024089783432283577 Centerline is valid? [True, True] Translation: X:15.31, Y:-3.10, Z:-1.28 [[ 9.96437514e-01 2.75120140e-02 7.97205780e-02 1.53143055e+01] [-2.71183940e-02 9.99614125e-01 -6.01617191e-03 -3.09588193e+00] [-7.98553328e-02 3.83284534e-03 9.96799095e-01 -1.28318493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925779523 meters 0.02936902267039519 Centerline is valid? [True, True] Translation: X:15.37, Y:-3.12, Z:-1.29 [[ 9.97215683e-01 2.26559361e-02 7.10463966e-02 1.53716310e+01] [-2.23310876e-02 9.99736243e-01 -5.36339283e-03 -3.11927440e+00] [-7.11491704e-02 3.76191614e-03 9.97458592e-01 -1.29123390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985779523 meters 0.0279590587589698 Centerline is valid? [True, True] Translation: X:15.43, Y:-3.12, Z:-1.30 [[ 9.96972043e-01 2.30414315e-02 7.42686850e-02 1.54336903e+01] [-2.26873637e-02 9.99726882e-01 -5.60762786e-03 -3.11901844e+00] [-7.43776086e-02 3.90568754e-03 9.97222501e-01 -1.29879122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045779523 meters 0.02991647865273577 Centerline is valid? [True, True] Translation: X:15.49, Y:-3.12, Z:-1.31 [[ 9.96763087e-01 2.38373617e-02 7.67797455e-02 1.54946322e+01] [-2.34597522e-02 9.99707862e-01 -5.81641515e-03 -3.11987995e+00] [-7.68959632e-02 3.99635411e-03 9.97031113e-01 -1.31046540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105779523 meters 0.02632523207088496 Centerline is valid? [True, True] Translation: X:15.56, Y:-3.13, Z:-1.31 [[ 9.96985741e-01 3.37657023e-02 6.98520612e-02 1.55550688e+01] [-3.34763722e-02 9.99425409e-01 -5.30886446e-03 -3.12673185e+00] [-6.99911824e-02 2.95446856e-03 9.97543235e-01 -1.31203949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165779523 meters 0.018917947682927313 Centerline is valid? [True, True] Translation: X:15.62, Y:-3.12, Z:-1.31 [[ 9.96392684e-01 5.22752949e-02 6.68499237e-02 1.56169227e+01] [-5.20518061e-02 9.98631456e-01 -5.08175683e-03 -3.12017809e+00] [-6.70240870e-02 1.58376606e-03 9.97750101e-01 -1.31283828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225779523 meters 0.016161882290957913 Centerline is valid? [True, True] Translation: X:15.68, Y:-3.11, Z:-1.32 [[ 9.95858174e-01 6.14279239e-02 6.70306495e-02 1.56777877e+01] [-6.12238589e-02 9.98111049e-01 -5.09631338e-03 -3.11048260e+00] [-6.72170878e-02 9.71330304e-04 9.97737901e-01 -1.32110324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285779523 meters 0.014905708738340356 Centerline is valid? [True, True] Translation: X:15.74, Y:-3.11, Z:-1.32 [[ 9.94998282e-01 6.73799109e-02 7.37452767e-02 1.57391161e+01] [-6.71491717e-02 9.97727195e-01 -5.60658197e-03 -3.11327277e+00] [-7.39554391e-02 6.26605185e-04 9.97261350e-01 -1.32197814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345779523 meters 0.014639862834981315 Centerline is valid? [True, True] Translation: X:15.80, Y:-3.13, Z:-1.32 [[ 9.94529447e-01 6.72763829e-02 7.99066212e-02 1.58011752e+01] [-6.70048331e-02 9.97734139e-01 -6.07789958e-03 -3.12671051e+00] [-8.01344629e-02 6.90520291e-04 9.96783824e-01 -1.31934218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405779523 meters 0.014998099026967224 Centerline is valid? [True, True] Translation: X:15.86, Y:-3.13, Z:-1.33 [[ 9.94761391e-01 6.68588814e-02 7.73282983e-02 1.58633886e+01] [-6.66019230e-02 9.97762183e-01 -5.90006322e-03 -3.13102263e+00] [-7.75497234e-02 7.18941723e-04 9.96988226e-01 -1.33127915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465779523 meters 0.014420530317797099 Centerline is valid? [True, True] Translation: X:15.93, Y:-3.14, Z:-1.33 [[ 9.94699596e-01 7.35796936e-02 7.18243794e-02 1.59257517e+01] [-7.33742213e-02 9.97289321e-01 -5.49861025e-03 -3.13939316e+00] [-7.20342726e-02 1.99407482e-04 9.97402137e-01 -1.33252832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525779523 meters 0.014630501132715317 Centerline is valid? [True, True] Translation: X:15.99, Y:-3.14, Z:-1.34 [[ 9.94227863e-01 8.28019384e-02 6.82260565e-02 1.59871132e+01] [-8.26369460e-02 9.96565932e-01 -5.24193798e-03 -3.13897297e+00] [-6.84258062e-02 -4.26312143e-04 9.97656117e-01 -1.33832380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585779523 meters 0.015341738740221465 Centerline is valid? [True, True] Translation: X:16.05, Y:-3.14, Z:-1.35 [[ 9.93913366e-01 8.77978190e-02 6.65414399e-02 1.60487051e+01] [-8.76511006e-02 9.96138043e-01 -5.12683782e-03 -3.14105285e+00] [-6.67345849e-02 -7.36797803e-04 9.97770491e-01 -1.34582706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645779523 meters 0.014404436176967713 Centerline is valid? [True, True] Translation: X:16.11, Y:-3.14, Z:-1.35 [[ 9.94348460e-01 7.99365590e-02 6.98662093e-02 1.61093024e+01] [-7.97539968e-02 9.96799933e-01 -5.40308090e-03 -3.14470493e+00] [-7.00745365e-02 -1.99564260e-04 9.97541738e-01 -1.35469532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705779523 meters 0.015506531988323559 Centerline is valid? [True, True] Translation: X:16.17, Y:-3.16, Z:-1.36 [[ 9.95057605e-01 7.15367695e-02 6.88683808e-02 1.61701884e+01] [-7.13392887e-02 9.97437888e-01 -5.32584911e-03 -3.15576553e+00] [-6.90729264e-02 3.86505359e-04 9.97611538e-01 -1.36007381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765779523 meters 0.01669832930865471 Centerline is valid? [True, True] Translation: X:16.23, Y:-3.18, Z:-1.35 [[ 9.95707972e-01 6.10202450e-02 6.95856621e-02 1.62305606e+01] [-6.07917333e-02 9.98135871e-01 -5.39884181e-03 -3.17660478e+00] [-6.97853841e-02 1.14543682e-03 9.97561371e-01 -1.35237835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825779523 meters 0.01928028830057149 Centerline is valid? [True, True] Translation: X:16.29, Y:-3.18, Z:-1.36 [[ 9.96281055e-01 5.32480536e-02 6.77399738e-02 1.62906965e+01] [-5.30123960e-02 9.98579932e-01 -5.27298537e-03 -3.18061029e+00] [-6.79245547e-02 1.66231711e-03 9.97689076e-01 -1.36026840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885779523 meters 0.019561927313338445 Centerline is valid? [True, True] Translation: X:16.35, Y:-3.18, Z:-1.36 [[ 9.96441272e-01 4.86460585e-02 6.88356865e-02 1.63522949e+01] [-4.83918282e-02 9.98814064e-01 -5.35699534e-03 -3.18308922e+00] [-6.90146485e-02 2.00684653e-03 9.97613628e-01 -1.36297104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945779523 meters 0.02432460366722273 Centerline is valid? [True, True] Translation: X:16.41, Y:-3.19, Z:-1.38 [[ 9.97241187e-01 3.75789515e-02 6.40143552e-02 1.64112511e+01] [-3.73352951e-02 9.99290293e-01 -4.99868261e-03 -3.19006635e+00] [-6.41567690e-02 2.59489734e-03 9.97936459e-01 -1.37646187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005779523 meters 0.02712540917917402 Centerline is valid? [True, True] Translation: X:16.47, Y:-3.20, Z:-1.38 [[ 9.97063021e-01 2.92982511e-02 7.07597703e-02 1.64714414e+01] [-2.89795717e-02 9.99564728e-01 -5.52629151e-03 -3.19514040e+00] [-7.08908812e-02 3.45947307e-03 9.97478077e-01 -1.37840980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065779523 meters 0.02971418142749242 Centerline is valid? [True, True] Translation: X:16.53, Y:-3.21, Z:-1.37 [[ 9.96924090e-01 2.49305625e-02 7.43022603e-02 1.65315363e+01] [-2.45669441e-02 9.99681339e-01 -5.80385670e-03 -3.20981677e+00] [-7.44232765e-02 3.96062508e-03 9.97218877e-01 -1.36966708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125779523 meters 0.02665951141087043 Centerline is valid? [True, True] Translation: X:16.59, Y:-3.21, Z:-1.37 [[ 9.96947870e-01 2.55260542e-02 7.37791648e-02 1.65936840e+01] [-2.51692981e-02 9.99666601e-01 -5.76132489e-03 -3.21081069e+00] [-7.39016308e-02 3.88677079e-03 9.97257962e-01 -1.37185256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185779523 meters 0.023686645297807018 Centerline is valid? [True, True] Translation: X:16.65, Y:-3.20, Z:-1.39 [[ 9.97090059e-01 3.29666024e-02 6.87358519e-02 1.66544643e+01] [-3.26734002e-02 9.99451570e-01 -5.38583505e-03 -3.19902792e+00] [-6.88757079e-02 3.12432859e-03 9.97620356e-01 -1.38826323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245779523 meters 0.022520437400798506 Centerline is valid? [True, True] Translation: X:16.71, Y:-3.20, Z:-1.40 [[ 9.96871327e-01 4.10414017e-02 6.75511675e-02 1.67134259e+01] [-4.07766888e-02 9.99154263e-01 -5.29346212e-03 -3.19607068e+00] [-6.77112881e-02 2.52238767e-03 9.97701769e-01 -1.40097570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305779522999998 meters 0.017661640562823527 Centerline is valid? [True, True] Translation: X:16.77, Y:-3.19, Z:-1.40 [[ 9.95710618e-01 5.55161243e-02 7.40157055e-02 1.67747469e+01] [-5.52381683e-02 9.98456368e-01 -5.79873002e-03 -3.19410739e+00] [-7.42233755e-02 1.68536505e-03 9.97240217e-01 -1.39701148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365779523 meters 0.015073722420123297 Centerline is valid? [True, True] Translation: X:16.84, Y:-3.19, Z:-1.40 [[ 9.94866826e-01 6.44206287e-02 7.80383358e-02 1.68360088e+01] [-6.41388201e-02 9.97922252e-01 -6.11487249e-03 -3.18836745e+00] [-7.82701157e-02 1.07819700e-03 9.96931606e-01 -1.39639663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425779523 meters 0.013823825451542978 Centerline is valid? [True, True] Translation: X:16.90, Y:-3.19, Z:-1.41 [[ 9.94760533e-01 7.27154495e-02 7.18605953e-02 1.68961387e+01] [-7.24983032e-02 9.97352652e-01 -5.62889252e-03 -3.19320687e+00] [-7.20796627e-02 3.89628898e-04 9.97398802e-01 -1.40601951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485779523 meters 0.01651359259034573 Centerline is valid? [True, True] Translation: X:16.96, Y:-3.20, Z:-1.42 [[ 9.94577808e-01 7.63828286e-02 7.05736960e-02 1.69587347e+01] [-7.61814768e-02 9.97078555e-01 -5.54419181e-03 -3.19967263e+00] [-7.07909998e-02 1.37721758e-04 9.97491161e-01 -1.41532252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545779523 meters 0.014401505135016137 Centerline is valid? [True, True] Translation: X:17.02, Y:-3.19, Z:-1.42 [[ 9.92911569e-01 8.92460281e-02 7.84968966e-02 1.70220002e+01] [-8.90361584e-02 9.96009244e-01 -6.17651337e-03 -3.18852084e+00] [-7.87348638e-02 -8.56330535e-04 9.96895224e-01 -1.42067882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605779523 meters 0.016503321501380005 Centerline is valid? [True, True] Translation: X:17.08, Y:-3.19, Z:-1.42 [[ 9.92477508e-01 9.50668185e-02 7.71407594e-02 1.70829246e+01] [-9.48800807e-02 9.95470078e-01 -6.09051867e-03 -3.19461334e+00] [-7.73703240e-02 -1.27441868e-03 9.97001609e-01 -1.42236483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665779523 meters 0.015743695353462584 Centerline is valid? [True, True] Translation: X:17.14, Y:-3.21, Z:-1.43 [[ 9.92453950e-01 9.62413997e-02 7.59786209e-02 1.71438778e+01] [-9.60624561e-02 9.95357135e-01 -6.01484959e-03 -3.21007771e+00] [-7.62047399e-02 -1.32923170e-03 9.97091305e-01 -1.42643705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725779523 meters 0.015328215690377716 Centerline is valid? [True, True] Translation: X:17.20, Y:-3.22, Z:-1.44 [[ 9.93143592e-01 9.04898514e-02 7.40094128e-02 1.72036230e+01] [-9.03028068e-02 9.95897017e-01 -5.87653948e-03 -3.22188344e+00] [-7.42375207e-02 -8.47010183e-04 9.97240228e-01 -1.44300791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785779523 meters 0.014910353220920219 Centerline is valid? [True, True] Translation: X:17.27, Y:-3.23, Z:-1.45 [[ 9.93392849e-01 8.86435926e-02 7.28900670e-02 1.72651613e+01] [-8.84559313e-02 9.96063176e-01 -5.80502794e-03 -3.23014932e+00] [-7.31176902e-02 -6.80885518e-04 9.97323087e-01 -1.45165569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845779523 meters 0.01333201255751737 Centerline is valid? [True, True] Translation: X:17.33, Y:-3.25, Z:-1.44 [[ 9.94152626e-01 7.78909901e-02 7.47900322e-02 1.73269330e+01] [-7.76617390e-02 9.96961873e-01 -5.97306303e-03 -3.25308125e+00] [-7.50280584e-02 1.29812345e-04 9.97181415e-01 -1.43690937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905779523 meters 0.015030140149782194 Centerline is valid? [True, True] Translation: X:17.39, Y:-3.25, Z:-1.46 [[ 9.94502483e-01 7.10120954e-02 7.69551356e-02 1.73872881e+01] [-7.07472967e-02 9.97475218e-01 -6.16519069e-03 -3.24813150e+00] [-7.71986437e-02 6.86929640e-04 9.97015495e-01 -1.45512918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965779523 meters 0.016797514153484117 Centerline is valid? [True, True] Translation: X:17.45, Y:-3.25, Z:-1.47 [[ 9.94907631e-01 6.72119275e-02 7.51090057e-02 1.74479597e+01] [-6.69481864e-02 9.97738253e-01 -6.02656774e-03 -3.25169121e+00] [-7.53441853e-02 9.67466521e-04 9.97157118e-01 -1.46735377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025779523 meters 0.019111292586635374 Centerline is valid? [True, True] Translation: X:17.51, Y:-3.27, Z:-1.46 [[ 9.95067124e-01 6.12985283e-02 7.79994188e-02 1.75090288e+01] [-6.09951393e-02 9.98118380e-01 -6.26837847e-03 -3.27256708e+00] [-7.82368959e-02 1.47987192e-03 9.96933698e-01 -1.46035747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085779523 meters 0.020171762264255905 Centerline is valid? [True, True] Translation: X:17.57, Y:-3.28, Z:-1.46 [[ 9.95305486e-01 5.01972661e-02 8.27479532e-02 1.75702516e+01] [-4.98158601e-02 9.98736155e-01 -6.66875240e-03 -3.27533507e+00] [-8.29781257e-02 2.51528539e-03 9.96548195e-01 -1.45735942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145779522999998 meters 0.023237360782005903 Centerline is valid? [True, True] Translation: X:17.63, Y:-3.27, Z:-1.47 [[ 9.95709460e-01 4.63381760e-02 8.00964698e-02 1.76313996e+01] [-4.59683281e-02 9.98922034e-01 -6.45628771e-03 -3.27098752e+00] [-8.03093011e-02 2.74668595e-03 9.96766207e-01 -1.47090371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205779523 meters 0.02199568878238658 Centerline is valid? [True, True] Translation: X:17.69, Y:-3.29, Z:-1.47 [[ 9.96178031e-01 4.41657355e-02 7.53572695e-02 1.76924258e+01] [-4.38320901e-02 9.99020432e-01 -6.07648082e-03 -3.28907656e+00] [-7.55518242e-02 2.75019008e-03 9.97138084e-01 -1.47011870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265779523 meters 0.02322494877788132 Centerline is valid? [True, True] Translation: X:17.75, Y:-3.29, Z:-1.48 [[ 9.96330207e-01 3.42777934e-02 7.84292762e-02 1.77526688e+01] [-3.38853213e-02 9.99405682e-01 -6.32993595e-03 -3.28596242e+00] [-7.85996405e-02 3.64910517e-03 9.96899584e-01 -1.48300641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325779523 meters 0.026956089284837875 Centerline is valid? [True, True] Translation: X:17.81, Y:-3.29, Z:-1.50 [[ 9.96427098e-01 3.56251213e-02 7.65760364e-02 1.78127548e+01] [-3.52549888e-02 9.99359239e-01 -6.18036589e-03 -3.28941348e+00] [-7.67471457e-02 3.45859674e-03 9.97044590e-01 -1.49623694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385779523 meters 0.019944776067021813 Centerline is valid? [True, True] Translation: X:17.87, Y:-3.29, Z:-1.50 [[ 9.95952922e-01 5.15848008e-02 7.35988131e-02 1.78734176e+01] [-5.12850738e-02 9.98666284e-01 -5.95773512e-03 -3.29073169e+00] [-7.38079818e-02 2.15910314e-03 9.97270134e-01 -1.49671822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445779523 meters 0.015561561019163301 Centerline is valid? [True, True] Translation: X:17.93, Y:-3.28, Z:-1.50 [[ 9.94764908e-01 6.60088586e-02 7.80103072e-02 1.79349442e+01] [-6.57162340e-02 9.97818368e-01 -6.31516737e-03 -3.28359791e+00] [-7.82569744e-02 1.15556329e-03 9.96932551e-01 -1.49664739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505779523 meters 0.013834086715680136 Centerline is valid? [True, True] Translation: X:18.00, Y:-3.27, Z:-1.50 [[ 9.93240973e-01 7.90284511e-02 8.50110224e-02 1.79981749e+01] [-7.87282374e-02 9.96872350e-01 -6.88342101e-03 -3.27436521e+00] [-8.52891238e-02 1.44127832e-04 9.96356234e-01 -1.49514003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565779523 meters 0.013748180674797657 Centerline is valid? [True, True] Translation: X:18.06, Y:-3.29, Z:-1.50 [[ 9.93606373e-01 7.93439470e-02 8.03175773e-02 1.80583429e+01] [-7.90767401e-02 9.96847293e-01 -6.50724107e-03 -3.28771288e+00] [-8.05806697e-02 1.14384020e-04 9.96748084e-01 -1.50438005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625779523 meters 0.014076908250041447 Centerline is valid? [True, True] Translation: X:18.12, Y:-3.30, Z:-1.52 [[ 9.94158740e-01 7.76487730e-02 7.49604451e-02 1.81190923e+01] [-7.74100098e-02 9.96980744e-01 -6.08979423e-03 -3.30207742e+00] [-7.52069854e-02 2.51533362e-04 9.97167913e-01 -1.51511794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685779523 meters 0.014261758915345115 Centerline is valid? [True, True] Translation: X:18.18, Y:-3.29, Z:-1.53 [[ 9.93895917e-01 7.70802450e-02 7.89274531e-02 1.81797203e+01] [-7.68121077e-02 9.97024838e-01 -6.43221854e-03 -3.29475237e+00] [-7.91884281e-02 3.30371710e-04 9.96859611e-01 -1.53285429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745779523 meters 0.014086323317984048 Centerline is valid? [True, True] Translation: X:18.24, Y:-3.30, Z:-1.53 [[ 9.93650382e-01 7.99602491e-02 7.91535028e-02 1.82422139e+01] [-7.96983001e-02 9.96798046e-01 -6.46811199e-03 -3.30490908e+00] [-7.94172487e-02 1.18642335e-04 9.96841455e-01 -1.53156278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805779522999998 meters 0.013865200691252818 Centerline is valid? [True, True] Translation: X:18.30, Y:-3.33, Z:-1.51 [[ 9.93439421e-01 8.46988531e-02 7.68389249e-02 1.83037283e+01] [-8.44645797e-02 9.96406569e-01 -6.29954802e-03 -3.33451078e+00] [-7.70963740e-02 -2.31948148e-04 9.97023618e-01 -1.51264009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865779523 meters 0.014189923300803674 Centerline is valid? [True, True] Translation: X:18.37, Y:-3.32, Z:-1.53 [[ 9.93243157e-01 8.24992585e-02 8.16204867e-02 1.83650326e+01] [-8.22256460e-02 9.96591125e-01 -6.71361654e-03 -3.32368456e+00] [-8.18961211e-02 -4.30435591e-05 9.96640870e-01 -1.53442280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925779523 meters 0.014811261888187415 Centerline is valid? [True, True] Translation: X:18.43, Y:-3.33, Z:-1.55 [[ 9.94139308e-01 7.46756824e-02 7.81701967e-02 1.84258669e+01] [-7.43991497e-02 9.97207696e-01 -6.44805905e-03 -3.33129292e+00] [-7.84334350e-02 5.94472799e-04 9.96919176e-01 -1.54841566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985779523 meters 0.016837400852469063 Centerline is valid? [True, True] Translation: X:18.49, Y:-3.35, Z:-1.55 [[ 9.95036889e-01 6.35761651e-02 7.65484210e-02 1.84859534e+01] [-6.32767366e-02 9.97975924e-01 -6.33318033e-03 -3.34709535e+00] [-7.67961205e-02 1.45801378e-03 9.97045751e-01 -1.54622773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045779523 meters 0.019392073239158033 Centerline is valid? [True, True] Translation: X:18.55, Y:-3.36, Z:-1.54 [[ 9.95566050e-01 5.33018622e-02 7.75058226e-02 1.85462941e+01] [-5.29636855e-02 9.98575842e-01 -6.41377264e-03 -3.36253250e+00] [-7.77373081e-02 2.28034028e-03 9.96971269e-01 -1.54218515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105779523 meters 0.02038674923068638 Centerline is valid? [True, True] Translation: X:18.61, Y:-3.37, Z:-1.55 [[ 9.95765515e-01 4.90694847e-02 7.77381785e-02 1.86072041e+01] [-4.87163256e-02 9.98791932e-01 -6.43401181e-03 -3.36960921e+00] [-7.79599792e-02 2.61964866e-03 9.96953048e-01 -1.54554034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165779523 meters 0.0260235336517312 Centerline is valid? [True, True] Translation: X:18.67, Y:-3.38, Z:-1.55 [[ 9.96259304e-01 3.50332709e-02 7.89941098e-02 1.86664733e+01] [-3.46243509e-02 9.99378993e-01 -6.54078242e-03 -3.37718633e+00] [-7.91741989e-02 3.78119557e-03 9.96853625e-01 -1.55148927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225779523 meters 0.03288775035849469 Centerline is valid? [True, True] Translation: X:18.72, Y:-3.38, Z:-1.57 [[ 9.97032003e-01 2.40534541e-02 7.31342382e-02 1.87246845e+01] [-2.36735151e-02 9.99701390e-01 -6.05761910e-03 -3.37979044e+00] [-7.32581063e-02 4.30829561e-03 9.97303709e-01 -1.56858128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285779523 meters 0.03482063706690304 Centerline is valid? [True, True] Translation: X:18.79, Y:-3.38, Z:-1.58 [[ 9.97258831e-01 2.25460147e-02 7.04734134e-02 1.87853182e+01] [-2.21891622e-02 9.99736718e-01 -5.84249770e-03 -3.38317766e+00] [-7.05865841e-02 4.26273642e-03 9.97496548e-01 -1.57652885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345779523 meters 0.03046108304430111 Centerline is valid? [True, True] Translation: X:18.85, Y:-3.39, Z:-1.56 [[ 9.96808178e-01 2.24126359e-02 7.66232930e-02 1.88480549e+01] [-2.19900683e-02 9.99737996e-01 -6.35425315e-03 -3.39058381e+00] [-7.67456330e-02 4.64902006e-03 9.97039866e-01 -1.56282353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405779523 meters 0.02900362133111794 Centerline is valid? [True, True] Translation: X:18.91, Y:-3.39, Z:-1.56 [[ 9.96263222e-01 2.53356293e-02 8.25693570e-02 1.89094502e+01] [-2.48529333e-02 9.99667521e-01 -6.86867839e-03 -3.38666126e+00] [-8.27159267e-02 4.79092095e-03 9.96561650e-01 -1.56299777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465779523 meters 0.027300127437781468 Centerline is valid? [True, True] Translation: X:18.97, Y:-3.37, Z:-1.59 [[ 9.96124001e-01 3.70347617e-02 7.97834620e-02 1.89692254e+01] [-3.66214216e-02 9.99307162e-01 -6.63828801e-03 -3.36930303e+00] [-7.99740325e-02 3.69077421e-03 9.96790114e-01 -1.58553894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525779523 meters 0.023210089869268615 Centerline is valid? [True, True] Translation: X:19.03, Y:-3.37, Z:-1.59 [[ 9.96192145e-01 4.85884687e-02 7.23904131e-02 1.90295857e+01] [-4.82788418e-02 9.98815744e-01 -6.02185464e-03 -3.37376877e+00] [-7.25972770e-02 2.50399898e-03 9.97358193e-01 -1.59146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585779523 meters 0.017198107722787053 Centerline is valid? [True, True] Translation: X:19.09, Y:-3.37, Z:-1.59 [[ 9.95579183e-01 6.29396844e-02 6.97186276e-02 1.90913733e+01] [-6.26875569e-02 9.98016344e-01 -5.80055882e-03 -3.37092408e+00] [-6.99454152e-02 1.40442518e-03 9.97549832e-01 -1.58871890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645779522999998 meters 0.014846125454809971 Centerline is valid? [True, True] Translation: X:19.15, Y:-3.35, Z:-1.60 [[ 9.94179115e-01 7.27753303e-02 7.94458272e-02 1.91538037e+01] [-7.24789661e-02 9.97348027e-01 -6.61152074e-03 -3.34645315e+00] [-7.97162946e-02 8.14884420e-04 9.96817259e-01 -1.60348118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705779523 meters 0.014306068332235328 Centerline is valid? [True, True] Translation: X:19.22, Y:-3.36, Z:-1.60 [[ 9.93731620e-01 7.54734014e-02 8.24695932e-02 1.92152792e+01] [-7.51631160e-02 9.97147621e-01 -6.86504607e-03 -3.35985827e+00] [-8.27524870e-02 6.23341747e-04 9.96569936e-01 -1.60090444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765779523 meters 0.015490447061040203 Centerline is valid? [True, True] Translation: X:19.27, Y:-3.39, Z:-1.60 [[ 9.94684787e-01 7.02430204e-02 7.52867385e-02 1.92740132e+01] [-6.99682637e-02 9.97529424e-01 -6.28413718e-03 -3.39074014e+00] [-7.55421536e-02 9.83053281e-04 9.97142125e-01 -1.59726486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825779523 meters 0.015557456188133877 Centerline is valid? [True, True] Translation: X:19.34, Y:-3.39, Z:-1.61 [[ 9.94806175e-01 6.84396504e-02 7.53437996e-02 1.93354216e+01] [-6.81586865e-02 9.97654619e-01 -6.29714979e-03 -3.39204673e+00] [-7.55980645e-02 1.12910908e-03 9.97137733e-01 -1.60752370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885779523 meters 0.014300809286016467 Centerline is valid? [True, True] Translation: X:19.40, Y:-3.38, Z:-1.63 [[ 9.93917984e-01 7.92136046e-02 7.64999698e-02 1.93956182e+01] [-7.89542573e-02 9.96857609e-01 -6.41344415e-03 -3.38069492e+00] [-7.67676091e-02 3.34439187e-04 9.97048957e-01 -1.62594625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945779523 meters 0.014214626150024348 Centerline is valid? [True, True] Translation: X:19.46, Y:-3.39, Z:-1.63 [[ 9.93190119e-01 8.88746214e-02 7.53305312e-02 1.94577036e+01] [-8.86503697e-02 9.96042741e-01 -6.32214184e-03 -3.38760703e+00] [-7.55943067e-02 -3.98990637e-04 9.97138577e-01 -1.62863148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005779523 meters 0.01756127396942559 Centerline is valid? [True, True] Translation: X:19.52, Y:-3.41, Z:-1.64 [[ 9.94103854e-01 8.67844592e-02 6.50075809e-02 1.95166299e+01] [-8.66118704e-02 9.96227094e-01 -5.47375200e-03 -3.41308565e+00] [-6.52373500e-02 -1.88950219e-04 9.97869757e-01 -1.63560789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065779523 meters 0.014709842199508332 Centerline is valid? [True, True] Translation: X:19.58, Y:-3.43, Z:-1.63 [[ 9.94548815e-01 7.64255437e-02 7.09351167e-02 1.95777023e+01] [-7.61931046e-02 9.97075143e-01 -5.98078881e-03 -3.43055824e+00] [-7.11847267e-02 5.43419652e-04 9.97463002e-01 -1.63336886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125779523 meters 0.01616569195787395 Centerline is valid? [True, True] Translation: X:19.64, Y:-3.44, Z:-1.63 [[ 9.94143832e-01 6.74612363e-02 8.44216958e-02 1.96394081e+01] [-6.70975193e-02 9.97720864e-01 -7.14150491e-03 -3.43855994e+00] [-8.47110620e-02 1.43519669e-03 9.96404524e-01 -1.63172063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185779523 meters 0.015720467874843925 Centerline is valid? [True, True] Translation: X:19.70, Y:-3.44, Z:-1.64 [[ 9.94375176e-01 6.90229803e-02 8.03357777e-02 1.97007735e+01] [-6.86983539e-02 9.97614295e-01 -6.80112972e-03 -3.44263435e+00] [-8.06135545e-02 1.24393887e-03 9.96744655e-01 -1.64182474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245779523 meters 0.014591464084217395 Centerline is valid? [True, True] Translation: X:19.76, Y:-3.45, Z:-1.65 [[ 9.94349808e-01 7.87543121e-02 7.11773609e-02 1.97617435e+01] [-7.85233814e-02 9.96893968e-01 -6.04109749e-03 -3.44624397e+00] [-7.14320442e-02 4.17877071e-04 9.97445381e-01 -1.65024055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305779522999998 meters 0.014535956261340681 Centerline is valid? [True, True] Translation: X:19.82, Y:-3.45, Z:-1.65 [[ 9.94358965e-01 7.92011711e-02 7.05508590e-02 1.98239392e+01] [-7.89742366e-02 9.96858573e-01 -6.00455161e-03 -3.45214908e+00] [-7.08047961e-02 3.98979492e-04 9.97490111e-01 -1.65198569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365779523 meters 0.01744397636971538 Centerline is valid? [True, True] Translation: X:19.88, Y:-3.45, Z:-1.66 [[ 9.94558323e-01 6.29193324e-02 8.30355373e-02 1.98847731e+01] [-6.25459190e-02 9.98016881e-01 -7.09324690e-03 -3.45315200e+00] [-8.33171703e-02 1.86111374e-03 9.96521342e-01 -1.65580447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425779523 meters 0.021516241636188833 Centerline is valid? [True, True] Translation: X:19.94, Y:-3.47, Z:-1.67 [[ 9.95497090e-01 5.22674390e-02 7.90800834e-02 1.99431554e+01] [-5.18951809e-02 9.98629680e-01 -6.75662368e-03 -3.46979760e+00] [-7.93248698e-02 2.62232398e-03 9.96845368e-01 -1.66563386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485779523 meters 0.021989426058250956 Centerline is valid? [True, True] Translation: X:20.01, Y:-3.48, Z:-1.66 [[ 9.95682403e-01 4.93113147e-02 7.86444270e-02 2.00051998e+01] [-4.89337080e-02 9.98779405e-01 -6.72258066e-03 -3.48034656e+00] [-7.88799332e-02 2.84519184e-03 9.96880064e-01 -1.66483775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545779523 meters 0.021360063931926968 Centerline is valid? [True, True] Translation: X:20.07, Y:-3.48, Z:-1.67 [[ 9.95693310e-01 5.07503521e-02 7.75837181e-02 2.00673744e+01] [-5.03868721e-02 9.98707724e-01 -6.63666474e-03 -3.47903865e+00] [-7.78202716e-02 2.69888180e-03 9.96963751e-01 -1.67392858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605779523 meters 0.018862421029690383 Centerline is valid? [True, True] Translation: X:20.13, Y:-3.47, Z:-1.68 [[ 9.94884179e-01 5.66229283e-02 8.36619094e-02 2.01285373e+01] [-5.62190230e-02 9.98392659e-01 -7.17769309e-03 -3.47370512e+00] [-8.39338582e-02 2.43758249e-03 9.96468347e-01 -1.67834347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665779523 meters 0.01647551894494607 Centerline is valid? [True, True] Translation: X:20.19, Y:-3.48, Z:-1.69 [[ 9.94710640e-01 6.55884002e-02 7.90500134e-02 2.01889124e+01] [-6.52560305e-02 9.97845498e-01 -6.78332582e-03 -3.47670535e+00] [-7.93246074e-02 1.58895629e-03 9.96847572e-01 -1.68855819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725779523 meters 0.015331041842779952 Centerline is valid? [True, True] Translation: X:20.25, Y:-3.48, Z:-1.70 [[ 9.94521370e-01 7.13120184e-02 7.64319296e-02 2.02500643e+01] [-7.10181217e-02 9.97453455e-01 -6.55981680e-03 -3.47916949e+00] [-7.67050861e-02 1.09582592e-03 9.97053223e-01 -1.69703010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785779523 meters 0.014018668212165176 Centerline is valid? [True, True] Translation: X:20.31, Y:-3.48, Z:-1.70 [[ 9.93863184e-01 7.87561047e-02 7.76752715e-02 2.03123089e+01] [-7.84749512e-02 9.96893771e-01 -6.67014551e-03 -3.48465745e+00] [-7.79593090e-02 5.33648920e-04 9.96956399e-01 -1.69551342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845779523 meters 0.013811893833628141 Centerline is valid? [True, True] Translation: X:20.37, Y:-3.48, Z:-1.70 [[ 9.92383967e-01 8.87052425e-02 8.54718818e-02 2.03742118e+01] [-8.83995353e-02 9.96057889e-01 -7.36236380e-03 -3.47927929e+00] [-8.57880224e-02 -2.49382850e-04 9.96313381e-01 -1.69618768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905779523 meters 0.015435594788070993 Centerline is valid? [True, True] Translation: X:20.44, Y:-3.48, Z:-1.70 [[ 9.92070032e-01 8.94728094e-02 8.82704250e-02 2.04360864e+01] [-8.91479338e-02 9.95989218e-01 -7.62384409e-03 -3.48190932e+00] [-8.85985184e-02 -3.05738765e-04 9.96067372e-01 -1.70273659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965779523 meters 0.014025740945067604 Centerline is valid? [True, True] Translation: X:20.50, Y:-3.49, Z:-1.71 [[ 9.91979179e-01 9.01541130e-02 8.85976499e-02 2.04983177e+01] [-8.98276071e-02 9.95927766e-01 -7.67366238e-03 -3.49071549e+00] [-8.89286718e-02 -3.46401577e-04 9.96037937e-01 -1.70742558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025779523 meters 0.013512892665300733 Centerline is valid? [True, True] Translation: X:20.56, Y:-3.51, Z:-1.71 [[ 9.92675373e-01 8.83778413e-02 8.23708794e-02 2.05587173e+01] [-8.80878441e-02 9.96087011e-01 -7.15527462e-03 -3.50935947e+00] [-8.26809308e-02 -1.53008285e-04 9.96576058e-01 -1.71185717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085779523 meters 0.013461497555682902 Centerline is valid? [True, True] Translation: X:20.62, Y:-3.51, Z:-1.72 [[ 9.92787268e-01 9.00575634e-02 7.91396028e-02 2.06208521e+01] [-8.97938043e-02 9.95936527e-01 -6.89252082e-03 -3.51260346e+00] [-7.94387448e-02 -2.63439093e-04 9.96839715e-01 -1.71846213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145779522999998 meters 0.017061084760596906 Centerline is valid? [True, True] Translation: X:20.68, Y:-3.50, Z:-1.74 [[ 9.92768560e-01 9.60168527e-02 7.20510205e-02 2.06819838e+01] [-9.58125997e-02 9.95379493e-01 -6.29372798e-03 -3.49828381e+00] [-7.23224122e-02 -6.55180324e-04 9.97381090e-01 -1.73934773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205779523 meters 0.015595151920245683 Centerline is valid? [True, True] Translation: X:20.74, Y:-3.49, Z:-1.75 [[ 9.92014791e-01 1.02045786e-01 7.41168837e-02 2.07444592e+01] [-1.01845164e-01 9.94779085e-01 -6.49116081e-03 -3.49481015e+00] [-7.43923213e-02 -1.10911867e-03 9.97228435e-01 -1.74538498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265779523 meters 0.014675201149865159 Centerline is valid? [True, True] Translation: X:20.80, Y:-3.51, Z:-1.74 [[ 9.92339048e-01 9.84755886e-02 7.46041100e-02 2.08047758e+01] [-9.82608982e-02 9.95139121e-01 -6.55171116e-03 -3.51244742e+00] [-7.48866521e-02 -8.29148049e-04 9.97191708e-01 -1.74168708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325779523 meters 0.01326162301545037 Centerline is valid? [True, True] Translation: X:20.87, Y:-3.53, Z:-1.74 [[ 9.93009706e-01 8.79825964e-02 7.86815463e-02 2.08654298e+01] [-8.77094323e-02 9.96122012e-01 -6.92771420e-03 -3.53339130e+00] [-7.89859384e-02 -2.18263170e-05 9.96875730e-01 -1.73930005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385779523 meters 0.013316549533800199 Centerline is valid? [True, True] Translation: X:20.93, Y:-3.54, Z:-1.75 [[ 9.93252094e-01 8.64836979e-02 7.72712559e-02 2.09280359e+01] [-8.62142966e-02 9.96253259e-01 -6.82188078e-03 -3.53784791e+00] [-7.75717220e-02 1.13960397e-04 9.96986768e-01 -1.74824947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445779523 meters 0.013502480919314818 Centerline is valid? [True, True] Translation: X:20.99, Y:-3.54, Z:-1.75 [[ 9.92535818e-01 9.23458523e-02 7.96548440e-02 2.09905178e+01] [-9.20765786e-02 9.95726937e-01 -7.05481733e-03 -3.53518187e+00] [-7.99659570e-02 -3.32186624e-04 9.96797540e-01 -1.75310151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505779523 meters 0.01338857281000381 Centerline is valid? [True, True] Translation: X:21.05, Y:-3.54, Z:-1.76 [[ 9.92686666e-01 9.18907901e-02 7.82896272e-02 2.10529035e+01] [-9.16277335e-02 9.95769054e-01 -6.95335902e-03 -3.54203059e+00] [-7.85973377e-02 -2.70994314e-04 9.96906407e-01 -1.75984781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565779523 meters 0.01320263658401797 Centerline is valid? [True, True] Translation: X:21.11, Y:-3.55, Z:-1.77 [[ 9.93424415e-01 8.69513829e-02 7.44808007e-02 2.11132941e+01] [-8.66981294e-02 9.96212547e-01 -6.63285347e-03 -3.55362366e+00] [-7.47754439e-02 1.31892486e-04 9.97200389e-01 -1.76997281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625779523 meters 0.013005165208543546 Centerline is valid? [True, True] Translation: X:21.18, Y:-3.57, Z:-1.76 [[ 9.92941105e-01 8.88957877e-02 7.85207008e-02 2.11756026e+01] [-8.86187394e-02 9.96040932e-01 -7.01285363e-03 -3.56527371e+00] [-7.88332452e-02 4.94510562e-06 9.96887817e-01 -1.76404451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685779523 meters 0.012975568024934731 Centerline is valid? [True, True] Translation: X:21.24, Y:-3.57, Z:-1.76 [[ 9.92516416e-01 9.06668867e-02 8.17965759e-02 2.12388023e+01] [-9.03704646e-02 9.95881269e-01 -7.32652408e-03 -3.56855688e+00] [-8.21239509e-02 -1.20299144e-04 9.96622116e-01 -1.76493301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745779523 meters 0.013087139049979877 Centerline is valid? [True, True] Translation: X:21.30, Y:-3.56, Z:-1.78 [[ 9.92388238e-01 9.16064367e-02 8.23033719e-02 2.13014936e+01] [-9.13075986e-02 9.95795275e-01 -7.39544334e-03 -3.55941592e+00] [-8.26347791e-02 -1.75772264e-04 9.96579883e-01 -1.78298873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805779522999998 meters 0.013101961297787679 Centerline is valid? [True, True] Translation: X:21.36, Y:-3.57, Z:-1.79 [[ 9.92996921e-01 9.23987326e-02 7.36178560e-02 2.13623871e+01] [-9.21605226e-02 9.95722067e-01 -6.63346950e-03 -3.57453663e+00] [-7.39158479e-02 -1.97645293e-04 9.97264463e-01 -1.79016592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865779523 meters 0.013346660479585737 Centerline is valid? [True, True] Translation: X:21.42, Y:-3.59, Z:-1.79 [[ 9.93162037e-01 9.39617355e-02 6.92846296e-02 2.14238581e+01] [-9.37534640e-02 9.95575770e-01 -6.25890535e-03 -3.58560165e+00] [-6.95661961e-02 -2.79566834e-04 9.97577298e-01 -1.79066362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925779523 meters 0.01334754361015041 Centerline is valid? [True, True] Translation: X:21.49, Y:-3.58, Z:-1.79 [[ 9.92640542e-01 9.61977258e-02 7.35578171e-02 2.14864237e+01] [-9.59676496e-02 9.95362145e-01 -6.66407834e-03 -3.58091438e+00] [-7.38577358e-02 -4.44136478e-04 9.97268689e-01 -1.79459249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985779523 meters 0.013212935797594685 Centerline is valid? [True, True] Translation: X:21.55, Y:-3.58, Z:-1.80 [[ 9.92449236e-01 9.54515221e-02 7.70293521e-02 2.15485912e+01] [-9.51953750e-02 9.95434004e-01 -6.99880819e-03 -3.58366726e+00] [-7.73456834e-02 -3.86876222e-04 9.97004261e-01 -1.79917697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045779523 meters 0.013204406704452266 Centerline is valid? [True, True] Translation: X:21.61, Y:-3.59, Z:-1.80 [[ 9.92605334e-01 9.27291879e-02 7.83322967e-02 2.16091125e+01] [-9.24542467e-02 9.95691354e-01 -7.13718713e-03 -3.59134999e+00] [-7.86566161e-02 -1.57743468e-04 9.96901756e-01 -1.80460827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105779523 meters 0.013450194660220568 Centerline is valid? [True, True] Translation: X:21.67, Y:-3.61, Z:-1.81 [[ 9.93353682e-01 8.92863563e-02 7.26388955e-02 2.16690203e+01] [-8.90396619e-02 9.96005990e-01 -6.63376941e-03 -3.61168299e+00] [-7.29410801e-02 1.21936573e-04 9.97336244e-01 -1.80677726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165779523 meters 0.013336231953271292 Centerline is valid? [True, True] Translation: X:21.73, Y:-3.61, Z:-1.81 [[ 9.92820319e-01 9.15101241e-02 7.70305864e-02 2.17312493e+01] [-9.12379236e-02 9.95804146e-01 -7.05299652e-03 -3.61293233e+00] [-7.73527979e-02 -2.57525087e-05 9.97003783e-01 -1.80749243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225779523 meters 0.015333208189334145 Centerline is valid? [True, True] Translation: X:21.79, Y:-3.61, Z:-1.82 [[ 9.92442944e-01 9.31079878e-02 7.99243719e-02 2.17945664e+01] [-9.28185179e-02 9.95656007e-01 -7.33748882e-03 -3.60817241e+00] [-8.02603598e-02 -1.36422744e-04 9.96773924e-01 -1.81924776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285779523 meters 0.014298183304888894 Centerline is valid? [True, True] Translation: X:21.86, Y:-3.61, Z:-1.82 [[ 9.91924868e-01 1.02020660e-01 7.53448153e-02 2.18551774e+01] [-1.01787562e-01 9.94781968e-01 -6.93742139e-03 -3.61186042e+00] [-7.56594240e-02 -7.87764256e-04 9.97133407e-01 -1.82476784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345779523 meters 0.015221209413653876 Centerline is valid? [True, True] Translation: X:21.92, Y:-3.62, Z:-1.83 [[ 9.92261686e-01 1.05775500e-01 6.50252982e-02 2.19153878e+01] [-1.05608985e-01 9.94389618e-01 -6.00242747e-03 -3.62450909e+00] [-6.52953912e-02 -9.11276942e-04 9.97865563e-01 -1.83115881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405779523 meters 0.0163183294187749 Centerline is valid? [True, True] Translation: X:21.98, Y:-3.62, Z:-1.85 [[ 9.92340501e-01 1.07174309e-01 6.14328768e-02 2.19761664e+01] [-1.07028473e-01 9.94239793e-01 -5.66918751e-03 -3.62119383e+00] [-6.16866019e-02 -9.49302638e-04 9.98095117e-01 -1.84723153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465779523 meters 0.01751333979661951 Centerline is valid? [True, True] Translation: X:22.04, Y:-3.63, Z:-1.85 [[ 9.92184671e-01 1.05807229e-01 6.61393073e-02 2.20370162e+01] [-1.05633872e-01 9.94386242e-01 -6.12259760e-03 -3.63341141e+00] [-6.64158324e-02 -9.11803618e-04 9.97791614e-01 -1.84675403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525779523 meters 0.01707732116233161 Centerline is valid? [True, True] Translation: X:22.10, Y:-3.64, Z:-1.85 [[ 9.91904367e-01 1.00275758e-01 7.79134058e-02 2.20984859e+01] [-1.00017828e-01 9.94959481e-01 -7.21564036e-03 -3.63800541e+00] [-7.82442355e-02 -6.35504451e-04 9.96934018e-01 -1.84521232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585779523 meters 0.013709759234078644 Centerline is valid? [True, True] Translation: X:22.16, Y:-3.64, Z:-1.86 [[ 9.92285050e-01 9.64187687e-02 7.79345923e-02 2.21601328e+01] [-9.61486859e-02 9.95340802e-01 -7.21927187e-03 -3.63687383e+00] [-7.82675529e-02 -3.29733082e-04 9.96932335e-01 -1.85536636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645779522999998 meters 0.013940801600193418 Centerline is valid? [True, True] Translation: X:22.22, Y:-3.66, Z:-1.85 [[ 9.92677368e-01 9.78412916e-02 7.08429559e-02 2.22209915e+01] [-9.76206978e-02 9.95201956e-01 -6.57775126e-03 -3.65929098e+00] [-7.11466239e-02 -3.86153983e-04 9.97465793e-01 -1.84875880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705779523 meters 0.014160018911951162 Centerline is valid? [True, True] Translation: X:22.28, Y:-3.66, Z:-1.85 [[ 9.92551704e-01 9.93675057e-02 7.04784599e-02 2.22830473e+01] [-9.91518180e-02 9.95050688e-01 -6.56085555e-03 -3.66328109e+00] [-7.07815759e-02 -4.76079078e-04 9.97491725e-01 -1.85087905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765779523 meters 0.01423624659850006 Centerline is valid? [True, True] Translation: X:22.35, Y:-3.65, Z:-1.87 [[ 9.92570633e-01 9.96129997e-02 6.98626478e-02 2.23455229e+01] [-9.94004393e-02 9.95026144e-01 -6.52111067e-03 -3.65023653e+00] [-7.01647485e-02 -4.71714939e-04 9.97535305e-01 -1.87411419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825779523 meters 0.014204074251524368 Centerline is valid? [True, True] Translation: X:22.41, Y:-3.65, Z:-1.89 [[ 9.92618904e-01 9.94129167e-02 6.94606609e-02 2.24067568e+01] [-9.92008409e-02 9.95046172e-01 -6.50457732e-03 -3.65184775e+00] [-6.97632037e-02 -4.33989553e-04 9.97563485e-01 -1.88500602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885779523 meters 0.014003467034739078 Centerline is valid? [True, True] Translation: X:22.47, Y:-3.68, Z:-1.88 [[ 9.93115015e-01 9.45740789e-02 6.91253312e-02 2.24673727e+01] [-9.43515439e-02 9.95517823e-01 -6.48454391e-03 -3.68077791e+00] [-6.94287691e-02 -8.21838055e-05 9.97586908e-01 -1.87852666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945779523 meters 0.016639062881600112 Centerline is valid? [True, True] Translation: X:22.53, Y:-3.69, Z:-1.88 [[ 9.93077742e-01 9.60865404e-02 6.75571931e-02 2.25279761e+01] [-9.58762906e-02 9.95372970e-01 -6.35513177e-03 -3.68956920e+00] [-6.78552466e-02 -1.65993168e-04 9.97695163e-01 -1.88235322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005779523 meters 0.01634686190387794 Centerline is valid? [True, True] Translation: X:22.59, Y:-3.67, Z:-1.89 [[ 9.91931074e-01 1.06673209e-01 6.85096359e-02 2.25900510e+01] [-1.06481595e-01 9.94293733e-01 -6.45310448e-03 -3.67237825e+00] [-6.88070750e-02 -8.93980444e-04 9.97629584e-01 -1.89276434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065779523 meters 0.016268783649541065 Centerline is valid? [True, True] Translation: X:22.65, Y:-3.68, Z:-1.89 [[ 9.91186869e-01 1.10536141e-01 7.30092590e-02 2.26530449e+01] [-1.10327810e-01 9.93871353e-01 -6.89265368e-03 -3.68232101e+00] [-7.33236983e-02 -1.22304380e-03 9.97307445e-01 -1.88501973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125779523 meters 0.014926450097455682 Centerline is valid? [True, True] Translation: X:22.71, Y:-3.70, Z:-1.89 [[ 9.91956773e-01 1.04172721e-01 7.19013495e-02 2.27143297e+01] [-1.03952434e-01 9.94558961e-01 -6.80921453e-03 -3.70206381e+00] [-7.22194659e-02 -7.19873842e-04 9.97388505e-01 -1.88590522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185779523 meters 0.014211012802601621 Centerline is valid? [True, True] Translation: X:22.77, Y:-3.71, Z:-1.90 [[ 9.92564653e-01 9.46836485e-02 7.64880190e-02 2.27748744e+01] [-9.44056758e-02 9.95507411e-01 -7.24998633e-03 -3.70888291e+00] [-7.68308450e-02 -2.48229575e-05 9.97044142e-01 -1.89663502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245779523 meters 0.014336022417650243 Centerline is valid? [True, True] Translation: X:22.84, Y:-3.71, Z:-1.90 [[ 9.92671921e-01 9.25767069e-02 7.76660133e-02 2.28370111e+01] [-9.22822119e-02 9.95705543e-01 -7.38005729e-03 -3.71141355e+00] [-7.80157013e-02 1.58784161e-04 9.96952118e-01 -1.90481715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305779522999998 meters 0.01664083214468283 Centerline is valid? [True, True] Translation: X:22.90, Y:-3.73, Z:-1.91 [[ 9.93136074e-01 9.05536757e-02 7.40322213e-02 2.28982843e+01] [-9.02790627e-02 9.95891524e-01 -7.05428175e-03 -3.72519547e+00] [-7.43668529e-02 3.22302131e-04 9.97230900e-01 -1.90731271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365779523 meters 0.016421077931117745 Centerline is valid? [True, True] Translation: X:22.96, Y:-3.74, Z:-1.91 [[ 9.93314002e-01 9.14499739e-02 7.04570554e-02 2.29594296e+01] [-9.12024003e-02 9.95809638e-01 -6.72954871e-03 -3.73702912e+00] [-7.07772319e-02 2.58702386e-04 9.97492114e-01 -1.90719263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425779523 meters 0.016426126594927645 Centerline is valid? [True, True] Translation: X:23.02, Y:-3.73, Z:-1.92 [[ 9.92597995e-01 9.74274042e-02 7.25060131e-02 2.30219140e+01] [-9.71798028e-02 9.95242622e-01 -6.94325615e-03 -3.72595486e+00] [-7.28375381e-02 -1.54257925e-04 9.97343807e-01 -1.92059108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485779522999998 meters 0.015002134907285983 Centerline is valid? [True, True] Translation: X:23.08, Y:-3.72, Z:-1.92 [[ 9.91715941e-01 1.04507246e-01 7.46841915e-02 2.30839809e+01] [-1.04263180e-01 9.94523895e-01 -7.17014294e-03 -3.72485026e+00] [-7.50245449e-02 -6.76066229e-04 9.97181458e-01 -1.92405757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545779523 meters 0.014703432968413189 Centerline is valid? [True, True] Translation: X:23.14, Y:-3.74, Z:-1.93 [[ 9.92649192e-01 9.94539385e-02 6.89673529e-02 2.31433342e+01] [-9.92325467e-02 9.95042134e-01 -6.63722560e-03 -3.74350937e+00] [-6.92855203e-02 -2.55369442e-04 9.97596838e-01 -1.92658099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605779523 meters 0.01630424182935952 Centerline is valid? [True, True] Translation: X:23.20, Y:-3.75, Z:-1.94 [[ 9.93223127e-01 9.50930802e-02 6.68215942e-02 2.32044334e+01] [-9.48744253e-02 9.95468383e-01 -6.44524282e-03 -3.74935897e+00] [-6.71316823e-02 6.19038801e-05 9.97744122e-01 -1.93909825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665779523 meters 0.01680491433773686 Centerline is valid? [True, True] Translation: X:23.27, Y:-3.75, Z:-1.94 [[ 9.92639174e-01 9.77883007e-02 7.14487187e-02 2.32664020e+01] [-9.75438877e-02 9.95207233e-01 -6.91041247e-03 -3.75131832e+00] [-7.17820392e-02 -1.09839670e-04 9.97420336e-01 -1.94135660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725779523 meters 0.01494188478566936 Centerline is valid? [True, True] Translation: X:23.33, Y:-3.75, Z:-1.94 [[ 9.91903611e-01 1.04277181e-01 7.24809991e-02 2.33291540e+01] [-1.04041639e-01 9.94548111e-01 -7.02798098e-03 -3.75487586e+00] [-7.28186988e-02 -5.69962256e-04 9.97345032e-01 -1.93988902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785779523 meters 0.014954219783436156 Centerline is valid? [True, True] Translation: X:23.39, Y:-3.76, Z:-1.94 [[ 9.91795314e-01 1.05257372e-01 7.25461347e-02 2.33914995e+01] [-1.05022776e-01 9.94444817e-01 -7.05138983e-03 -3.76451148e+00] [-7.28853384e-02 -6.25461070e-04 9.97340131e-01 -1.94361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845779523 meters 0.016623998661388868 Centerline is valid? [True, True] Translation: X:23.45, Y:-3.77, Z:-1.95 [[ 9.91925923e-01 1.01000521e-01 7.66932774e-02 2.34527340e+01] [-1.00723874e-01 9.94886325e-01 -7.47673186e-03 -3.76691722e+00] [-7.70562467e-02 -3.08479870e-04 9.97026700e-01 -1.95339984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905779523 meters 0.014418578965220303 Centerline is valid? [True, True] Translation: X:23.51, Y:-3.77, Z:-1.96 [[ 9.91757687e-01 1.01223641e-01 7.85523104e-02 2.35145856e+01] [-1.00932543e-01 9.94863647e-01 -7.67762241e-03 -3.76667565e+00] [-7.89259949e-02 -3.14143412e-04 9.96880428e-01 -1.96015479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965779523 meters 0.016762879157056085 Centerline is valid? [True, True] Translation: X:23.58, Y:-3.78, Z:-1.96 [[ 9.92196936e-01 1.02184540e-01 7.14392081e-02 2.35752392e+01] [-1.01945115e-01 9.94765402e-01 -6.99916690e-03 -3.78327268e+00] [-7.17804592e-02 -3.38326300e-04 9.97420398e-01 -1.96283099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025779523 meters 0.014300234257215091 Centerline is valid? [True, True] Translation: X:23.64, Y:-3.79, Z:-1.97 [[ 9.92364873e-01 1.00081141e-01 7.20813716e-02 2.36371548e+01] [-9.98305735e-02 9.94979264e-01 -7.07958221e-03 -3.78952926e+00] [-7.24280027e-02 -1.70395958e-04 9.97373629e-01 -1.96638194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085779523 meters 0.014760081922407178 Centerline is valid? [True, True] Translation: X:23.70, Y:-3.79, Z:-1.98 [[ 9.92621438e-01 9.73056589e-02 7.23483947e-02 2.36999570e+01] [-9.70446090e-02 9.95254543e-01 -7.12303120e-03 -3.78795526e+00] [-7.26981798e-02 4.94517960e-05 9.97353985e-01 -1.97893549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145779522999998 meters 0.01471475668401518 Centerline is valid? [True, True] Translation: X:23.76, Y:-3.80, Z:-1.99 [[ 9.93173601e-01 9.51433137e-02 6.74829465e-02 2.37614153e+01] [-9.49100381e-02 9.95463563e-01 -6.66179728e-03 -3.79571097e+00] [-6.78106399e-02 2.11512174e-04 9.97698187e-01 -1.98785061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205779523 meters 0.017509753527484025 Centerline is valid? [True, True] Translation: X:23.82, Y:-3.81, Z:-1.99 [[ 9.93781330e-01 8.82708809e-02 6.78743000e-02 2.38223371e+01] [-8.80177486e-02 9.96096261e-01 -6.71681545e-03 -3.81279057e+00] [-6.82022356e-02 7.00902717e-04 9.97671270e-01 -1.98908973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265779523 meters 0.02177022578982095 Centerline is valid? [True, True] Translation: X:23.88, Y:-3.83, Z:-1.99 [[ 9.94507245e-01 6.99921722e-02 7.78230980e-02 2.38810907e+01] [-6.96015481e-02 9.97544970e-01 -7.72386814e-03 -3.83068092e+00] [-7.81726502e-02 2.26483472e-03 9.96937263e-01 -1.98577464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325779523 meters 0.025194798911932516 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.84, Z:-1.99 [[ 9.94873420e-01 6.31491769e-02 7.89877197e-02 2.39415271e+01] [-6.27252047e-02 9.98000044e-01 -7.83972961e-03 -3.83860149e+00] [-7.93248202e-02 2.84501772e-03 9.96844762e-01 -1.99219708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385779523 meters 0.02420058390504881 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.84, Z:-2.00 [[ 9.95461783e-01 6.37558356e-02 7.06472341e-02 2.40023142e+01] [-6.34184476e-02 9.97962399e-01 -7.01068925e-03 -3.84139142e+00] [-7.09502556e-02 2.49853531e-03 9.97476726e-01 -2.00482475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445779523 meters 0.02157522020970248 Centerline is valid? [True, True] Translation: X:24.06, Y:-3.84, Z:-2.01 [[ 9.95171854e-01 6.94932532e-02 6.93085055e-02 2.40619807e+01] [-6.91812148e-02 9.97580280e-01 -6.89527507e-03 -3.84491353e+00] [-6.96199734e-02 2.06713707e-03 9.97571444e-01 -2.00688095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505779523 meters 0.0182955040962972 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.84, Z:-2.01 [[ 9.94664522e-01 7.56436104e-02 7.01465050e-02 2.41231737e+01] [-7.53392243e-02 9.97133542e-01 -6.97864489e-03 -3.83773067e+00] [-7.04733229e-02 1.65662721e-03 9.97512289e-01 -2.01268402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565779523 meters 0.017676404498703373 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.84, Z:-2.02 [[ 9.94368132e-01 7.89397415e-02 7.07144601e-02 2.41849593e+01] [-7.86388832e-02 9.96878361e-01 -7.03279954e-03 -3.83946239e+00] [-7.10488824e-02 1.43228558e-03 9.97471807e-01 -2.02064592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625779523 meters 0.01665602705822598 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.85, Z:-2.02 [[ 9.93931147e-01 8.20232466e-02 7.33011673e-02 2.42464517e+01] [-8.17069468e-02 9.96629601e-01 -7.30842515e-03 -3.85034905e+00] [-7.36535739e-02 1.27485681e-03 9.97283072e-01 -2.01929321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685779523 meters 0.016235680625531556 Centerline is valid? [True, True] Translation: X:24.31, Y:-3.85, Z:-2.02 [[ 9.93446529e-01 8.36556285e-02 7.78827898e-02 2.43072532e+01] [-8.33018922e-02 9.96493945e-01 -7.78543714e-03 -3.85225464e+00] [-7.82610241e-02 1.24663174e-03 9.96932123e-01 -2.02179007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745779523 meters 0.016071400823267114 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.86, Z:-2.03 [[ 9.93183250e-01 8.52425757e-02 7.95030543e-02 2.43679892e+01] [-8.48775647e-02 9.96359549e-01 -7.96546328e-03 -3.85509066e+00] [-7.98926239e-02 1.16313907e-03 9.96802797e-01 -2.02707159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805779522999998 meters 0.014903097233673378 Centerline is valid? [True, True] Translation: X:24.43, Y:-3.86, Z:-2.03 [[ 9.92668412e-01 8.89812496e-02 8.18031866e-02 2.44304076e+01] [-8.86059243e-02 9.96032889e-01 -8.21421574e-03 -3.85959532e+00] [-8.22095755e-02 9.05745538e-04 9.96614652e-01 -2.02977426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865779523 meters 0.01488711206566673 Centerline is valid? [True, True] Translation: X:24.49, Y:-3.87, Z:-2.03 [[ 9.92280289e-01 9.15329898e-02 8.36752054e-02 2.44922795e+01] [-9.11483207e-02 9.95801783e-01 -8.41387158e-03 -3.86734882e+00] [-8.40940655e-02 7.22064470e-04 9.96457559e-01 -2.03132649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925779523 meters 0.01418317071568191 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.86, Z:-2.05 [[ 9.92473331e-01 9.35197572e-02 7.90616340e-02 2.45541365e+01] [-9.31812696e-02 9.95617277e-01 -7.96797355e-03 -3.86474770e+00] [-7.94602917e-02 5.40937820e-04 9.96837885e-01 -2.04658660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985779522999998 meters 0.014027439770264655 Centerline is valid? [True, True] Translation: X:24.62, Y:-3.87, Z:-2.06 [[ 9.92553779e-01 9.59658512e-02 7.50170110e-02 2.46159959e+01] [-9.56668684e-02 9.95384567e-01 -7.57715665e-03 -3.87107302e+00] [-7.53979233e-02 3.44092956e-04 9.97153466e-01 -2.05625323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045779523 meters 0.014184574604228927 Centerline is valid? [True, True] Translation: X:24.68, Y:-3.90, Z:-2.05 [[ 9.93038563e-01 9.50928663e-02 6.95108633e-02 2.46758060e+01] [-9.48328529e-02 9.95468326e-01 -7.03856198e-03 -3.89706901e+00] [-6.98651798e-02 3.97649996e-04 9.97556364e-01 -2.05323128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105779523 meters 0.014933942289491296 Centerline is valid? [True, True] Translation: X:24.74, Y:-3.89, Z:-2.07 [[ 9.92781006e-01 9.15655268e-02 7.74701838e-02 2.47370520e+01] [-9.12301615e-02 9.95798778e-01 -7.86455130e-03 -3.89057113e+00] [-7.78648362e-02 7.40159768e-04 9.96963650e-01 -2.07048514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165779523 meters 0.01461278090420458 Centerline is valid? [True, True] Translation: X:24.80, Y:-3.91, Z:-2.07 [[ 9.92798761e-01 9.05631036e-02 7.84152073e-02 2.47989237e+01] [-9.02149526e-02 9.95890359e-01 -7.97840977e-03 -3.90532801e+00] [-7.88154985e-02 8.46731126e-04 9.96888861e-01 -2.07303013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225779523 meters 0.014475611690966731 Centerline is valid? [True, True] Translation: X:24.86, Y:-3.93, Z:-2.06 [[ 9.92366261e-01 9.17502892e-02 8.24080652e-02 2.48605876e+01] [-9.13677703e-02 9.95781713e-01 -8.40897795e-03 -3.92634037e+00] [-8.28319705e-02 8.15344829e-04 9.96563194e-01 -2.05914075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285779523 meters 0.014432474837531871 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.92, Z:-2.08 [[ 9.92523625e-01 9.22482934e-02 7.99193709e-02 2.49231506e+01] [-9.18886693e-02 9.95735739e-01 -8.17383059e-03 -3.92146193e+00] [-8.03325957e-02 7.69035328e-04 9.96767818e-01 -2.07669823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345779523 meters 0.014345202371634934 Centerline is valid? [True, True] Translation: X:24.99, Y:-3.92, Z:-2.09 [[ 9.92301027e-01 9.33559755e-02 8.13838657e-02 2.49851668e+01] [-9.29848527e-02 9.95632538e-01 -8.34664166e-03 -3.92245716e+00] [-8.18076336e-02 7.14914331e-04 9.96647882e-01 -2.08818016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405779523 meters 0.014437371951091058 Centerline is valid? [True, True] Translation: X:25.05, Y:-3.93, Z:-2.09 [[ 9.92150179e-01 9.24705025e-02 8.41856798e-02 2.50465315e+01] [-9.20681403e-02 9.95715071e-01 -8.65766093e-03 -3.93413695e+00] [-8.46255283e-02 8.38880863e-04 9.96412473e-01 -2.08785829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465779523 meters 0.015875308506333875 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.94, Z:-2.10 [[ 9.92915664e-01 8.51275482e-02 8.28962326e-02 2.51072704e+01] [-8.47102882e-02 9.96368990e-01 -8.54414209e-03 -3.94488973e+00] [-8.33225774e-02 1.46144877e-03 9.96521556e-01 -2.09581366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525779523 meters 0.018622516091002787 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.96, Z:-2.10 [[ 9.93333308e-01 8.12963453e-02 8.17303053e-02 2.51680808e+01] [-8.08773569e-02 9.96688414e-01 -8.42959045e-03 -3.95666627e+00] [-8.21449432e-02 1.76326190e-03 9.96618833e-01 -2.10197652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585779523 meters 0.01506024035653758 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.95, Z:-2.11 [[ 9.92745110e-01 8.77042136e-02 8.22503388e-02 2.52301736e+01] [-8.73013272e-02 9.96145781e-01 -8.48892285e-03 -3.95312197e+00] [-8.26778423e-02 1.24677290e-03 9.96575547e-01 -2.10534206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645779522999998 meters 0.014570885329656065 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.96, Z:-2.11 [[ 9.92324348e-01 9.13893633e-02 8.33088985e-02 2.52911944e+01] [-9.09886766e-02 9.95814778e-01 -8.60171299e-03 -3.95892059e+00] [-8.37463373e-02 9.55522808e-04 9.96486647e-01 -2.10864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705779523 meters 0.014028191979530794 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.96, Z:-2.12 [[ 9.92383238e-01 9.26945005e-02 8.11371608e-02 2.53525406e+01] [-9.23173667e-02 9.95694241e-01 -8.39532761e-03 -3.96038597e+00] [-8.15660044e-02 8.41013376e-04 9.96667587e-01 -2.12046673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765779523 meters 0.013280905005639304 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.97, Z:-2.12 [[ 9.91633765e-01 9.83838731e-02 8.35648851e-02 2.54137101e+01] [-9.80021591e-02 9.95148456e-01 -8.66762909e-03 -3.96807227e+00] [-8.40122213e-02 4.05574495e-04 9.96464642e-01 -2.12130563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825779522999998 meters 0.013056627406371545 Centerline is valid? [True, True] Translation: X:25.48, Y:-3.97, Z:-2.12 [[ 9.91389621e-01 1.00295872e-01 8.41864487e-02 2.54769669e+01] [-9.99135736e-02 9.94957621e-01 -8.75274745e-03 -3.97311953e+00] [-8.46398132e-02 2.66014035e-04 9.96411577e-01 -2.12285143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885779523 meters 0.013129064986642553 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.97, Z:-2.14 [[ 9.91961025e-01 9.78887414e-02 8.01942530e-02 2.55393974e+01] [-9.75323025e-02 9.95197253e-01 -8.35924913e-03 -3.97345264e+00] [-8.06273767e-02 4.70519198e-04 9.96744202e-01 -2.13937711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945779523 meters 0.012914146239955807 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.99, Z:-2.14 [[ 9.91993592e-01 1.01307615e-01 7.54021320e-02 2.56010745e+01] [-1.01000899e-01 9.94855128e-01 -7.87983421e-03 -3.99233600e+00] [-7.58124850e-02 2.01061939e-04 9.97122072e-01 -2.13987240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005779523 meters 0.01288653858922551 Centerline is valid? [True, True] Translation: X:25.66, Y:-4.00, Z:-2.14 [[ 9.90941779e-01 1.07760580e-01 8.01376824e-02 2.56633551e+01] [-1.07433171e-01 9.94176833e-01 -8.39871918e-03 -3.99702299e+00] [-8.05760781e-02 -2.86803633e-04 9.96748420e-01 -2.13513936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065779523 meters 0.012712566617284647 Centerline is valid? [True, True] Translation: X:25.73, Y:-3.99, Z:-2.15 [[ 9.91209890e-01 1.04034048e-01 8.17304773e-02 2.57265244e+01] [-1.03679116e-01 9.94573736e-01 -8.58634876e-03 -3.98769559e+00] [-8.21802588e-02 3.71301776e-05 9.96617481e-01 -2.15286058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125779523 meters 0.013079261556236533 Centerline is valid? [True, True] Translation: X:25.79, Y:-4.00, Z:-2.16 [[ 9.92075939e-01 9.84277659e-02 7.80852460e-02 2.57872898e+01] [-9.80848248e-02 9.95144072e-01 -8.22451313e-03 -4.00117294e+00] [-7.85155902e-02 5.00363919e-04 9.96912760e-01 -2.16145454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185779523 meters 0.013937721919637483 Centerline is valid? [True, True] Translation: X:25.85, Y:-4.02, Z:-2.16 [[ 9.92562515e-01 9.27922404e-02 7.87988216e-02 2.58480479e+01] [-9.24237043e-02 9.95685016e-01 -8.31914728e-03 -4.02171529e+00] [-7.92307582e-02 9.74394761e-04 9.96855826e-01 -2.15698639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245779523 meters 0.015188242388610468 Centerline is valid? [True, True] Translation: X:25.91, Y:-4.03, Z:-2.16 [[ 9.93401904e-01 8.95648336e-02 7.16295884e-02 2.59085416e+01] [-8.92508715e-02 9.95980347e-01 -7.57827007e-03 -4.03231240e+00] [-7.20204088e-02 1.13526473e-03 9.97402512e-01 -2.16109309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305779522999998 meters 0.015311455307316958 Centerline is valid? [True, True] Translation: X:25.97, Y:-4.02, Z:-2.18 [[ 9.93697077e-01 8.72743114e-02 7.03513603e-02 2.59708148e+01] [-8.69646549e-02 9.96183478e-01 -7.45833056e-03 -4.02487043e+00] [-7.07337834e-02 1.29323951e-03 9.97494391e-01 -2.17556283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365779523 meters 0.019009070257820275 Centerline is valid? [True, True] Translation: X:26.03, Y:-4.03, Z:-2.19 [[ 9.94073200e-01 8.19297768e-02 7.14561668e-02 2.60317236e+01] [-8.15950998e-02 9.96636621e-01 -7.59506072e-03 -4.03149288e+00] [-7.18380942e-02 1.71957326e-03 9.97414824e-01 -2.18555084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425779523 meters 0.021121155860246314 Centerline is valid? [True, True] Translation: X:26.09, Y:-4.06, Z:-2.17 [[ 9.94574666e-01 7.03723523e-02 7.66091730e-02 2.60912029e+01] [-6.99528699e-02 9.97517015e-01 -8.14871782e-03 -4.05639787e+00] [-7.69923979e-02 2.74547680e-03 9.97027900e-01 -2.17481289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485779522999998 meters 0.02275903927087418 Centerline is valid? [True, True] Translation: X:26.15, Y:-4.06, Z:-2.18 [[ 9.95009424e-01 6.62464149e-02 7.46167456e-02 2.61517749e+01] [-6.58367660e-02 9.97798823e-01 -7.93913169e-03 -4.06451728e+00] [-7.49784399e-02 2.98698563e-03 9.97180681e-01 -2.17815077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545779523 meters 0.025356242992143962 Centerline is valid? [True, True] Translation: X:26.21, Y:-4.07, Z:-2.18 [[ 9.95024905e-01 6.32668599e-02 7.69593589e-02 2.62116600e+01] [-6.28220284e-02 9.97991142e-01 -8.18981483e-03 -4.06572697e+00] [-7.73229024e-02 3.31432669e-03 9.97000594e-01 -2.18291383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605779523 meters 0.025128303816766853 Centerline is valid? [True, True] Translation: X:26.27, Y:-4.07, Z:-2.19 [[ 9.95300881e-01 5.97398415e-02 7.62056897e-02 2.62721151e+01] [-5.92934010e-02 9.98207658e-01 -8.10953890e-03 -4.07082189e+00] [-7.65535656e-02 3.55293670e-03 9.97059140e-01 -2.18847849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665779523 meters 0.0241220756124954 Centerline is valid? [True, True] Translation: X:26.33, Y:-4.07, Z:-2.20 [[ 9.95459632e-01 5.92853454e-02 7.44672276e-02 2.63332748e+01] [-5.88578203e-02 9.98234922e-01 -7.92453202e-03 -4.07326684e+00] [-7.48055957e-02 3.50557303e-03 9.97191974e-01 -2.19657713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725779523 meters 0.024662039389535827 Centerline is valid? [True, True] Translation: X:26.39, Y:-4.08, Z:-2.21 [[ 9.95641050e-01 6.11454530e-02 7.04282144e-02 2.63939415e+01] [-6.07666990e-02 9.98123745e-01 -7.50989534e-03 -4.07703426e+00] [-7.07552690e-02 3.19746997e-03 9.97488580e-01 -2.20664504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785779523 meters 0.02371871623622566 Centerline is valid? [True, True] Translation: X:26.46, Y:-4.08, Z:-2.20 [[ 9.95347173e-01 6.49174311e-02 7.12020510e-02 2.64551801e+01] [-6.45386068e-02 9.97886190e-01 -7.61056969e-03 -4.08471350e+00] [-7.15456020e-02 2.97987786e-03 9.97432879e-01 -2.20111791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845779523 meters 0.02207894624050896 Centerline is valid? [True, True] Translation: X:26.52, Y:-4.08, Z:-2.21 [[ 9.95271472e-01 6.74939353e-02 6.98517460e-02 2.65173839e+01] [-6.71356264e-02 9.97715915e-01 -7.46724063e-03 -4.07789065e+00] [-7.01961921e-02 2.74239085e-03 9.97529435e-01 -2.21269815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905779523 meters 0.022450091574255614 Centerline is valid? [True, True] Translation: X:26.58, Y:-4.08, Z:-2.22 [[ 9.95271443e-01 6.97143468e-02 6.76362702e-02 2.65777183e+01] [-6.93834744e-02 9.97563851e-01 -7.23164637e-03 -4.08370274e+00] [-6.79756477e-02 2.50461169e-03 9.97683837e-01 -2.22332159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965779523 meters 0.020793514925336088 Centerline is valid? [True, True] Translation: X:26.64, Y:-4.10, Z:-2.22 [[ 9.94892444e-01 7.57343603e-02 6.67332806e-02 2.66379549e+01] [-7.54246075e-02 9.97125854e-01 -7.15260136e-03 -4.10052387e+00] [-6.70831771e-02 2.08273755e-03 9.97745213e-01 -2.21788729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025779523 meters 0.019820637410831343 Centerline is valid? [True, True] Translation: X:26.70, Y:-4.09, Z:-2.22 [[ 9.94413211e-01 7.82770020e-02 7.08172090e-02 2.66999582e+01] [-7.79344577e-02 9.96929581e-01 -7.59144013e-03 -4.09369994e+00] [-7.11940057e-02 2.02992758e-03 9.97460422e-01 -2.22207756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085779523 meters 0.020346017724838985 Centerline is valid? [True, True] Translation: X:26.76, Y:-4.10, Z:-2.23 [[ 9.94830470e-01 7.38605677e-02 6.96918459e-02 2.67604371e+01] [-7.35178638e-02 9.97265901e-01 -7.47310726e-03 -4.10451349e+00] [-7.00532694e-02 2.31087917e-03 9.97540575e-01 -2.22787541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145779522999998 meters 0.02316446983716817 Centerline is valid? [True, True] Translation: X:26.82, Y:-4.13, Z:-2.23 [[ 9.95252472e-01 6.91130539e-02 6.85266573e-02 2.68186561e+01] [-6.87703290e-02 9.97605438e-01 -7.35069459e-03 -4.12990579e+00] [-6.88705949e-02 2.60319620e-03 9.97622205e-01 -2.22793278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205779523 meters 0.02492238309583029 Centerline is valid? [True, True] Translation: X:26.88, Y:-4.12, Z:-2.24 [[ 9.95052079e-01 7.01298456e-02 7.03787266e-02 2.68808714e+01] [-6.97709125e-02 9.97534481e-01 -7.54841092e-03 -4.12363382e+00] [-7.07345754e-02 2.60067400e-03 9.97491783e-01 -2.23932394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265779523 meters 0.022557802528439197 Centerline is valid? [True, True] Translation: X:26.94, Y:-4.12, Z:-2.25 [[ 9.95186700e-01 7.61171213e-02 6.17220887e-02 2.69420875e+01] [-7.58519003e-02 9.97097038e-01 -6.63220957e-03 -4.12116073e+00] [-6.20477365e-02 1.91854903e-03 9.98071339e-01 -2.25446795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325779522999998 meters 0.022209280291107927 Centerline is valid? [True, True] Translation: X:27.00, Y:-4.15, Z:-2.24 [[ 9.95010681e-01 7.66839159e-02 6.38225750e-02 2.70028150e+01] [-7.64004795e-02 9.97053521e-01 -6.87335544e-03 -4.14904719e+00] [-6.41615989e-02 1.96298675e-03 9.97937591e-01 -2.24397993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385779523 meters 0.019050319974843747 Centerline is valid? [True, True] Translation: X:27.07, Y:-4.14, Z:-2.26 [[ 9.94672058e-01 7.76111995e-02 6.78527775e-02 2.70653395e+01] [-7.72917949e-02 9.96981614e-01 -7.32394743e-03 -4.13956802e+00] [-6.82163920e-02 2.04046290e-03 9.97668462e-01 -2.25589645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445779523 meters 0.01961058186724616 Centerline is valid? [True, True] Translation: X:27.13, Y:-4.13, Z:-2.27 [[ 9.94403243e-01 7.82920040e-02 7.09404895e-02 2.71269155e+01] [-7.79432105e-02 9.96928251e-01 -7.67586054e-03 -4.13473076e+00] [-7.13235366e-02 2.10357110e-03 9.97451015e-01 -2.26712063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505779523 meters 0.01945971932693948 Centerline is valid? [True, True] Translation: X:27.19, Y:-4.17, Z:-2.25 [[ 9.95093744e-01 7.72043294e-02 6.18702921e-02 2.71855016e+01] [-7.69360967e-02 9.97013449e-01 -6.70962212e-03 -4.17350764e+00] [-6.22035252e-02 1.91664422e-03 9.98061645e-01 -2.25471990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565779523 meters 0.019567542291423226 Centerline is valid? [True, True] Translation: X:27.25, Y:-4.18, Z:-2.26 [[ 9.94798758e-01 7.98854642e-02 6.31960692e-02 2.72455825e+01] [-7.96108479e-02 9.96802444e-01 -6.85569931e-03 -4.17868632e+00] [-6.35416669e-02 1.78894850e-03 9.97977583e-01 -2.26160780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625779523 meters 0.01690508612933112 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.16, Z:-2.28 [[ 9.93727401e-01 8.84467890e-02 6.84325741e-02 2.73066622e+01] [-8.81447469e-02 9.96079991e-01 -7.42667591e-03 -4.16489334e+00] [-6.88211834e-02 1.34811943e-03 9.97628101e-01 -2.28140642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685779523 meters 0.015372703703274966 Centerline is valid? [True, True] Translation: X:27.37, Y:-4.18, Z:-2.27 [[ 9.93019522e-01 9.10880994e-02 7.49345468e-02 2.73677072e+01] [-9.07332620e-02 9.95842019e-01 -8.13318297e-03 -4.17818948e+00] [-7.53638066e-02 1.27735360e-03 9.97155286e-01 -2.27369923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745779523 meters 0.015602333807950952 Centerline is valid? [True, True] Translation: X:27.43, Y:-4.20, Z:-2.27 [[ 9.93067930e-01 9.24781867e-02 7.25525437e-02 2.74285184e+01] [-9.21492385e-02 9.95714064e-01 -7.87536296e-03 -4.19856209e+00] [-7.29698874e-02 1.13510874e-03 9.97333498e-01 -2.27070308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805779522999998 meters 0.015307918817534327 Centerline is valid? [True, True] Translation: X:27.49, Y:-4.20, Z:-2.28 [[ 9.92802661e-01 9.50257325e-02 7.28902364e-02 2.74895191e+01] [-9.46991402e-02 9.95474342e-01 -7.93138108e-03 -4.19769860e+00] [-7.33140454e-02 9.71653528e-04 9.97308431e-01 -2.28441056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865779523 meters 0.013957188104911712 Centerline is valid? [True, True] Translation: X:27.55, Y:-4.20, Z:-2.29 [[ 9.92242892e-01 1.03097038e-01 6.94625429e-02 2.75511952e+01] [-1.02819219e-01 9.94671233e-01 -7.57269351e-03 -4.20280804e+00] [-6.98731155e-02 3.71866864e-04 9.97555818e-01 -2.29426128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925779523 meters 0.01337039623153105 Centerline is valid? [True, True] Translation: X:27.61, Y:-4.21, Z:-2.29 [[ 9.91686826e-01 1.08257739e-01 6.95521496e-02 2.76130679e+01] [-1.07990743e-01 9.94122860e-01 -7.59854989e-03 -4.21114894e+00] [-6.99659838e-02 2.43934861e-05 9.97549377e-01 -2.29215220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985779522999998 meters 0.013755173809995467 Centerline is valid? [True, True] Translation: X:27.67, Y:-4.21, Z:-2.30 [[ 9.91006947e-01 1.14583060e-01 6.91082743e-02 2.76737874e+01] [-1.14333630e-01 9.93413590e-01 -7.56707824e-03 -4.21307609e+00] [-6.95201579e-02 -4.02372736e-04 9.97580466e-01 -2.29843287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045779523 meters 0.01374844488062671 Centerline is valid? [True, True] Translation: X:27.74, Y:-4.22, Z:-2.30 [[ 9.90604026e-01 1.16651458e-01 7.13869837e-02 2.77355264e+01] [-1.16389468e-01 9.93172762e-01 -7.83302312e-03 -4.21568007e+00] [-7.18133413e-02 -5.49268794e-04 9.97417938e-01 -2.30320414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105779523 meters 0.013956932410867302 Centerline is valid? [True, True] Translation: X:27.80, Y:-4.22, Z:-2.32 [[ 9.90963702e-01 1.15320512e-01 6.84990544e-02 2.77956333e+01] [-1.15074948e-01 9.93328247e-01 -7.53332939e-03 -4.21614537e+00] [-6.89107930e-02 -4.17269134e-04 9.97622739e-01 -2.31986209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165779523 meters 0.013818868154849527 Centerline is valid? [True, True] Translation: X:27.86, Y:-4.23, Z:-2.32 [[ 9.91429869e-01 1.11994126e-01 6.72616552e-02 2.78567953e+01] [-1.11749242e-01 9.93708853e-01 -7.40417848e-03 -4.23373593e+00] [-6.76677268e-02 -1.75715324e-04 9.97707897e-01 -2.31943896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225779523 meters 0.013552433929185863 Centerline is valid? [True, True] Translation: X:27.92, Y:-4.25, Z:-2.31 [[ 9.91489020e-01 1.09628404e-01 7.02220510e-02 2.79185490e+01] [-1.09354177e-01 9.93972642e-01 -7.74925415e-03 -4.24587421e+00] [-7.06483360e-02 4.22580176e-06 9.97501285e-01 -2.31240193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285779523 meters 0.013593720998670615 Centerline is valid? [True, True] Translation: X:27.98, Y:-4.24, Z:-2.32 [[ 9.91348892e-01 1.05227850e-01 7.84504585e-02 2.79811701e+01] [-1.04870046e-01 9.94448067e-01 -8.67844960e-03 -4.23532101e+00] [-7.89281214e-02 3.76268208e-04 9.96880239e-01 -2.32419830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345779523 meters 0.014280366302377279 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.25, Z:-2.33 [[ 9.92001721e-01 1.01155066e-01 7.54999180e-02 2.80411710e+01] [-1.00810584e-01 9.94870431e-01 -8.36970252e-03 -4.25136296e+00] [-7.59592738e-02 6.91568513e-04 9.97110681e-01 -2.32771600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405779523 meters 0.016952517851417364 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.27, Z:-2.33 [[ 9.93292330e-01 9.14995794e-02 7.06977714e-02 2.81003385e+01] [-9.11719840e-02 9.95804193e-01 -7.85360463e-03 -4.27492162e+00] [-7.11197387e-02 1.35526915e-03 9.97466865e-01 -2.32559372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465779523 meters 0.01868914538662407 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.27, Z:-2.34 [[ 9.93707951e-01 8.66084807e-02 7.10174572e-02 2.81622449e+01] [-8.62652469e-02 9.96240948e-01 -7.89176590e-03 -4.27448487e+00] [-7.14339928e-02 1.71577204e-03 9.97443853e-01 -2.33765339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525779523 meters 0.018843779397536724 Centerline is valid? [True, True] Translation: X:28.22, Y:-4.28, Z:-2.35 [[ 9.93823480e-01 8.64207645e-02 6.96156778e-02 2.82241776e+01] [-8.60903135e-02 9.96257281e-01 -7.73878752e-03 -4.27680461e+00] [-7.00239178e-02 1.69775322e-03 9.97543868e-01 -2.34892353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585779523 meters 0.01721324218607445 Centerline is valid? [True, True] Translation: X:28.29, Y:-4.29, Z:-2.34 [[ 9.93420530e-01 8.93190944e-02 7.16780990e-02 2.82856414e+01] [-8.89749978e-02 9.96001847e-01 -7.98561268e-03 -4.29097154e+00] [-7.21047867e-02 1.55551287e-03 9.97395849e-01 -2.34471566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645779522999998 meters 0.018005928865092787 Centerline is valid? [True, True] Translation: X:28.35, Y:-4.30, Z:-2.35 [[ 9.92923835e-01 9.13945277e-02 7.58241284e-02 2.83470490e+01] [-9.10139315e-02 9.95813623e-01 -8.46714457e-03 -4.29648987e+00] [-7.62805507e-02 1.50617763e-03 9.97085257e-01 -2.34827213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705779523 meters 0.01590072743006311 Centerline is valid? [True, True] Translation: X:28.41, Y:-4.29, Z:-2.36 [[ 9.92739169e-01 9.39630043e-02 7.50992391e-02 2.84092668e+01] [-9.35956329e-02 9.95574822e-01 -8.40421975e-03 -4.29279021e+00] [-7.55565973e-02 1.31423732e-03 9.97140649e-01 -2.35970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765779523 meters 0.014231407113789434 Centerline is valid? [True, True] Translation: X:28.47, Y:-4.30, Z:-2.36 [[ 9.92077684e-01 1.03986609e-01 7.04886845e-02 2.84699658e+01] [-1.03686991e-01 9.94578554e-01 -7.90625150e-03 -4.30424745e+00] [-7.09286782e-02 5.34856082e-04 9.97481246e-01 -2.36322729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825779522999998 meters 0.013911537098074332 Centerline is valid? [True, True] Translation: X:28.53, Y:-4.31, Z:-2.36 [[ 9.90864993e-01 1.13386719e-01 7.30069645e-02 2.85309374e+01] [-1.13090410e-01 9.93550921e-01 -8.19306792e-03 -4.31055189e+00] [-7.34651219e-02 -1.38163326e-04 9.97297777e-01 -2.36227413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885779523 meters 0.014615990445077437 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.31, Z:-2.37 [[ 9.89859697e-01 1.21058320e-01 7.43146312e-02 2.85930953e+01] [-1.20771564e-01 9.92645148e-01 -8.35703737e-03 -4.30822651e+00] [-7.47797469e-02 -7.02799741e-04 9.97199827e-01 -2.36889190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945779523 meters 0.015423979607783462 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.31, Z:-2.38 [[ 9.89203460e-01 1.25099173e-01 7.63329016e-02 2.86548372e+01] [-1.24807173e-01 9.92143721e-01 -8.60274049e-03 -4.31183926e+00] [-7.68094047e-02 -1.01703298e-03 9.97045275e-01 -2.37814848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005779523 meters 0.015023737811015507 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.33, Z:-2.38 [[ 9.89379644e-01 1.23585711e-01 7.65146501e-02 2.87158639e+01] [-1.23286313e-01 9.92333509e-01 -8.64243760e-03 -4.32808764e+00] [-7.69961330e-02 -8.82557281e-04 9.97031001e-01 -2.38262511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065779522999996 meters 0.017261364704654808 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.32, Z:-2.40 [[ 9.89013001e-01 1.28452663e-01 7.31655530e-02 2.87765734e+01] [-1.28191836e-01 9.91714914e-01 -8.26932427e-03 -4.32412406e+00] [-7.36215869e-02 -1.20075735e-03 9.97285526e-01 -2.39615449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125779523 meters 0.015492083704876078 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.33, Z:-2.40 [[ 9.89750385e-01 1.22851203e-01 7.28131645e-02 2.88376692e+01] [-1.22576537e-01 9.92424807e-01 -8.24585377e-03 -4.33499994e+00] [-7.32746038e-02 -7.63848605e-04 9.97311511e-01 -2.39908018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185779522999994 meters 0.014143172323961794 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.36, Z:-2.39 [[ 9.90485424e-01 1.13671220e-01 7.75724084e-02 2.88985537e+01] [-1.13329821e-01 9.93518419e-01 -8.80358386e-03 -4.35823661e+00] [-7.80703307e-02 -7.14456697e-05 9.96947851e-01 -2.39090675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245779522999996 meters 0.016414108478469927 Centerline is valid? [True, True] Translation: X:28.96, Y:-4.36, Z:-2.41 [[ 9.92048099e-01 9.83140324e-02 7.85806645e-02 2.89584022e+01] [-9.79139893e-02 9.95154751e-01 -8.93717905e-03 -4.36371225e+00] [-7.90785717e-02 1.17196514e-03 9.96867697e-01 -2.41088862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305779523 meters 0.01780456795900369 Centerline is valid? [True, True] Translation: X:29.02, Y:-4.37, Z:-2.42 [[ 9.92780338e-01 9.49060460e-02 7.33487764e-02 2.90189228e+01] [-9.45471073e-02 9.95485301e-01 -8.35821129e-03 -4.37192777e+00] [-7.38108735e-02 1.36295320e-03 9.97271326e-01 -2.42476949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36577952299999 meters 0.015665802223351805 Centerline is valid? [True, True] Translation: X:29.08, Y:-4.39, Z:-2.41 [[ 9.91876121e-01 1.02217927e-01 7.57182628e-02 2.90802211e+01] [-1.01856221e-01 9.94761665e-01 -8.63361262e-03 -4.38930329e+00] [-7.62041352e-02 8.51098097e-04 9.97091874e-01 -2.40634080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425779522999996 meters 0.017584235278769553 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.38, Z:-2.42 [[ 9.91291510e-01 1.05603939e-01 7.86698826e-02 2.91432721e+01] [-1.05223875e-01 9.94408079e-01 -8.97263633e-03 -4.37781194e+00] [-7.91775126e-02 6.16548311e-04 9.96860342e-01 -2.41898583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485779523 meters 0.01486481742929151 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.37, Z:-2.43 [[ 9.90623792e-01 1.09375502e-01 8.18626985e-02 2.92061059e+01] [-1.08975041e-01 9.94000442e-01 -9.35747501e-03 -4.37040292e+00] [-8.23950370e-02 3.48746435e-04 9.96599687e-01 -2.43121129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54577952299999 meters 0.01488508260089686 Centerline is valid? [True, True] Translation: X:29.27, Y:-4.38, Z:-2.43 [[ 9.90179205e-01 1.11347344e-01 8.45394082e-02 2.92678677e+01] [-1.10925572e-01 9.93781527e-01 -9.68470486e-03 -4.38160793e+00] [-8.50920684e-02 2.12011151e-04 9.96373070e-01 -2.43271078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605779522999995 meters 0.015301185221804079 Centerline is valid? [True, True] Translation: X:29.33, Y:-4.40, Z:-2.42 [[ 9.90088079e-01 1.13362791e-01 8.29124459e-02 2.93284238e+01] [-1.12962306e-01 9.93553659e-01 -9.52068524e-03 -4.40044809e+00] [-8.34572555e-02 6.03358397e-05 9.96511356e-01 -2.42209916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665779523 meters 0.01624090618014067 Centerline is valid? [True, True] Translation: X:29.39, Y:-4.38, Z:-2.44 [[ 9.89067339e-01 1.22113252e-01 8.26689377e-02 2.93916042e+01] [-1.21744076e-01 9.92515955e-01 -9.51097539e-03 -4.38405250e+00] [-8.32116558e-02 -6.57458274e-04 9.96531679e-01 -2.43692135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72577952299999 meters 0.017150775598906712 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.39, Z:-2.44 [[ 9.88281242e-01 1.26860775e-01 8.48912899e-02 2.94527731e+01] [-1.26487167e-01 9.91919961e-01 -9.78711256e-03 -4.39102914e+00] [-8.54469656e-02 -1.06523897e-03 9.96342151e-01 -2.44293390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785779522999995 meters 0.017425805180561277 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.41, Z:-2.44 [[ 9.88307319e-01 1.24536579e-01 8.79731966e-02 2.95139049e+01] [-1.24124096e-01 9.92214633e-01 -1.01651818e-02 -4.40662131e+00] [-8.85542300e-02 -8.73269898e-04 9.96070974e-01 -2.44438393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845779523 meters 0.017648198681037616 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.41, Z:-2.45 [[ 9.88506066e-01 1.24434723e-01 8.58589358e-02 2.95748307e+01] [-1.24039667e-01 9.92227455e-01 -9.94172164e-03 -4.41098180e+00] [-8.64286888e-02 -8.22461665e-04 9.96257700e-01 -2.45367117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90577952299999 meters 0.018897799186571883 Centerline is valid? [True, True] Translation: X:29.64, Y:-4.41, Z:-2.46 [[ 9.87620327e-01 1.30030885e-01 8.77385809e-02 2.96370186e+01] [-1.29638505e-01 9.91509065e-01 -1.01800040e-02 -4.41110735e+00] [-8.83173132e-02 -1.32031953e-03 9.96091516e-01 -2.46293113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965779522999995 meters 0.02121328346175204 Centerline is valid? [True, True] Translation: X:29.70, Y:-4.41, Z:-2.46 [[ 9.86358916e-01 1.35713074e-01 9.31560532e-02 2.96980540e+01] [-1.35295322e-01 9.90746291e-01 -1.08149375e-02 -4.41335774e+00] [-9.37617426e-02 -1.93616821e-03 9.95592782e-01 -2.46160598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025779523 meters 0.021672815674861002 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.42, Z:-2.46 [[ 9.85982905e-01 1.35835418e-01 9.68836926e-02 2.97593315e+01] [-1.35383589e-01 9.90729355e-01 -1.12529959e-02 -4.42201041e+00] [-9.75140736e-02 -2.02120047e-03 9.95232094e-01 -2.46151061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085779523 meters 0.02097768997974513 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.44, Z:-2.47 [[ 9.86652464e-01 1.31718301e-01 9.57455178e-02 2.98182597e+01] [-1.31255900e-01 9.91285934e-01 -1.11393443e-02 -4.43609379e+00] [-9.63784406e-02 -1.57650255e-03 9.95343514e-01 -2.46547476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145779522999995 meters 0.020848339531155828 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.44, Z:-2.49 [[ 9.87083795e-01 1.33048750e-01 8.92390686e-02 2.98796100e+01] [-1.32652378e-01 9.91108223e-01 -1.03844462e-02 -4.43765380e+00] [-8.98272123e-02 -1.58745603e-03 9.95956099e-01 -2.48613154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205779523 meters 0.022485126102222263 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.44, Z:-2.50 [[ 9.86805580e-01 1.39381265e-01 8.23869586e-02 2.99411210e+01] [-1.39064938e-01 9.90236791e-01 -9.59375251e-03 -4.44285658e+00] [-8.29197869e-02 -1.98996878e-03 9.96554238e-01 -2.49615547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265779523 meters 0.025266905389761504 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.45, Z:-2.50 [[ 9.86510595e-01 1.43938539e-01 7.79650075e-02 3.00002201e+01] [-1.43669072e-01 9.89584095e-01 -9.08390184e-03 -4.44982630e+00] [-7.84604549e-02 -2.23979489e-03 9.96914711e-01 -2.50018237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325779522999994 meters 0.02329665485748369 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.46, Z:-2.50 [[ 9.86123853e-01 1.42863472e-01 8.45563380e-02 3.00614681e+01] [-1.42541821e-01 9.89739664e-01 -9.86034983e-03 -4.46342451e+00] [-8.50974454e-02 -2.32928823e-03 9.96369911e-01 -2.49990297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385779523 meters 0.023016116950546308 Centerline is valid? [True, True] Translation: X:30.12, Y:-4.47, Z:-2.50 [[ 9.85954749e-01 1.38145368e-01 9.38567530e-02 3.01216102e+01] [-1.37725273e-01 9.90409715e-01 -1.09701958e-02 -4.47484493e+00] [-9.44721217e-02 -2.11033032e-03 9.95525271e-01 -2.49781687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445779523 meters 0.022569850319828298 Centerline is valid? [True, True] Translation: X:30.18, Y:-4.48, Z:-2.51 [[ 9.85803463e-01 1.37623700e-01 9.61834115e-02 3.01830669e+01] [-1.37177809e-01 9.90482383e-01 -1.12648511e-02 -4.48031035e+00] [-9.68182852e-02 -2.08930040e-03 9.95299882e-01 -2.50523893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505779522999994 meters 0.023361072507989102 Centerline is valid? [True, True] Translation: X:30.24, Y:-4.49, Z:-2.52 [[ 9.86082222e-01 1.42460296e-01 8.57141541e-02 3.02441750e+01] [-1.42122818e-01 9.89797928e-01 -1.00581079e-02 -4.48771898e+00] [-8.62725732e-02 -2.26381571e-03 9.96268999e-01 -2.52072532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565779522999996 meters 0.026472835369554068 Centerline is valid? [True, True] Translation: X:30.30, Y:-4.49, Z:-2.53 [[ 9.85706111e-01 1.49451256e-01 7.77675024e-02 3.03036397e+01] [-1.49193543e-01 9.88765711e-01 -9.14636940e-03 -4.49278336e+00] [-7.82607762e-02 -2.58677702e-03 9.96929566e-01 -2.52604256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625779523 meters 0.02832356040225207 Centerline is valid? [True, True] Translation: X:30.36, Y:-4.49, Z:-2.53 [[ 9.85305147e-01 1.53932808e-01 7.40166076e-02 3.03645112e+01] [-1.53711973e-01 9.88077350e-01 -8.70511166e-03 -4.49356217e+00] [-7.44741358e-02 -2.80004750e-03 9.97219014e-01 -2.53462602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685779522999994 meters 0.025886059475842757 Centerline is valid? [True, True] Translation: X:30.43, Y:-4.50, Z:-2.54 [[ 9.85207777e-01 1.49504169e-01 8.37504545e-02 3.04258473e+01] [-1.49205320e-01 9.88757158e-01 -9.85160113e-03 -4.49664532e+00] [-8.42817168e-02 -2.79013930e-03 9.96438060e-01 -2.54025631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745779522999996 meters 0.02500951882477579 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.51, Z:-2.54 [[ 9.85787397e-01 1.43334291e-01 8.76269846e-02 3.04853017e+01] [-1.42982523e-01 9.89671505e-01 -1.03106956e-02 -4.51011703e+00] [-8.81998060e-02 -2.36497355e-03 9.96099996e-01 -2.53951763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805779523 meters 0.023489239409719375 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.53, Z:-2.54 [[ 9.86676336e-01 1.37295778e-01 8.72907637e-02 3.05448592e+01] [-1.36922941e-01 9.90528431e-01 -1.02730850e-02 -4.53331488e+00] [-8.78744344e-02 -1.81589827e-03 9.96129904e-01 -2.53612945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86577952299999 meters 0.022596485281837542 Centerline is valid? [True, True] Translation: X:30.61, Y:-4.54, Z:-2.54 [[ 9.87058714e-01 1.34335871e-01 8.75726447e-02 3.06066611e+01] [-1.33948688e-01 9.90934639e-01 -1.03097088e-02 -4.54101827e+00] [-8.81637308e-02 -1.55395295e-03 9.96104785e-01 -2.54226333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925779522999996 meters 0.022235292648271506 Centerline is valid? [True, True] Translation: X:30.67, Y:-4.54, Z:-2.56 [[ 9.87480067e-01 1.32560812e-01 8.55029160e-02 3.06683000e+01] [-1.32184377e-01 9.91173949e-01 -1.00743549e-02 -4.54394418e+00] [-8.60837276e-02 -1.35392505e-03 9.96286986e-01 -2.55545124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985779523 meters 0.02196771514685518 Centerline is valid? [True, True] Translation: X:30.73, Y:-4.56, Z:-2.56 [[ 9.88078374e-01 1.30335167e-01 8.19382102e-02 3.07283555e+01] [-1.29980240e-01 9.91469391e-01 -9.67391813e-03 -4.55537572e+00] [-8.25000791e-02 -1.09175897e-03 9.96590460e-01 -2.56164785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04577952299999 meters 0.02411272612697699 Centerline is valid? [True, True] Translation: X:30.79, Y:-4.56, Z:-2.57 [[ 9.87992650e-01 1.30345617e-01 8.29490410e-02 3.07905811e+01] [-1.29980291e-01 9.91468022e-01 -9.81252667e-03 -4.55834101e+00] [-8.35203415e-02 -1.08703623e-03 9.96505480e-01 -2.56850672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105779522999995 meters 0.022565394680869818 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.56, Z:-2.57 [[ 9.87928187e-01 1.32833411e-01 7.97068469e-02 3.08528588e+01] [-1.32502484e-01 9.91137621e-01 -9.45028107e-03 -4.56367328e+00] [-8.02557676e-02 -1.22515611e-03 9.96773550e-01 -2.57019803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165779523 meters 0.024000351911799406 Centerline is valid? [True, True] Translation: X:30.91, Y:-4.58, Z:-2.57 [[ 9.87970669e-01 1.34399056e-01 7.64908614e-02 3.09134117e+01] [-1.34097648e-01 9.90926463e-01 -9.08655052e-03 -4.57751236e+00] [-7.70180426e-02 -1.27999920e-03 9.97028878e-01 -2.57267960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22577952299999 meters 0.021888365112471934 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.58, Z:-2.58 [[ 9.88302890e-01 1.28822756e-01 8.16216593e-02 3.09748691e+01] [-1.28458827e-01 9.91667242e-01 -9.71650928e-03 -4.57883351e+00] [-8.21932333e-02 -8.82168401e-04 9.96616021e-01 -2.58262217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285779522999995 meters 0.02148859818928404 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.60, Z:-2.59 [[ 9.88935611e-01 1.22795774e-01 8.32319393e-02 3.10357150e+01] [-1.22395567e-01 9.92431887e-01 -9.91333448e-03 -4.59533259e+00] [-8.38193461e-02 -3.83570947e-04 9.96480893e-01 -2.58599259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345779523 meters 0.02168251657011159 Centerline is valid? [True, True] Translation: X:31.10, Y:-4.61, Z:-2.58 [[ 9.88851759e-01 1.24333024e-01 8.19359362e-02 3.10962897e+01] [-1.23948797e-01 9.92240426e-01 -9.77918927e-03 -4.61374572e+00] [-8.25160245e-02 -4.85692224e-04 9.96589620e-01 -2.57884745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40577952299999 meters 0.023627740490642656 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.61, Z:-2.59 [[ 9.87764441e-01 1.33292914e-01 8.09592954e-02 3.11591226e+01] [-1.32946092e-01 9.91075963e-01 -9.68363956e-03 -4.60584786e+00] [-8.15275722e-02 -1.19806710e-03 9.96670367e-01 -2.59201733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465779522999995 meters 0.024751499354273235 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.61, Z:-2.60 [[ 9.86590234e-01 1.43417651e-01 7.79171819e-02 3.12206095e+01] [-1.43127474e-01 9.89660329e-01 -9.32516850e-03 -4.60764052e+00] [-7.84489377e-02 -1.95196929e-03 9.96916222e-01 -2.59574464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525779523 meters 0.02319662424084018 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.63, Z:-2.60 [[ 9.87505090e-01 1.35722720e-01 8.00814625e-02 3.12796603e+01] [-1.35390677e-01 9.90745907e-01 -9.58707649e-03 -4.62573431e+00] [-8.06415653e-02 -1.37499656e-03 9.96742217e-01 -2.59536772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585779523 meters 0.022654511970331862 Centerline is valid? [True, True] Translation: X:31.34, Y:-4.63, Z:-2.61 [[ 9.87923134e-01 1.32286634e-01 8.06729719e-02 3.13415309e+01] [-1.31938094e-01 9.91210893e-01 -9.65946679e-03 -4.63015336e+00] [-8.12417469e-02 -1.10102742e-03 9.96693818e-01 -2.60583210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645779522999995 meters 0.022932215672371907 Centerline is valid? [True, True] Translation: X:31.40, Y:-4.64, Z:-2.61 [[ 9.87950791e-01 1.35617900e-01 7.45722404e-02 3.14022415e+01] [-1.35329210e-01 9.90760407e-01 -8.93423237e-03 -4.63814694e+00] [-7.50948651e-02 -1.26522042e-03 9.97175592e-01 -2.60812754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705779523 meters 0.024923926115544625 Centerline is valid? [True, True] Translation: X:31.46, Y:-4.64, Z:-2.61 [[ 9.87792254e-01 1.39536452e-01 6.92534648e-02 3.14615931e+01] [-1.39295943e-01 9.90215896e-01 -8.31380857e-03 -4.64189709e+00] [-6.97359611e-02 -1.43441095e-03 9.97564453e-01 -2.61426742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765779523 meters 0.02379374996802326 Centerline is valid? [True, True] Translation: X:31.52, Y:-4.65, Z:-2.62 [[ 9.87500141e-01 1.42177716e-01 6.80365286e-02 3.15226470e+01] [-1.41952042e-01 9.89839862e-01 -8.16486506e-03 -4.64552366e+00] [-6.85061299e-02 -1.59511879e-03 9.97649420e-01 -2.62384645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825779522999994 meters 0.0231309002377367 Centerline is valid? [True, True] Translation: X:31.58, Y:-4.66, Z:-2.63 [[ 9.87840531e-01 1.37153685e-01 7.32116887e-02 3.15824564e+01] [-1.36877097e-01 9.90548897e-01 -8.80580036e-03 -4.65578502e+00] [-7.37275055e-02 -1.32227690e-03 9.97277547e-01 -2.62563859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885779523 meters 0.02239637368151374 Centerline is valid? [True, True] Translation: X:31.64, Y:-4.67, Z:-2.63 [[ 9.88383460e-01 1.32567061e-01 7.43243637e-02 3.16431954e+01] [-1.32268859e-01 9.91173541e-01 -8.94204245e-03 -4.67023830e+00] [-7.48537631e-02 -9.92631904e-04 9.97194028e-01 -2.62528888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945779523 meters 0.021977903581792607 Centerline is valid? [True, True] Translation: X:31.70, Y:-4.68, Z:-2.63 [[ 9.88916275e-01 1.31330567e-01 6.92595310e-02 3.17036047e+01] [-1.31068447e-01 9.91338280e-01 -8.33528377e-03 -4.68294368e+00] [-6.97543019e-02 -8.34841369e-04 9.97563853e-01 -2.62869820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005779522999994 meters 0.02241850861722992 Centerline is valid? [True, True] Translation: X:31.77, Y:-4.68, Z:-2.64 [[ 9.88693442e-01 1.34167797e-01 6.69647598e-02 3.17653493e+01] [-1.33928290e-01 9.90958137e-01 -8.07363017e-03 -4.68481708e+00] [-6.74424948e-02 -9.86130542e-04 9.97722676e-01 -2.63554354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065779522999996 meters 0.02237922163113899 Centerline is valid? [True, True] Translation: X:31.83, Y:-4.68, Z:-2.65 [[ 9.88474515e-01 1.36040175e-01 6.64168887e-02 3.18272622e+01] [-1.35807696e-01 9.90702723e-01 -8.02394938e-03 -4.67857744e+00] [-6.68909720e-02 -1.08845512e-03 9.97759697e-01 -2.64874818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125779523 meters 0.02116805569585267 Centerline is valid? [True, True] Translation: X:31.89, Y:-4.70, Z:-2.64 [[ 9.89795960e-01 1.23565848e-01 7.09608299e-02 3.18862242e+01] [-1.23266947e-01 9.92336346e-01 -8.59285717e-03 -4.70133675e+00] [-7.14787943e-02 -2.41949541e-04 9.97442090e-01 -2.64065377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185779522999994 meters 0.023038010178236853 Centerline is valid? [True, True] Translation: X:31.95, Y:-4.72, Z:-2.64 [[ 9.91327897e-01 1.09603075e-01 7.24994285e-02 3.19454562e+01] [-1.09253734e-01 9.93975128e-01 -8.77877093e-03 -4.72490634e+00] [-7.30248090e-02 7.81807237e-04 9.97329818e-01 -2.64056241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245779522999996 meters 0.024151985950380445 Centerline is valid? [True, True] Translation: X:32.01, Y:-4.73, Z:-2.66 [[ 9.92946867e-01 9.60587729e-02 6.94926650e-02 3.20054502e+01] [-9.57040152e-02 9.95374188e-01 -8.42421257e-03 -4.72612413e+00] [-6.99804245e-02 1.71406841e-03 9.97546892e-01 -2.65513965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305779523 meters 0.02520630606531671 Centerline is valid? [True, True] Translation: X:32.07, Y:-4.74, Z:-2.66 [[ 9.93694843e-01 8.76080235e-02 6.99670868e-02 3.20650537e+01] [-8.72273076e-02 9.96152306e-01 -8.48411496e-03 -4.73595743e+00] [-7.04411514e-02 2.32758068e-03 9.97513221e-01 -2.65968020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36577952299999 meters 0.026996148636817856 Centerline is valid? [True, True] Translation: X:32.12, Y:-4.75, Z:-2.66 [[ 9.94181141e-01 8.18009702e-02 7.00889512e-02 3.21243143e+01] [-8.14044434e-02 9.96644905e-01 -8.50002390e-03 -4.75189422e+00] [-7.05491063e-02 2.74501139e-03 9.97504531e-01 -2.65968898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425779522999996 meters 0.03036794357172282 Centerline is valid? [True, True] Translation: X:32.18, Y:-4.77, Z:-2.66 [[ 9.94936200e-01 7.13836246e-02 7.07554686e-02 3.21842626e+01] [-7.09531468e-02 9.97442730e-01 -8.58199574e-03 -4.76732067e+00] [-7.11871418e-02 3.51821508e-03 9.97456773e-01 -2.65716806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485779523 meters 0.031102890139820462 Centerline is valid? [True, True] Translation: X:32.25, Y:-4.77, Z:-2.66 [[ 9.94910507e-01 7.08625318e-02 7.16350858e-02 3.22458491e+01] [-7.04198826e-02 9.97479593e-01 -8.68915434e-03 -4.76745456e+00] [-7.20702717e-02 3.60039662e-03 9.97393058e-01 -2.66451128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54577952299999 meters 0.027849819524314416 Centerline is valid? [True, True] Translation: X:32.31, Y:-4.76, Z:-2.68 [[ 9.94379416e-01 8.12273750e-02 6.79094251e-02 3.23075480e+01] [-8.08525821e-02 9.96691894e-01 -8.25397774e-03 -4.75894649e+00] [-6.83552225e-02 2.71693320e-03 9.97657347e-01 -2.67895840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605779522999995 meters 0.02501416790308985 Centerline is valid? [True, True] Translation: X:32.37, Y:-4.76, Z:-2.68 [[ 9.93529243e-01 9.10315027e-02 6.79184032e-02 3.23675144e+01] [-9.06793278e-02 9.95845914e-01 -8.25676260e-03 -4.75875847e+00] [-6.83878898e-02 2.04453995e-03 9.97656713e-01 -2.68065432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665779523 meters 0.02284766696128342 Centerline is valid? [True, True] Translation: X:32.43, Y:-4.75, Z:-2.68 [[ 9.92251728e-01 1.00493805e-01 7.30582144e-02 3.24290936e+01] [-1.00111840e-01 9.94936556e-01 -8.88078274e-03 -4.75358630e+00] [-7.35807519e-02 1.49797978e-03 9.97288137e-01 -2.67661900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72577952299999 meters 0.021687465115296598 Centerline is valid? [True, True] Translation: X:32.49, Y:-4.75, Z:-2.68 [[ 9.91385650e-01 1.06322094e-01 7.64859805e-02 3.24914096e+01] [-1.05920726e-01 9.94331116e-01 -9.29685066e-03 -4.75422962e+00] [-7.70408510e-02 1.11531377e-03 9.97027313e-01 -2.67789501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785779522999995 meters 0.02097243387936924 Centerline is valid? [True, True] Translation: X:32.55, Y:-4.75, Z:-2.69 [[ 9.90432084e-01 1.14692692e-01 7.67455121e-02 3.25522656e+01] [-1.14313345e-01 9.93400909e-01 -9.33240890e-03 -4.75467087e+00] [-7.73094206e-02 4.70081001e-04 9.97007037e-01 -2.68589680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845779523 meters 0.020908127635545587 Centerline is valid? [True, True] Translation: X:32.61, Y:-4.76, Z:-2.70 [[ 9.90065897e-01 1.19180878e-01 7.46018686e-02 3.26143460e+01] [-1.18835089e-01 9.92872552e-01 -9.07287250e-03 -4.75515433e+00] [-7.51514606e-02 1.17421962e-04 9.97172124e-01 -2.69805489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90577952299999 meters 0.021212138147432485 Centerline is valid? [True, True] Translation: X:32.68, Y:-4.76, Z:-2.70 [[ 9.89148268e-01 1.26319713e-01 7.50268875e-02 3.26770794e+01] [-1.25988937e-01 9.91989498e-01 -9.14458246e-03 -4.75930727e+00] [-7.55810255e-02 -4.07209936e-04 9.97139580e-01 -2.69741837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965779522999995 meters 0.02098275309301917 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.77, Z:-2.69 [[ 9.89211630e-01 1.22657033e-01 8.00974613e-02 3.27372473e+01] [-1.22266160e-01 9.92449112e-01 -9.78502357e-03 -4.77372203e+00] [-8.06928563e-02 -1.13749946e-04 9.96739008e-01 -2.69295483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025779523 meters 0.021074070127567266 Centerline is valid? [True, True] Translation: X:32.80, Y:-4.79, Z:-2.71 [[ 9.90628297e-01 1.12640208e-01 7.72512779e-02 3.27966599e+01] [-1.12245485e-01 9.93635603e-01 -9.44667023e-03 -4.79447469e+00] [-7.78236950e-02 6.87031679e-04 9.96966900e-01 -2.70531947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08577952299999 meters 0.02299354503658319 Centerline is valid? [True, True] Translation: X:32.85, Y:-4.81, Z:-2.72 [[ 9.91674978e-01 1.03297786e-01 7.68785137e-02 3.28548645e+01] [-1.02877410e-01 9.94649445e-01 -9.41917316e-03 -4.81150473e+00] [-7.74401506e-02 1.43169598e-03 9.96995975e-01 -2.71823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145779522999995 meters 0.023950981950842137 Centerline is valid? [True, True] Translation: X:32.91, Y:-4.82, Z:-2.72 [[ 9.92280930e-01 9.69238807e-02 7.73583665e-02 3.29149124e+01] [-9.64787931e-02 9.95289901e-01 -9.47917013e-03 -4.82313949e+00] [-7.79127589e-02 1.94255792e-03 9.96958288e-01 -2.72388253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205779523 meters 0.024043098584786156 Centerline is valid? [True, True] Translation: X:32.98, Y:-4.84, Z:-2.73 [[ 9.92945501e-01 9.39051058e-02 7.23951926e-02 3.29752508e+01] [-9.35072419e-02 9.95579061e-01 -8.87299085e-03 -4.83988708e+00] [-7.29083570e-02 2.04092155e-03 9.97336556e-01 -2.72600704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265779523 meters 0.02573653286673161 Centerline is valid? [True, True] Translation: X:33.03, Y:-4.86, Z:-2.72 [[ 9.93175969e-01 8.71402532e-02 7.75117531e-02 3.30345867e+01] [-8.66630207e-02 9.96192330e-01 -9.50594368e-03 -4.86327167e+00] [-7.80449643e-02 2.72367216e-03 9.96946119e-01 -2.71966672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325779522999994 meters 0.028125683054647996 Centerline is valid? [True, True] Translation: X:33.09, Y:-4.87, Z:-2.73 [[ 9.93102356e-01 8.16607189e-02 8.41382103e-02 3.30939161e+01] [-8.10784221e-02 9.96654293e-01 -1.03203303e-02 -4.86521482e+00] [-8.46994741e-02 3.42735102e-03 9.96400649e-01 -2.72839515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385779523 meters 0.026674016828139146 Centerline is valid? [True, True] Translation: X:33.15, Y:-4.86, Z:-2.75 [[ 9.93518654e-01 8.42460403e-02 7.63104785e-02 3.31547509e+01] [-8.37745754e-02 9.96440732e-01 -9.36414958e-03 -4.86173635e+00] [-7.68277616e-02 2.91057936e-03 9.97040131e-01 -2.74910196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445779523 meters 0.026332781758859836 Centerline is valid? [True, True] Translation: X:33.21, Y:-4.89, Z:-2.74 [[ 9.93269326e-01 9.19128665e-02 7.04845400e-02 3.32127773e+01] [-9.15298304e-02 9.95764749e-01 -8.65181921e-03 -4.88507805e+00] [-7.09812338e-02 2.14214865e-03 9.97475351e-01 -2.74408478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505779522999994 meters 0.02617597796192981 Centerline is valid? [True, True] Translation: X:33.28, Y:-4.89, Z:-2.74 [[ 9.92731858e-01 9.24774378e-02 7.70154698e-02 3.32755505e+01] [-9.20217297e-02 9.95712131e-01 -9.45269804e-03 -4.89308553e+00] [-7.75593988e-02 2.29689774e-03 9.96985087e-01 -2.73596363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565779522999996 meters 0.02470786873138234 Centerline is valid? [True, True] Translation: X:33.34, Y:-4.87, Z:-2.76 [[ 9.92238579e-01 9.15689881e-02 8.41291994e-02 3.33398140e+01] [-9.10199367e-02 9.95795317e-01 -1.03469047e-02 -4.86963774e+00] [-8.47229183e-02 2.60916366e-03 9.96401134e-01 -2.75546084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625779523 meters 0.024092004654410047 Centerline is valid? [True, True] Translation: X:33.40, Y:-4.88, Z:-2.76 [[ 9.92428301e-01 9.59143229e-02 7.67235902e-02 3.33988396e+01] [-9.54694299e-02 9.95387466e-01 -9.45407623e-03 -4.88428588e+00] [-7.72764814e-02 2.05773540e-03 9.97007578e-01 -2.76344872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685779522999994 meters 0.023165041640079813 Centerline is valid? [True, True] Translation: X:33.46, Y:-4.90, Z:-2.76 [[ 9.92064118e-01 1.02405227e-01 7.29517338e-02 3.34597728e+01] [-1.02020429e-01 9.94741668e-01 -8.99141479e-03 -4.90245612e+00] [-7.34888972e-02 1.47749282e-03 9.97294941e-01 -2.75600379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745779522999996 meters 0.023508092749724763 Centerline is valid? [True, True] Translation: X:33.52, Y:-4.90, Z:-2.77 [[ 9.91845919e-01 1.02080645e-01 7.62968808e-02 3.35229982e+01] [-1.01658318e-01 9.94774878e-01 -9.40893667e-03 -4.89771169e+00] [-7.68586906e-02 1.57600284e-03 9.97040750e-01 -2.76619227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805779523 meters 0.0226650660192498 Centerline is valid? [True, True] Translation: X:33.58, Y:-4.90, Z:-2.77 [[ 9.90934513e-01 1.06221433e-01 8.22544685e-02 3.35847646e+01] [-1.05742632e-01 9.94341545e-01 -1.01679624e-02 -4.90105331e+00] [-8.28690909e-02 1.37798085e-03 9.96559489e-01 -2.77123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86577952299999 meters 0.022325254418613275 Centerline is valid? [True, True] Translation: X:33.65, Y:-4.91, Z:-2.77 [[ 9.90041352e-01 1.14635552e-01 8.17117623e-02 3.36458937e+01] [-1.14189992e-01 9.93407376e-01 -1.01208045e-02 -4.91023761e+00] [-8.23332714e-02 6.89349490e-04 9.96604614e-01 -2.77191780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925779522999996 meters 0.022256063163501646 Centerline is valid? [True, True] Translation: X:33.71, Y:-4.91, Z:-2.78 [[ 9.89578911e-01 1.21866846e-01 7.66945271e-02 3.37065898e+01] [-1.21495806e-01 9.92546455e-01 -9.50288096e-03 -4.91059966e+00] [-7.72809671e-02 8.57872393e-05 9.97009350e-01 -2.78273427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985779523 meters 0.022577576875749166 Centerline is valid? [True, True] Translation: X:33.77, Y:-4.92, Z:-2.79 [[ 9.89193120e-01 1.26366424e-01 7.43538697e-02 3.37681938e+01] [-1.26029691e-01 9.91983601e-01 -9.22234484e-03 -4.91748286e+00] [-7.49232141e-02 -2.48115141e-04 9.97189275e-01 -2.78573231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04577952299999 meters 0.023648560510381833 Centerline is valid? [True, True] Translation: X:33.83, Y:-4.92, Z:-2.80 [[ 9.88710874e-01 1.32208561e-01 7.05103180e-02 3.38280920e+01] [-1.31919392e-01 9.91221716e-01 -8.76266970e-03 -4.92199694e+00] [-7.10498583e-02 -6.37931489e-04 9.97472561e-01 -2.79577017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105779522999995 meters 0.02370756895006271 Centerline is valid? [True, True] Translation: X:33.89, Y:-4.93, Z:-2.81 [[ 9.88592451e-01 1.35249614e-01 6.62759931e-02 3.38889821e+01] [-1.35000456e-01 9.90811237e-01 -8.24438841e-03 -4.93070595e+00] [-6.67820490e-02 -7.96949176e-04 9.97767269e-01 -2.80577435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165779523 meters 0.02301005692901874 Centerline is valid? [True, True] Translation: X:33.95, Y:-4.94, Z:-2.81 [[ 9.88752110e-01 1.30687416e-01 7.27328257e-02 3.39497635e+01] [-1.30374538e-01 9.91423480e-01 -9.05332627e-03 -4.94212394e+00] [-7.32921870e-02 -5.31013066e-04 9.97310370e-01 -2.80710168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22577952299999 meters 0.022556470022549135 Centerline is valid? [True, True] Translation: X:34.01, Y:-4.95, Z:-2.81 [[ 9.89005277e-01 1.28226891e-01 7.36642847e-02 3.40097782e+01] [-1.27898914e-01 9.91744797e-01 -9.17202492e-03 -4.95471258e+00] [-7.42322713e-02 -3.50401003e-04 9.97240917e-01 -2.80809951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285779522999995 meters 0.022612961195590274 Centerline is valid? [True, True] Translation: X:34.07, Y:-4.97, Z:-2.81 [[ 9.88852340e-01 1.29418639e-01 7.36333233e-02 3.40716464e+01] [-1.29093058e-01 9.91589954e-01 -9.18401719e-03 -4.96667052e+00] [-7.42026467e-02 -4.23914010e-04 9.97243093e-01 -2.80805676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345779523 meters 0.023484099773114334 Centerline is valid? [True, True] Translation: X:34.13, Y:-4.97, Z:-2.81 [[ 9.88370774e-01 1.34901471e-01 7.01769582e-02 3.41332562e+01] [-1.34618111e-01 9.90858714e-01 -8.77341960e-03 -4.97223614e+00] [-7.07189977e-02 -7.75698001e-04 9.97495976e-01 -2.81346134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40577952299999 meters 0.023370727083653044 Centerline is valid? [True, True] Translation: X:34.19, Y:-4.97, Z:-2.84 [[ 9.88542446e-01 1.35557822e-01 6.63920919e-02 3.41948038e+01] [-1.35305577e-01 9.90769133e-01 -8.30218555e-03 -4.96671907e+00] [-6.69046615e-02 -7.76157490e-04 9.97759071e-01 -2.83587085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465779522999995 meters 0.02206765755341886 Centerline is valid? [True, True] Translation: X:34.25, Y:-4.98, Z:-2.84 [[ 9.89567828e-01 1.27889457e-01 6.63309939e-02 3.42545549e+01] [-1.27619366e-01 9.91788399e-01 -8.31076807e-03 -4.98152090e+00] [-6.68491699e-02 -2.41050671e-04 9.97763063e-01 -2.84252927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525779523 meters 0.02172457244903619 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.01, Z:-2.83 [[ 9.90106193e-01 1.21613337e-01 6.99994441e-02 3.43148557e+01] [-1.21295564e-01 9.92577529e-01 -8.78830495e-03 -5.00517117e+00] [-7.05486504e-02 2.10733118e-04 9.97508318e-01 -2.83185983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58577952299999 meters 0.022187610004801024 Centerline is valid? [True, True] Translation: X:34.38, Y:-5.02, Z:-2.83 [[ 9.90916804e-01 1.13477218e-01 7.21582211e-02 3.43763789e+01] [-1.13116643e-01 9.93540250e-01 -9.07729311e-03 -5.01626382e+00] [-7.27221630e-02 8.32546528e-04 9.97351891e-01 -2.83305304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645779522999995 meters 0.02275245855883483 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.02, Z:-2.85 [[ 9.91536660e-01 1.09837245e-01 6.92158298e-02 3.44362248e+01] [-1.09495502e-01 9.93949009e-01 -8.72368584e-03 -5.01827991e+00] [-6.97551910e-02 1.07103232e-03 9.97563565e-01 -2.85088185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705779523 meters 0.023591802541194033 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.03, Z:-2.86 [[ 9.92011894e-01 1.05232069e-01 6.95601506e-02 3.44973822e+01] [-1.04874374e-01 9.94446679e-01 -8.78455816e-03 -5.02710211e+00] [-7.00982780e-02 1.41930891e-03 9.97539080e-01 -2.85899085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765779523 meters 0.026223075448634302 Centerline is valid? [True, True] Translation: X:34.56, Y:-5.05, Z:-2.86 [[ 9.93396814e-01 9.16977085e-02 6.89514333e-02 3.45564723e+01] [-9.13133092e-02 9.95784095e-01 -8.71293302e-03 -5.04716147e+00] [-6.94596966e-02 2.35921635e-03 9.97581969e-01 -2.85786760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825779522999994 meters 0.03032290868577755 Centerline is valid? [True, True] Translation: X:34.62, Y:-5.06, Z:-2.86 [[ 9.94345208e-01 8.22124850e-02 6.72213820e-02 3.46150125e+01] [-8.18254790e-02 9.96610468e-01 -8.49506809e-03 -5.06438154e+00] [-6.76919336e-02 2.94660847e-03 9.97701919e-01 -2.86207445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885779523 meters 0.029224027788040945 Centerline is valid? [True, True] Translation: X:34.68, Y:-5.06, Z:-2.87 [[ 9.94404652e-01 7.69333923e-02 7.23922709e-02 3.46772945e+01] [-7.64704289e-02 9.97029871e-01 -9.14931768e-03 -5.05889662e+00] [-7.28811446e-02 3.56225606e-03 9.97334271e-01 -2.86753394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945779523 meters 0.02976101415224908 Centerline is valid? [True, True] Translation: X:34.74, Y:-5.07, Z:-2.87 [[ 9.94495964e-01 7.67535703e-02 7.13208765e-02 3.47387566e+01] [-7.63037317e-02 9.97043870e-01 -9.01452084e-03 -5.06810795e+00] [-7.18019394e-02 3.52285557e-03 9.97412688e-01 -2.87241035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005779522999994 meters 0.03364392237735968 Centerline is valid? [True, True] Translation: X:34.80, Y:-5.08, Z:-2.88 [[ 9.95240920e-01 7.10527736e-02 6.66859374e-02 3.47972300e+01] [-7.06456190e-02 9.97465711e-01 -8.44697495e-03 -5.07791674e+00] [-6.71171169e-02 3.69570579e-03 9.97738259e-01 -2.88410172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065779522999996 meters 0.032162687825211374 Centerline is valid? [True, True] Translation: X:34.86, Y:-5.09, Z:-2.89 [[ 9.95493367e-01 6.55547006e-02 6.85239978e-02 3.48575510e+01] [-6.51117389e-02 9.97840224e-01 -8.68036065e-03 -5.08568757e+00] [-6.89450398e-02 4.17952480e-03 9.97611705e-01 -2.88567928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125779523 meters 0.035234492118633796 Centerline is valid? [True, True] Translation: X:34.92, Y:-5.09, Z:-2.89 [[ 9.95078570e-01 6.81349543e-02 7.19462790e-02 3.49167495e+01] [-6.76531344e-02 9.97667259e-01 -9.11553544e-03 -5.09454405e+00] [-7.23995336e-02 4.20328269e-03 9.97366853e-01 -2.89005300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185779522999994 meters 0.030412269490819814 Centerline is valid? [True, True] Translation: X:34.98, Y:-5.08, Z:-2.90 [[ 9.94154706e-01 7.76943197e-02 7.49667495e-02 3.49783754e+01] [-7.71981494e-02 9.96970527e-01 -9.49812175e-03 -5.08450701e+00] [-7.54775898e-02 3.65530810e-03 9.97140799e-01 -2.89778362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245779522999996 meters 0.02834727537630131 Centerline is valid? [True, True] Translation: X:35.04, Y:-5.09, Z:-2.90 [[ 9.93486876e-01 8.66855400e-02 7.39556853e-02 3.50379558e+01] [-8.62273910e-02 9.96231405e-01 -9.37150334e-03 -5.09262240e+00] [-7.44893501e-02 2.93345978e-03 9.97217495e-01 -2.89744530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305779523 meters 0.02712590847879383 Centerline is valid? [True, True] Translation: X:35.10, Y:-5.09, Z:-2.90 [[ 9.92857661e-01 9.16904980e-02 7.63316332e-02 3.50992253e+01] [-9.12170208e-02 9.95784049e-01 -9.67380659e-03 -5.09454322e+00] [-7.68968189e-02 2.64196880e-03 9.97035556e-01 -2.90022737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36577952299999 meters 0.023600007678193237 Centerline is valid? [True, True] Translation: X:35.16, Y:-5.09, Z:-2.91 [[ 9.92108125e-01 9.80983200e-02 7.80908927e-02 3.51613156e+01] [-9.76223650e-02 9.95174303e-01 -9.89853880e-03 -5.08618422e+00] [-7.86850798e-02 2.19700314e-03 9.96897102e-01 -2.90821891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425779522999996 meters 0.024097192728325154 Centerline is valid? [True, True] Translation: X:35.22, Y:-5.09, Z:-2.92 [[ 9.91417746e-01 1.05163426e-01 7.76627779e-02 3.52212760e+01] [-1.04714193e-01 9.94453619e-01 -9.84564000e-03 -5.09039671e+00] [-7.82674318e-02 1.62874708e-03 9.96931069e-01 -2.92054515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485779523 meters 0.021128862738198438 Centerline is valid? [True, True] Translation: X:35.28, Y:-5.10, Z:-2.92 [[ 9.91056348e-01 1.11734871e-01 7.29563863e-02 3.52813458e+01] [-1.11356213e-01 9.93737506e-01 -9.25005454e-03 -5.09758383e+00] [-7.35330510e-02 1.04317838e-03 9.97292235e-01 -2.92468066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54577952299999 meters 0.020425146019228103 Centerline is valid? [True, True] Translation: X:35.34, Y:-5.10, Z:-2.93 [[ 9.90173490e-01 1.17015340e-01 7.65759073e-02 3.53430200e+01] [-1.16613653e-01 9.93129870e-01 -9.71169272e-03 -5.10107470e+00] [-7.71862379e-02 6.86464433e-04 9.97016456e-01 -2.92779726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605779522999995 meters 0.021673889217768524 Centerline is valid? [True, True] Translation: X:35.40, Y:-5.11, Z:-2.93 [[ 9.88603114e-01 1.23050493e-01 8.67321163e-02 3.54049988e+01] [-1.22557553e-01 9.92400379e-01 -1.10060470e-02 -5.10846342e+00] [-8.74272846e-02 2.50936399e-04 9.96170872e-01 -2.92880522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665779523 meters 0.019883964085957644 Centerline is valid? [True, True] Translation: X:35.47, Y:-5.11, Z:-2.94 [[ 9.88195669e-01 1.26927681e-01 8.57827666e-02 3.54670232e+01] [-1.26458269e-01 9.91911971e-01 -1.09062887e-02 -5.10942575e+00] [-8.64732631e-02 -7.03929933e-05 9.96254169e-01 -2.93913709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72577952299999 meters 0.019575467494453457 Centerline is valid? [True, True] Translation: X:35.53, Y:-5.12, Z:-2.95 [[ 9.88302850e-01 1.28948877e-01 8.14227470e-02 3.55276665e+01] [-1.28531351e-01 9.91651219e-01 -1.03706960e-02 -5.12077949e+00] [-8.20802559e-02 -2.15987277e-04 9.96625700e-01 -2.94958399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785779522999995 meters 0.019334588956553576 Centerline is valid? [True, True] Translation: X:35.59, Y:-5.14, Z:-2.95 [[ 9.88465001e-01 1.29826021e-01 7.79881185e-02 3.55873526e+01] [-1.29444283e-01 9.91536756e-01 -9.95187034e-03 -5.14187008e+00] [-7.86200978e-02 -2.58040593e-04 9.96904616e-01 -2.94859675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845779523 meters 0.019312309161651785 Centerline is valid? [True, True] Translation: X:35.65, Y:-5.15, Z:-2.95 [[ 9.88303865e-01 1.29551843e-01 8.04474430e-02 3.56485020e+01] [-1.29142918e-01 9.91572625e-01 -1.02876694e-02 -5.15296341e+00] [-8.11022688e-02 -2.21874054e-04 9.96705760e-01 -2.95092991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90577952299999 meters 0.01888912581098092 Centerline is valid? [True, True] Translation: X:35.71, Y:-5.16, Z:-2.97 [[ 9.88581645e-01 1.25569719e-01 8.32981151e-02 3.57089824e+01] [-1.25115315e-01 9.92084789e-01 -1.06737575e-02 -5.16198661e+00] [-8.39790936e-02 1.30010810e-04 9.96467508e-01 -2.96500938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965779522999995 meters 0.019311134132049577 Centerline is valid? [True, True] Translation: X:35.77, Y:-5.19, Z:-2.96 [[ 9.89393691e-01 1.16407980e-01 8.68867430e-02 3.57683484e+01] [-1.15876421e-01 9.93201010e-01 -1.11538625e-02 -5.19223407e+00] [-8.75943995e-02 9.67436331e-04 9.96155754e-01 -2.95974179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025779523 meters 0.019770518096717017 Centerline is valid? [True, True] Translation: X:35.83, Y:-5.20, Z:-2.96 [[ 9.89363036e-01 1.15238613e-01 8.87741243e-02 3.58285539e+01] [-1.14678335e-01 9.93337228e-01 -1.14030796e-02 -5.20361791e+00] [-8.94967176e-02 1.10131663e-03 9.95986508e-01 -2.95895354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08577952299999 meters 0.01959538007135263 Centerline is valid? [True, True] Translation: X:35.89, Y:-5.20, Z:-2.98 [[ 9.90082352e-01 1.12266546e-01 8.44580341e-02 3.58897197e+01] [-1.11747797e-01 9.93677259e-01 -1.08597457e-02 -5.20468097e+00] [-8.51432140e-02 1.31404333e-03 9.96367857e-01 -2.97745355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145779522999995 meters 0.019556864033428874 Centerline is valid? [True, True] Translation: X:35.95, Y:-5.21, Z:-2.98 [[ 9.90273475e-01 1.11344008e-01 8.34323436e-02 3.59512099e+01] [-1.10832852e-01 9.93780943e-01 -1.07478680e-02 -5.21469305e+00] [-8.41101837e-02 1.39628403e-03 9.96455482e-01 -2.98323034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205779523 meters 0.0192518787346318 Centerline is valid? [True, True] Translation: X:36.01, Y:-5.22, Z:-2.98 [[ 9.90169364e-01 1.12823635e-01 8.26768284e-02 3.60121681e+01] [-1.12325190e-01 9.93614207e-01 -1.06705215e-02 -5.22434073e+00] [-8.33527583e-02 1.27893307e-03 9.96519283e-01 -2.98482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265779523 meters 0.020891197826115405 Centerline is valid? [True, True] Translation: X:36.07, Y:-5.23, Z:-2.99 [[ 9.91099510e-01 1.04693793e-01 8.22251283e-02 3.60726080e+01] [-1.04171225e-01 9.94502550e-01 -1.06317151e-02 -5.23219982e+00] [-8.28861744e-02 1.97159525e-03 9.96557071e-01 -2.99159818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325779522999994 meters 0.023296915949511953 Centerline is valid? [True, True] Translation: X:36.13, Y:-5.24, Z:-3.01 [[ 9.92199414e-01 9.46776086e-02 8.10954630e-02 3.61324187e+01] [-9.41357012e-02 9.95504125e-01 -1.04884080e-02 -5.23682630e+00] [-8.17238853e-02 2.77261401e-03 9.96651152e-01 -3.00556068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385779523 meters 0.027697376526614952 Centerline is valid? [True, True] Translation: X:36.19, Y:-5.25, Z:-3.01 [[ 9.93003106e-01 8.41202460e-02 8.28771152e-02 3.61903726e+01] [-8.35173489e-02 9.96448651e-01 -1.07209186e-02 -5.25329250e+00] [-8.34846360e-02 3.72422850e-03 9.96502105e-01 -3.00849404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445779523 meters 0.028863115820646355 Centerline is valid? [True, True] Translation: X:36.25, Y:-5.27, Z:-3.00 [[ 9.93174950e-01 7.43201448e-02 8.98890134e-02 3.62508764e+01] [-7.35700467e-02 9.97222191e-01 -1.16340161e-02 -5.26573930e+00] [-9.05039607e-02 4.94147443e-03 9.95883836e-01 -3.00178038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505779522999994 meters 0.03254721139935256 Centerline is valid? [True, True] Translation: X:36.31, Y:-5.28, Z:-3.00 [[ 9.93492872e-01 6.95140227e-02 9.02203581e-02 3.63101436e+01] [-6.87385147e-02 9.97566355e-01 -1.16783610e-02 -5.27695578e+00] [-9.08126036e-02 5.40075496e-03 9.95853354e-01 -3.00423088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565779522999996 meters 0.03161597445782657 Centerline is valid? [True, True] Translation: X:36.37, Y:-5.27, Z:-3.02 [[ 9.94043806e-01 6.82729810e-02 8.49453516e-02 3.63719225e+01] [-6.75811476e-02 9.97653175e-01 -1.09968957e-02 -5.27433222e+00] [-8.54967905e-02 5.19069174e-03 9.96324925e-01 -3.02041775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625779523 meters 0.03390414938495941 Centerline is valid? [True, True] Translation: X:36.43, Y:-5.28, Z:-3.04 [[ 9.94354416e-01 7.18558439e-02 7.80770950e-02 3.64309377e+01] [-7.12812010e-02 9.97404862e-01 -1.01257742e-02 -5.27858783e+00] [-7.86020702e-02 4.50317917e-03 9.96895900e-01 -3.03824448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685779522999994 meters 0.031622384046551266 Centerline is valid? [True, True] Translation: X:36.49, Y:-5.28, Z:-3.04 [[ 9.94075764e-01 7.68122440e-02 7.68976944e-02 3.64918563e+01] [-7.62696345e-02 9.97037355e-01 -9.97274958e-03 -5.28492721e+00] [-7.74359031e-02 4.04870960e-03 9.96989112e-01 -3.03979831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745779522999996 meters 0.028848065439073946 Centerline is valid? [True, True] Translation: X:36.55, Y:-5.29, Z:-3.03 [[ 9.93356857e-01 8.05509788e-02 8.21808682e-02 3.65535736e+01] [-7.99436800e-02 9.96742390e-01 -1.06590794e-02 -5.28648643e+00] [-8.27717543e-02 4.01842853e-03 9.96560429e-01 -3.03298036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805779523 meters 0.029567959863623334 Centerline is valid? [True, True] Translation: X:36.62, Y:-5.28, Z:-3.04 [[ 9.92916551e-01 7.97874866e-02 8.80379421e-02 3.66165086e+01] [-7.90870595e-02 9.96802284e-01 -1.14211946e-02 -5.28086754e+00] [-8.86676902e-02 4.37763119e-03 9.96051644e-01 -3.04414550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86577952299999 meters 0.028012808494726177 Centerline is valid? [True, True] Translation: X:36.68, Y:-5.29, Z:-3.05 [[ 9.93219751e-01 7.89062244e-02 8.53717431e-02 3.66768680e+01] [-7.82438920e-02 9.96872653e-01 -1.10818670e-02 -5.29272836e+00] [-8.59791843e-02 4.32691169e-03 9.96287538e-01 -3.05082533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925779522999996 meters 0.027119347769208036 Centerline is valid? [True, True] Translation: X:36.74, Y:-5.30, Z:-3.05 [[ 9.93334167e-01 7.80560544e-02 8.48203152e-02 3.67390898e+01] [-7.73974165e-02 9.96939295e-01 -1.10309618e-02 -5.29796409e+00] [-8.54217386e-02 4.39255798e-03 9.96335201e-01 -3.05020723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985779523 meters 0.02876698835689009 Centerline is valid? [True, True] Translation: X:36.80, Y:-5.29, Z:-3.06 [[ 9.93625855e-01 7.65805190e-02 8.27229359e-02 3.68000679e+01] [-7.59473687e-02 9.97053572e-01 -1.07782796e-02 -5.29385471e+00] [-8.33046050e-02 4.42698797e-03 9.96514297e-01 -3.06305010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04577952299999 meters 0.028073709932033956 Centerline is valid? [True, True] Translation: X:36.86, Y:-5.30, Z:-3.08 [[ 9.94114591e-01 7.68275676e-02 7.63786966e-02 3.68615085e+01] [-7.62875346e-02 9.97036038e-01 -9.96747120e-03 -5.30034977e+00] [-7.69180896e-02 4.08206610e-03 9.97029059e-01 -3.07728495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105779522999995 meters 0.02985328174023062 Centerline is valid? [True, True] Translation: X:36.92, Y:-5.32, Z:-3.07 [[ 9.93990891e-01 7.51139287e-02 7.96241571e-02 3.69213402e+01] [-7.45195364e-02 9.97165169e-01 -1.04145916e-02 -5.32000336e+00] [-8.01807170e-02 4.41845387e-03 9.96770550e-01 -3.07312554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165779523 meters 0.03248109329806429 Centerline is valid? [True, True] Translation: X:36.98, Y:-5.32, Z:-3.08 [[ 9.94173189e-01 7.33142722e-02 7.90233419e-02 3.69823612e+01] [-7.27224392e-02 9.97298562e-01 -1.03452851e-02 -5.31604496e+00] [-7.95683223e-02 4.53823491e-03 9.96819084e-01 -3.08169357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22577952299999 meters 0.030586021819385016 Centerline is valid? [True, True] Translation: X:37.04, Y:-5.31, Z:-3.09 [[ 9.93931820e-01 7.76322950e-02 7.79279452e-02 3.70430175e+01] [-7.70697920e-02 9.96973477e-01 -1.02045615e-02 -5.31470594e+00] [-7.84842981e-02 4.13674786e-03 9.96906767e-01 -3.09055219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285779522999995 meters 0.024324379924841308 Centerline is valid? [True, True] Translation: X:37.10, Y:-5.32, Z:-3.09 [[ 9.93044887e-01 8.77941031e-02 7.84477393e-02 3.71038371e+01] [-8.72555142e-02 9.96132985e-01 -1.02738422e-02 -5.32289761e+00] [-7.90463635e-02 3.35738860e-03 9.96865287e-01 -3.08681938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345779523 meters 0.02261857893709727 Centerline is valid? [True, True] Translation: X:37.17, Y:-5.32, Z:-3.09 [[ 9.92258569e-01 9.54166297e-02 7.94896108e-02 3.71659553e+01] [-9.48878620e-02 9.95433519e-01 -1.04116417e-02 -5.31660331e+00] [-8.01200668e-02 2.78844152e-03 9.96781320e-01 -3.09377819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40577952299999 meters 0.02055973148763281 Centerline is valid? [True, True] Translation: X:37.23, Y:-5.31, Z:-3.10 [[ 9.91572257e-01 1.05379579e-01 7.53631446e-02 3.72263097e+01] [-1.04932925e-01 9.94430291e-01 -9.87310653e-03 -5.31275842e+00] [-7.59838176e-02 1.88182334e-03 9.97107275e-01 -3.10268498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465779522999995 meters 0.019370388037126443 Centerline is valid? [True, True] Translation: X:37.29, Y:-5.33, Z:-3.10 [[ 9.90969639e-01 1.10730486e-01 7.56170241e-02 3.72866020e+01] [-1.10296376e-01 9.93849375e-01 -9.90602088e-03 -5.32596043e+00] [-7.62488307e-02 1.47628219e-03 9.97087728e-01 -3.10019081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525779523 meters 0.017247414964851795 Centerline is valid? [True, True] Translation: X:37.35, Y:-5.32, Z:-3.11 [[ 9.89879200e-01 1.21690760e-01 7.30104642e-02 3.73488414e+01] [-1.21315663e-01 9.92567873e-01 -9.56694127e-03 -5.31943665e+00] [-7.36320496e-02 6.12803273e-04 9.97285288e-01 -3.10716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58577952299999 meters 0.01678352121514132 Centerline is valid? [True, True] Translation: X:37.41, Y:-5.32, Z:-3.12 [[ 9.89276602e-01 1.27229006e-01 7.17257669e-02 3.74107452e+01] [-1.26881487e-01 9.91873349e-01 -9.39933178e-03 -5.31581497e+00] [-7.23387442e-02 1.97867061e-04 9.97380102e-01 -3.11860198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645779522999995 meters 0.016965962700270343 Centerline is valid? [True, True] Translation: X:37.47, Y:-5.34, Z:-3.11 [[ 9.89189713e-01 1.28095609e-01 7.13808569e-02 3.74711752e+01] [-1.27752346e-01 9.91761812e-01 -9.37264136e-03 -5.33774885e+00] [-7.19934022e-02 1.52248517e-04 9.97405097e-01 -3.11432154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705779523 meters 0.017043854392165877 Centerline is valid? [True, True] Translation: X:37.53, Y:-5.34, Z:-3.12 [[ 9.89082519e-01 1.28932063e-01 7.13603148e-02 3.75332830e+01] [-1.28590306e-01 9.91653424e-01 -9.38192613e-03 -5.33857111e+00] [-7.19743316e-02 1.03254383e-04 9.97406479e-01 -3.12060921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765779523 meters 0.017543044486520522 Centerline is valid? [True, True] Translation: X:37.59, Y:-5.35, Z:-3.13 [[ 9.89445058e-01 1.32239192e-01 5.92560022e-02 3.75923187e+01] [-1.32008560e-01 9.91217830e-01 -7.80726107e-03 -5.35267225e+00] [-5.97680318e-02 -9.74436436e-05 9.98212288e-01 -3.12866167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825779522999994 meters 0.017817493895647473 Centerline is valid? [True, True] Translation: X:37.65, Y:-5.37, Z:-3.13 [[ 9.89662323e-01 1.32422031e-01 5.50716930e-02 3.76529882e+01] [-1.32223154e-01 9.91193420e-01 -7.25547744e-03 -5.36873554e+00] [-5.55474847e-02 -1.01280286e-04 9.98456041e-01 -3.13147289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885779523 meters 0.017422990945261306 Centerline is valid? [True, True] Translation: X:37.71, Y:-5.38, Z:-3.14 [[ 9.89945410e-01 1.28184211e-01 5.98071273e-02 3.77137826e+01] [-1.27941587e-01 9.91750364e-01 -7.88453073e-03 -5.37813700e+00] [-6.03244127e-02 1.53436220e-04 9.98178812e-01 -3.13656117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945779523 meters 0.017763912246964976 Centerline is valid? [True, True] Translation: X:37.77, Y:-5.39, Z:-3.14 [[ 9.90381999e-01 1.24198451e-01 6.09773768e-02 3.77736607e+01] [-1.23938719e-01 9.92257316e-01 -8.03814643e-03 -5.39371844e+00] [-6.15035736e-02 4.03377543e-04 9.98106782e-01 -3.14122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005779522999994 meters 0.0213166382939593 Centerline is valid? [True, True] Translation: X:37.83, Y:-5.41, Z:-3.14 [[ 9.91300401e-01 1.17294693e-01 5.97115605e-02 3.78328692e+01] [-1.17032162e-01 9.93096806e-01 -7.88717512e-03 -5.41422131e+00] [-6.02244837e-02 8.30386842e-04 9.98184513e-01 -3.14454686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065779522999996 meters 0.018937309441745327 Centerline is valid? [True, True] Translation: X:37.89, Y:-5.43, Z:-3.14 [[ 9.91580817e-01 1.14486144e-01 6.05012923e-02 3.78936742e+01] [-1.14210572e-01 9.93424314e-01 -8.00490834e-03 -5.43392015e+00] [-6.10199059e-02 1.02762637e-03 9.98136020e-01 -3.13908909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125779523 meters 0.019335942896247533 Centerline is valid? [True, True] Translation: X:37.96, Y:-5.44, Z:-3.14 [[ 9.91761588e-01 1.14276388e-01 5.78779750e-02 3.79557311e+01] [-1.14023063e-01 9.93448483e-01 -7.67150216e-03 -5.43975186e+00] [-5.83754580e-02 1.00887719e-03 9.98294189e-01 -3.14102858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185779522999994 meters 0.019821077215929774 Centerline is valid? [True, True] Translation: X:38.02, Y:-5.45, Z:-3.15 [[ 9.92091620e-01 1.11803439e-01 5.70456666e-02 3.80170780e+01] [-1.11552473e-01 9.93729674e-01 -7.57500854e-03 -5.44922972e+00] [-5.75348836e-02 1.15151730e-03 9.98342832e-01 -3.14667890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245779522999996 meters 0.022927399280983782 Centerline is valid? [True, True] Translation: X:38.07, Y:-5.47, Z:-3.15 [[ 9.93093488e-01 1.03559404e-01 5.51432067e-02 3.80745936e+01] [-1.03311147e-01 9.94621993e-01 -7.34149887e-03 -5.47074361e+00] [-5.56069274e-02 1.59388680e-03 9.98451466e-01 -3.15226823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305779523 meters 0.028260232600632547 Centerline is valid? [True, True] Translation: X:38.13, Y:-5.49, Z:-3.16 [[ 9.94481612e-01 9.09551429e-02 5.22827422e-02 3.81318543e+01] [-9.07146619e-02 9.95852608e-01 -6.95933524e-03 -5.48923564e+00] [-5.26988925e-02 2.17811965e-03 9.98608073e-01 -3.16405920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36577952299999 meters 0.02974372753076956 Centerline is valid? [True, True] Translation: X:38.19, Y:-5.49, Z:-3.17 [[ 9.94974302e-01 8.53925727e-02 5.22900359e-02 3.81928449e+01] [-8.51442042e-02 9.96344307e-01 -6.96324811e-03 -5.49070111e+00] [-5.26934892e-02 2.47605943e-03 9.98607663e-01 -3.16866796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425779522999996 meters 0.03194828063375106 Centerline is valid? [True, True] Translation: X:38.25, Y:-5.51, Z:-3.16 [[ 9.95009301e-01 8.43196519e-02 5.33543495e-02 3.82528746e+01] [-8.40597855e-02 9.96435418e-01 -7.10006083e-03 -5.51094134e+00] [-5.37628382e-02 2.57967139e-03 9.98550401e-01 -3.16192975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485779523 meters 0.030451347133706678 Centerline is valid? [True, True] Translation: X:38.31, Y:-5.52, Z:-3.16 [[ 9.94996097e-01 8.23203956e-02 5.66226100e-02 3.83149493e+01] [-8.20236777e-02 9.96601794e-01 -7.54848310e-03 -5.51894964e+00] [-5.70515888e-02 2.86631651e-03 9.98367117e-01 -3.15783305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54577952299999 meters 0.03392140437463731 Centerline is valid? [True, True] Translation: X:38.38, Y:-5.52, Z:-3.17 [[ 9.95404762e-01 7.59144704e-02 5.83639687e-02 3.83755014e+01] [-7.55870636e-02 9.97108696e-01 -7.80028373e-03 -5.51850564e+00] [-5.87873751e-02 3.35287856e-03 9.98264896e-01 -3.16777884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605779522999995 meters 0.030928180881199467 Centerline is valid? [True, True] Translation: X:38.44, Y:-5.52, Z:-3.18 [[ 9.95686336e-01 7.39248587e-02 5.60699134e-02 3.84362259e+01] [-7.36195767e-02 9.97258243e-01 -7.49364560e-03 -5.51779421e+00] [-5.64701500e-02 3.33347724e-03 9.98398723e-01 -3.17669954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665779523 meters 0.034507894341258116 Centerline is valid? [True, True] Translation: X:38.50, Y:-5.53, Z:-3.18 [[ 9.95813199e-01 7.61352810e-02 5.05914098e-02 3.84954772e+01] [-7.58899165e-02 9.97093314e-01 -6.75606921e-03 -5.53116178e+00] [-5.09587317e-02 2.88840503e-03 9.98696583e-01 -3.18337723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72577952299999 meters 0.028229758482884153 Centerline is valid? [True, True] Translation: X:38.56, Y:-5.52, Z:-3.18 [[ 9.94594843e-01 8.59468560e-02 5.82600748e-02 3.85588940e+01] [-8.56368919e-02 9.96295873e-01 -7.80100108e-03 -5.51674819e+00] [-5.87147436e-02 2.76962372e-03 9.98270959e-01 -3.17799643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785779522999995 meters 0.02406435928042628 Centerline is valid? [True, True] Translation: X:38.62, Y:-5.51, Z:-3.18 [[ 9.93263732e-01 9.68123003e-02 6.36752487e-02 3.86198068e+01] [-9.64641839e-02 9.95299938e-01 -8.52609447e-03 -5.50618998e+00] [-6.42014019e-02 2.32627951e-03 9.97934251e-01 -3.18409979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845779523 meters 0.022605502165667684 Centerline is valid? [True, True] Translation: X:38.68, Y:-5.51, Z:-3.19 [[ 9.92432740e-01 1.08374114e-01 5.77261521e-02 3.86810365e+01] [-1.08107653e-01 9.94109153e-01 -7.72830421e-03 -5.50789155e+00] [-5.82236444e-02 1.42918332e-03 9.98302542e-01 -3.19120357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90577952299999 meters 0.01793613434771825 Centerline is valid? [True, True] Translation: X:38.74, Y:-5.50, Z:-3.20 [[ 9.91173801e-01 1.19391971e-01 5.76198992e-02 3.87423847e+01] [-1.19144943e-01 9.92846889e-01 -7.71610490e-03 -5.49764717e+00] [-5.81289786e-02 7.82881422e-04 9.98308774e-01 -3.19993974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965779522999995 meters 0.016306230324705465 Centerline is valid? [True, True] Translation: X:38.80, Y:-5.49, Z:-3.20 [[ 9.90095050e-01 1.25786698e-01 6.23658416e-02 3.88045787e+01] [-1.25509933e-01 9.92057212e-01 -8.35133677e-03 -5.49356425e+00] [-6.29209701e-02 4.41084617e-04 9.98018415e-01 -3.20316725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025779523 meters 0.015926204544553808 Centerline is valid? [True, True] Translation: X:38.87, Y:-5.50, Z:-3.21 [[ 9.88987376e-01 1.33694911e-01 6.34794505e-02 3.88653067e+01] [-1.33424568e-01 9.91022536e-01 -8.49811405e-03 -5.50232951e+00] [-6.40457206e-02 -6.51907535e-05 9.97946963e-01 -3.20503260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08577952299999 meters 0.015767879345137296 Centerline is valid? [True, True] Translation: X:38.93, Y:-5.51, Z:-3.21 [[ 9.88370146e-01 1.36973550e-01 6.60507413e-02 3.89274276e+01] [-1.36687110e-01 9.90574667e-01 -8.85788461e-03 -5.50706814e+00] [-6.66414870e-02 -2.73416230e-04 9.97776948e-01 -3.20646082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145779522999995 meters 0.016353427722462555 Centerline is valid? [True, True] Translation: X:38.99, Y:-5.51, Z:-3.22 [[ 9.88441549e-01 1.38345676e-01 6.19982031e-02 3.89873104e+01] [-1.38095134e-01 9.90383949e-01 -8.32877488e-03 -5.51092249e+00] [-6.25542751e-02 -3.29142992e-04 9.98041509e-01 -3.22176836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205779523 meters 0.015647421364436923 Centerline is valid? [True, True] Translation: X:39.05, Y:-5.52, Z:-3.23 [[ 9.88083190e-01 1.38967590e-01 6.61786911e-02 3.90490877e+01] [-1.38682423e-01 9.90296858e-01 -8.90614160e-03 -5.51935456e+00] [-6.67742149e-02 -3.77812429e-04 9.97768040e-01 -3.22549869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26577952299999 meters 0.01773455076913009 Centerline is valid? [True, True] Translation: X:39.11, Y:-5.53, Z:-3.23 [[ 9.87933650e-01 1.37297325e-01 7.16697173e-02 3.91091456e+01] [-1.36957016e-01 9.90529845e-01 -9.66450985e-03 -5.53004299e+00] [-7.23179053e-02 -2.67776139e-04 9.97381596e-01 -3.22800317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325779522999994 meters 0.017505071527766886 Centerline is valid? [True, True] Translation: X:39.17, Y:-5.55, Z:-3.23 [[ 9.88945231e-01 1.33852158e-01 6.38038396e-02 3.91686430e+01] [-1.33574396e-01 9.91001312e-01 -8.61863921e-03 -5.55128850e+00] [-6.43833122e-02 8.02809949e-07 9.97925242e-01 -3.23455696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385779523 meters 0.015506017648231486 Centerline is valid? [True, True] Translation: X:39.23, Y:-5.56, Z:-3.24 [[ 9.88973531e-01 1.33552643e-01 6.39925524e-02 3.92302647e+01] [-1.33272531e-01 9.91041720e-01 -8.64531041e-03 -5.56375024e+00] [-6.45738933e-02 2.15337284e-05 9.97912928e-01 -3.23689521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445779523 meters 0.015387569607242652 Centerline is valid? [True, True] Translation: X:39.29, Y:-5.58, Z:-3.24 [[ 9.89056980e-01 1.32969633e-01 6.39168762e-02 3.92914130e+01] [-1.32687782e-01 9.91120109e-01 -8.65343070e-03 -5.57505424e+00] [-6.44999449e-02 7.77475132e-05 9.97917708e-01 -3.24378881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505779522999994 meters 0.01533347563807877 Centerline is valid? [True, True] Translation: X:39.35, Y:-5.59, Z:-3.24 [[ 9.88996650e-01 1.27942853e-01 7.42714795e-02 3.93507831e+01] [-1.27545991e-01 9.91781417e-01 -1.00817463e-02 -5.59301701e+00] [-7.49509605e-02 4.97783840e-04 9.97187097e-01 -3.24271206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565779522999996 meters 0.01648232899001266 Centerline is valid? [True, True] Translation: X:39.41, Y:-5.62, Z:-3.25 [[ 9.89991035e-01 1.20090891e-01 7.41345282e-02 3.94095961e+01] [-1.19673331e-01 9.92762300e-01 -1.00652769e-02 -5.61571183e+00] [-7.48067128e-02 1.09260794e-03 9.97197454e-01 -3.24934531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625779523 meters 0.016904330615179763 Centerline is valid? [True, True] Translation: X:39.47, Y:-5.63, Z:-3.25 [[ 9.90541801e-01 1.17160816e-01 7.14162692e-02 3.94695990e+01] [-1.16765251e-01 9.93112141e-01 -9.70319839e-03 -5.63367019e+00] [-7.20611986e-02 1.27248498e-03 9.97399401e-01 -3.25192740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685779522999994 meters 0.01759312183314115 Centerline is valid? [True, True] Translation: X:39.53, Y:-5.65, Z:-3.25 [[ 9.90491435e-01 1.13831535e-01 7.72599388e-02 3.95306755e+01] [-1.13356707e-01 9.93498679e-01 -1.05181494e-02 -5.64601138e+00] [-7.79549443e-02 1.66020465e-03 9.96955501e-01 -3.25161493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745779522999996 meters 0.018545072538985265 Centerline is valid? [True, True] Translation: X:39.59, Y:-5.66, Z:-3.25 [[ 9.90527841e-01 1.13107164e-01 7.78547733e-02 3.95900146e+01] [-1.12621205e-01 9.93581253e-01 -1.06187302e-02 -5.66163152e+00] [-7.85560977e-02 1.75004947e-03 9.96908159e-01 -3.25439636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805779523 meters 0.018266086516641945 Centerline is valid? [True, True] Translation: X:39.65, Y:-5.67, Z:-3.28 [[ 9.91041983e-01 1.15739968e-01 6.66336898e-02 3.96495311e+01] [-1.15389292e-01 9.93278657e-01 -9.10060784e-03 -5.67302133e+00] [-6.72391260e-02 1.33027014e-03 9.97736002e-01 -3.27658659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86577952299999 meters 0.020094778577696946 Centerline is valid? [True, True] Translation: X:39.71, Y:-5.69, Z:-3.28 [[ 9.90912309e-01 1.13213307e-01 7.26329375e-02 3.97111864e+01] [-1.12788349e-01 9.93569325e-01 -9.93909990e-03 -5.68538409e+00] [-7.32910970e-02 1.65662734e-03 9.97309215e-01 -3.27813170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925779522999996 meters 0.018934217118496154 Centerline is valid? [True, True] Translation: X:39.77, Y:-5.70, Z:-3.28 [[ 9.91064876e-01 1.10263429e-01 7.50492370e-02 3.97716163e+01] [-1.09799531e-01 9.93900466e-01 -1.02921045e-02 -5.70186418e+00] [-7.57263143e-02 1.95977221e-03 9.97126714e-01 -3.27601180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985779523 meters 0.020485204582619224 Centerline is valid? [True, True] Translation: X:39.83, Y:-5.72, Z:-3.28 [[ 9.91216158e-01 1.08771769e-01 7.52278603e-02 3.98314642e+01] [-1.08299897e-01 9.94064535e-01 -1.03359429e-02 -5.71578295e+00] [-7.59056068e-02 2.09798409e-03 9.97112801e-01 -3.28105490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04577952299999 meters 0.019307341381292517 Centerline is valid? [True, True] Translation: X:39.89, Y:-5.73, Z:-3.28 [[ 9.90637121e-01 1.11743131e-01 7.84319287e-02 3.98921546e+01] [-1.11238580e-01 9.93735190e-01 -1.07866206e-02 -5.73197494e+00] [-7.91458983e-02 1.96097042e-03 9.96861114e-01 -3.28072685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105779522999995 meters 0.017139617764271982 Centerline is valid? [True, True] Translation: X:39.95, Y:-5.73, Z:-3.29 [[ 9.90094219e-01 1.17901097e-01 7.62415115e-02 3.99539860e+01] [-1.17441165e-01 9.93024290e-01 -1.05039099e-02 -5.72941351e+00] [-7.69480953e-02 1.44596854e-03 9.97034051e-01 -3.29137711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165779523 meters 0.016602354860417248 Centerline is valid? [True, True] Translation: X:40.01, Y:-5.74, Z:-3.30 [[ 9.89836300e-01 1.22881670e-01 7.15834721e-02 4.00141728e+01] [-1.22489100e-01 9.92420829e-01 -9.86499919e-03 -5.73501624e+00] [-7.22531563e-02 9.96539228e-04 9.97385827e-01 -3.30341653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22577952299999 meters 0.01641503310674739 Centerline is valid? [True, True] Translation: X:40.07, Y:-5.76, Z:-3.30 [[ 9.89850031e-01 1.21743724e-01 7.33169986e-02 4.00748798e+01] [-1.21328049e-01 9.92560941e-01 -1.01135111e-02 -5.76132844e+00] [-7.40028456e-02 1.11545082e-03 9.97257406e-01 -3.29503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285779522999995 meters 0.016516330556681932 Centerline is valid? [True, True] Translation: X:40.14, Y:-5.76, Z:-3.30 [[ 9.89518961e-01 1.20278602e-01 7.99079695e-02 4.01379443e+01] [-1.19777856e-01 9.92739243e-01 -1.10480740e-02 -5.76491316e+00] [-8.06566241e-02 1.36107341e-03 9.96741018e-01 -3.30132159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345779523 meters 0.016802348402243653 Centerline is valid? [True, True] Translation: X:40.20, Y:-5.77, Z:-3.32 [[ 9.89678793e-01 1.21066792e-01 7.66728046e-02 4.01984515e+01] [-1.20606539e-01 9.92643557e-01 -1.06222518e-02 -5.76938073e+00] [-7.73947674e-02 1.26537577e-03 9.96999724e-01 -3.31853035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40577952299999 meters 0.01670081566952498 Centerline is valid? [True, True] Translation: X:40.26, Y:-5.79, Z:-3.32 [[ 9.89822810e-01 1.23318634e-01 7.10163353e-02 4.02590229e+01] [-1.22928420e-01 9.92366597e-01 -9.85602771e-03 -5.79432143e+00] [-7.16896708e-02 1.02579513e-03 9.97426458e-01 -3.31757758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465779522999995 meters 0.01616169351073072 Centerline is valid? [True, True] Translation: X:40.32, Y:-5.80, Z:-3.32 [[ 9.89328871e-01 1.26456145e-01 7.23687043e-02 4.03199839e+01] [-1.26057759e-01 9.91971848e-01 -1.00645073e-02 -5.80416008e+00] [-7.30604361e-02 8.34470948e-04 9.97327166e-01 -3.31955661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525779523 meters 0.01564029791393323 Centerline is valid? [True, True] Translation: X:40.38, Y:-5.80, Z:-3.33 [[ 9.88871002e-01 1.27484214e-01 7.66936579e-02 4.03819039e+01] [-1.27038280e-01 9.91840258e-01 -1.06854291e-02 -5.80245409e+00] [-7.74300810e-02 8.23480652e-04 9.96997445e-01 -3.33196809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58577952299999 meters 0.015768459599549645 Centerline is valid? [True, True] Translation: X:40.44, Y:-5.84, Z:-3.33 [[ 9.88970474e-01 1.28986785e-01 7.27997990e-02 4.04403232e+01] [-1.28587884e-01 9.91646075e-01 -1.01596145e-02 -5.83730555e+00] [-7.35020910e-02 6.86386673e-04 9.97294827e-01 -3.32892989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645779522999995 meters 0.017594457316895757 Centerline is valid? [True, True] Translation: X:40.50, Y:-5.84, Z:-3.33 [[ 9.87876588e-01 1.37151672e-01 7.27273456e-02 4.05023274e+01] [-1.36774243e-01 9.90550054e-01 -1.01684346e-02 -5.84239427e+00] [-7.34346940e-02 9.79308364e-05 9.97300023e-01 -3.33329928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705779523 meters 0.01725120426663813 Centerline is valid? [True, True] Translation: X:40.56, Y:-5.83, Z:-3.35 [[ 9.85392797e-01 1.53393226e-01 7.39699534e-02 4.05649772e+01] [-1.53046938e-01 9.88164603e-01 -1.03610412e-02 -5.82673539e+00] [-7.46838032e-02 -1.11117954e-03 9.97206646e-01 -3.34612486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76577952299999 meters 0.02049279698023404 Centerline is valid? [True, True] Translation: X:40.63, Y:-5.83, Z:-3.35 [[ 9.83930948e-01 1.61357667e-01 7.64433915e-02 4.06253585e+01] [-1.61011011e-01 9.86894419e-01 -1.07172676e-02 -5.83340189e+00] [-7.71708697e-02 -1.76317650e-03 9.97016323e-01 -3.34613359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825779522999994 meters 0.017975294777495224 Centerline is valid? [True, True] Translation: X:40.69, Y:-5.86, Z:-3.34 [[ 9.84592956e-01 1.57507506e-01 7.59479889e-02 4.06854732e+01] [-1.57153869e-01 9.87516723e-01 -1.06481238e-02 -5.85619590e+00] [-7.66770686e-02 -1.45145261e-03 9.97054923e-01 -3.34461557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885779523 meters 0.017094897280909155 Centerline is valid? [True, True] Translation: X:40.75, Y:-5.86, Z:-3.36 [[ 9.85318323e-01 1.54900236e-01 7.17894025e-02 4.07464493e+01] [-1.54576183e-01 9.87929433e-01 -1.00816667e-02 -5.86468161e+00] [-7.24845162e-02 -1.16328083e-03 9.97368859e-01 -3.35707434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945779523 meters 0.019075509670540773 Centerline is valid? [True, True] Translation: X:40.81, Y:-5.87, Z:-3.37 [[ 9.85163437e-01 1.56686351e-01 7.00170617e-02 4.08068141e+01] [-1.56381260e-01 9.87647630e-01 -9.85194220e-03 -5.86721997e+00] [-7.06958500e-02 -1.24358307e-03 9.97497143e-01 -3.36539976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005779522999994 meters 0.017490253999861097 Centerline is valid? [True, True] Translation: X:40.87, Y:-5.88, Z:-3.37 [[ 9.85252008e-01 1.55748357e-01 7.08585243e-02 4.08682672e+01] [-1.55433415e-01 9.87796049e-01 -9.97096179e-03 -5.87958749e+00] [-7.15467312e-02 -1.18987228e-03 9.97436539e-01 -3.36578193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065779522999996 meters 0.015747480654619082 Centerline is valid? [True, True] Translation: X:40.93, Y:-5.90, Z:-3.37 [[ 9.86276174e-01 1.47132180e-01 7.49094863e-02 4.09281260e+01] [-1.46753762e-01 9.89116671e-01 -1.05614525e-02 -5.89593943e+00] [-7.56481512e-02 -5.76740003e-04 9.97134406e-01 -3.36546751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125779523 meters 0.015424486292837696 Centerline is valid? [True, True] Translation: X:40.99, Y:-5.91, Z:-3.37 [[ 9.87393551e-01 1.40088018e-01 7.36839441e-02 4.09881863e+01] [-1.39702195e-01 9.90139054e-01 -1.03899282e-02 -5.91212920e+00] [-7.44128552e-02 -3.48606458e-05 9.97227520e-01 -3.37073452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185779522999994 meters 0.017330369152249125 Centerline is valid? [True, True] Translation: X:41.05, Y:-5.92, Z:-3.38 [[ 9.88060159e-01 1.36281618e-01 7.18640516e-02 4.10485991e+01] [-1.35903320e-01 9.90670102e-01 -1.01506722e-02 -5.92057761e+00] [-7.25769173e-02 2.62911600e-04 9.97362784e-01 -3.38013964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245779522999996 meters 0.01601981617873508 Centerline is valid? [True, True] Translation: X:41.11, Y:-5.93, Z:-3.39 [[ 9.88706172e-01 1.32743101e-01 6.95656200e-02 4.11093039e+01] [-1.32378794e-01 9.91150340e-01 -9.84162308e-03 -5.92566445e+00] [-7.02563955e-02 5.21460598e-04 9.97528830e-01 -3.38815546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305779523 meters 0.01834800440860778 Centerline is valid? [True, True] Translation: X:41.17, Y:-5.94, Z:-3.39 [[ 9.89433770e-01 1.25373372e-01 7.28171179e-02 4.11702304e+01] [-1.24952942e-01 9.92109008e-01 -1.03188817e-02 -5.93610987e+00] [-7.35362315e-02 1.11113685e-03 9.97291927e-01 -3.39306290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36577952299999 meters 0.020456549511443097 Centerline is valid? [True, True] Translation: X:41.23, Y:-5.96, Z:-3.39 [[ 9.90759151e-01 1.12508051e-01 7.57511963e-02 4.12286599e+01] [-1.12013814e-01 9.93648442e-01 -1.07554567e-02 -5.95517636e+00] [-7.64801336e-02 2.17088674e-03 9.97068742e-01 -3.38932389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425779522999996 meters 0.025886916199474565 Centerline is valid? [True, True] Translation: X:41.29, Y:-5.98, Z:-3.39 [[ 9.92625532e-01 9.94967749e-02 6.92455373e-02 4.12858651e+01] [-9.90523120e-02 9.95033658e-01 -9.83147891e-03 -5.97527956e+00] [-6.98798407e-02 2.90004643e-03 9.97551200e-01 -3.39443594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485779523 meters 0.027325753341833216 Centerline is valid? [True, True] Translation: X:41.35, Y:-5.98, Z:-3.40 [[ 9.93091122e-01 9.69264998e-02 6.61458740e-02 4.13453107e+01] [-9.65150901e-02 9.95287183e-01 -9.39474709e-03 -5.98465841e+00] [-6.67447406e-02 2.94576493e-03 9.97765735e-01 -3.40426608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54577952299999 meters 0.030951154803741807 Centerline is valid? [True, True] Translation: X:41.41, Y:-5.99, Z:-3.42 [[ 9.93546159e-01 9.15406389e-02 6.69801622e-02 4.14053439e+01] [-9.11063391e-02 9.95795697e-01 -9.51656560e-03 -5.99065599e+00] [-6.75697098e-02 3.35282982e-03 9.97708922e-01 -3.41800579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605779522999995 meters 0.033446607307662427 Centerline is valid? [True, True] Translation: X:41.47, Y:-6.00, Z:-3.42 [[ 9.93472745e-01 8.67617780e-02 7.40560476e-02 4.14655150e+01] [-8.62173506e-02 9.96220775e-01 -1.05230800e-02 -6.00240549e+00] [-7.46891743e-02 4.06947695e-03 9.97198559e-01 -3.41800418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665779523 meters 0.033831246446254494 Centerline is valid? [True, True] Translation: X:41.53, Y:-6.02, Z:-3.42 [[ 9.93471915e-01 8.72932745e-02 7.34400296e-02 4.15261702e+01] [-8.67592379e-02 9.96174637e-01 -1.04368132e-02 -6.01681489e+00] [-7.40701584e-02 3.99707977e-03 9.97245023e-01 -3.41500113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72577952299999 meters 0.026366154005708003 Centerline is valid? [True, True] Translation: X:41.59, Y:-6.01, Z:-3.41 [[ 9.92495157e-01 9.60500460e-02 7.56819177e-02 4.15883867e+01] [-9.55067055e-02 9.95370473e-01 -1.07745300e-02 -6.01472598e+00] [-7.63664404e-02 3.46553822e-03 9.97073797e-01 -3.40661387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785779522999995 meters 0.021588707735810498 Centerline is valid? [True, True] Translation: X:41.65, Y:-6.00, Z:-3.42 [[ 9.91173498e-01 1.08806515e-01 7.57379596e-02 4.16504843e+01] [-1.08299450e-01 9.94059841e-01 -1.07824746e-02 -6.00159871e+00] [-7.64612675e-02 2.48492369e-03 9.97069456e-01 -3.42110795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845779523 meters 0.019289117546110512 Centerline is valid? [True, True] Translation: X:41.71, Y:-6.00, Z:-3.43 [[ 9.90704261e-01 1.13859254e-01 7.44388146e-02 4.17119038e+01] [-1.13383612e-01 9.93494754e-01 -1.05985598e-02 -6.00259319e+00] [-7.51613159e-02 2.05989670e-03 9.97169260e-01 -3.43145883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90577952299999 meters 0.019649807236365138 Centerline is valid? [True, True] Translation: X:41.77, Y:-6.01, Z:-3.44 [[ 9.90693447e-01 1.14974756e-01 7.28512118e-02 4.17717147e+01] [-1.14522040e-01 9.93366528e-01 -1.03751081e-02 -6.01348458e+00] [-7.35608309e-02 1.93548216e-03 9.97288854e-01 -3.43721105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965779522999995 meters 0.018642700491153276 Centerline is valid? [True, True] Translation: X:41.83, Y:-6.02, Z:-3.44 [[ 9.90221718e-01 1.19373785e-01 7.21862026e-02 4.18333730e+01] [-1.18939676e-01 9.92848076e-01 -1.02981252e-02 -6.02096899e+00] [-7.28992585e-02 1.61162363e-03 9.97338007e-01 -3.43741322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025779523 meters 0.01698224131974009 Centerline is valid? [True, True] Translation: X:41.90, Y:-6.02, Z:-3.44 [[ 9.89157307e-01 1.24347727e-01 7.81374805e-02 4.18958750e+01] [-1.23853907e-01 9.92237777e-01 -1.11536121e-02 -6.02040276e+00] [-7.89178863e-02 1.35504473e-03 9.96880199e-01 -3.43631401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08577952299999 meters 0.016340912426478695 Centerline is valid? [True, True] Translation: X:41.96, Y:-6.03, Z:-3.45 [[ 9.88725373e-01 1.30446755e-01 7.35240095e-02 4.19556551e+01] [-1.30026354e-01 9.91454979e-01 -1.04962920e-02 -6.02824633e+00] [-7.42649525e-02 8.17891367e-04 9.97238210e-01 -3.44728450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145779522999995 meters 0.01582094846732158 Centerline is valid? [True, True] Translation: X:42.02, Y:-6.03, Z:-3.46 [[ 9.88343007e-01 1.34265139e-01 7.17702729e-02 4.20168146e+01] [-1.33873474e-01 9.90945300e-01 -1.02618631e-02 -6.03380145e+00] [-7.24982250e-02 5.34104846e-04 9.97368398e-01 -3.45696862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205779523 meters 0.017839847761223986 Centerline is valid? [True, True] Translation: X:42.08, Y:-6.04, Z:-3.47 [[ 9.88088983e-01 1.37311252e-01 6.94678447e-02 4.20788650e+01] [-1.36950714e-01 9.90527900e-01 -9.94898040e-03 -6.03783659e+00] [-7.01759452e-02 3.16806988e-04 9.97534579e-01 -3.46664075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26577952299999 meters 0.01537828464507885 Centerline is valid? [True, True] Translation: X:42.14, Y:-6.05, Z:-3.46 [[ 9.86738116e-01 1.45927260e-01 7.10853385e-02 4.21398254e+01] [-1.45570499e-01 9.89295282e-01 -1.02016888e-02 -6.05058611e+00] [-7.18130945e-02 -2.81533003e-04 9.97418067e-01 -3.45677846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325779522999994 meters 0.015894009405257627 Centerline is valid? [True, True] Translation: X:42.20, Y:-6.06, Z:-3.47 [[ 9.86233093e-01 1.49981536e-01 6.96406900e-02 4.22001100e+01] [-1.49648151e-01 9.88688645e-01 -1.00097023e-02 -6.05566656e+00] [-7.03542300e-02 -5.49700828e-04 9.97521920e-01 -3.46711876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385779523 meters 0.017052678689297333 Centerline is valid? [True, True] Translation: X:42.26, Y:-6.05, Z:-3.48 [[ 9.85130106e-01 1.56300791e-01 7.13353819e-02 4.22627010e+01] [-1.55966327e-01 9.87708988e-01 -1.02694019e-02 -6.05291570e+00] [-7.20637134e-02 -1.00922050e-03 9.97399520e-01 -3.48083882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445779523 meters 0.020115928640187533 Centerline is valid? [True, True] Translation: X:42.32, Y:-6.07, Z:-3.48 [[ 9.84230995e-01 1.60426193e-01 7.45170103e-02 4.23243787e+01] [-1.60071585e-01 9.87046914e-01 -1.07460468e-02 -6.06543822e+00] [-7.52757324e-02 -1.35146364e-03 9.97161841e-01 -3.47740531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505779522999994 meters 0.021268082218748624 Centerline is valid? [True, True] Translation: X:42.39, Y:-6.08, Z:-3.47 [[ 9.83667824e-01 1.64303497e-01 7.34981166e-02 4.23853589e+01] [-1.63967930e-01 9.86408525e-01 -1.06178734e-02 -6.08022199e+00] [-7.42437225e-02 -1.60687358e-03 9.97238832e-01 -3.47434843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565779522999996 meters 0.022422414120802578 Centerline is valid? [True, True] Translation: X:42.45, Y:-6.08, Z:-3.49 [[ 9.83236893e-01 1.67003507e-01 7.31781409e-02 4.24461088e+01] [-1.66677961e-01 9.85954662e-01 -1.05764515e-02 -6.08124478e+00] [-7.39166336e-02 -1.79802602e-03 9.97262803e-01 -3.48793428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625779523 meters 0.021602574852463342 Centerline is valid? [True, True] Translation: X:42.51, Y:-6.08, Z:-3.50 [[ 9.82681926e-01 1.69087551e-01 7.57999534e-02 4.25065840e+01] [-1.68743665e-01 9.85598974e-01 -1.09652847e-02 -6.08264807e+00] [-7.65624495e-02 -2.01537484e-03 9.97062751e-01 -3.49766401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685779522999994 meters 0.020452565485571898 Centerline is valid? [True, True] Translation: X:42.56, Y:-6.11, Z:-3.49 [[ 9.83780993e-01 1.65505180e-01 6.91591823e-02 4.25645984e+01] [-1.65209668e-01 9.86207659e-01 -1.00109004e-02 -6.11357179e+00] [-6.98621712e-02 -1.57723200e-03 9.97555407e-01 -3.49246589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745779522999996 meters 0.020775527311255843 Centerline is valid? [True, True] Translation: X:42.63, Y:-6.12, Z:-3.50 [[ 9.83941554e-01 1.65633653e-01 6.65169977e-02 4.26255249e+01] [-1.65359688e-01 9.86186193e-01 -9.64193916e-03 -6.12456632e+00] [-6.71951743e-02 -1.51212538e-03 9.97738704e-01 -3.49749166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805779523 meters 0.024766872922936594 Centerline is valid? [True, True] Translation: X:42.69, Y:-6.11, Z:-3.51 [[ 9.82706442e-01 1.69660771e-01 7.41840354e-02 4.26881523e+01] [-1.69329941e-01 9.85500544e-01 -1.07726379e-02 -6.11458605e+00] [-7.49361013e-02 -1.97523765e-03 9.97186381e-01 -3.51212123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86577952299999 meters 0.01997619863936536 Centerline is valid? [True, True] Translation: X:42.75, Y:-6.14, Z:-3.51 [[ 9.83836364e-01 1.62323730e-01 7.56109490e-02 4.27453159e+01] [-1.61957076e-01 9.86736526e-01 -1.09969923e-02 -6.14334060e+00] [-7.63931579e-02 -1.42648730e-03 9.97076753e-01 -3.50993687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925779522999996 meters 0.018436648065175386 Centerline is valid? [True, True] Translation: X:42.80, Y:-6.17, Z:-3.51 [[ 9.85189635e-01 1.52821215e-01 7.77628419e-02 4.28035322e+01] [-1.52403736e-01 9.88253598e-01 -1.13104783e-02 -6.16865871e+00] [-7.85778893e-02 -7.08381656e-04 9.96907726e-01 -3.51090590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985779523 meters 0.016239041395168373 Centerline is valid? [True, True] Translation: X:42.87, Y:-6.17, Z:-3.52 [[ 9.85168858e-01 1.52205346e-01 7.92202888e-02 4.28653724e+01] [-1.51769835e-01 9.88348666e-01 -1.15252799e-02 -6.16988923e+00] [-8.00514759e-02 -6.68903335e-04 9.96790506e-01 -3.51561952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04577952299999 meters 0.017635529564023193 Centerline is valid? [True, True] Translation: X:42.93, Y:-6.17, Z:-3.52 [[ 9.84418052e-01 1.60322993e-01 7.22332143e-02 4.29255965e+01] [-1.59981573e-01 9.87063884e-01 -1.05254659e-02 -6.17436190e+00] [-7.29862712e-02 -1.19452458e-03 9.97332230e-01 -3.52456958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105779522999995 meters 0.020424103246003994 Centerline is valid? [True, True] Translation: X:42.99, Y:-6.19, Z:-3.53 [[ 9.84664326e-01 1.61399143e-01 6.62305218e-02 4.29857197e+01] [-1.61114405e-01 9.86888524e-01 -9.65348262e-03 -6.19099755e+00] [-6.69202057e-02 -1.16525113e-03 9.97757650e-01 -3.53303240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165779523 meters 0.016596245465657786 Centerline is valid? [True, True] Translation: X:43.05, Y:-6.20, Z:-3.54 [[ 9.85488121e-01 1.53216308e-01 7.30611117e-02 4.30461220e+01] [-1.52846814e-01 9.88192450e-01 -1.06551789e-02 -6.19919631e+00] [-7.38309861e-02 -6.66605970e-04 9.97270546e-01 -3.54072392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22577952299999 meters 0.016038848997860136 Centerline is valid? [True, True] Translation: X:43.11, Y:-6.21, Z:-3.54 [[ 9.86174965e-01 1.46207349e-01 7.79894219e-02 4.31060388e+01] [-1.45764204e-01 9.89253956e-01 -1.13757622e-02 -6.21471424e+00] [-7.88145641e-02 -1.49574136e-04 9.96889283e-01 -3.54265533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285779522999995 meters 0.015988212289658396 Centerline is valid? [True, True] Translation: X:43.17, Y:-6.24, Z:-3.54 [[ 9.86557269e-01 1.46327505e-01 7.27531230e-02 4.31658515e+01] [-1.45941070e-01 9.89236192e-01 -1.06282765e-02 -6.23760705e+00] [-7.35252315e-02 -1.32265236e-04 9.97293348e-01 -3.54064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345779523 meters 0.017695368023700316 Centerline is valid? [True, True] Translation: X:43.23, Y:-6.23, Z:-3.55 [[ 9.84925392e-01 1.57856974e-01 7.07329343e-02 4.32277172e+01] [-1.57520046e-01 9.87461534e-01 -1.03515656e-02 -6.23041849e+00] [-7.14801186e-02 -9.46335200e-04 9.97441576e-01 -3.55127923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40577952299999 meters 0.018029900590716155 Centerline is valid? [True, True] Translation: X:43.29, Y:-6.23, Z:-3.56 [[ 9.84045965e-01 1.60994768e-01 7.57246558e-02 4.32909852e+01] [-1.60617688e-01 9.86954461e-01 -1.10838034e-02 -6.22638741e+00] [-7.65212212e-02 -1.25574712e-03 9.97067162e-01 -3.55996975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465779522999995 meters 0.017392965719596202 Centerline is valid? [True, True] Translation: X:43.35, Y:-6.25, Z:-3.55 [[ 9.84185842e-01 1.56905083e-01 8.22132846e-02 4.33519954e+01] [-1.56444193e-01 9.87613187e-01 -1.20584963e-02 -6.24551504e+00] [-8.30869634e-02 -9.93989654e-04 9.96541805e-01 -3.54920710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525779523 meters 0.017082727467518953 Centerline is valid? [True, True] Translation: X:43.41, Y:-6.26, Z:-3.56 [[ 9.84838939e-01 1.55844125e-01 7.61897145e-02 4.34122631e+01] [-1.55443881e-01 9.87781319e-01 -1.11921856e-02 -6.25604963e+00] [-7.70030131e-02 -8.20724693e-04 9.97030522e-01 -3.55988368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58577952299999 meters 0.01763756651835232 Centerline is valid? [True, True] Translation: X:43.47, Y:-6.25, Z:-3.58 [[ 9.84417815e-01 1.59690513e-01 7.36240879e-02 4.34739405e+01] [-1.59326206e-01 9.87166553e-01 -1.08331140e-02 -6.25104441e+00] [-7.44091826e-02 -1.06593619e-03 9.97227225e-01 -3.57720690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645779522999995 meters 0.020075462935846167 Centerline is valid? [True, True] Translation: X:43.54, Y:-6.26, Z:-3.58 [[ 9.84270441e-01 1.61108547e-01 7.24964456e-02 4.35353578e+01] [-1.60757978e-01 9.86936036e-01 -1.06833521e-02 -6.26182024e+00] [-7.32705340e-02 -1.13907433e-03 9.97311452e-01 -3.58041786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705779523 meters 0.018727375588378507 Centerline is valid? [True, True] Translation: X:43.60, Y:-6.28, Z:-3.58 [[ 9.85122692e-01 1.56104743e-01 7.18650850e-02 4.35954111e+01] [-1.55745688e-01 9.87740228e-01 -1.06076952e-02 -6.28413746e+00] [-7.26399469e-02 -7.42795812e-04 9.97357953e-01 -3.57627932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76577952299999 meters 0.01655552810351251 Centerline is valid? [True, True] Translation: X:43.66, Y:-6.30, Z:-3.58 [[ 9.85492263e-01 1.54054431e-01 7.12196016e-02 4.36565236e+01] [-1.53695226e-01 9.88062199e-01 -1.05294491e-02 -6.29549815e+00] [-7.19915045e-02 -5.69422145e-04 9.97405083e-01 -3.57925416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825779522999994 meters 0.01931699098185192 Centerline is valid? [True, True] Translation: X:43.72, Y:-6.30, Z:-3.60 [[ 9.85716423e-01 1.51681545e-01 7.31836205e-02 4.37178494e+01] [-1.51294286e-01 9.88429339e-01 -1.08388556e-02 -6.29540285e+00] [-7.39808920e-02 -3.88225683e-04 9.97259584e-01 -3.59976225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885779523 meters 0.015982859538050804 Centerline is valid? [True, True] Translation: X:43.78, Y:-6.31, Z:-3.59 [[ 9.85809630e-01 1.48848207e-01 7.76117540e-02 4.37780037e+01] [-1.48402207e-01 9.88860043e-01 -1.15152559e-02 -6.31046276e+00] [-7.84611876e-02 -1.65905428e-04 9.96917155e-01 -3.59334784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945779523 meters 0.018658598810842034 Centerline is valid? [True, True] Translation: X:43.84, Y:-6.33, Z:-3.60 [[ 9.86977551e-01 1.43183371e-01 7.33064475e-02 4.38371672e+01] [-1.42768773e-01 9.89696136e-01 -1.08920164e-02 -6.33055721e+00] [-7.41106634e-02 2.84304125e-04 9.97249983e-01 -3.59927938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005779522999994 meters 0.016137512163874997 Centerline is valid? [True, True] Translation: X:43.90, Y:-6.34, Z:-3.60 [[ 9.87155233e-01 1.43204605e-01 7.08306965e-02 4.38986681e+01] [-1.42816432e-01 9.89693062e-01 -1.05408509e-02 -6.33948960e+00] [-7.16101473e-02 2.89668846e-04 9.97432656e-01 -3.60453784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065779522999996 meters 0.01576744274652488 Centerline is valid? [True, True] Translation: X:43.96, Y:-6.34, Z:-3.61 [[ 9.86279330e-01 1.48218637e-01 7.26933244e-02 4.39599292e+01] [-1.47821977e-01 9.88954616e-01 -1.08365508e-02 -6.33939991e+00] [-7.34965775e-02 -5.78048133e-05 9.97295468e-01 -3.61302591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125779523 meters 0.017863426696906104 Centerline is valid? [True, True] Translation: X:44.02, Y:-6.35, Z:-3.62 [[ 9.85867512e-01 1.51371511e-01 7.17768404e-02 4.40206531e+01] [-1.50992001e-01 9.88476905e-01 -1.07156325e-02 -6.34972464e+00] [-7.25717905e-02 -2.73534737e-04 9.97363154e-01 -3.61869751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185779522999994 meters 0.01902063031667963 Centerline is valid? [True, True] Translation: X:44.08, Y:-6.36, Z:-3.62 [[ 9.85888909e-01 1.51014706e-01 7.22330776e-02 4.40810680e+01] [-1.50628084e-01 9.88531489e-01 -1.08016302e-02 -6.36379408e+00] [-7.30358768e-02 -2.31122670e-04 9.97329287e-01 -3.61975362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245779522999996 meters 0.015819981791953798 Centerline is valid? [True, True] Translation: X:44.14, Y:-6.37, Z:-3.62 [[ 9.84990249e-01 1.54219699e-01 7.75273795e-02 4.41436217e+01] [-1.53782430e-01 9.88036463e-01 -1.16151515e-02 -6.36549932e+00] [-7.83911630e-02 -4.81537901e-04 9.96922562e-01 -3.62173491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305779523 meters 0.01633024294802587 Centerline is valid? [True, True] Translation: X:44.20, Y:-6.37, Z:-3.63 [[ 9.84200738e-01 1.59568872e-01 7.67247217e-02 4.42049936e+01] [-1.59155419e-01 9.87186406e-01 -1.15131143e-02 -6.37031636e+00] [-7.75787369e-02 -8.79939611e-04 9.96985840e-01 -3.62796112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36577952299999 meters 0.018308256310467452 Centerline is valid? [True, True] Translation: X:44.27, Y:-6.37, Z:-3.63 [[ 9.83224779e-01 1.66947119e-01 7.34689914e-02 4.42658116e+01] [-1.66587203e-01 9.85964884e-01 -1.10431794e-02 -6.37369238e+00] [-7.42814725e-02 -1.38106613e-03 9.97236359e-01 -3.63384782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425779522999996 meters 0.01993007607894131 Centerline is valid? [True, True] Translation: X:44.33, Y:-6.38, Z:-3.64 [[ 9.83037048e-01 1.70030719e-01 6.87584018e-02 4.43253322e+01] [-1.69722977e-01 9.85437607e-01 -1.03360472e-02 -6.38211822e+00] [-6.95145605e-02 -1.50916338e-03 9.97579795e-01 -3.64276540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485779523 meters 0.020589780721978163 Centerline is valid? [True, True] Translation: X:44.39, Y:-6.39, Z:-3.65 [[ 9.82635495e-01 1.70814584e-01 7.24559349e-02 4.43863764e+01] [-1.70474866e-01 9.85301813e-01 -1.08930352e-02 -6.39044619e+00] [-7.32516533e-02 -1.64803278e-03 9.97312127e-01 -3.64607081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54577952299999 meters 0.0215233458672495 Centerline is valid? [True, True] Translation: X:44.45, Y:-6.40, Z:-3.65 [[ 9.82584793e-01 1.68073978e-01 7.92354928e-02 4.44458362e+01] [-1.67657142e-01 9.85773151e-01 -1.19322359e-02 -6.40047414e+00] [-8.01137197e-02 -1.55996272e-03 9.96784510e-01 -3.64929312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605779522999995 meters 0.019799196256134577 Centerline is valid? [True, True] Translation: X:44.51, Y:-6.41, Z:-3.65 [[ 9.82487341e-01 1.68444253e-01 7.96565073e-02 4.45081405e+01] [-1.68024086e-01 9.85709887e-01 -1.19968616e-02 -6.41250921e+00] [-8.05390092e-02 -1.59744719e-03 9.96750177e-01 -3.64827140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665779523 meters 0.018622933511361066 Centerline is valid? [True, True] Translation: X:44.57, Y:-6.43, Z:-3.66 [[ 9.82656998e-01 1.72257772e-01 6.86475329e-02 4.45671277e+01] [-1.71953900e-01 9.85050562e-01 -1.03559701e-02 -6.42935461e+00] [-6.94051872e-02 -1.62784450e-03 9.97587224e-01 -3.65788460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72577952299999 meters 0.01873940581509628 Centerline is valid? [True, True] Translation: X:44.63, Y:-6.43, Z:-3.67 [[ 9.82474263e-01 1.73233335e-01 6.88079585e-02 4.46285455e+01] [-1.72930423e-01 9.84879343e-01 -1.03802347e-02 -6.43238652e+00] [-6.95657396e-02 -1.70067596e-03 9.97575920e-01 -3.66991752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785779522999995 meters 0.017920974047841428 Centerline is valid? [True, True] Translation: X:44.69, Y:-6.44, Z:-3.67 [[ 9.82711556e-01 1.69900401e-01 7.35652880e-02 4.46893898e+01] [-1.69543222e-01 9.85460027e-01 -1.11189769e-02 -6.44340493e+00] [-7.43847693e-02 -1.54574883e-03 9.97228418e-01 -3.67240113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845779523 meters 0.015381393318425536 Centerline is valid? [True, True] Translation: X:44.75, Y:-6.47, Z:-3.67 [[ 9.84154249e-01 1.59748185e-01 7.69475954e-02 4.47478715e+01] [-1.59326006e-01 9.87157466e-01 -1.16345201e-02 -6.46866981e+00] [-7.78179867e-02 -8.09590646e-04 9.96967254e-01 -3.66882608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90577952299999 meters 0.01488146384060004 Centerline is valid? [True, True] Translation: X:44.81, Y:-6.48, Z:-3.68 [[ 9.85001830e-01 1.56223993e-01 7.32492944e-02 4.48077895e+01] [-1.55831646e-01 9.87721524e-01 -1.10764712e-02 -6.47941706e+00] [-7.40803153e-02 -5.04213697e-04 9.97252151e-01 -3.68250935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965779522999995 meters 0.01504470354844566 Centerline is valid? [True, True] Translation: X:44.87, Y:-6.48, Z:-3.69 [[ 9.84741930e-01 1.59079160e-01 7.05489404e-02 4.48691955e+01] [-1.58721392e-01 9.87265599e-01 -1.06843834e-02 -6.48399035e+00] [-7.13502046e-02 -6.76265720e-04 9.97451097e-01 -3.69228869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025779523 meters 0.014786762456650629 Centerline is valid? [True, True] Translation: X:44.93, Y:-6.50, Z:-3.69 [[ 9.84750837e-01 1.57958887e-01 7.29025310e-02 4.49289440e+01] [-1.57572347e-01 9.87445510e-01 -1.10598763e-02 -6.50062915e+00] [-7.37342826e-02 -5.96200428e-04 9.97277745e-01 -3.68604674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08577952299999 meters 0.014167164968461791 Centerline is valid? [True, True] Translation: X:44.99, Y:-6.52, Z:-3.68 [[ 9.85423011e-01 1.51365576e-01 7.76527580e-02 4.49900731e+01] [-1.50905003e-01 9.88477847e-01 -1.17994047e-02 -6.51526829e+00] [-7.85440547e-02 -9.07848037e-05 9.96910640e-01 -3.68320393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145779522999995 meters 0.016879041665041093 Centerline is valid? [True, True] Translation: X:45.05, Y:-6.52, Z:-3.70 [[ 9.86166270e-01 1.47397667e-01 7.58288558e-02 4.50513348e+01] [-1.46945385e-01 9.89077283e-01 -1.15404826e-02 -6.51833050e+00] [-7.67016388e-02 2.38134276e-04 9.97054062e-01 -3.70161607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205779523 meters 0.014301017828118068 Centerline is valid? [True, True] Translation: X:45.11, Y:-6.53, Z:-3.71 [[ 9.86707657e-01 1.46575341e-01 7.01688587e-02 4.51119525e+01] [-1.46184869e-01 9.89199465e-01 -1.06959120e-02 -6.52719588e+00] [-7.09787544e-02 2.96112858e-04 9.97477784e-01 -3.71384114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26577952299999 meters 0.014959665461216945 Centerline is valid? [True, True] Translation: X:45.17, Y:-6.55, Z:-3.71 [[ 9.87473394e-01 1.40705901e-01 7.14012919e-02 4.51723152e+01] [-1.40284911e-01 9.90051154e-01 -1.09020849e-02 -6.54966395e+00] [-7.22249192e-02 7.48994948e-04 9.97388089e-01 -3.70702394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325779522999994 meters 0.019955868795368457 Centerline is valid? [True, True] Translation: X:45.23, Y:-6.57, Z:-3.70 [[ 9.89093312e-01 1.25457192e-01 7.71680794e-02 4.52308351e+01] [-1.24917228e-01 9.92096945e-01 -1.18041331e-02 -6.57006431e+00] [-7.80391292e-02 2.03576658e-03 9.96948218e-01 -3.70294278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385779523 meters 0.020642550028410554 Centerline is valid? [True, True] Translation: X:45.29, Y:-6.57, Z:-3.72 [[ 9.89865926e-01 1.18408168e-01 7.83897539e-02 4.52912173e+01] [-1.17828486e-01 9.92961504e-01 -1.19958182e-02 -6.57020783e+00] [-7.92584107e-02 2.63770571e-03 9.96850614e-01 -3.71643613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445779523 meters 0.022988880980485585 Centerline is valid? [True, True] Translation: X:45.35, Y:-6.59, Z:-3.72 [[ 9.90705319e-01 1.15236942e-01 7.22732234e-02 4.53491536e+01] [-1.14735882e-01 9.93334457e-01 -1.10604899e-02 -6.58612863e+00] [-7.30660601e-02 2.66535416e-03 9.97323542e-01 -3.72325408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505779522999994 meters 0.02452995756961621 Centerline is valid? [True, True] Translation: X:45.41, Y:-6.60, Z:-3.73 [[ 9.91454456e-01 1.11428771e-01 6.78357613e-02 4.54088418e+01] [-1.10978144e-01 9.93768562e-01 -1.03873585e-02 -6.59560801e+00] [-6.85704975e-02 2.77030597e-03 9.97642427e-01 -3.73019307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565779522999996 meters 0.027636354215303877 Centerline is valid? [True, True] Translation: X:45.47, Y:-6.60, Z:-3.74 [[ 9.91862639e-01 1.07377867e-01 6.83995479e-02 4.54692001e+01] [-1.06910015e-01 9.94213521e-01 -1.04748789e-02 -6.60208863e+00] [-6.91285255e-02 3.07704434e-03 9.97603017e-01 -3.73608046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625779523 meters 0.026080187895828503 Centerline is valid? [True, True] Translation: X:45.53, Y:-6.61, Z:-3.73 [[ 9.91338953e-01 1.09218401e-01 7.29275064e-02 4.55307289e+01] [-1.08691312e-01 9.94012798e-01 -1.11694070e-02 -6.61170884e+00] [-7.37107795e-02 3.14608188e-03 9.97274698e-01 -3.73217631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685779522999994 meters 0.021799182376084813 Centerline is valid? [True, True] Translation: X:45.59, Y:-6.61, Z:-3.74 [[ 9.90775198e-01 1.13901237e-01 7.34235295e-02 4.55927325e+01] [-1.13379455e-01 9.93488073e-01 -1.12493679e-02 -6.60875973e+00] [-7.42267177e-02 2.82087498e-03 9.97237403e-01 -3.73719938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745779522999996 meters 0.0210009600313703 Centerline is valid? [True, True] Translation: X:45.65, Y:-6.61, Z:-3.75 [[ 9.90038895e-01 1.20243670e-01 7.32423827e-02 4.56534457e+01] [-1.19741657e-01 9.92741648e-01 -1.12230288e-02 -6.60730518e+00] [-7.40602619e-02 2.34107080e-03 9.97251020e-01 -3.74531203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805779523 meters 0.0164566233133001 Centerline is valid? [True, True] Translation: X:45.72, Y:-6.60, Z:-3.75 [[ 9.88611089e-01 1.31119603e-01 7.38631422e-02 4.57158673e+01] [-1.30639286e-01 9.91365361e-01 -1.13180330e-02 -6.60088031e+00] [-7.47093766e-02 1.53970471e-03 9.97204161e-01 -3.74713576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86577952299999 meters 0.014711432338289844 Centerline is valid? [True, True] Translation: X:45.78, Y:-6.60, Z:-3.75 [[ 9.87392241e-01 1.38889308e-01 7.59363034e-02 4.57784762e+01] [-1.38404415e-01 9.90307427e-01 -1.16369631e-02 -6.60222249e+00] [-7.68165349e-02 9.80327454e-04 9.97044763e-01 -3.74768216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925779522999996 meters 0.013641414811681697 Centerline is valid? [True, True] Translation: X:45.84, Y:-6.60, Z:-3.76 [[ 9.86360041e-01 1.50052449e-01 6.76618950e-02 4.58394792e+01] [-1.49693609e-01 9.88678033e-01 -1.03716588e-02 -6.59924566e+00] [-6.84521220e-02 1.01636585e-04 9.97654397e-01 -3.75946758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985779523 meters 0.014622573609191215 Centerline is valid? [True, True] Translation: X:45.90, Y:-6.59, Z:-3.77 [[ 9.84661855e-01 1.61476576e-01 6.60783320e-02 4.59016014e+01] [-1.61159024e-01 9.86876324e-01 -1.01435178e-02 -6.59172685e+00] [-6.68490819e-02 -6.61184406e-04 9.97762879e-01 -3.77191979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04577952299999 meters 0.015707087079174797 Centerline is valid? [True, True] Translation: X:45.96, Y:-6.59, Z:-3.78 [[ 9.83509828e-01 1.66158083e-01 7.14136537e-02 4.59642255e+01] [-1.65798194e-01 9.86098578e-01 -1.09796472e-02 -6.59250859e+00] [-7.22452595e-02 -1.04166389e-03 9.97386353e-01 -3.77559571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105779522999995 meters 0.01482244924465033 Centerline is valid? [True, True] Translation: X:46.03, Y:-6.61, Z:-3.77 [[ 9.83145360e-01 1.66833523e-01 7.47781804e-02 4.60256851e+01] [-1.66439337e-01 9.85984439e-01 -1.15166784e-02 -6.60717942e+00] [-7.56514902e-02 -1.12346181e-03 9.97133687e-01 -3.77233458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165779523 meters 0.015095937831533991 Centerline is valid? [True, True] Translation: X:46.09, Y:-6.62, Z:-3.77 [[ 9.83127193e-01 1.67426506e-01 7.36837000e-02 4.60862276e+01] [-1.67044065e-01 9.85883908e-01 -1.13666256e-02 -6.61874241e+00] [-7.45466485e-02 -1.13358602e-03 9.97216883e-01 -3.77372608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22577952299999 meters 0.015847626893241606 Centerline is valid? [True, True] Translation: X:46.15, Y:-6.62, Z:-3.78 [[ 9.82976065e-01 1.68465011e-01 7.33320951e-02 4.61466743e+01] [-1.68087607e-01 9.85706920e-01 -1.13324459e-02 -6.62270958e+00] [-7.41930742e-02 -1.18669333e-03 9.97243190e-01 -3.78058426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285779522999995 meters 0.015575834526367134 Centerline is valid? [True, True] Translation: X:46.21, Y:-6.63, Z:-3.79 [[ 9.83059463e-01 1.68546004e-01 7.20162180e-02 4.62087966e+01] [-1.68181097e-01 9.85693111e-01 -1.11449340e-02 -6.63341089e+00] [-7.28643241e-02 -1.15563377e-03 9.97341193e-01 -3.78722220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345779523 meters 0.014476129482420223 Centerline is valid? [True, True] Translation: X:46.27, Y:-6.65, Z:-3.79 [[ 9.83702725e-01 1.65042245e-01 7.13442769e-02 4.62693774e+01] [-1.64673474e-01 9.86286117e-01 -1.10608753e-02 -6.64711133e+00] [-7.21913815e-02 -8.67896793e-04 9.97390421e-01 -3.79402651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40577952299999 meters 0.013738989726829902 Centerline is valid? [True, True] Translation: X:46.33, Y:-6.66, Z:-3.80 [[ 9.84751769e-01 1.58902533e-01 7.08091678e-02 4.63281812e+01] [-1.58522123e-01 9.87294195e-01 -1.09958571e-02 -6.66091866e+00] [-7.16567499e-02 -3.96629797e-04 9.97429272e-01 -3.80238517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465779522999995 meters 0.01372783577119332 Centerline is valid? [True, True] Translation: X:46.39, Y:-6.68, Z:-3.80 [[ 9.86147443e-01 1.48004057e-01 7.48867144e-02 4.63886379e+01] [-1.47545651e-01 9.88986657e-01 -1.16478768e-02 -6.68045739e+00] [-7.57858944e-02 4.37314881e-04 9.97124018e-01 -3.80289332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525779523 meters 0.015960045889121817 Centerline is valid? [True, True] Translation: X:46.45, Y:-6.70, Z:-3.80 [[ 9.87590529e-01 1.37178619e-01 7.64655095e-02 4.64479329e+01] [-1.36667376e-01 9.90545466e-01 -1.19040920e-02 -6.70000178e+00] [-7.73755506e-02 1.30602791e-03 9.97001163e-01 -3.80378129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58577952299999 meters 0.019775347871502647 Centerline is valid? [True, True] Translation: X:46.51, Y:-6.72, Z:-3.81 [[ 9.88683491e-01 1.30002431e-01 7.48620278e-02 4.65071241e+01] [-1.29491698e-01 9.91511984e-01 -1.16569691e-02 -6.71614372e+00] [-7.57420321e-02 1.83104185e-03 9.97125765e-01 -3.80925643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645779522999995 meters 0.02003398781272512 Centerline is valid? [True, True] Translation: X:46.57, Y:-6.73, Z:-3.82 [[ 9.89651588e-01 1.23016031e-01 7.38700893e-02 4.65668434e+01] [-1.22499130e-01 9.92401932e-01 -1.15051747e-02 -6.72725456e+00] [-7.47241403e-02 2.33709272e-03 9.97201505e-01 -3.81593263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705779523 meters 0.02539958915021447 Centerline is valid? [True, True] Translation: X:46.62, Y:-6.74, Z:-3.82 [[ 9.90592188e-01 1.16033937e-01 7.25482071e-02 4.66242467e+01] [-1.15516610e-01 9.93241264e-01 -1.13006573e-02 -6.74274077e+00] [-7.33691326e-02 2.81381988e-03 9.97300884e-01 -3.82486981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76577952299999 meters 0.027209772861170024 Centerline is valid? [True, True] Translation: X:46.68, Y:-6.76, Z:-3.84 [[ 9.92253660e-01 1.05059105e-01 6.62967410e-02 4.66829823e+01] [-1.04602790e-01 9.94460465e-01 -1.03266841e-02 -6.75712423e+00] [-6.70144001e-02 3.31186604e-03 9.97746512e-01 -3.83502820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825779522999994 meters 0.028237981667717797 Centerline is valid? [True, True] Translation: X:46.74, Y:-6.77, Z:-3.84 [[ 9.92280551e-01 1.03044367e-01 6.90012028e-02 4.67422073e+01] [-1.02545185e-01 9.94670287e-01 -1.07473050e-02 -6.77276845e+00] [-6.97408955e-02 3.58860062e-03 9.97558685e-01 -3.83548035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885779523 meters 0.02769608776927894 Centerline is valid? [True, True] Translation: X:46.81, Y:-6.77, Z:-3.83 [[ 9.91512214e-01 1.02979032e-01 7.93652837e-02 4.68062627e+01] [-1.02316357e-01 9.94674841e-01 -1.23824302e-02 -6.76977673e+00] [-8.02177816e-02 4.15696411e-03 9.96768693e-01 -3.83486358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945779523 meters 0.02606840156749516 Centerline is valid? [True, True] Translation: X:46.87, Y:-6.77, Z:-3.84 [[ 9.90881023e-01 1.07000564e-01 8.18881970e-02 4.68672045e+01] [-1.06308028e-01 9.94251068e-01 -1.27834983e-02 -6.77192593e+00] [-8.27852688e-02 3.96155317e-03 9.96559534e-01 -3.83829827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005779522999994 meters 0.023181282735414133 Centerline is valid? [True, True] Translation: X:46.93, Y:-6.78, Z:-3.84 [[ 9.90322325e-01 1.15810050e-01 7.64834918e-02 4.69262277e+01] [-1.15232160e-01 9.93266812e-01 -1.19411194e-02 -6.78172263e+00] [-7.73514157e-02 3.01219917e-03 9.96999341e-01 -3.83993818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065779522999996 meters 0.022651101857549764 Centerline is valid? [True, True] Translation: X:46.99, Y:-6.78, Z:-3.85 [[ 9.90215030e-01 1.19476933e-01 7.21072622e-02 4.69879552e+01] [-1.18973155e-01 9.92833656e-01 -1.12570284e-02 -6.78061472e+00] [-7.29354720e-02 2.56805020e-03 9.97333356e-01 -3.85032594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125779523 meters 0.02103540930927262 Centerline is valid? [True, True] Translation: X:47.05, Y:-6.77, Z:-3.86 [[ 9.89716254e-01 1.22997456e-01 7.30298695e-02 4.70509739e+01] [-1.22490048e-01 9.92404225e-01 -1.14035998e-02 -6.77196162e+00] [-7.38777648e-02 2.34089586e-03 9.97264557e-01 -3.86280275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185779522999994 meters 0.021559117582711874 Centerline is valid? [True, True] Translation: X:47.11, Y:-6.79, Z:-3.86 [[ 9.89674112e-01 1.21545835e-01 7.59721113e-02 4.71101010e+01] [-1.20992069e-01 9.92582538e-01 -1.18669207e-02 -6.79499729e+00] [-7.68509658e-02 2.55236130e-03 9.97039324e-01 -3.85561997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245779522999996 meters 0.020923064038902747 Centerline is valid? [True, True] Translation: X:47.17, Y:-6.79, Z:-3.86 [[ 9.89880127e-01 1.19099951e-01 7.71526839e-02 4.71719198e+01] [-1.18520592e-01 9.92878335e-01 -1.20615665e-02 -6.79467299e+00] [-7.80397603e-02 2.79532318e-03 9.96946329e-01 -3.86452532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305779523 meters 0.021385690435371103 Centerline is valid? [True, True] Translation: X:47.23, Y:-6.78, Z:-3.88 [[ 9.90131242e-01 1.16914471e-01 7.72730912e-02 4.72345150e+01] [-1.16325942e-01 9.93137512e-01 -1.20895528e-02 -6.78495977e+00] [-7.81562492e-02 2.98137881e-03 9.96936664e-01 -3.88085253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36577952299999 meters 0.02298138779475914 Centerline is valid? [True, True] Translation: X:47.29, Y:-6.81, Z:-3.88 [[ 9.90515527e-01 1.14230661e-01 7.63567070e-02 4.72942358e+01] [-1.13646671e-01 9.93449187e-01 -1.19644363e-02 -6.80927927e+00] [-7.72232140e-02 3.17327439e-03 9.97008779e-01 -3.87525024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425779522999996 meters 0.02398049585221584 Centerline is valid? [True, True] Translation: X:47.35, Y:-6.82, Z:-3.87 [[ 9.90614216e-01 1.11135953e-01 7.95755913e-02 4.73547296e+01] [-1.10491147e-01 9.93798817e-01 -1.24746495e-02 -6.81926580e+00] [-8.04685106e-02 3.56516675e-03 9.96750775e-01 -3.86934200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485779523 meters 0.024140007449876967 Centerline is valid? [True, True] Translation: X:47.42, Y:-6.81, Z:-3.89 [[ 9.90497320e-01 1.12877051e-01 7.85737217e-02 4.74189014e+01] [-1.12253772e-01 9.93603209e-01 -1.23188740e-02 -6.80555547e+00] [-7.94616201e-02 3.38161503e-03 9.96832190e-01 -3.88789819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54577952299999 meters 0.022067657213766568 Centerline is valid? [True, True] Translation: X:47.48, Y:-6.82, Z:-3.89 [[ 9.90731894e-01 1.16649574e-01 6.95930458e-02 4.74785080e+01] [-1.16169758e-01 9.93169382e-01 -1.09163401e-02 -6.82318951e+00] [-7.03910687e-02 2.73055899e-03 9.97515735e-01 -3.89459570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605779522999995 meters 0.0231582892308452 Centerline is valid? [True, True] Translation: X:47.54, Y:-6.84, Z:-3.90 [[ 9.90898264e-01 1.15816230e-01 6.86092634e-02 4.75388088e+01] [-1.15347716e-01 9.93266843e-01 -1.07648657e-02 -6.84076925e+00] [-6.93940526e-02 2.75296491e-03 9.97585528e-01 -3.89553042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665779523 meters 0.024117316449292887 Centerline is valid? [True, True] Translation: X:47.60, Y:-6.83, Z:-3.90 [[ 9.90622625e-01 1.13814350e-01 7.55851116e-02 4.76011988e+01] [-1.13238089e-01 9.93496850e-01 -1.18804474e-02 -6.83260785e+00] [-7.64457356e-02 3.20992640e-03 9.97068576e-01 -3.90214598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72577952299999 meters 0.023023142856299656 Centerline is valid? [True, True] Translation: X:47.66, Y:-6.83, Z:-3.91 [[ 9.90236080e-01 1.15054556e-01 7.87080421e-02 4.76638378e+01] [-1.14431990e-01 9.93353817e-01 -1.23900547e-02 -6.82925860e+00] [-7.96104663e-02 3.26236132e-03 9.96820711e-01 -3.91144478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785779522999995 meters 0.022076180795633123 Centerline is valid? [True, True] Translation: X:47.72, Y:-6.85, Z:-3.91 [[ 9.90116350e-01 1.17472331e-01 7.66150417e-02 4.77233870e+01] [-1.16888279e-01 9.93071611e-01 -1.20790984e-02 -6.85274406e+00] [-7.75031828e-02 3.00431247e-03 9.96987578e-01 -3.90766912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845779523 meters 0.022198768493460353 Centerline is valid? [True, True] Translation: X:47.79, Y:-6.86, Z:-3.91 [[ 9.90106115e-01 1.17645847e-01 7.64809451e-02 4.77855208e+01] [-1.17062883e-01 9.93051070e-01 -1.20769788e-02 -6.86082972e+00] [-7.73702908e-02 3.00441065e-03 9.96997900e-01 -3.91119772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90577952299999 meters 0.020238829259076992 Centerline is valid? [True, True] Translation: X:47.85, Y:-6.84, Z:-3.92 [[ 9.89240085e-01 1.22540912e-01 7.99235829e-02 4.78487812e+01] [-1.21918135e-01 9.92459613e-01 -1.26445784e-02 -6.84439414e+00] [-8.08704063e-02 2.76438963e-03 9.96720791e-01 -3.92144798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965779522999995 meters 0.019240303096321923 Centerline is valid? [True, True] Translation: X:47.91, Y:-6.86, Z:-3.93 [[ 9.89145129e-01 1.27794825e-01 7.25285946e-02 4.79085529e+01] [-1.27296273e-01 9.91798367e-01 -1.14742318e-02 -6.85756020e+00] [-7.34000891e-02 2.11706066e-03 9.97300328e-01 -3.93139381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025779523 meters 0.019096706316222865 Centerline is valid? [True, True] Translation: X:47.97, Y:-6.87, Z:-3.94 [[ 9.89060440e-01 1.28417559e-01 7.25835852e-02 4.79699623e+01] [-1.27919652e-01 9.91718015e-01 -1.14866064e-02 -6.86961237e+00] [-7.34575310e-02 2.07608103e-03 9.97296185e-01 -3.93502839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08577952299999 meters 0.020277961747281036 Centerline is valid? [True, True] Translation: X:48.03, Y:-6.87, Z:-3.94 [[ 9.89050407e-01 1.24856586e-01 7.86773522e-02 4.80327470e+01] [-1.24259523e-01 9.92171533e-01 -1.24587127e-02 -6.87041280e+00] [-7.96169815e-02 2.54588460e-03 9.96822278e-01 -3.94192414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145779522999995 meters 0.020441755452334634 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.88, Z:-3.94 [[ 9.88542708e-01 1.25364298e-01 8.40660858e-02 4.80953981e+01] [-1.24683648e-01 9.92107143e-01 -1.33193411e-02 -6.87897227e+00] [-8.50723340e-02 2.68507129e-03 9.96371160e-01 -3.94006607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205779523 meters 0.021065365747373305 Centerline is valid? [True, True] Translation: X:48.15, Y:-6.90, Z:-3.94 [[ 9.88819780e-01 1.26432778e-01 7.90581792e-02 4.81541142e+01] [-1.25832689e-01 9.91972131e-01 -1.25469754e-02 -6.89913203e+00] [-8.00098594e-02 2.45859421e-03 9.96791040e-01 -3.94115343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26577952299999 meters 0.01971547467889399 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.90, Z:-3.95 [[ 9.89018160e-01 1.25392845e-01 7.82286031e-02 4.82160178e+01] [-1.24800677e-01 9.92103935e-01 -1.24327844e-02 -6.90207577e+00] [-7.91698871e-02 2.53326689e-03 9.96857919e-01 -3.94889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325779522999994 meters 0.024150665207236962 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.91, Z:-3.96 [[ 9.89938574e-01 1.19598782e-01 7.56158053e-02 4.82758945e+01] [-1.19027211e-01 9.92818025e-01 -1.20371625e-02 -6.90681765e+00] [-7.65123644e-02 2.91571310e-03 9.97064369e-01 -3.96407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385779523 meters 0.02244820033398616 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.92, Z:-3.96 [[ 9.89807804e-01 1.18410445e-01 7.91168671e-02 4.83372283e+01] [-1.17780707e-01 9.92959743e-01 -1.25958215e-02 -6.92164544e+00] [-8.00513409e-02 3.14900189e-03 9.96785768e-01 -3.96144525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44577952299999 meters 0.023169537248016018 Centerline is valid? [True, True] Translation: X:48.40, Y:-6.94, Z:-3.96 [[ 9.89698037e-01 1.17878268e-01 8.12558264e-02 4.83977011e+01] [-1.17210427e-01 9.93022571e-01 -1.29572357e-02 -6.93557464e+00] [-8.22162461e-02 3.29972060e-03 9.96609051e-01 -3.96042434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505779522999994 meters 0.02227224879293213 Centerline is valid? [True, True] Translation: X:48.46, Y:-6.94, Z:-3.97 [[ 9.89657010e-01 1.19647134e-01 7.91426970e-02 4.84596810e+01] [-1.19017865e-01 9.92811678e-01 -1.26380273e-02 -6.93829877e+00] [-8.00858975e-02 3.08791753e-03 9.96783183e-01 -3.96928277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565779522999996 meters 0.021403943414101283 Centerline is valid? [True, True] Translation: X:48.52, Y:-6.94, Z:-3.97 [[ 9.89202965e-01 1.21690318e-01 8.16637007e-02 4.85219632e+01] [-1.21025435e-01 9.92563471e-01 -1.30614345e-02 -6.94336348e+00] [-8.26458563e-02 3.03702482e-03 9.96574352e-01 -3.97479735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625779523 meters 0.020667301695396618 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.95, Z:-3.98 [[ 9.88997579e-01 1.25672871e-01 7.80392046e-02 4.85820858e+01] [-1.25077640e-01 9.92068355e-01 -1.24885370e-02 -6.95369856e+00] [-7.89896956e-02 2.59017331e-03 9.96872068e-01 -3.97931501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685779522999994 meters 0.021614454059397367 Centerline is valid? [True, True] Translation: X:48.64, Y:-6.96, Z:-3.99 [[ 9.88738269e-01 1.29669782e-01 7.47153530e-02 4.86431925e+01] [-1.29135455e-01 9.91554846e-01 -1.19591889e-02 -6.95744897e+00] [-7.56351158e-02 2.17610664e-03 9.97133188e-01 -3.98918846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745779522999996 meters 0.018144958158080336 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.96, Z:-3.99 [[ 9.88071777e-01 1.33338602e-01 7.70388239e-02 4.87049277e+01] [-1.32781352e-01 9.91068608e-01 -1.23339951e-02 -6.96038505e+00] [-7.79953577e-02 1.95755330e-03 9.96951800e-01 -3.99233967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805779523 meters 0.018314910977128847 Centerline is valid? [True, True] Translation: X:48.77, Y:-6.97, Z:-4.00 [[ 9.87971190e-01 1.33543187e-01 7.79688714e-02 4.87669094e+01] [-1.32972817e-01 9.91041042e-01 -1.24853265e-02 -6.97165274e+00] [-7.89376819e-02 1.96740243e-03 9.96877611e-01 -3.99630704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86577952299999 meters 0.01891663453323859 Centerline is valid? [True, True] Translation: X:48.83, Y:-6.98, Z:-4.00 [[ 9.88203506e-01 1.31164773e-01 7.90546237e-02 4.88277225e+01] [-1.30568901e-01 9.91358116e-01 -1.26825848e-02 -6.98171109e+00] [-8.00349512e-02 2.21089947e-03 9.96789606e-01 -4.00133330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925779522999996 meters 0.020018687115014734 Centerline is valid? [True, True] Translation: X:48.89, Y:-6.99, Z:-4.01 [[ 9.88411033e-01 1.28891879e-01 8.01904825e-02 4.88884794e+01] [-1.28269575e-01 9.91655626e-01 -1.28854940e-02 -6.99399914e+00] [-8.11821786e-02 2.45016533e-03 9.96696268e-01 -4.00514272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985779523 meters 0.020915676101528776 Centerline is valid? [True, True] Translation: X:48.95, Y:-7.00, Z:-4.01 [[ 9.88930328e-01 1.24941756e-01 8.00397652e-02 4.89484491e+01] [-1.24307306e-01 9.92160159e-01 -1.28806974e-02 -7.00121524e+00] [-8.10216031e-02 2.78858473e-03 9.96708445e-01 -4.01359281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04577952299999 meters 0.02102403636928959 Centerline is valid? [True, True] Translation: X:49.01, Y:-7.01, Z:-4.02 [[ 9.89508465e-01 1.23914104e-01 7.42852108e-02 4.90083957e+01] [-1.23364889e-01 9.92289370e-01 -1.19545462e-02 -7.01477718e+00] [-7.51937619e-02 2.66493788e-03 9.97165381e-01 -4.02393749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105779522999995 meters 0.022275694992243453 Centerline is valid? [True, True] Translation: X:49.07, Y:-7.03, Z:-4.02 [[ 9.89651476e-01 1.22295447e-01 7.50585126e-02 4.90678309e+01] [-1.21728588e-01 9.92489687e-01 -1.20984638e-02 -7.02993940e+00] [-7.59743867e-02 2.83649584e-03 9.97105735e-01 -4.02422964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165779523 meters 0.022831861098222796 Centerline is valid? [True, True] Translation: X:49.13, Y:-7.03, Z:-4.03 [[ 9.89204136e-01 1.22105953e-01 8.10266243e-02 4.91311717e+01] [-1.21442831e-01 9.92512231e-01 -1.30808936e-02 -7.03156178e+00] [-8.20171707e-02 3.09957142e-03 9.96626097e-01 -4.02706316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22577952299999 meters 0.022912119471337065 Centerline is valid? [True, True] Translation: X:49.19, Y:-7.05, Z:-4.03 [[ 9.89594611e-01 1.19473220e-01 8.01788982e-02 4.91911765e+01] [-1.18813492e-01 9.92831922e-01 -1.29664417e-02 -7.04966409e+00] [-8.11533122e-02 3.30518587e-03 9.96696150e-01 -4.02775002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285779522999995 meters 0.023106081077187222 Centerline is valid? [True, True] Translation: X:49.25, Y:-7.06, Z:-4.04 [[ 9.90265687e-01 1.18983946e-01 7.22266600e-02 4.92512183e+01] [-1.18447291e-01 9.92891601e-01 -1.16836728e-02 -7.06303137e+00] [-7.31034135e-02 3.01488807e-03 9.97319809e-01 -4.03996520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345779523 meters 0.022161635729464026 Centerline is valid? [True, True] Translation: X:49.31, Y:-7.05, Z:-4.05 [[ 9.89278496e-01 1.22918018e-01 7.88620205e-02 4.93132013e+01] [-1.22288678e-01 9.92412299e-01 -1.27791971e-02 -7.05485834e+00] [-7.98344326e-02 2.99825264e-03 9.96803629e-01 -4.04861483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40577952299999 meters 0.021558369448370446 Centerline is valid? [True, True] Translation: X:49.37, Y:-7.07, Z:-4.05 [[ 9.88938209e-01 1.26645923e-01 7.72141697e-02 4.93725685e+01] [-1.26053997e-01 9.91944473e-01 -1.25120781e-02 -7.07246340e+00] [-7.81767725e-02 2.64051741e-03 9.96936016e-01 -4.04900975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465779522999995 meters 0.020694264663901795 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.08, Z:-4.05 [[ 9.88136181e-01 1.32074510e-01 7.83786412e-02 4.94320171e+01] [-1.31481348e-01 9.91237243e-01 -1.27036665e-02 -7.07986132e+00] [-7.93696587e-02 2.24762306e-03 9.96842719e-01 -4.05231312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525779523 meters 0.020431894519500206 Centerline is valid? [True, True] Translation: X:49.49, Y:-7.09, Z:-4.06 [[ 9.87982505e-01 1.33504916e-01 7.78909933e-02 4.94939987e+01] [-1.32923581e-01 9.91045885e-01 -1.26243765e-02 -7.08568392e+00] [-7.88789647e-02 2.11911335e-03 9.96881948e-01 -4.06142287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58577952299999 meters 0.020230488167989617 Centerline is valid? [True, True] Translation: X:49.56, Y:-7.09, Z:-4.07 [[ 9.87727848e-01 1.34737427e-01 7.89906600e-02 4.95553917e+01] [-1.34142626e-01 9.90879197e-01 -1.28129853e-02 -7.09153950e+00] [-7.99965905e-02 2.05972784e-03 9.96793009e-01 -4.06841609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645779522999995 meters 0.019915929076447597 Centerline is valid? [True, True] Translation: X:49.62, Y:-7.11, Z:-4.06 [[ 9.87571636e-01 1.34108840e-01 8.19578091e-02 4.96159127e+01] [-1.33464559e-01 9.90964143e-01 -1.33146462e-02 -7.10966007e+00] [-8.30028617e-02 2.21070408e-03 9.96546857e-01 -4.06318178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705779523 meters 0.01980178885098685 Centerline is valid? [True, True] Translation: X:49.68, Y:-7.12, Z:-4.07 [[ 9.88237250e-01 1.31903856e-01 7.73854715e-02 4.96762316e+01] [-1.31321450e-01 9.91259894e-01 -1.25896248e-02 -7.11960218e+00] [-7.83697344e-02 2.27916384e-03 9.96921757e-01 -4.07159565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76577952299999 meters 0.02069017853278826 Centerline is valid? [True, True] Translation: X:49.74, Y:-7.12, Z:-4.08 [[ 9.88187223e-01 1.32913856e-01 7.62883958e-02 4.97369605e+01] [-1.32349513e-01 9.91125185e-01 -1.24287897e-02 -7.12439762e+00] [-7.72633088e-02 2.18523915e-03 9.97008328e-01 -4.08497323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825779522999994 meters 0.019600586785396616 Centerline is valid? [True, True] Translation: X:49.80, Y:-7.14, Z:-4.09 [[ 9.87577962e-01 1.36582932e-01 7.76844386e-02 4.97967025e+01] [-1.36007431e-01 9.90626714e-01 -1.26764153e-02 -7.13726447e+00] [-7.86876622e-02 1.95328748e-03 9.96897405e-01 -4.08930381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885779523 meters 0.018733384919936317 Centerline is valid? [True, True] Translation: X:49.86, Y:-7.15, Z:-4.09 [[ 9.87035068e-01 1.39261743e-01 7.97993887e-02 4.98579121e+01] [-1.38662912e-01 9.90253989e-01 -1.30244020e-02 -7.15164313e+00] [-8.08354639e-02 1.79032590e-03 9.96725851e-01 -4.08698761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94577952299999 meters 0.017387004022738756 Centerline is valid? [True, True] Translation: X:49.92, Y:-7.15, Z:-4.10 [[ 9.86587393e-01 1.42084346e-01 8.03576646e-02 4.99207825e+01] [-1.41484808e-01 9.89853278e-01 -1.31353675e-02 -7.14895739e+00] [-8.14086278e-02 1.58979924e-03 9.96679541e-01 -4.09767193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005779522999994 meters 0.017144411164157745 Centerline is valid? [True, True] Translation: X:49.98, Y:-7.16, Z:-4.11 [[ 9.86349574e-01 1.44616503e-01 7.87437950e-02 4.99801720e+01] [-1.44047323e-01 9.89486828e-01 -1.28912930e-02 -7.16089381e+00] [-7.97802417e-02 1.37248852e-03 9.96811531e-01 -4.10509534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065779522999996 meters 0.016218424318069996 Centerline is valid? [True, True] Translation: X:50.04, Y:-7.18, Z:-4.11 [[ 9.85870563e-01 1.50738026e-01 7.30566925e-02 5.00394961e+01] [-1.50264323e-01 9.88573402e-01 -1.19692035e-02 -7.18224840e+00] [-7.40261172e-02 8.22270923e-04 9.97255964e-01 -4.10953728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125779523 meters 0.015633734895843434 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.18, Z:-4.12 [[ 9.85123206e-01 1.53225838e-01 7.78081660e-02 5.01023387e+01] [-1.52694484e-01 9.88190951e-01 -1.27686800e-02 -7.18443247e+00] [-7.88458173e-02 6.97845307e-04 9.96886578e-01 -4.11537876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185779522999994 meters 0.015419336271454784 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.20, Z:-4.12 [[ 9.84695098e-01 1.53941798e-01 8.17158945e-02 5.01644622e+01] [-1.53357431e-01 9.88079683e-01 -1.34178658e-02 -7.19566167e+00] [-8.28073855e-02 6.80767109e-04 9.96565338e-01 -4.12054112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245779522999996 meters 0.015804202327921027 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.22, Z:-4.12 [[ 9.84765739e-01 1.52455185e-01 8.36292756e-02 5.02243395e+01] [-1.51835714e-01 9.88310021e-01 -1.37556863e-02 -7.21828484e+00] [-8.47487768e-02 8.48217842e-04 9.96401990e-01 -4.11984403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305779523 meters 0.017190879479105043 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.24, Z:-4.13 [[ 9.85701331e-01 1.47461837e-01 8.15346063e-02 5.02836569e+01] [-1.46854421e-01 9.89066938e-01 -1.34302349e-02 -7.23521450e+00] [-8.26236305e-02 1.26448301e-03 9.96580020e-01 -4.13084808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36577952299999 meters 0.01636612768402152 Centerline is valid? [True, True] Translation: X:50.35, Y:-7.24, Z:-4.14 [[ 9.85503298e-01 1.49480184e-01 8.02429101e-02 5.03450906e+01] [-1.48897047e-01 9.88764114e-01 -1.32361922e-02 -7.24413847e+00] [-8.13198584e-02 1.09637876e-03 9.96687453e-01 -4.13792747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425779522999996 meters 0.015739009645758365 Centerline is valid? [True, True] Translation: X:50.41, Y:-7.26, Z:-4.14 [[ 9.84945242e-01 1.52939529e-01 8.05752533e-02 5.04060169e+01] [-1.52361466e-01 9.88235197e-01 -1.33108488e-02 -7.25858746e+00] [-8.16630562e-02 8.33893441e-04 9.96659646e-01 -4.13962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485779523 meters 0.015884422720999183 Centerline is valid? [True, True] Translation: X:50.47, Y:-7.28, Z:-4.15 [[ 9.84963107e-01 1.53566999e-01 7.91508359e-02 5.04665683e+01] [-1.53009664e-01 9.88137924e-01 -1.30952631e-02 -7.27744764e+00] [-8.02229429e-02 7.87508256e-04 9.96776635e-01 -4.14601254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54577952299999 meters 0.01588333060212616 Centerline is valid? [True, True] Translation: X:50.53, Y:-7.29, Z:-4.16 [[ 9.84997259e-01 1.54868904e-01 7.61316074e-02 5.05281726e+01] [-1.54355595e-01 9.87934798e-01 -1.26168665e-02 -7.28669095e+00] [-7.71670244e-02 6.76239370e-04 9.97017950e-01 -4.16107329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605779522999995 meters 0.015309996647715448 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.30, Z:-4.17 [[ 9.84163568e-01 1.58524860e-01 7.93217509e-02 5.05886310e+01] [-1.57977500e-01 9.87354893e-01 -1.31691000e-02 -7.29869774e+00] [-8.04063486e-02 4.29496514e-04 9.96762075e-01 -4.16731290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665779523 meters 0.015103626212486024 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.32, Z:-4.16 [[ 9.83173425e-01 1.63113910e-01 8.22427460e-02 5.06490946e+01] [-1.62539683e-01 9.86607240e-01 -1.36749773e-02 -7.31737450e+00] [-8.33718677e-02 7.71644068e-05 9.96518502e-01 -4.16181751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72577952299999 meters 0.017938076196782546 Centerline is valid? [True, True] Translation: X:50.71, Y:-7.32, Z:-4.17 [[ 9.81939309e-01 1.71178941e-01 8.05789344e-02 5.07098873e+01] [-1.70653230e-01 9.85239788e-01 -1.34177587e-02 -7.32436358e+00] [-8.16864099e-02 -5.75630737e-04 9.96657915e-01 -4.17091115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785779522999995 meters 0.018043158458824836 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.34, Z:-4.18 [[ 9.81217000e-01 1.75830165e-01 7.93533312e-02 5.07684153e+01] [-1.75333932e-01 9.84420078e-01 -1.32333467e-02 -7.33906988e+00] [-8.04438341e-02 -9.28546850e-04 9.96758711e-01 -4.18139612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845779523 meters 0.015657852828741794 Centerline is valid? [True, True] Translation: X:50.83, Y:-7.36, Z:-4.19 [[ 9.81451031e-01 1.75117776e-01 7.80233184e-02 5.08278229e+01] [-1.74635027e-01 9.84547129e-01 -1.30214470e-02 -7.35941391e+00] [-7.90979209e-02 -8.45691776e-04 9.96866492e-01 -4.18569345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90577952299999 meters 0.01503359816902269 Centerline is valid? [True, True] Translation: X:50.89, Y:-7.38, Z:-4.19 [[ 9.82027289e-01 1.71427745e-01 7.89615910e-02 5.08877010e+01] [-1.70919800e-01 9.85196550e-01 -1.31977433e-02 -7.37913946e+00] [-8.00551464e-02 -5.35555306e-04 9.96790292e-01 -4.18991677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965779522999995 meters 0.014567445608280874 Centerline is valid? [True, True] Translation: X:50.95, Y:-7.40, Z:-4.19 [[ 9.82742942e-01 1.64560359e-01 8.44760161e-02 5.09470549e+01] [-1.63951605e-01 9.86367014e-01 -1.41416169e-02 -7.40310495e+00] [-8.56515053e-02 4.75957805e-05 9.96325156e-01 -4.18861062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025779523 meters 0.015080154394739344 Centerline is valid? [True, True] Translation: X:51.00, Y:-7.43, Z:-4.19 [[ 9.83779516e-01 1.58268998e-01 8.44321463e-02 5.10045891e+01] [-1.57635959e-01 9.87395840e-01 -1.41548317e-02 -7.43264862e+00] [-8.56082211e-02 6.15691120e-04 9.96328687e-01 -4.19265798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08577952299999 meters 0.015429080856479005 Centerline is valid? [True, True] Translation: X:51.06, Y:-7.45, Z:-4.20 [[ 9.84311839e-01 1.56405257e-01 8.16553675e-02 5.10639789e+01] [-1.55805237e-01 9.87692665e-01 -1.37086637e-02 -7.45030861e+00] [-8.27945146e-02 7.71266085e-04 9.96566342e-01 -4.20257331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145779522999995 meters 0.015336587236207691 Centerline is valid? [True, True] Translation: X:51.12, Y:-7.47, Z:-4.21 [[ 9.84814156e-01 1.56352222e-01 7.54656256e-02 5.11235108e+01] [-1.55838820e-01 9.87701095e-01 -1.26810588e-02 -7.46921339e+00] [-7.65201927e-02 7.28012141e-04 9.97067766e-01 -4.21436181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205779523 meters 0.01805381122526622 Centerline is valid? [True, True] Translation: X:51.18, Y:-7.49, Z:-4.22 [[ 9.84790318e-01 1.55975277e-01 7.65489571e-02 5.11828451e+01] [-1.55444134e-01 9.87760643e-01 -1.28853739e-02 -7.49108282e+00] [-7.76218469e-02 7.90305082e-04 9.96982560e-01 -4.21660515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26577952299999 meters 0.014716852936099933 Centerline is valid? [True, True] Translation: X:51.25, Y:-7.50, Z:-4.21 [[ 9.82911388e-01 1.64115572e-01 8.33743536e-02 5.12450530e+01] [-1.63512461e-01 9.86441101e-01 -1.40581105e-02 -7.49558825e+00] [-8.45510440e-02 1.85131174e-04 9.96419132e-01 -4.21455613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325779522999994 meters 0.015023749481660994 Centerline is valid? [True, True] Translation: X:51.31, Y:-7.49, Z:-4.23 [[ 9.81796436e-01 1.73239007e-01 7.78717160e-02 5.13068444e+01] [-1.72740178e-01 9.84879664e-01 -1.31483369e-02 -7.49446125e+00] [-7.89720743e-02 -5.42583778e-04 9.96876681e-01 -4.23050160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385779523 meters 0.01527355399303537 Centerline is valid? [True, True] Translation: X:51.37, Y:-7.50, Z:-4.24 [[ 9.81595873e-01 1.75340552e-01 7.56652739e-02 5.13664842e+01] [-1.74874374e-01 9.84507612e-01 -1.27950869e-02 -7.50337268e+00] [-7.67365358e-02 -6.72312984e-04 9.97051178e-01 -4.23758348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44577952299999 meters 0.015343357133088112 Centerline is valid? [True, True] Translation: X:51.43, Y:-7.52, Z:-4.23 [[ 9.81517234e-01 1.75589883e-01 7.61059236e-02 5.14275255e+01] [-1.75118296e-01 9.84463164e-01 -1.28787038e-02 -7.52073513e+00] [-7.71848485e-02 -6.86869926e-04 9.97016563e-01 -4.23495230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505779522999994 meters 0.014949347377775155 Centerline is valid? [True, True] Translation: X:51.49, Y:-7.54, Z:-4.23 [[ 9.82739196e-01 1.65143687e-01 8.33740621e-02 5.14878554e+01] [-1.64537815e-01 9.86269503e-01 -1.41341621e-02 -7.53867724e+00] [-8.45634625e-02 1.72009060e-04 9.96418081e-01 -4.22970100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565779522999996 meters 0.015374980655111246 Centerline is valid? [True, True] Translation: X:51.55, Y:-7.55, Z:-4.24 [[ 9.83861356e-01 1.58451428e-01 8.31262723e-02 5.15488986e+01] [-1.57823534e-01 9.87366476e-01 -1.41128949e-02 -7.54714349e+00] [-8.43123029e-02 7.65849899e-04 9.96439084e-01 -4.24198247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625779523 meters 0.01594915188994471 Centerline is valid? [True, True] Translation: X:51.61, Y:-7.56, Z:-4.25 [[ 9.85051141e-01 1.54972997e-01 7.52171451e-02 5.16085995e+01] [-1.54447673e-01 9.87918222e-01 -1.27868596e-02 -7.56175542e+00] [-7.62900061e-02 9.78597570e-04 9.97085191e-01 -4.25436144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685779522999994 meters 0.01644093881337875 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.57, Z:-4.25 [[ 9.85195833e-01 1.55350216e-01 7.24946957e-02 5.16682612e+01] [-1.54862029e-01 9.87859019e-01 -1.23414008e-02 -7.57452343e+00] [-7.35317783e-02 9.32021030e-04 9.97292439e-01 -4.25335318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745779522999996 meters 0.016452251645711492 Centerline is valid? [True, True] Translation: X:51.73, Y:-7.58, Z:-4.26 [[ 9.85559332e-01 1.52951229e-01 7.26548352e-02 5.17306249e+01] [-1.52453167e-01 9.88233093e-01 -1.23849145e-02 -7.57727478e+00] [-7.36942004e-02 1.12960835e-03 9.97280246e-01 -4.26123612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805779523 meters 0.019921400172309565 Centerline is valid? [True, True] Translation: X:51.79, Y:-7.59, Z:-4.27 [[ 9.86844603e-01 1.42995181e-01 7.54328041e-02 5.17881989e+01] [-1.42427594e-01 9.89721432e-01 -1.28789172e-02 -7.59360745e+00] [-7.64990860e-02 1.96577710e-03 9.97067714e-01 -4.26741744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86577952299999 meters 0.02119152823551219 Centerline is valid? [True, True] Translation: X:51.85, Y:-7.61, Z:-4.27 [[ 9.88084902e-01 1.33495956e-01 7.65967166e-02 5.18481430e+01] [-1.32881726e-01 9.91045545e-01 -1.30833939e-02 -7.60839402e+00] [-7.76574149e-02 2.74920003e-03 9.96976313e-01 -4.26846490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925779522999996 meters 0.02843248790035652 Centerline is valid? [True, True] Translation: X:51.91, Y:-7.63, Z:-4.27 [[ 9.89497198e-01 1.21402377e-01 7.84650119e-02 5.19061127e+01] [-1.20719629e-01 9.92596135e-01 -1.34046522e-02 -7.62923901e+00] [-7.95114241e-02 3.79159873e-03 9.96826744e-01 -4.26546060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985779523 meters 0.029587677502066794 Centerline is valid? [True, True] Translation: X:51.97, Y:-7.64, Z:-4.27 [[ 9.89819958e-01 1.18319324e-01 7.91011322e-02 5.19653417e+01] [-1.17615609e-01 9.92967247e-01 -1.35135410e-02 -7.63729804e+00] [-8.01437465e-02 4.07244474e-03 9.96774997e-01 -4.26969317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04577952299999 meters 0.026452517019575874 Centerline is valid? [True, True] Translation: X:52.03, Y:-7.64, Z:-4.28 [[ 9.90569420e-01 1.13404847e-01 7.68866995e-02 5.20265107e+01] [-1.12725325e-01 9.93539364e-01 -1.31351706e-02 -7.63545213e+00] [-7.78795545e-02 4.34422014e-03 9.96953310e-01 -4.28073841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105779522999995 meters 0.03270267553686904 Centerline is valid? [True, True] Translation: X:52.08, Y:-7.65, Z:-4.28 [[ 9.91419574e-01 1.06894449e-01 7.52383161e-02 5.20843125e+01] [-1.06225049e-01 9.94259017e-01 -1.28548449e-02 -7.65027201e+00] [-7.61804858e-02 4.75235108e-03 9.97082719e-01 -4.28463050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165779523 meters 0.034902705635454355 Centerline is valid? [True, True] Translation: X:52.14, Y:-7.66, Z:-4.29 [[ 9.91723312e-01 1.03492091e-01 7.59885475e-02 5.21445838e+01] [-1.02798808e-01 9.94617352e-01 -1.29895226e-02 -7.65786845e+00] [-7.69238408e-02 5.07048029e-03 9.97024078e-01 -4.28584434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22577952299999 meters 0.032157644897868855 Centerline is valid? [True, True] Translation: X:52.21, Y:-7.66, Z:-4.29 [[ 9.91714544e-01 1.02067238e-01 7.80034796e-02 5.22072151e+01] [-1.01332153e-01 9.94763276e-01 -1.33349192e-02 -7.65745984e+00] [-7.89560552e-02 5.32017276e-03 9.96863901e-01 -4.28827698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285779522999995 meters 0.03356550856311713 Centerline is valid? [True, True] Translation: X:52.27, Y:-7.66, Z:-4.30 [[ 9.91892925e-01 1.00078285e-01 7.83119534e-02 5.22687078e+01] [-9.93297207e-02 9.94964260e-01 -1.34062457e-02 -7.65685453e+00] [-7.92592689e-02 5.51885579e-03 9.96838759e-01 -4.29842364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345779523 meters 0.03168319992783014 Centerline is valid? [True, True] Translation: X:52.33, Y:-7.66, Z:-4.30 [[ 9.91938783e-01 9.96796537e-02 7.82394875e-02 5.23309354e+01] [-9.89311621e-02 9.95004122e-01 -1.33948946e-02 -7.66089135e+00] [-7.91838110e-02 5.54659199e-03 9.96844601e-01 -4.30086803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40577952299999 meters 0.030386941764975327 Centerline is valid? [True, True] Translation: X:52.39, Y:-7.66, Z:-4.31 [[ 9.92393044e-01 9.86412588e-02 7.36610431e-02 5.23947821e+01] [-9.79737650e-02 9.95108856e-01 -1.26295712e-02 -7.65605139e+00] [-7.45465531e-02 5.31664890e-03 9.97203362e-01 -4.30812406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465779522999995 meters 0.03336290878786748 Centerline is valid? [True, True] Translation: X:52.46, Y:-7.66, Z:-4.31 [[ 9.92292493e-01 9.88966054e-02 7.46663882e-02 5.24570327e+01] [-9.82110953e-02 9.95083199e-01 -1.28065373e-02 -7.66044015e+00] [-7.55657916e-02 5.37476308e-03 9.97126333e-01 -4.30974120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525779523 meters 0.03157316675153163 Centerline is valid? [True, True] Translation: X:52.52, Y:-7.66, Z:-4.31 [[ 9.91897755e-01 1.00484433e-01 7.77285174e-02 5.25194003e+01] [-9.97444713e-02 9.94923467e-01 -1.33542090e-02 -7.65953488e+00] [-7.86758162e-02 5.49302005e-03 9.96885120e-01 -4.31388355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58577952299999 meters 0.0330664678626494 Centerline is valid? [True, True] Translation: X:52.58, Y:-7.65, Z:-4.33 [[ 9.91866722e-01 1.02482356e-01 7.54835883e-02 5.25813768e+01] [-1.01790161e-01 9.94721324e-01 -1.29711799e-02 -7.65405618e+00] [-7.64144519e-02 5.18219509e-03 9.97062674e-01 -4.32628549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645779522999995 meters 0.03019725991432967 Centerline is valid? [True, True] Translation: X:52.64, Y:-7.65, Z:-4.33 [[ 9.91770473e-01 1.04603063e-01 7.38209179e-02 5.26433998e+01] [-1.03946738e-01 9.94501930e-01 -1.26880366e-02 -7.65367884e+00] [-7.47422528e-02 4.91017645e-03 9.97190797e-01 -4.33193728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705779523 meters 0.027347919589326884 Centerline is valid? [True, True] Translation: X:52.71, Y:-7.65, Z:-4.33 [[ 9.90775645e-01 1.08864852e-01 8.06973649e-02 5.27072132e+01] [-1.08094012e-01 9.94043873e-01 -1.38731178e-02 -7.64810811e+00] [-8.17270161e-02 5.02224531e-03 9.96642098e-01 -4.32587073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76577952299999 meters 0.03265432791338903 Centerline is valid? [True, True] Translation: X:52.77, Y:-7.65, Z:-4.33 [[ 9.90154200e-01 1.10898147e-01 8.54181538e-02 5.27682172e+01] [-1.10041576e-01 9.93818473e-01 -1.46865625e-02 -7.64889386e+00] [-8.65188517e-02 5.14241332e-03 9.96236942e-01 -4.32955638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825779522999994 meters 0.02622335889524262 Centerline is valid? [True, True] Translation: X:52.83, Y:-7.64, Z:-4.34 [[ 9.89717178e-01 1.18582891e-01 7.99875310e-02 5.28310148e+01] [-1.17856330e-01 9.92935306e-01 -1.37609629e-02 -7.63811833e+00] [-8.10542583e-02 4.19242458e-03 9.96700873e-01 -4.34064029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885779523 meters 0.02709701706629439 Centerline is valid? [True, True] Translation: X:52.89, Y:-7.64, Z:-4.35 [[ 9.89700569e-01 1.20362562e-01 7.74960494e-02 5.28933786e+01] [-1.19685990e-01 9.92722257e-01 -1.33336111e-02 -7.63804452e+00] [-7.85369206e-02 3.92109106e-03 9.96903494e-01 -4.35056975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94577952299999 meters 0.025590567511459297 Centerline is valid? [True, True] Translation: X:52.96, Y:-7.63, Z:-4.35 [[ 9.89207281e-01 1.21925254e-01 8.12599998e-02 5.29575010e+01] [-1.21184689e-01 9.92531209e-01 -1.40025037e-02 -7.63377340e+00] [-8.23603446e-02 4.00391086e-03 9.96594573e-01 -4.35390101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005779522999994 meters 0.023335044493316172 Centerline is valid? [True, True] Translation: X:53.02, Y:-7.63, Z:-4.36 [[ 9.88238374e-01 1.28444205e-01 8.29879635e-02 5.30199568e+01] [-1.27693980e-01 9.91710410e-01 -1.43076652e-02 -7.63225195e+00] [-8.41377640e-02 3.54232049e-03 9.96447835e-01 -4.35649077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065779522999996 meters 0.022146858682861877 Centerline is valid? [True, True] Translation: X:53.08, Y:-7.64, Z:-4.36 [[ 9.87444457e-01 1.35232645e-01 8.16429743e-02 5.30794439e+01] [-1.34529504e-01 9.90809576e-01 -1.40782035e-02 -7.64044387e+00] [-8.27964735e-02 2.91805520e-03 9.96562205e-01 -4.35937649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125779523 meters 0.021024004992780336 Centerline is valid? [True, True] Translation: X:53.14, Y:-7.63, Z:-4.37 [[ 9.85435099e-01 1.46831988e-01 8.57789805e-02 5.31433732e+01] [-1.46099376e-01 9.89159336e-01 -1.47912480e-02 -7.62545008e+00] [-8.70209077e-02 2.04355937e-03 9.96204389e-01 -4.36569892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185779522999994 meters 0.01551243092999715 Centerline is valid? [True, True] Translation: X:53.20, Y:-7.62, Z:-4.38 [[ 9.83927576e-01 1.59633091e-01 8.00237557e-02 5.32040797e+01] [-1.59037780e-01 9.87176049e-01 -1.37997336e-02 -7.62187516e+00] [-8.12004291e-02 8.51137969e-04 9.96697429e-01 -4.37583634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245779522999996 meters 0.01819277317728736 Centerline is valid? [True, True] Translation: X:53.27, Y:-7.63, Z:-4.38 [[ 9.82908322e-01 1.67201468e-01 7.70382951e-02 5.32655884e+01] [-1.66673028e-01 9.85922726e-01 -1.32845736e-02 -7.63122363e+00] [-7.81750061e-02 2.17312040e-04 9.96939628e-01 -4.38438833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305779523 meters 0.017227644890187698 Centerline is valid? [True, True] Translation: X:53.33, Y:-7.64, Z:-4.39 [[ 9.82070093e-01 1.71213894e-01 7.88931861e-02 5.33276004e+01] [-1.70672019e-01 9.85233877e-01 -1.36113513e-02 -7.63940764e+00] [-8.00586921e-02 -9.75583153e-05 9.96790147e-01 -4.38729038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36577952299999 meters 0.019213980875607547 Centerline is valid? [True, True] Translation: X:53.39, Y:-7.64, Z:-4.39 [[ 9.80421394e-01 1.78235474e-01 8.37018925e-02 5.33891585e+01] [-1.77648833e-01 9.83987624e-01 -1.44654302e-02 -7.64079845e+00] [-8.49398791e-02 -6.87326250e-04 9.96385841e-01 -4.39040936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425779522999996 meters 0.019259813230225402 Centerline is valid? [True, True] Translation: X:53.45, Y:-7.65, Z:-4.40 [[ 9.79936020e-01 1.81157410e-01 8.31107098e-02 5.34497964e+01] [-1.80587963e-01 9.83453687e-01 -1.43816926e-02 -7.65181423e+00] [-8.43408842e-02 -9.15655174e-04 9.96436539e-01 -4.39640961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485779523 meters 0.018294660134287783 Centerline is valid? [True, True] Translation: X:53.51, Y:-7.67, Z:-4.40 [[ 9.78791657e-01 1.86952418e-01 8.37596868e-02 5.35101610e+01] [-1.86393535e-01 9.82367963e-01 -1.45132947e-02 -7.66750032e+00] [-8.49961285e-02 -1.40677228e-03 9.96380288e-01 -4.40222649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54577952299999 meters 0.01763933688056576 Centerline is valid? [True, True] Translation: X:53.57, Y:-7.68, Z:-4.41 [[ 9.78309766e-01 1.89506737e-01 8.36492627e-02 5.35704115e+01] [-1.88958076e-01 9.81878084e-01 -1.45007983e-02 -7.67920358e+00] [-8.48813768e-02 -1.61993115e-03 9.96389747e-01 -4.40756138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605779522999995 meters 0.017051727053609154 Centerline is valid? [True, True] Translation: X:53.63, Y:-7.70, Z:-4.42 [[ 9.78574925e-01 1.90052809e-01 7.91899381e-02 5.36295500e+01] [-1.89561544e-01 9.81772628e-01 -1.37450892e-02 -7.70388663e+00] [-8.03588065e-02 -1.56076732e-03 9.96764780e-01 -4.41571765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665779523 meters 0.01808789596293539 Centerline is valid? [True, True] Translation: X:53.69, Y:-7.72, Z:-4.42 [[ 9.78510077e-01 1.90614862e-01 7.86384392e-02 5.36884157e+01] [-1.90130397e-01 9.81663639e-01 -1.36723138e-02 -7.72391254e+00] [-7.98026426e-02 -1.57306091e-03 9.96809442e-01 -4.42053837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72577952299999 meters 0.017575703318673603 Centerline is valid? [True, True] Translation: X:53.75, Y:-7.74, Z:-4.42 [[ 9.78657703e-01 1.89159316e-01 8.02985284e-02 5.37482331e+01] [-1.88647449e-01 9.81945320e-01 -1.39831370e-02 -7.74166678e+00] [-8.14938048e-02 -1.46340786e-03 9.96672774e-01 -4.42490285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785779522999995 meters 0.019376609658975582 Centerline is valid? [True, True] Translation: X:53.81, Y:-7.77, Z:-4.43 [[ 9.79531240e-01 1.83564460e-01 8.25992619e-02 5.38054956e+01] [-1.83001208e-01 9.83007160e-01 -1.44042302e-02 -7.77326886e+00] [-8.38397706e-02 -1.00637125e-03 9.96478740e-01 -4.42911760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845779523 meters 0.015151532550202856 Centerline is valid? [True, True] Translation: X:53.86, Y:-7.80, Z:-4.43 [[ 9.80042491e-01 1.80923903e-01 8.23605320e-02 5.38642269e+01] [-1.80352899e-01 9.83496806e-01 -1.43828104e-02 -7.79611717e+00] [-8.36035143e-02 -7.58195402e-04 9.96498810e-01 -4.43255910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90577952299999 meters 0.017884668061058734 Centerline is valid? [True, True] Translation: X:53.92, Y:-7.82, Z:-4.44 [[ 9.81146557e-01 1.75307803e-01 8.13548206e-02 5.39224853e+01] [-1.74729731e-01 9.84513641e-01 -1.42271780e-02 -7.81949566e+00] [-8.25890659e-02 -2.56159167e-04 9.96583655e-01 -4.43943005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965779522999995 meters 0.014427927693800992 Centerline is valid? [True, True] Translation: X:53.98, Y:-7.84, Z:-4.44 [[ 9.82055730e-01 1.70351108e-01 8.09137968e-02 5.39821511e+01] [-1.69760848e-01 9.85383412e-01 -1.41699231e-02 -7.84253773e+00] [-8.21449753e-02 1.79659440e-04 9.96620374e-01 -4.44171577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025779523 meters 0.01896347236837335 Centerline is valid? [True, True] Translation: X:54.04, Y:-7.88, Z:-4.45 [[ 9.84302320e-01 1.58878615e-01 7.68539408e-02 5.40379136e+01] [-1.58309607e-01 9.87297510e-01 -1.34794417e-02 -7.87709890e+00] [-7.80192994e-02 1.10112858e-03 9.96951241e-01 -4.45213879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08577952299999 meters 0.018570163767103236 Centerline is valid? [True, True] Translation: X:54.09, Y:-7.90, Z:-4.46 [[ 9.85368206e-01 1.51395045e-01 7.82881789e-02 5.40941938e+01] [-1.50779467e-01 9.88471799e-01 -1.37497128e-02 -7.90405793e+00] [-7.94672954e-02 1.74427995e-03 9.96835948e-01 -4.45541645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145779522999995 meters 0.022493354476988803 Centerline is valid? [True, True] Translation: X:54.15, Y:-7.93, Z:-4.46 [[ 9.87074637e-01 1.39199078e-01 7.94183749e-02 5.41513987e+01] [-1.38525998e-01 9.90260550e-01 -1.39496122e-02 -7.92771308e+00] [-8.05866567e-02 2.76779876e-03 9.96743763e-01 -4.46354275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205779523 meters 0.023821199071864023 Centerline is valid? [True, True] Translation: X:54.21, Y:-7.95, Z:-4.47 [[ 9.87644697e-01 1.34463470e-01 8.04830848e-02 5.42100926e+01] [-1.33756299e-01 9.90913387e-01 -1.41390312e-02 -7.94899203e+00] [-8.16529493e-02 3.19921958e-03 9.96655688e-01 -4.46623867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26577952299999 meters 0.025104997913307694 Centerline is valid? [True, True] Translation: X:54.27, Y:-7.98, Z:-4.47 [[ 9.88298625e-01 1.29352131e-01 8.08322627e-02 5.42664169e+01] [-1.28621513e-01 9.91592040e-01 -1.42032398e-02 -7.97564542e+00] [-8.19898477e-02 3.64027443e-03 9.96626516e-01 -4.46597566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325779522999994 meters 0.027340039746143803 Centerline is valid? [True, True] Translation: X:54.33, Y:-7.99, Z:-4.48 [[ 9.88417355e-01 1.29740601e-01 7.87306052e-02 5.43275237e+01] [-1.29048817e-01 9.91541745e-01 -1.38336544e-02 -7.99012572e+00] [-7.98594684e-02 3.51333259e-03 9.96799941e-01 -4.47556876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385779523 meters 0.026821508824997876 Centerline is valid? [True, True] Translation: X:54.39, Y:-8.00, Z:-4.48 [[ 9.88010430e-01 1.33523878e-01 7.75033139e-02 5.43859134e+01] [-1.32863411e-01 9.91040498e-01 -1.36398751e-02 -8.00313769e+00] [-7.86301718e-02 3.17898424e-03 9.96898786e-01 -4.48180530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44577952299999 meters 0.023887125001788266 Centerline is valid? [True, True] Translation: X:54.45, Y:-8.01, Z:-4.48 [[ 9.87114168e-01 1.38669741e-01 7.98518723e-02 5.44463529e+01] [-1.37985217e-01 9.90334566e-01 -1.40544602e-02 -8.01489949e+00] [-8.10289976e-02 2.85497886e-03 9.96707656e-01 -4.48119728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505779522999994 meters 0.021026970351106556 Centerline is valid? [True, True] Translation: X:54.51, Y:-8.02, Z:-4.49 [[ 9.86724992e-01 1.41764489e-01 7.92251199e-02 5.45075371e+01] [-1.41100524e-01 9.89897047e-01 -1.39455234e-02 -8.01841009e+00] [-8.04016922e-02 2.58169058e-03 9.96759200e-01 -4.49149894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565779522999996 meters 0.019270937623071877 Centerline is valid? [True, True] Translation: X:54.57, Y:-8.03, Z:-4.50 [[ 9.86171534e-01 1.46075054e-01 7.82801700e-02 5.45677621e+01] [-1.45440186e-01 9.89271050e-01 -1.37819159e-02 -8.02787355e+00] [-7.94535001e-02 2.20625062e-03 9.96836132e-01 -4.49737720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62577952299999 meters 0.020696471418670592 Centerline is valid? [True, True] Translation: X:54.63, Y:-8.04, Z:-4.50 [[ 9.85844893e-01 1.49394483e-01 7.60995064e-02 5.46284949e+01] [-1.48804276e-01 9.88775875e-01 -1.33998871e-02 -8.04032678e+00] [-7.72472252e-02 1.88627830e-03 9.97010185e-01 -4.50292349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685779522999994 meters 0.01752156644244577 Centerline is valid? [True, True] Translation: X:54.69, Y:-8.05, Z:-4.50 [[ 9.85071108e-01 1.53350413e-01 7.82212400e-02 5.46896815e+01] [-1.52737617e-01 9.88170512e-01 -1.37934781e-02 -8.05005988e+00] [-7.94111583e-02 1.64023096e-03 9.96840598e-01 -4.50163701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745779522999996 meters 0.016078948548671642 Centerline is valid? [True, True] Translation: X:54.75, Y:-8.06, Z:-4.51 [[ 9.84708420e-01 1.56215307e-01 7.71109894e-02 5.47514242e+01] [-1.55628165e-01 9.87722043e-01 -1.36029645e-02 -8.05781656e+00] [-7.82892153e-02 1.39431194e-03 9.96929714e-01 -4.50978068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805779523 meters 0.015079188476958298 Centerline is valid? [True, True] Translation: X:54.81, Y:-8.06, Z:-4.52 [[ 9.83624724e-01 1.62419146e-01 7.81180055e-02 5.48117449e+01] [-1.61835465e-01 9.86721427e-01 -1.37879528e-02 -8.06384079e+00] [-7.93201374e-02 9.19907522e-04 9.96848770e-01 -4.51674248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86577952299999 meters 0.014900494927128268 Centerline is valid? [True, True] Translation: X:54.87, Y:-8.08, Z:-4.53 [[ 9.83619489e-01 1.64953710e-01 7.26840689e-02 5.48724208e+01] [-1.64455383e-01 9.86301085e-01 -1.28295370e-02 -8.07806899e+00] [-7.38046557e-02 6.66096187e-04 9.97272495e-01 -4.52545991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925779522999996 meters 0.014718556917536122 Centerline is valid? [True, True] Translation: X:54.93, Y:-8.09, Z:-4.53 [[ 9.83424655e-01 1.66162603e-01 7.25667714e-02 5.49331064e+01] [-1.65667627e-01 9.86098187e-01 -1.28297405e-02 -8.09426413e+00] [-7.36897848e-02 5.95118300e-04 9.97281034e-01 -4.52844529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985779523 meters 0.014278886726978657 Centerline is valid? [True, True] Translation: X:54.99, Y:-8.11, Z:-4.53 [[ 9.82625953e-01 1.69555670e-01 7.54792098e-02 5.49928091e+01] [-1.69028332e-01 9.85520539e-01 -1.33675124e-02 -8.10792700e+00] [-7.66528490e-02 3.77139696e-04 9.97057771e-01 -4.52966102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04577952299999 meters 0.014076344497638093 Centerline is valid? [True, True] Translation: X:55.05, Y:-8.11, Z:-4.54 [[ 9.82153525e-01 1.72097225e-01 7.58748860e-02 5.50535064e+01] [-1.71570548e-01 9.85079949e-01 -1.34551400e-02 -8.11477958e+00] [-7.70584211e-02 1.97117375e-04 9.97026560e-01 -4.53890809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105779522999995 meters 0.014367505228115404 Centerline is valid? [True, True] Translation: X:55.11, Y:-8.14, Z:-4.55 [[ 9.82937532e-01 1.69766945e-01 7.08024904e-02 5.51117688e+01] [-1.69301343e-01 9.85484170e-01 -1.25700756e-02 -8.13998959e+00] [-7.19087168e-02 3.68642419e-04 9.97411149e-01 -4.54704333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165779523 meters 0.015983993372516835 Centerline is valid? [True, True] Translation: X:55.17, Y:-8.17, Z:-4.55 [[ 9.84196193e-01 1.60857099e-01 7.40462585e-02 5.51687200e+01] [-1.60321081e-01 9.86977109e-01 -1.31657738e-02 -8.16934653e+00] [-7.51997703e-02 1.08652821e-03 9.97167897e-01 -4.54634121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22577952299999 meters 0.01585398930583315 Centerline is valid? [True, True] Translation: X:55.23, Y:-8.18, Z:-4.55 [[ 9.84060290e-01 1.59167224e-01 7.93167033e-02 5.52301151e+01] [-1.58544967e-01 9.87250752e-01 -1.41225647e-02 -8.17965387e+00] [-8.05533243e-02 1.32219096e-03 9.96749424e-01 -4.54806657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285779522999995 meters 0.015888336274831938 Centerline is valid? [True, True] Translation: X:55.29, Y:-8.19, Z:-4.55 [[ 9.83636388e-01 1.58746372e-01 8.52000375e-02 5.52913895e+01] [-1.58024564e-01 9.87318285e-01 -1.51934697e-02 -8.19124241e+00] [-8.65314631e-02 1.48115079e-03 9.96248017e-01 -4.54936678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345779523 meters 0.015794081713432245 Centerline is valid? [True, True] Translation: X:55.35, Y:-8.21, Z:-4.56 [[ 9.83511911e-01 1.62984996e-01 7.83595109e-02 5.53490169e+01] [-1.62386588e-01 9.86628003e-01 -1.39921520e-02 -8.21451452e+00] [-7.95921986e-02 1.03691460e-03 9.96826969e-01 -4.55586159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40577952299999 meters 0.01554740861878191 Centerline is valid? [True, True] Translation: X:55.41, Y:-8.23, Z:-4.56 [[ 9.83384211e-01 1.64955344e-01 7.57972812e-02 5.54086960e+01] [-1.64400010e-01 9.86300657e-01 -1.35518024e-02 -8.22932188e+00] [-7.69943504e-02 8.65554723e-04 9.97031153e-01 -4.56248835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465779522999995 meters 0.015397739168322324 Centerline is valid? [True, True] Translation: X:55.47, Y:-8.24, Z:-4.57 [[ 9.83482191e-01 1.65457668e-01 7.33930470e-02 5.54701899e+01] [-1.64937188e-01 9.86216555e-01 -1.31389021e-02 -8.24049037e+00] [-7.45553701e-02 8.16633450e-04 9.97216541e-01 -4.57391483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525779523 meters 0.014444748623557336 Centerline is valid? [True, True] Translation: X:55.53, Y:-8.25, Z:-4.58 [[ 9.82142097e-01 1.72355858e-01 7.54344671e-02 5.55309506e+01] [-1.71824572e-01 9.85034697e-01 -1.35263786e-02 -8.25099535e+00] [-7.66369180e-02 3.23330862e-04 9.97059014e-01 -4.57691251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58577952299999 meters 0.0141984270425593 Centerline is valid? [True, True] Translation: X:55.59, Y:-8.26, Z:-4.58 [[ 9.80629342e-01 1.79231615e-01 7.90070939e-02 5.55922093e+01] [-1.78669291e-01 9.83806885e-01 -1.41879335e-02 -8.25765584e+00] [-8.02706492e-02 -2.03037549e-04 9.96773084e-01 -4.57980921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645779522999995 meters 0.014624238490252498 Centerline is valid? [True, True] Translation: X:55.65, Y:-8.26, Z:-4.59 [[ 9.79283595e-01 1.85681075e-01 8.07847720e-02 5.56538071e+01] [-1.85113431e-01 9.82609794e-01 -1.45262131e-02 -8.26154534e+00] [-8.20771510e-02 -7.29064135e-04 9.96625712e-01 -4.58586461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705779523 meters 0.01760287372623372 Centerline is valid? [True, True] Translation: X:55.71, Y:-8.28, Z:-4.59 [[ 9.79097823e-01 1.87774278e-01 7.81554435e-02 5.57135735e+01] [-1.87248256e-01 9.82211833e-01 -1.40714171e-02 -8.27739355e+00] [-7.94074516e-02 -8.57176637e-04 9.96841874e-01 -4.58965570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76577952299999 meters 0.015061781065736957 Centerline is valid? [True, True] Translation: X:55.77, Y:-8.29, Z:-4.59 [[ 9.79112429e-01 1.88834620e-01 7.53680216e-02 5.57727753e+01] [-1.88347178e-01 9.82008499e-01 -1.35885118e-02 -8.29100843e+00] [-7.65780192e-02 -8.90673391e-04 9.97063194e-01 -4.59182544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825779522999994 meters 0.015277432952434472 Centerline is valid? [True, True] Translation: X:55.84, Y:-8.29, Z:-4.61 [[ 9.78721470e-01 1.90146840e-01 7.71262832e-02 5.58360275e+01] [-1.89639599e-01 9.81755146e-01 -1.39160270e-02 -8.28804935e+00] [-7.83652140e-02 -1.00628302e-03 9.96924210e-01 -4.60889446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885779523 meters 0.015645316496667616 Centerline is valid? [True, True] Translation: X:55.90, Y:-8.30, Z:-4.62 [[ 9.78417973e-01 1.92248106e-01 7.57557662e-02 5.58969046e+01] [-1.91763381e-01 9.81345700e-01 -1.36902280e-02 -8.29561176e+00] [-7.69745158e-02 -1.13241669e-03 9.97032418e-01 -4.61674809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94577952299999 meters 0.01636345405288302 Centerline is valid? [True, True] Translation: X:55.96, Y:-8.32, Z:-4.61 [[ 9.78135612e-01 1.94309345e-01 7.41255959e-02 5.59555640e+01] [-1.93849755e-01 9.80939509e-01 -1.34145913e-02 -8.31617250e+00] [-7.53193061e-02 -1.24793917e-03 9.97158686e-01 -4.61052276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005779522999994 meters 0.017085445415406023 Centerline is valid? [True, True] Translation: X:56.02, Y:-8.33, Z:-4.61 [[ 9.77816061e-01 1.95983032e-01 7.39351153e-02 5.60155298e+01] [-1.95529935e-01 9.80606337e-01 -1.33886605e-02 -8.32577456e+00] [-7.51251929e-02 -1.36488098e-03 9.97173176e-01 -4.61209212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065779522999996 meters 0.01645471995691216 Centerline is valid? [True, True] Translation: X:56.08, Y:-8.32, Z:-4.63 [[ 9.77636245e-01 1.96520309e-01 7.48808439e-02 5.60785190e+01] [-1.96055822e-01 9.80498744e-01 -1.35767553e-02 -8.32306953e+00] [-7.60886815e-02 -1.40769726e-03 9.97100061e-01 -4.63496606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12577952299999 meters 0.015877985003515824 Centerline is valid? [True, True] Translation: X:56.14, Y:-8.34, Z:-4.64 [[ 9.78156623e-01 1.94028019e-01 7.45838352e-02 5.61377977e+01] [-1.93558318e-01 9.80995269e-01 -1.35447416e-02 -8.34359429e+00] [-7.57944489e-02 -1.18744292e-03 9.97122756e-01 -4.63614260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185779522999994 meters 0.014991837996116619 Centerline is valid? [True, True] Translation: X:56.20, Y:-8.37, Z:-4.63 [[ 9.78838271e-01 1.89761778e-01 7.65905191e-02 5.61972684e+01] [-1.89251840e-01 9.81829785e-01 -1.39289055e-02 -8.36870324e+00] [-7.78420267e-02 -8.60750875e-04 9.96965334e-01 -4.62935611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245779522999996 meters 0.015318130120184542 Centerline is valid? [True, True] Translation: X:56.26, Y:-8.37, Z:-4.63 [[ 9.78441719e-01 1.91023752e-01 7.84966767e-02 5.62589007e+01] [-1.90490469e-01 9.81584941e-01 -1.42963465e-02 -8.37473384e+00] [-7.97820975e-02 -9.64726921e-04 9.96811861e-01 -4.63336280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305779523 meters 0.01602381578346636 Centerline is valid? [True, True] Translation: X:56.32, Y:-8.38, Z:-4.64 [[ 9.77982559e-01 1.94890166e-01 7.46186166e-02 5.63197708e+01] [-1.94418087e-01 9.80824342e-01 -1.36094831e-02 -8.38185261e+00] [-7.58401100e-02 -1.19737159e-03 9.97119273e-01 -4.64425438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36577952299999 meters 0.016311377647145967 Centerline is valid? [True, True] Translation: X:56.38, Y:-8.40, Z:-4.65 [[ 9.77983227e-01 1.95614928e-01 7.26884250e-02 5.63790648e+01] [-1.95167641e-01 9.80680046e-01 -1.32755306e-02 -8.39510581e+00] [-7.38809800e-02 -1.20318215e-03 9.97266340e-01 -4.65142292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425779522999996 meters 0.015886211356619096 Centerline is valid? [True, True] Translation: X:56.44, Y:-8.40, Z:-4.65 [[ 9.78094529e-01 1.93895728e-01 7.57333418e-02 5.64403083e+01] [-1.93403573e-01 9.81021527e-01 -1.38500000e-02 -8.40487032e+00] [-7.69814944e-02 -1.10048966e-03 9.97031914e-01 -4.65499964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485779523 meters 0.01625006650955179 Centerline is valid? [True, True] Translation: X:56.50, Y:-8.42, Z:-4.66 [[ 9.79276363e-01 1.86963606e-01 7.78615093e-02 5.65007213e+01] [-1.86419881e-01 9.82366686e-01 -1.42591085e-02 -8.41924693e+00] [-7.91544872e-02 -5.51325336e-04 9.96862209e-01 -4.65954490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54577952299999 meters 0.017080080790268733 Centerline is valid? [True, True] Translation: X:56.56, Y:-8.44, Z:-4.66 [[ 9.79969107e-01 1.84392649e-01 7.52323125e-02 5.65611658e+01] [-1.83876144e-01 9.82852610e-01 -1.37953429e-02 -8.43687277e+00] [-7.64860344e-02 -3.14417712e-04 9.97070603e-01 -4.66272436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605779522999995 meters 0.01428948755710522 Centerline is valid? [True, True] Translation: X:56.62, Y:-8.45, Z:-4.67 [[ 9.80900971e-01 1.80226748e-01 7.31546560e-02 5.66207914e+01] [-1.79725319e-01 9.83625090e-01 -1.34347008e-02 -8.45353579e+00] [-7.43780476e-02 3.03671117e-05 9.97230116e-01 -4.66618741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665779523 meters 0.015261796292505053 Centerline is valid? [True, True] Translation: X:56.68, Y:-8.47, Z:-4.68 [[ 9.82574659e-01 1.70428196e-01 7.41705473e-02 5.66811775e+01] [-1.69883295e-01 9.85369771e-01 -1.36411461e-02 -8.46577387e+00] [-7.54102511e-02 8.03107478e-04 9.97152270e-01 -4.67602192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72577952299999 meters 0.017271411729132997 Centerline is valid? [True, True] Translation: X:56.74, Y:-8.48, Z:-4.68 [[ 9.83449872e-01 1.64622790e-01 7.56682622e-02 5.67401928e+01] [-1.64036932e-01 9.86355749e-01 -1.39363086e-02 -8.48334148e+00] [-7.69300594e-02 1.29327139e-03 9.97035653e-01 -4.67931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785779522999995 meters 0.018684310432179337 Centerline is valid? [True, True] Translation: X:56.80, Y:-8.50, Z:-4.68 [[ 9.84758282e-01 1.56541086e-01 7.58024714e-02 5.68000665e+01] [-1.55928523e-01 9.87669548e-01 -1.39699879e-02 -8.49587561e+00] [-7.70546697e-02 1.93729387e-03 9.97024987e-01 -4.68354056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845779523 meters 0.02265650388717396 Centerline is valid? [True, True] Translation: X:56.86, Y:-8.51, Z:-4.69 [[ 9.86024730e-01 1.50133026e-01 7.22170723e-02 5.68583674e+01] [-1.49559316e-01 9.88663057e-01 -1.33180669e-02 -8.51281015e+00] [-7.33978331e-02 2.33120737e-03 9.97300017e-01 -4.69102546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90577952299999 meters 0.023858489906715356 Centerline is valid? [True, True] Translation: X:56.92, Y:-8.52, Z:-4.69 [[ 9.86600594e-01 1.45832210e-01 7.31589610e-02 5.69191957e+01] [-1.45231392e-01 9.89305684e-01 -1.34946825e-02 -8.52181097e+00] [-7.43445353e-02 2.68888402e-03 9.97228991e-01 -4.69364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965779522999995 meters 0.02402400570719231 Centerline is valid? [True, True] Translation: X:56.98, Y:-8.53, Z:-4.70 [[ 9.86530467e-01 1.43932319e-01 7.77246815e-02 5.69811638e+01] [-1.43247925e-01 9.89582949e-01 -1.43394239e-02 -8.52761067e+00] [-7.89789260e-02 3.01237927e-03 9.96871734e-01 -4.69620730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025779523 meters 0.023790589735512284 Centerline is valid? [True, True] Translation: X:57.04, Y:-8.54, Z:-4.70 [[ 9.87116850e-01 1.39858930e-01 7.77161763e-02 5.70409360e+01] [-1.39160517e-01 9.90165746e-01 -1.43577653e-02 -8.53726446e+00] [-7.89599574e-02 3.35776880e-03 9.96872133e-01 -4.70049065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08577952299999 meters 0.02493829368959316 Centerline is valid? [True, True] Translation: X:57.10, Y:-8.54, Z:-4.70 [[ 9.87314441e-01 1.36908355e-01 8.04132841e-02 5.71027054e+01] [-1.36150631e-01 9.90576730e-01 -1.48575737e-02 -8.53946826e+00] [-8.16896540e-02 3.72077773e-03 9.96650870e-01 -4.70324391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145779522999995 meters 0.02755382664437152 Centerline is valid? [True, True] Translation: X:57.16, Y:-8.55, Z:-4.71 [[ 9.87309779e-01 1.37396601e-01 7.96340058e-02 5.71627039e+01] [-1.36654877e-01 9.90509400e-01 -1.47164371e-02 -8.55023019e+00] [-8.09002197e-02 3.64730703e-03 9.96715532e-01 -4.71033336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205779523 meters 0.023407568244710318 Centerline is valid? [True, True] Translation: X:57.22, Y:-8.56, Z:-4.71 [[ 9.86505279e-01 1.45491916e-01 7.50961805e-02 5.72242174e+01] [-1.44854527e-01 9.89355395e-01 -1.38949319e-02 -8.55632338e+00] [-7.63184116e-02 2.82940192e-03 9.97079483e-01 -4.70760734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26577952299999 meters 0.020620052478296787 Centerline is valid? [True, True] Translation: X:57.29, Y:-8.55, Z:-4.72 [[ 9.85533367e-01 1.52831675e-01 7.32561336e-02 5.72865360e+01] [-1.52245284e-01 9.88249770e-01 -1.35559999e-02 -8.55289240e+00] [-7.44671434e-02 2.20698931e-03 9.97221026e-01 -4.71746493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325779522999994 meters 0.01861921690467466 Centerline is valid? [True, True] Translation: X:57.35, Y:-8.54, Z:-4.73 [[ 9.83707212e-01 1.60470542e-01 8.10513801e-02 5.73509421e+01] [-1.59778102e-01 9.87038978e-01 -1.50004699e-02 -8.53751902e+00] [-8.24080049e-02 1.80583477e-03 9.96597040e-01 -4.72808434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385779523 meters 0.020153389336125302 Centerline is valid? [True, True] Translation: X:57.41, Y:-8.55, Z:-4.74 [[ 9.83716456e-01 1.62183879e-01 7.74488417e-02 5.74113089e+01] [-1.61556948e-01 9.86759274e-01 -1.43348660e-02 -8.54769077e+00] [-7.87482470e-02 1.58904511e-03 9.96893268e-01 -4.73681006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44577952299999 meters 0.016818664438203464 Centerline is valid? [True, True] Translation: X:57.47, Y:-8.56, Z:-4.73 [[ 9.82865373e-01 1.67753700e-01 7.63829425e-02 5.74732427e+01] [-1.67159181e-01 9.85828272e-01 -1.41572116e-02 -8.55667576e+00] [-7.76753888e-02 1.14652296e-03 9.96978044e-01 -4.72916088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505779522999994 meters 0.017484238550207677 Centerline is valid? [True, True] Translation: X:57.54, Y:-8.54, Z:-4.74 [[ 9.80521064e-01 1.78828208e-01 8.12337012e-02 5.75377172e+01] [-1.78193096e-01 9.83880270e-01 -1.50610141e-02 -8.54399043e+00] [-8.26175700e-02 2.92356890e-04 9.96581282e-01 -4.73616577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565779522999996 meters 0.01570700437047892 Centerline is valid? [True, True] Translation: X:57.60, Y:-8.55, Z:-4.74 [[ 9.79349219e-01 1.85914852e-01 7.94403882e-02 5.75996683e+01] [-1.85330535e-01 9.82565815e-01 -1.47313476e-02 -8.55475055e+00] [-8.07941861e-02 -2.95595885e-04 9.96730762e-01 -4.73948789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62577952299999 meters 0.01847002923621037 Centerline is valid? [True, True] Translation: X:57.66, Y:-8.56, Z:-4.75 [[ 9.78718713e-01 1.90266703e-01 7.68652173e-02 5.76605084e+01] [-1.89731402e-01 9.81732248e-01 -1.42754438e-02 -8.55981584e+00] [-7.81772042e-02 -6.12101392e-04 9.96939291e-01 -4.75240751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685779522999994 meters 0.016976092733852626 Centerline is valid? [True, True] Translation: X:57.72, Y:-8.56, Z:-4.76 [[ 9.77893598e-01 1.93996106e-01 7.80360258e-02 5.77222906e+01] [-1.93454704e-01 9.81001881e-01 -1.45116043e-02 -8.55667143e+00] [-7.93686828e-02 -9.05631391e-04 9.96844919e-01 -4.76102161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745779522999996 meters 0.019168203529551047 Centerline is valid? [True, True] Translation: X:57.78, Y:-8.58, Z:-4.76 [[ 9.78177120e-01 1.93339416e-01 7.60880544e-02 5.77819146e+01] [-1.92822085e-01 9.81131588e-01 -1.41580222e-02 -8.58433773e+00] [-7.73896974e-02 -8.22403891e-04 9.97000581e-01 -4.76000985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805779523 meters 0.01682926716318498 Centerline is valid? [True, True] Translation: X:57.84, Y:-8.60, Z:-4.75 [[ 9.77949684e-01 1.92860992e-01 8.01189958e-02 5.78425718e+01] [-1.92283718e-01 9.81225761e-01 -1.49324461e-02 -8.60036579e+00] [-8.14947090e-02 -8.02397484e-04 9.96673451e-01 -4.75377801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86577952299999 meters 0.017058331398510904 Centerline is valid? [True, True] Translation: X:57.91, Y:-8.60, Z:-4.77 [[ 9.77583589e-01 1.94749797e-01 8.00177708e-02 5.79054327e+01] [-1.94178645e-01 9.80852504e-01 -1.49337985e-02 -8.59579077e+00] [-8.13939851e-02 -9.38705998e-04 9.96681563e-01 -4.76977982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925779522999996 meters 0.01694087225630359 Centerline is valid? [True, True] Translation: X:57.96, Y:-8.62, Z:-4.78 [[ 9.78240067e-01 1.93093856e-01 7.59021412e-02 5.79633014e+01] [-1.92573648e-01 9.81180010e-01 -1.41837039e-02 -8.61531544e+00] [-7.72124497e-02 -7.41684754e-04 9.97014387e-01 -4.77789954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985779523 meters 0.016255843187995368 Centerline is valid? [True, True] Translation: X:58.02, Y:-8.65, Z:-4.78 [[ 9.80368963e-01 1.82889264e-01 7.36764166e-02 5.80204801e+01] [-1.82369109e-01 9.83133516e-01 -1.37839378e-02 -8.64771359e+00] [-7.49546888e-02 7.70423771e-05 9.97186938e-01 -4.78008920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04577952299999 meters 0.01688268257424599 Centerline is valid? [True, True] Translation: X:58.08, Y:-8.66, Z:-4.79 [[ 9.81785769e-01 1.73831344e-01 7.66770345e-02 5.80802860e+01] [-1.73238678e-01 9.84775096e-01 -1.43655738e-02 -8.66260566e+00] [-7.80068210e-02 8.20487768e-04 9.96952488e-01 -4.78814493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105779522999995 meters 0.01765826058940814 Centerline is valid? [True, True] Translation: X:58.14, Y:-8.69, Z:-4.79 [[ 9.82315644e-01 1.69746796e-01 7.90063395e-02 5.81393338e+01] [-1.69102642e-01 9.85486978e-01 -1.48226924e-02 -8.68605811e+00] [-8.03758234e-02 1.20038187e-03 9.96763907e-01 -4.78662527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165779523 meters 0.021679386763187564 Centerline is valid? [True, True] Translation: X:58.20, Y:-8.71, Z:-4.79 [[ 9.83825262e-01 1.60553854e-01 7.94374863e-02 5.81966735e+01] [-1.59871053e-01 9.87025091e-01 -1.49237083e-02 -8.70634825e+00] [-8.08028510e-02 1.98256671e-03 9.96728132e-01 -4.79470515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22577952299999 meters 0.0236039784291736 Centerline is valid? [True, True] Translation: X:58.25, Y:-8.72, Z:-4.80 [[ 9.84944781e-01 1.54122496e-01 7.82945365e-02 5.82538519e+01] [-1.53438842e-01 9.88048647e-01 -1.47103217e-02 -8.72267318e+00] [-7.96260023e-02 2.47543165e-03 9.96821735e-01 -4.80363771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285779522999995 meters 0.02323126678808167 Centerline is valid? [True, True] Translation: X:58.31, Y:-8.74, Z:-4.80 [[ 9.85190876e-01 1.52046844e-01 7.92508295e-02 5.83136487e+01] [-1.51339158e-01 9.88369650e-01 -1.48960995e-02 -8.74053605e+00] [-8.05940196e-02 2.68174751e-03 9.96743403e-01 -4.80221869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345779523 meters 0.02376648587567655 Centerline is valid? [True, True] Translation: X:58.37, Y:-8.76, Z:-4.81 [[ 9.86080129e-01 1.46049030e-01 7.94711320e-02 5.83726547e+01] [-1.45317120e-01 9.89272206e-01 -1.49478277e-02 -8.75592465e+00] [-8.08016977e-02 3.19123977e-03 9.96725088e-01 -4.80630548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40577952299999 meters 0.024103390952660342 Centerline is valid? [True, True] Translation: X:58.43, Y:-8.77, Z:-4.82 [[ 9.86510050e-01 1.43545271e-01 7.86935572e-02 5.84333261e+01] [-1.42819466e-01 9.89638028e-01 -1.48045245e-02 -8.76683858e+00] [-8.00032562e-02 3.36584040e-03 9.96788920e-01 -4.81684481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465779522999995 meters 0.02536539521907215 Centerline is valid? [True, True] Translation: X:58.49, Y:-8.78, Z:-4.83 [[ 9.86189506e-01 1.47123200e-01 7.60593379e-02 5.84915169e+01] [-1.46455466e-01 9.89113694e-01 -1.43141841e-02 -8.78024409e+00] [-7.73372812e-02 2.97719234e-03 9.97000542e-01 -4.82534029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525779523 meters 0.022699462180050277 Centerline is valid? [True, True] Translation: X:58.55, Y:-8.78, Z:-4.83 [[ 9.84887576e-01 1.54204851e-01 7.88500245e-02 5.85532629e+01] [-1.53509006e-01 9.88035685e-01 -1.48482269e-02 -8.78299074e+00] [-8.01963066e-02 2.51964528e-03 9.96775905e-01 -4.82614654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58577952299999 meters 0.020109138393714667 Centerline is valid? [True, True] Translation: X:58.61, Y:-8.79, Z:-4.83 [[ 9.84031463e-01 1.58676021e-01 8.06473810e-02 5.86126464e+01] [-1.57962833e-01 9.87328239e-01 -1.51885717e-02 -8.79451544e+00] [-8.20354988e-02 2.20674364e-03 9.96626965e-01 -4.82572031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645779522999995 meters 0.018587601641749368 Centerline is valid? [True, True] Translation: X:58.67, Y:-8.80, Z:-4.83 [[ 9.82646745e-01 1.66455958e-01 8.18400176e-02 5.86726075e+01] [-1.65748234e-01 9.86047621e-01 -1.54146988e-02 -8.79746456e+00] [-8.32640231e-02 1.58236522e-03 9.96526266e-01 -4.83374692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705779523 meters 0.01702551328173952 Centerline is valid? [True, True] Translation: X:58.73, Y:-8.80, Z:-4.84 [[ 9.81613615e-01 1.73893400e-01 7.87133811e-02 5.87342300e+01] [-1.73262581e-01 9.84764056e-01 -1.48267281e-02 -8.80182836e+00] [-8.00923786e-02 9.16034633e-04 9.96787024e-01 -4.84215496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76577952299999 meters 0.016113821033328188 Centerline is valid? [True, True] Translation: X:58.80, Y:-8.81, Z:-4.84 [[ 9.80151202e-01 1.82102202e-01 7.83735242e-02 5.87952758e+01] [-1.81502666e-01 9.83279577e-01 -1.47667092e-02 -8.80997226e+00] [-7.97521360e-02 2.48604153e-04 9.96814694e-01 -4.84302592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825779522999994 meters 0.016156417671198957 Centerline is valid? [True, True] Translation: X:58.86, Y:-8.82, Z:-4.84 [[ 9.78917254e-01 1.87047792e-01 8.20617659e-02 5.88571181e+01] [-1.86406070e-01 9.82350805e-01 -1.54813974e-02 -8.82209235e+00] [-8.35092029e-02 -1.41804194e-04 9.96506996e-01 -4.84136172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885779523 meters 0.016732639478474 Centerline is valid? [True, True] Translation: X:58.92, Y:-8.82, Z:-4.85 [[ 9.77411069e-01 1.94296312e-01 8.31657685e-02 5.89194620e+01] [-1.93661286e-01 9.80942600e-01 -1.57137384e-02 -8.82433273e+00] [-8.46339666e-02 -7.47207871e-04 9.96411829e-01 -4.85228790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94577952299999 meters 0.017183202383044698 Centerline is valid? [True, True] Translation: X:58.98, Y:-8.83, Z:-4.86 [[ 9.76528606e-01 1.98981141e-01 8.24523301e-02 5.89797206e+01] [-1.98371898e-01 9.80002676e-01 -1.55995283e-02 -8.83370554e+00] [-8.39075160e-02 -1.12283959e-03 9.96472914e-01 -4.86231611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005779522999994 meters 0.017439727300628212 Centerline is valid? [True, True] Translation: X:59.04, Y:-8.85, Z:-4.87 [[ 9.76212542e-01 2.00617488e-01 8.22295305e-02 5.90398034e+01] [-2.00015685e-01 9.79668864e-01 -1.55769633e-02 -8.84716912e+00] [-8.36827221e-02 -1.24076893e-03 9.96491677e-01 -4.86507189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065779522999996 meters 0.018399698632454487 Centerline is valid? [True, True] Translation: X:59.10, Y:-8.87, Z:-4.86 [[ 9.75417544e-01 2.05015937e-01 8.08027241e-02 5.90994113e+01] [-2.04448360e-01 9.78757374e-01 -1.53255134e-02 -8.86850150e+00] [-8.22282365e-02 -1.57120976e-03 9.96612286e-01 -4.86050920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12577952299999 meters 0.021087117499782655 Centerline is valid? [True, True] Translation: X:59.16, Y:-8.88, Z:-4.87 [[ 9.74901832e-01 2.07489617e-01 8.07123054e-02 5.91600440e+01] [-2.06930083e-01 9.78235641e-01 -1.53287814e-02 -8.87692283e+00] [-8.21362168e-02 -1.75774702e-03 9.96619562e-01 -4.87310644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185779522999994 meters 0.020832507327206526 Centerline is valid? [True, True] Translation: X:59.22, Y:-8.89, Z:-4.88 [[ 9.74520979e-01 2.09012371e-01 8.13799122e-02 5.92204984e+01] [-2.08447108e-01 9.77911187e-01 -1.54762525e-02 -8.88577892e+00] [-8.28170547e-02 -1.88147454e-03 9.96562991e-01 -4.88368554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245779522999996 meters 0.01861466038554306 Centerline is valid? [True, True] Translation: X:59.28, Y:-8.91, Z:-4.88 [[ 9.75159849e-01 2.05886170e-01 8.16954880e-02 5.92787973e+01] [-2.05303823e-01 9.78574636e-01 -1.55570277e-02 -8.91159557e+00] [-8.31481093e-02 -1.60180726e-03 9.96535913e-01 -4.88370934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305779523 meters 0.017241129916782415 Centerline is valid? [True, True] Translation: X:59.34, Y:-8.94, Z:-4.89 [[ 9.76566761e-01 1.99509846e-01 8.07042888e-02 5.93359845e+01] [-1.98918166e-01 9.79895285e-01 -1.53881293e-02 -8.93726590e+00] [-8.21518353e-02 -1.02601354e-03 9.96619297e-01 -4.88501008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36577952299999 meters 0.01676488041405649 Centerline is valid? [True, True] Translation: X:59.40, Y:-8.95, Z:-4.89 [[ 9.76852288e-01 1.96745679e-01 8.39687185e-02 5.93967275e+01] [-1.96094542e-01 9.80454212e-01 -1.60146233e-02 -8.95111600e+00] [-8.54782917e-02 -8.21886079e-04 9.96339694e-01 -4.89004875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425779522999996 meters 0.01607620485414792 Centerline is valid? [True, True] Translation: X:59.46, Y:-8.97, Z:-4.90 [[ 9.77845120e-01 1.91428451e-01 8.46998781e-02 5.94550289e+01] [-1.90744174e-01 9.81506512e-01 -1.61748963e-02 -8.97441509e+00] [-8.62298173e-02 -3.39464860e-04 9.96275215e-01 -4.89644549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485779523 meters 0.01592607020882386 Centerline is valid? [True, True] Translation: X:59.51, Y:-9.00, Z:-4.90 [[ 9.79778641e-01 1.84003159e-01 7.85916857e-02 5.95124998e+01] [-1.83388864e-01 9.82925603e-01 -1.50260643e-02 -9.00182709e+00] [-8.00146234e-02 3.09376867e-04 9.96793642e-01 -4.90377130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54577952299999 meters 0.016889173773440656 Centerline is valid? [True, True] Translation: X:59.57, Y:-9.02, Z:-4.92 [[ 9.81240792e-01 1.77848859e-01 7.44062536e-02 5.95698727e+01] [-1.77279352e-01 9.84057502e-01 -1.42430535e-02 -9.02144448e+00] [-7.57531428e-02 7.85172731e-04 9.97126293e-01 -4.91517806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605779522999995 meters 0.01684870042245909 Centerline is valid? [True, True] Translation: X:59.63, Y:-9.04, Z:-4.92 [[ 9.81473027e-01 1.75085045e-01 7.78198183e-02 5.96309400e+01] [-1.74451873e-01 9.84552740e-01 -1.49146204e-02 -9.03506391e+00] [-7.92290423e-02 1.06248457e-03 9.96855872e-01 -4.91534142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665779523 meters 0.01801576353356939 Centerline is valid? [True, True] Translation: X:59.69, Y:-9.04, Z:-4.92 [[ 9.82417317e-01 1.69312511e-01 7.86733094e-02 5.96913607e+01] [-1.68645270e-01 9.85561173e-01 -1.50979275e-02 -9.04472468e+00] [-8.00936271e-02 1.56458393e-03 9.96786117e-01 -4.92324623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72577952299999 meters 0.01937137033956409 Centerline is valid? [True, True] Translation: X:59.75, Y:-9.06, Z:-4.93 [[ 9.83173200e-01 1.66067834e-01 7.61047560e-02 5.97503413e+01] [-1.65432464e-01 9.86112714e-01 -1.46224390e-02 -9.06122845e+00] [-7.74761842e-02 1.78619278e-03 9.96992603e-01 -4.92866633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785779522999995 meters 0.019919482828153926 Centerline is valid? [True, True] Translation: X:59.81, Y:-9.08, Z:-4.93 [[ 9.83991857e-01 1.62757175e-01 7.25956388e-02 5.98105026e+01] [-1.62169591e-01 9.86664210e-01 -1.39556886e-02 -9.07532648e+00] [-7.38989070e-02 1.95947892e-03 9.97263813e-01 -4.93004141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845779523 meters 0.02131606886488788 Centerline is valid? [True, True] Translation: X:59.87, Y:-9.07, Z:-4.95 [[ 9.84749272e-01 1.58547873e-01 7.16340933e-02 5.98719352e+01] [-1.57963347e-01 9.87348698e-01 -1.37887571e-02 -9.07336035e+00] [-7.29140068e-02 2.26290738e-03 9.97335664e-01 -4.94535493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90577952299999 meters 0.02149151228858261 Centerline is valid? [True, True] Translation: X:59.93, Y:-9.08, Z:-4.95 [[ 9.85191223e-01 1.56082341e-01 7.09687019e-02 5.99333920e+01] [-1.55502200e-01 9.87741075e-01 -1.36614578e-02 -9.08113878e+00] [-7.22310141e-02 2.42335898e-03 9.97384985e-01 -4.95306539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965779522999995 meters 0.02392878905661695 Centerline is valid? [True, True] Translation: X:59.99, Y:-9.10, Z:-4.95 [[ 9.85837332e-01 1.51650426e-01 7.16024018e-02 5.99920501e+01] [-1.51047798e-01 9.88430286e-01 -1.37888679e-02 -9.09902027e+00] [-7.28650702e-02 2.77819559e-03 9.97337938e-01 -4.94952958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025779523 meters 0.025343642979908546 Centerline is valid? [True, True] Translation: X:60.05, Y:-9.10, Z:-4.95 [[ 9.86023012e-01 1.49391191e-01 7.37623966e-02 6.00536766e+01] [-1.48745055e-01 9.88773506e-01 -1.42078332e-02 -9.10351821e+00] [-7.50568286e-02 3.03745872e-03 9.97174632e-01 -4.95390921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08577952299999 meters 0.0251059261078488 Centerline is valid? [True, True] Translation: X:60.12, Y:-9.10, Z:-4.97 [[ 9.85855543e-01 1.52433782e-01 6.96619708e-02 6.01157588e+01] [-1.51864713e-01 9.88310119e-01 -1.34245382e-02 -9.10184836e+00] [-7.08939838e-02 2.65546017e-03 9.97480321e-01 -4.96847883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145779522999995 meters 0.023462020982846957 Centerline is valid? [True, True] Translation: X:60.18, Y:-9.11, Z:-4.97 [[ 9.85347656e-01 1.56236912e-01 6.84107004e-02 6.01763011e+01] [-1.55696000e-01 9.87716798e-01 -1.32016374e-02 -9.10998913e+00] [-6.96329810e-02 2.35693004e-03 9.97569894e-01 -4.97198105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205779523 meters 0.019344125403741648 Centerline is valid? [True, True] Translation: X:60.24, Y:-9.11, Z:-4.97 [[ 9.84205929e-01 1.61937816e-01 7.15180677e-02 6.02390848e+01] [-1.61361365e-01 9.86798844e-01 -1.38040255e-02 -9.10743631e+00] [-7.28093403e-02 2.04575069e-03 9.97343780e-01 -4.97195029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26577952299999 meters 0.017367242737019728 Centerline is valid? [True, True] Translation: X:60.30, Y:-9.10, Z:-4.98 [[ 9.82659196e-01 1.71083290e-01 7.14941466e-02 6.03002111e+01] [-1.70531210e-01 9.85255617e-01 -1.38012844e-02 -9.10384634e+00] [-7.28011786e-02 1.36997568e-03 9.97345533e-01 -4.97924578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325779522999994 meters 0.015672228035636997 Centerline is valid? [True, True] Translation: X:60.36, Y:-9.12, Z:-4.98 [[ 9.81510813e-01 1.78139967e-01 7.00191079e-02 6.03611349e+01] [-1.77628377e-01 9.84004809e-01 -1.35164827e-02 -9.11609181e+00] [-7.13069647e-02 8.29193478e-04 9.97454074e-01 -4.97961257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385779523 meters 0.017269068993283756 Centerline is valid? [True, True] Translation: X:60.42, Y:-9.11, Z:-4.99 [[ 9.80034307e-01 1.85359542e-01 7.19346752e-02 6.04245194e+01] [-1.84838744e-01 9.82670718e-01 -1.38887646e-02 -9.11028692e+00] [-7.32625140e-02 3.15150746e-04 9.97312641e-01 -4.99151033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44577952299999 meters 0.014199626824842783 Centerline is valid? [True, True] Translation: X:60.49, Y:-9.11, Z:-4.99 [[ 9.78492653e-01 1.92760378e-01 7.34545078e-02 6.04867960e+01] [-1.92236721e-01 9.81245834e-01 -1.42006055e-02 -9.11322512e+00] [-7.48142438e-02 -2.25465581e-04 9.97197462e-01 -4.99452071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505779522999994 meters 0.01510004051401477 Centerline is valid? [True, True] Translation: X:60.55, Y:-9.13, Z:-4.99 [[ 9.76816573e-01 2.00680620e-01 7.45430852e-02 6.05464068e+01] [-2.00162843e-01 9.79656372e-01 -1.44301328e-02 -9.12871069e+00] [-7.59224564e-02 -8.25162957e-04 9.97113384e-01 -4.98940220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565779522999996 meters 0.017812154921766882 Centerline is valid? [True, True] Translation: X:60.61, Y:-9.13, Z:-5.00 [[ 9.76598358e-01 2.02020895e-01 7.37780811e-02 6.06080506e+01] [-2.01516265e-01 9.79380795e-01 -1.42987163e-02 -9.13368904e+00] [-7.51454752e-02 -9.03380470e-04 9.97172172e-01 -5.00253169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62577952299999 meters 0.015642802084252203 Centerline is valid? [True, True] Translation: X:60.67, Y:-9.15, Z:-5.01 [[ 9.76365855e-01 2.02897042e-01 7.44480171e-02 6.06699240e+01] [-2.02384361e-01 9.79199604e-01 -1.44466349e-02 -9.14595805e+00] [-7.58306483e-02 -9.61913353e-04 9.97120247e-01 -5.00707538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685779522999994 meters 0.017465376255719083 Centerline is valid? [True, True] Translation: X:60.73, Y:-9.17, Z:-5.01 [[ 9.77240220e-01 1.98413510e-01 7.50575260e-02 6.07288498e+01] [-1.97877513e-01 9.80118218e-01 -1.45865773e-02 -9.17084229e+00] [-7.64594227e-02 -5.97606565e-04 9.97072515e-01 -5.00912709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745779522999996 meters 0.01429634952033021 Centerline is valid? [True, True] Translation: X:60.79, Y:-9.19, Z:-5.01 [[ 9.78283180e-01 1.92460307e-01 7.69483592e-02 6.07878967e+01] [-1.91877996e-01 9.81304751e-01 -1.49606494e-02 -9.19095116e+00] [-7.83891216e-02 -1.28945328e-04 9.96922830e-01 -5.00568478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805779523 meters 0.014336889814608084 Centerline is valid? [True, True] Translation: X:60.85, Y:-9.21, Z:-5.01 [[ 9.78797363e-01 1.89128371e-01 7.86522814e-02 6.08491113e+01] [-1.88507747e-01 9.81952358e-01 -1.53099719e-02 -9.20810456e+00] [-8.01283432e-02 1.58795824e-04 9.96784542e-01 -5.00797269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86577952299999 meters 0.014787778685360358 Centerline is valid? [True, True] Translation: X:60.91, Y:-9.23, Z:-5.01 [[ 9.79795371e-01 1.84178176e-01 7.79706978e-02 6.09074071e+01] [-1.83550761e-01 9.82892701e-01 -1.52005697e-02 -9.22645117e+00] [-7.94364429e-02 5.81866944e-04 9.96839763e-01 -5.01497807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925779522999996 meters 0.015059664800574517 Centerline is valid? [True, True] Translation: X:60.97, Y:-9.24, Z:-5.02 [[ 9.80169517e-01 1.82736484e-01 7.66491654e-02 6.09675902e+01] [-1.82124989e-01 9.83161681e-01 -1.49531495e-02 -9.23846447e+00] [-7.80910083e-02 6.96892937e-04 9.96945991e-01 -5.02330810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985779523 meters 0.016435271473856136 Centerline is valid? [True, True] Translation: X:61.03, Y:-9.26, Z:-5.03 [[ 9.81133221e-01 1.77388563e-01 7.68823834e-02 6.10258305e+01] [-1.76755419e-01 9.84140227e-01 -1.50178422e-02 -9.25721564e+00] [-7.83270397e-02 1.14512604e-03 9.96927060e-01 -5.02811070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045779523 meters 0.016779054953130777 Centerline is valid? [True, True] Translation: X:61.09, Y:-9.28, Z:-5.03 [[ 9.81793740e-01 1.74720235e-01 7.45244439e-02 6.10856215e+01] [-1.74116477e-01 9.84617217e-01 -1.45735287e-02 -9.27741020e+00] [-7.59243409e-02 1.33226561e-03 9.97112691e-01 -5.02935889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105779523 meters 0.017794640298158255 Centerline is valid? [True, True] Translation: X:61.15, Y:-9.29, Z:-5.04 [[ 9.82446194e-01 1.71061553e-01 7.44138496e-02 6.11460034e+01] [-1.70447623e-01 9.85258992e-01 -1.45714091e-02 -9.29078385e+00] [-7.58095223e-02 1.63196165e-03 9.97120982e-01 -5.03629270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165779523 meters 0.01890669426363531 Centerline is valid? [True, True] Translation: X:61.21, Y:-9.30, Z:-5.05 [[ 9.83250489e-01 1.66651524e-01 7.37952985e-02 6.12057122e+01] [-1.66035040e-01 9.86013909e-01 -1.44546614e-02 -9.30092851e+00] [-7.51720821e-02 1.95994750e-03 9.97168650e-01 -5.05098323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225779523 meters 0.021904936028871762 Centerline is valid? [True, True] Translation: X:61.26, Y:-9.32, Z:-5.05 [[ 9.83515138e-01 1.63622399e-01 7.69784692e-02 6.12641365e+01] [-1.62940726e-01 9.86520347e-01 -1.50971576e-02 -9.32348619e+00] [-7.84110593e-02 2.30535542e-03 9.96918448e-01 -5.04880449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28577952299999 meters 0.021389691967917474 Centerline is valid? [True, True] Translation: X:61.32, Y:-9.34, Z:-5.04 [[ 9.84466815e-01 1.57926211e-01 7.67098569e-02 6.13238671e+01] [-1.57230596e-01 9.87447038e-01 -1.50627885e-02 -9.33997073e+00] [-7.81257301e-02 2.76767890e-03 9.96939672e-01 -5.04347802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34577952299999 meters 0.0222176928539657 Centerline is valid? [True, True] Translation: X:61.39, Y:-9.34, Z:-5.05 [[ 9.84748770e-01 1.55820528e-01 7.73939451e-02 6.13853362e+01] [-1.55105844e-01 9.87780941e-01 -1.51983328e-02 -9.34330770e+00] [-7.88164761e-02 2.96228636e-03 9.96884742e-01 -5.05405995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40577952299999 meters 0.022812282987548678 Centerline is valid? [True, True] Translation: X:61.44, Y:-9.36, Z:-5.06 [[ 9.84482522e-01 1.58807693e-01 7.46611033e-02 6.14438243e+01] [-1.58150535e-01 9.87306016e-01 -1.46709941e-02 -9.35683472e+00] [-7.60432232e-02 2.63564381e-03 9.97101039e-01 -5.06157869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465779523 meters 0.020729037249904655 Centerline is valid? [True, True] Translation: X:61.51, Y:-9.36, Z:-5.07 [[ 9.83463981e-01 1.65796505e-01 7.28705561e-02 6.15055324e+01] [-1.65189571e-01 9.86157864e-01 -1.43203808e-02 -9.35948049e+00] [-7.42361411e-02 2.04612279e-03 9.97238592e-01 -5.06768022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525779523 meters 0.01945233864663615 Centerline is valid? [True, True] Translation: X:61.57, Y:-9.36, Z:-5.08 [[ 9.83042669e-01 1.69093700e-01 7.09537337e-02 6.15674665e+01] [-1.68526915e-01 9.85598428e-01 -1.39433984e-02 -9.36068084e+00] [-7.22896292e-02 1.74934173e-03 9.97382148e-01 -5.07872292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585779523 meters 0.017360614392797676 Centerline is valid? [True, True] Translation: X:61.63, Y:-9.37, Z:-5.07 [[ 9.81842159e-01 1.73578784e-01 7.65269930e-02 6.16281915e+01] [-1.72931247e-01 9.84818763e-01 -1.50594480e-02 -9.37473344e+00] [-7.79792193e-02 1.55209254e-03 9.96953776e-01 -5.06939096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645779523 meters 0.016017499471888182 Centerline is valid? [True, True] Translation: X:61.69, Y:-9.38, Z:-5.08 [[ 9.80875491e-01 1.80502028e-01 7.28168166e-02 6.16883943e+01] [-1.79934726e-01 9.83574149e-01 -1.43313861e-02 -9.37659020e+00] [-7.42075827e-02 9.55031421e-04 9.97242359e-01 -5.07935745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70577952299999 meters 0.018284173350564353 Centerline is valid? [True, True] Translation: X:61.75, Y:-9.38, Z:-5.10 [[ 9.80465673e-01 1.84816377e-01 6.73050658e-02 6.17501610e+01] [-1.84341662e-01 9.82772896e-01 -1.32509150e-02 -9.38050389e+00] [-6.85945805e-02 5.84939583e-04 9.97644446e-01 -5.09701915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76577952299999 meters 0.014972278547688471 Centerline is valid? [True, True] Translation: X:61.81, Y:-9.39, Z:-5.10 [[ 9.79579364e-01 1.89212609e-01 6.79916053e-02 6.18111302e+01] [-1.88737301e-01 9.81936097e-01 -1.34064520e-02 -9.39362999e+00] [-6.93000813e-02 3.00131667e-04 9.97595814e-01 -5.09862674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825779523 meters 0.014555410179745978 Centerline is valid? [True, True] Translation: X:61.87, Y:-9.40, Z:-5.10 [[ 9.77912893e-01 1.95171701e-01 7.47955940e-02 6.18717188e+01] [-1.94612144e-01 9.80769083e-01 -1.47688623e-02 -9.40330847e+00] [-7.62396701e-02 -1.13470048e-04 9.97089514e-01 -5.09574729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885779523 meters 0.01482815713031884 Centerline is valid? [True, True] Translation: X:61.93, Y:-9.41, Z:-5.10 [[ 9.76832366e-01 1.99856281e-01 7.65244827e-02 6.19333878e+01] [-1.99283461e-01 9.79825109e-01 -1.51280734e-02 -9.41475627e+00] [-7.80040501e-02 -4.72471986e-04 9.96952930e-01 -5.09789037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945779523 meters 0.015195988287203473 Centerline is valid? [True, True] Translation: X:61.99, Y:-9.43, Z:-5.10 [[ 9.76285843e-01 2.02461225e-01 7.66511944e-02 6.19939695e+01] [-2.01892831e-01 9.79290057e-01 -1.51746096e-02 -9.42654405e+00] [-7.81360226e-02 -6.60570179e-04 9.96942489e-01 -5.10216908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005779523 meters 0.015637637570814128 Centerline is valid? [True, True] Translation: X:62.05, Y:-9.44, Z:-5.11 [[ 9.75425301e-01 2.07541275e-01 7.39736518e-02 6.20544112e+01] [-2.07025230e-01 9.78225737e-01 -1.46615666e-02 -9.43704954e+00] [-7.54058103e-02 -1.01314926e-03 9.97152414e-01 -5.11264193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06577952299999 meters 0.015764990492167237 Centerline is valid? [True, True] Translation: X:62.11, Y:-9.45, Z:-5.12 [[ 9.75270870e-01 2.09014232e-01 7.18316090e-02 6.21140481e+01] [-2.08530366e-01 9.77912006e-01 -1.42546565e-02 -9.45138081e+00] [-7.32244189e-02 -1.07692046e-03 9.97314908e-01 -5.12034991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12577952299999 meters 0.015209158095082751 Centerline is valid? [True, True] Translation: X:62.17, Y:-9.48, Z:-5.12 [[ 9.75859270e-01 2.05915218e-01 7.27846673e-02 6.21730664e+01] [-2.05408299e-01 9.78569479e-01 -1.44639703e-02 -9.47564205e+00] [-7.42032055e-02 -8.35775217e-04 9.97242792e-01 -5.12224623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185779523 meters 0.014409125566429187 Centerline is valid? [True, True] Translation: X:62.23, Y:-9.49, Z:-5.13 [[ 9.77129303e-01 1.97883514e-01 7.78488310e-02 6.22328686e+01] [-1.97277408e-01 9.80225515e-01 -1.54778659e-02 -9.49404075e+00] [-7.93722250e-02 -2.33939231e-04 9.96845021e-01 -5.12760113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245779523 meters 0.016134102146644815 Centerline is valid? [True, True] Translation: X:62.29, Y:-9.52, Z:-5.14 [[ 9.78892494e-01 1.90706806e-01 7.34874113e-02 6.22900554e+01] [-1.90145866e-01 9.81646983e-01 -1.46201930e-02 -9.51988137e+00] [-7.49268660e-02 3.38269727e-04 9.97188974e-01 -5.13650039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305779523 meters 0.01826621435732656 Centerline is valid? [True, True] Translation: X:62.35, Y:-9.54, Z:-5.14 [[ 9.79711692e-01 1.86538616e-01 7.32689870e-02 6.23486897e+01] [-1.85968654e-01 9.82447405e-01 -1.45861777e-02 -9.53856523e+00] [-7.47038115e-02 6.64513908e-04 9.97205545e-01 -5.14170093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365779523 meters 0.018348720815484675 Centerline is valid? [True, True] Translation: X:62.41, Y:-9.56, Z:-5.14 [[ 9.80856161e-01 1.76128388e-01 8.30661292e-02 6.24078999e+01] [-1.75356395e-01 9.84365780e-01 -1.65573728e-02 -9.55681236e+00] [-8.46836784e-02 1.67422410e-03 9.96406479e-01 -5.13657276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42577952299999 meters 0.01799065051214555 Centerline is valid? [True, True] Translation: X:62.47, Y:-9.57, Z:-5.14 [[ 9.81850701e-01 1.70741221e-01 8.25629241e-02 6.24669694e+01] [-1.69959140e-01 9.85313602e-01 -1.64619596e-02 -9.57310676e+00] [-8.41611072e-02 2.13086303e-03 9.96449882e-01 -5.14032279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48577952299999 meters 0.022586634434369354 Centerline is valid? [True, True] Translation: X:62.52, Y:-9.59, Z:-5.15 [[ 9.83389764e-01 1.65864203e-01 7.37132231e-02 6.25230561e+01] [-1.65226311e-01 9.86145948e-01 -1.47117272e-02 -9.59287349e+00] [-7.51321451e-02 2.28799800e-03 9.97170961e-01 -5.15480148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545779523 meters 0.023271436473928177 Centerline is valid? [True, True] Translation: X:62.58, Y:-9.60, Z:-5.17 [[ 9.84199927e-01 1.62447099e-01 7.04375188e-02 6.25827418e+01] [-1.61856069e-01 9.86714252e-01 -1.40569467e-02 -9.60236965e+00] [-7.17852139e-02 2.43410597e-03 9.97417144e-01 -5.16511871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605779523 meters 0.023802520958867125 Centerline is valid? [True, True] Translation: X:62.64, Y:-9.62, Z:-5.17 [[ 9.84060921e-01 1.62523284e-01 7.21823124e-02 6.26418652e+01] [-1.61902198e-01 9.86701550e-01 -1.44128091e-02 -9.61964624e+00] [-7.35648166e-02 2.49660718e-03 9.97287313e-01 -5.16691134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665779523 meters 0.020965875702085645 Centerline is valid? [True, True] Translation: X:62.70, Y:-9.63, Z:-5.17 [[ 9.83082459e-01 1.66861753e-01 7.55383023e-02 6.27027187e+01] [-1.66192752e-01 9.85977637e-01 -1.51019654e-02 -9.62859498e+00] [-7.69990172e-02 2.29255894e-03 9.97028533e-01 -5.16673760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725779523 meters 0.019691248715529252 Centerline is valid? [True, True] Translation: X:62.76, Y:-9.63, Z:-5.17 [[ 9.82124823e-01 1.71721760e-01 7.70874143e-02 6.27642488e+01] [-1.71039760e-01 9.85143554e-01 -1.54135470e-02 -9.63348511e+00] [-7.85890108e-02 1.95301421e-03 9.96905188e-01 -5.17401370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78577952299999 meters 0.017888489779908014 Centerline is valid? [True, True] Translation: X:62.83, Y:-9.64, Z:-5.18 [[ 9.81470233e-01 1.75022112e-01 7.79964270e-02 6.28256397e+01] [-1.74333986e-01 9.84563013e-01 -1.55991782e-02 -9.64270108e+00] [-7.95225983e-02 1.71270105e-03 9.96831592e-01 -5.17692926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84577952299999 meters 0.016729866866629455 Centerline is valid? [True, True] Translation: X:62.89, Y:-9.66, Z:-5.18 [[ 9.80643367e-01 1.79531116e-01 7.81483543e-02 6.28862264e+01] [-1.78853002e-01 9.83751342e-01 -1.56492909e-02 -9.65602547e+00] [-7.96880831e-02 1.36930553e-03 9.96818908e-01 -5.17679887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90577952299999 meters 0.015980691179474336 Centerline is valid? [True, True] Translation: X:62.95, Y:-9.66, Z:-5.18 [[ 9.79765693e-01 1.84673857e-01 7.71670534e-02 6.29470240e+01] [-1.84027076e-01 9.82799394e-01 -1.54721301e-02 -9.66202666e+00] [-7.86970312e-02 9.58235051e-04 9.96898119e-01 -5.18381449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965779523 meters 0.015054785346721347 Centerline is valid? [True, True] Translation: X:63.01, Y:-9.66, Z:-5.20 [[ 9.79232115e-01 1.90114454e-01 7.04340841e-02 6.30092704e+01] [-1.89588763e-01 9.81761812e-01 -1.41367027e-02 -9.66263117e+00] [-7.18370855e-02 4.89602342e-04 9.97416259e-01 -5.20176380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025779523 meters 0.015439691301826024 Centerline is valid? [True, True] Translation: X:63.07, Y:-9.69, Z:-5.20 [[ 9.79601208e-01 1.88071758e-01 7.07847931e-02 6.30675414e+01] [-1.87534092e-01 9.82155067e-01 -1.42263166e-02 -9.68598201e+00] [-7.21972116e-02 6.61555016e-04 9.97390157e-01 -5.19920974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085779523 meters 0.016331575732589223 Centerline is valid? [True, True] Translation: X:63.13, Y:-9.70, Z:-5.20 [[ 9.80103271e-01 1.83541245e-01 7.55658038e-02 6.31285342e+01] [-1.82914082e-01 9.83011424e-01 -1.51980175e-02 -9.69850347e+00] [-7.70715114e-02 1.07357704e-03 9.97024989e-01 -5.20238081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145779523 meters 0.019106482224681216 Centerline is valid? [True, True] Translation: X:63.19, Y:-9.72, Z:-5.21 [[ 9.81443006e-01 1.74643254e-01 7.91792887e-02 6.31860957e+01] [-1.73923941e-01 9.84629984e-01 -1.59454358e-02 -9.71565555e+00] [-8.07470646e-02 1.87836249e-03 9.96732855e-01 -5.20717920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20577952299999 meters 0.020622317301006443 Centerline is valid? [True, True] Translation: X:63.25, Y:-9.73, Z:-5.21 [[ 9.82376765e-01 1.70423049e-01 7.67585499e-02 6.32455212e+01] [-1.69734254e-01 9.85368627e-01 -1.54580676e-02 -9.73283447e+00] [-7.82698780e-02 2.15709126e-03 9.96929874e-01 -5.21294280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26577952299999 meters 0.024383175272893902 Centerline is valid? [True, True] Translation: X:63.30, Y:-9.75, Z:-5.22 [[ 9.83615306e-01 1.65307944e-01 7.19320056e-02 6.33041403e+01] [-1.64689263e-01 9.86239066e-01 -1.44896958e-02 -9.75066850e+00] [-7.33374158e-02 2.40585761e-03 9.97304284e-01 -5.22156135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325779523 meters 0.02573592797679385 Centerline is valid? [True, True] Translation: X:63.36, Y:-9.77, Z:-5.22 [[ 9.84083762e-01 1.62564184e-01 7.17776754e-02 6.33629796e+01] [-1.61940722e-01 9.86694528e-01 -1.44606968e-02 -9.76758156e+00] [-7.31734309e-02 2.60680832e-03 9.97315824e-01 -5.22299199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385779523 meters 0.023817649812096504 Centerline is valid? [True, True] Translation: X:63.42, Y:-9.77, Z:-5.24 [[ 9.84468344e-01 1.60853522e-01 7.03436186e-02 6.34247794e+01] [-1.60249837e-01 9.86974632e-01 -1.41797504e-02 -9.77120679e+00] [-7.17082299e-02 2.68696202e-03 9.97422032e-01 -5.23517431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445779523 meters 0.02334388023649219 Centerline is valid? [True, True] Translation: X:63.49, Y:-9.79, Z:-5.24 [[ 9.84146112e-01 1.61337244e-01 7.36662979e-02 6.34857042e+01] [-1.60676087e-01 9.86895412e-01 -1.48539944e-02 -9.78507137e+00] [-7.50974339e-02 2.78208836e-03 9.97172320e-01 -5.23783508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505779523 meters 0.023267961464314493 Centerline is valid? [True, True] Translation: X:63.54, Y:-9.80, Z:-5.24 [[ 9.83449865e-01 1.63354971e-01 7.83678341e-02 6.35447327e+01] [-1.62611255e-01 9.86563336e-01 -1.58229186e-02 -9.79774891e+00] [-7.98995842e-02 2.81755530e-03 9.96798936e-01 -5.23602389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56577952299999 meters 0.019473696157676284 Centerline is valid? [True, True] Translation: X:63.61, Y:-9.80, Z:-5.24 [[ 9.81687086e-01 1.72946306e-01 7.98751533e-02 6.36066904e+01] [-1.72205140e-01 9.84929061e-01 -1.61286810e-02 -9.79873283e+00] [-8.14607555e-02 2.07840591e-03 9.96674383e-01 -5.23974868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62577952299999 meters 0.015551536523104455 Centerline is valid? [True, True] Translation: X:63.67, Y:-9.80, Z:-5.25 [[ 9.79622248e-01 1.86945736e-01 7.34271255e-02 6.36678616e+01] [-1.86358631e-01 9.82369881e-01 -1.48282879e-02 -9.80293726e+00] [-7.49046817e-02 8.42342156e-04 9.97190342e-01 -5.24887841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685779523 meters 0.014689628380399835 Centerline is valid? [True, True] Translation: X:63.73, Y:-9.81, Z:-5.26 [[ 9.78289147e-01 1.93768856e-01 7.35117348e-02 6.37286452e+01] [-1.93199540e-01 9.81047158e-01 -1.48462461e-02 -9.80693729e+00] [-7.49952187e-02 3.21488091e-04 9.97183842e-01 -5.25945656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745779523 meters 0.014419851261915998 Centerline is valid? [True, True] Translation: X:63.79, Y:-9.82, Z:-5.26 [[ 9.76593249e-01 2.00928991e-01 7.67669602e-02 6.37905488e+01] [-2.00328647e-01 9.79605784e-01 -1.55222717e-02 -9.81500392e+00] [-7.83202326e-02 -2.19675537e-04 9.96928229e-01 -5.26313677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805779523 meters 0.014800134615869879 Centerline is valid? [True, True] Translation: X:63.85, Y:-9.83, Z:-5.27 [[ 9.75528884e-01 2.05553849e-01 7.80449363e-02 6.38508476e+01] [-2.04946425e-01 9.78645635e-01 -1.58014007e-02 -9.82703087e+00] [-7.96263749e-02 -5.80307936e-04 9.96824610e-01 -5.26616550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865779523 meters 0.01565840604470616 Centerline is valid? [True, True] Translation: X:63.91, Y:-9.84, Z:-5.27 [[ 9.74466604e-01 2.10767274e-01 7.74079674e-02 6.39106462e+01] [-2.10184676e-01 9.77535778e-01 -1.56909278e-02 -9.83648481e+00] [-7.89761917e-02 -9.79683432e-04 9.96876021e-01 -5.27208216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92577952299999 meters 0.01602697173470198 Centerline is valid? [True, True] Translation: X:63.97, Y:-9.85, Z:-5.28 [[ 9.73916838e-01 2.13242719e-01 7.75469899e-02 6.39710336e+01] [-2.12665058e-01 9.76998550e-01 -1.57291366e-02 -9.84929061e+00] [-7.91174206e-02 -1.17266410e-03 9.96864614e-01 -5.27670723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98577952299999 meters 0.016444042413100823 Centerline is valid? [True, True] Translation: X:64.03, Y:-9.86, Z:-5.28 [[ 9.73797170e-01 2.14058979e-01 7.67973009e-02 6.40313789e+01] [-2.13493466e-01 9.76819991e-01 -1.55963435e-02 -9.86419616e+00] [-7.83556761e-02 -1.20804684e-03 9.96924736e-01 -5.28158884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045779523 meters 0.016250838462044732 Centerline is valid? [True, True] Translation: X:64.09, Y:-9.88, Z:-5.29 [[ 9.74261913e-01 2.13134467e-01 7.33990684e-02 6.40917558e+01] [-2.12613927e-01 9.77022295e-01 -1.49249118e-02 -9.87670208e+00] [-7.48935393e-02 -1.06489108e-03 9.97190967e-01 -5.29421491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105779523 meters 0.015269158759472275 Centerline is valid? [True, True] Translation: X:64.15, Y:-9.90, Z:-5.30 [[ 9.75195437e-01 2.09136106e-01 7.24979224e-02 6.41508022e+01] [-2.08615730e-01 9.77886271e-01 -1.47620690e-02 -9.89604015e+00] [-7.39820046e-02 -7.28304647e-04 9.97259311e-01 -5.30017309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165779523 meters 0.01501138870185454 Centerline is valid? [True, True] Translation: X:64.21, Y:-9.91, Z:-5.30 [[ 9.75647863e-01 2.06704177e-01 7.33800396e-02 6.42102640e+01] [-2.06162742e-01 9.78403342e-01 -1.49607257e-02 -9.91270298e+00] [-7.48877205e-02 -5.31830173e-04 9.97191830e-01 -5.30202848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225779523 meters 0.014821746785384069 Centerline is valid? [True, True] Translation: X:64.27, Y:-9.92, Z:-5.31 [[ 9.75611233e-01 2.05710295e-01 7.65897918e-02 6.42714371e+01] [-2.05115745e-01 9.78612828e-01 -1.56353595e-02 -9.91639268e+00] [-7.81681072e-02 -4.55739814e-04 9.96940088e-01 -5.30966269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28577952299999 meters 0.014687258219980417 Centerline is valid? [True, True] Translation: X:64.33, Y:-9.93, Z:-5.31 [[ 9.75512420e-01 2.05797025e-01 7.76086538e-02 6.43328268e+01] [-2.05185375e-01 9.78594595e-01 -1.58613011e-02 -9.92796163e+00] [-7.92116177e-02 -4.51264479e-04 9.96857721e-01 -5.31387051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34577952299999 meters 0.014525910589947167 Centerline is valid? [True, True] Translation: X:64.39, Y:-9.95, Z:-5.31 [[ 9.76498799e-01 2.02039188e-01 7.50350670e-02 6.43917550e+01] [-2.01454794e-01 9.79377431e-01 -1.53562350e-02 -9.95415616e+00] [-7.65902124e-02 -1.20828951e-04 9.97062648e-01 -5.31206205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40577952299999 meters 0.014941465511162221 Centerline is valid? [True, True] Translation: X:64.45, Y:-9.97, Z:-5.32 [[ 9.77962349e-01 1.94005187e-01 7.71468129e-02 6.44520707e+01] [-1.93360598e-01 9.81000352e-01 -1.58110473e-02 -9.96516869e+00] [-7.87484757e-02 5.45455088e-04 9.96894368e-01 -5.32327022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465779523 meters 0.015899377664426277 Centerline is valid? [True, True] Translation: X:64.51, Y:-9.98, Z:-5.33 [[ 9.78898978e-01 1.89559887e-01 7.63140867e-02 6.45111688e+01] [-1.88914136e-01 9.81868737e-01 -1.56599166e-02 -9.97802081e+00] [-7.78989079e-02 9.12666649e-04 9.96960845e-01 -5.33401791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525779523 meters 0.01585856935724486 Centerline is valid? [True, True] Translation: X:64.57, Y:-10.00, Z:-5.33 [[ 9.78835702e-01 1.89652751e-01 7.68928046e-02 6.45714925e+01] [-1.88996012e-01 9.81850788e-01 -1.57967841e-02 -9.99829620e+00] [-7.84931643e-02 9.30022844e-04 9.96914218e-01 -5.32928378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585779523 meters 0.015555888699210381 Centerline is valid? [True, True] Translation: X:64.63, Y:-10.01, Z:-5.34 [[ 9.78785513e-01 1.90403639e-01 7.56661962e-02 6.46340613e+01] [-1.89768337e-01 9.81705499e-01 -1.55657454e-02 -1.00055363e+01] [-7.72456954e-02 8.76477931e-04 9.97011702e-01 -5.33646358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645779523 meters 0.014972038623599212 Centerline is valid? [True, True] Translation: X:64.70, Y:-10.01, Z:-5.34 [[ 9.78046146e-01 1.93033193e-01 7.85106553e-02 6.46961552e+01] [-1.92355685e-01 9.81191965e-01 -1.61746272e-02 -1.00123780e+01] [-8.01562641e-02 7.17560886e-04 9.96782052e-01 -5.34431706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70577952299999 meters 0.014862983459899611 Centerline is valid? [True, True] Translation: X:64.76, Y:-10.03, Z:-5.35 [[ 9.77781114e-01 1.94357072e-01 7.85456643e-02 6.47563676e+01] [-1.93682659e-01 9.80930655e-01 -1.61888408e-02 -1.00263578e+01] [-8.01942656e-02 6.16209698e-04 9.96779063e-01 -5.34746185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76577952299999 meters 0.014746781841746215 Centerline is valid? [True, True] Translation: X:64.82, Y:-10.04, Z:-5.35 [[ 9.77590173e-01 1.95516565e-01 7.80431060e-02 6.48181225e+01] [-1.94852894e-01 9.80700252e-01 -1.61048142e-02 -1.00386439e+01] [-7.96856517e-02 5.36983011e-04 9.96819898e-01 -5.35335504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825779523 meters 0.014470771742681495 Centerline is valid? [True, True] Translation: X:64.88, Y:-10.05, Z:-5.36 [[ 9.77346967e-01 1.98046757e-01 7.46350315e-02 6.48793468e+01] [-1.97445686e-01 9.80192516e-01 -1.54217971e-02 -1.00504596e+01] [-7.62109363e-02 3.36081637e-04 9.97091661e-01 -5.36020541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885779523 meters 0.014366967445054883 Centerline is valid? [True, True] Translation: X:64.94, Y:-10.06, Z:-5.37 [[ 9.76065358e-01 2.04790975e-01 7.31920263e-02 6.49403449e+01] [-2.04230318e-01 9.78805716e-01 -1.51442552e-02 -1.00587436e+01] [-7.47421805e-02 -1.66247889e-04 9.97202877e-01 -5.36701829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945779523 meters 0.014733072754549355 Centerline is valid? [True, True] Translation: X:65.00, Y:-10.07, Z:-5.37 [[ 9.74849489e-01 2.09758701e-01 7.52978207e-02 6.50031392e+01] [-2.09178481e-01 9.77753033e-01 -1.56003264e-02 -1.00654233e+01] [-7.68949768e-02 -5.42713616e-04 9.97039050e-01 -5.37209574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005779523 meters 0.014654875163170336 Centerline is valid? [True, True] Translation: X:65.06, Y:-10.08, Z:-5.38 [[ 9.74539942e-01 2.10301611e-01 7.77504574e-02 6.50644091e+01] [-2.09682817e-01 9.77636381e-01 -1.61314196e-02 -1.00779771e+01] [-7.94041393e-02 -5.82222264e-04 9.96842336e-01 -5.37518441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06577952299999 meters 0.014486094987226654 Centerline is valid? [True, True] Translation: X:65.12, Y:-10.09, Z:-5.38 [[ 9.74899563e-01 2.08654379e-01 7.76800581e-02 6.51240629e+01] [-2.08029688e-01 9.77989350e-01 -1.61393830e-02 -1.00948611e+01] [-7.93378224e-02 -4.25480774e-04 9.96847696e-01 -5.37778414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12577952299999 meters 0.014254236585335815 Centerline is valid? [True, True] Translation: X:65.18, Y:-10.11, Z:-5.38 [[ 9.75391574e-01 2.06717315e-01 7.66761287e-02 6.51841472e+01] [-2.06101179e-01 9.78400680e-01 -1.59503168e-02 -1.01090690e+01] [-7.83171832e-02 -2.45235929e-04 9.96928462e-01 -5.38408759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185779523 meters 0.014146811438115121 Centerline is valid? [True, True] Translation: X:65.24, Y:-10.13, Z:-5.39 [[ 9.76244701e-01 2.03048220e-01 7.56155012e-02 6.52448798e+01] [-2.02436467e-01 9.79168737e-01 -1.57499640e-02 -1.01255846e+01] [-7.72383370e-02 6.84840447e-05 9.97012655e-01 -5.39038224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245779523 meters 0.01431691310125957 Centerline is valid? [True, True] Translation: X:65.31, Y:-10.14, Z:-5.40 [[ 9.77008699e-01 2.00549959e-01 7.23444259e-02 6.53050568e+01] [-1.99981724e-01 9.79683438e-01 -1.50887824e-02 -1.01399344e+01] [-7.39006906e-02 2.74308625e-04 9.97265568e-01 -5.39915680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305779523 meters 0.01458333915783563 Centerline is valid? [True, True] Translation: X:65.36, Y:-10.15, Z:-5.41 [[ 9.77612213e-01 1.98734171e-01 6.91309670e-02 6.53645767e+01] [-1.98209670e-01 9.80053346e-01 -1.44348431e-02 -1.01549387e+01] [-7.06207322e-02 4.09252753e-04 9.97503155e-01 -5.40833399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365779523 meters 0.01411908674294556 Centerline is valid? [True, True] Translation: X:65.43, Y:-10.16, Z:-5.41 [[ 9.76932415e-01 1.99970035e-01 7.49335838e-02 6.54263048e+01] [-1.99355728e-01 9.79801945e-01 -1.56666177e-02 -1.01641692e+01] [-7.65529252e-02 3.66787456e-04 9.97065452e-01 -5.40705034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42577952299999 meters 0.0139915003285613 Centerline is valid? [True, True] Translation: X:65.49, Y:-10.17, Z:-5.41 [[ 9.76977552e-01 1.99294515e-01 7.61351396e-02 6.54880322e+01] [-1.98656799e-01 9.79939538e-01 -1.59366825e-02 -1.01727251e+01] [-7.77839270e-02 4.45017930e-04 9.96970141e-01 -5.41258587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48577952299999 meters 0.013839252512032961 Centerline is valid? [True, True] Translation: X:65.55, Y:-10.19, Z:-5.41 [[ 9.76878388e-01 2.00264342e-01 7.48519047e-02 6.55484431e+01] [-1.99649191e-01 9.79741827e-01 -1.56892712e-02 -1.01915812e+01] [-7.64775434e-02 3.82387765e-04 9.97071231e-01 -5.41251254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545779523 meters 0.013736767949112537 Centerline is valid? [True, True] Translation: X:65.61, Y:-10.20, Z:-5.42 [[ 9.76071849e-01 2.04042654e-01 7.51687493e-02 6.56104088e+01] [-2.03431793e-01 9.78961993e-01 -1.57772518e-02 -1.01985826e+01] [-7.68065809e-02 1.08017860e-04 9.97046006e-01 -5.41665729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605779523 meters 0.01373884408522188 Centerline is valid? [True, True] Translation: X:65.67, Y:-10.20, Z:-5.43 [[ 9.75326131e-01 2.08313267e-01 7.31062362e-02 6.56724134e+01] [-2.07746175e-01 9.78062136e-01 -1.53618331e-02 -1.02003677e+01] [-7.47025151e-02 -2.04743688e-04 9.97205843e-01 -5.43108127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665779523 meters 0.013924793606565863 Centerline is valid? [True, True] Translation: X:65.73, Y:-10.21, Z:-5.44 [[ 9.74882446e-01 2.11190776e-01 7.07295695e-02 6.57321680e+01] [-2.10666367e-01 9.77444781e-01 -1.48788973e-02 -1.02147431e+01] [-7.22765345e-02 -3.95165673e-04 9.97384553e-01 -5.43694342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725779523 meters 0.014353407028285546 Centerline is valid? [True, True] Translation: X:65.79, Y:-10.23, Z:-5.43 [[ 9.73801589e-01 2.14744555e-01 7.48013435e-02 6.57934070e+01] [-2.14166889e-01 9.76670014e-01 -1.57552008e-02 -1.02303251e+01] [-7.64395728e-02 -6.77531460e-04 9.97073986e-01 -5.43081115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78577952299999 meters 0.014782943177287127 Centerline is valid? [True, True] Translation: X:65.86, Y:-10.24, Z:-5.44 [[ 9.72946822e-01 2.18777569e-01 7.42351505e-02 6.58555782e+01] [-2.18218741e-01 9.75774278e-01 -1.56569208e-02 -1.02360527e+01] [-7.58621335e-02 -9.66149757e-04 9.97117848e-01 -5.43746519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84577952299999 meters 0.01585299310556745 Centerline is valid? [True, True] Translation: X:65.92, Y:-10.24, Z:-5.45 [[ 9.72561221e-01 2.21753902e-01 7.03553721e-02 6.59155951e+01] [-2.21258550e-01 9.75102023e-01 -1.48559126e-02 -1.02436050e+01] [-7.18980223e-02 -1.11844307e-03 9.97411361e-01 -5.44969580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90577952299999 meters 0.01467070802332822 Centerline is valid? [True, True] Translation: X:65.97, Y:-10.27, Z:-5.45 [[ 9.73697394e-01 2.16813053e-01 7.00391731e-02 6.59738870e+01] [-2.16308204e-01 9.76212867e-01 -1.48053976e-02 -1.02678582e+01] [-7.15831454e-02 -7.34070708e-04 9.97434366e-01 -5.45283175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965779523 meters 0.01382621535415804 Centerline is valid? [True, True] Translation: X:66.03, Y:-10.29, Z:-5.45 [[ 9.75099993e-01 2.10047193e-01 7.11349497e-02 6.60327003e+01] [-2.09507080e-01 9.77691223e-01 -1.50551137e-02 -1.02885481e+01] [-7.27103003e-02 -2.23034363e-04 9.97353078e-01 -5.45348945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025779523 meters 0.014342648380296159 Centerline is valid? [True, True] Translation: X:66.09, Y:-10.31, Z:-5.46 [[ 9.77161230e-01 2.00739620e-01 6.97103670e-02 6.60919563e+01] [-2.00196024e-01 9.79644516e-01 -1.47707493e-02 -1.03053360e+01] [-7.12564533e-02 4.77665293e-04 9.97457914e-01 -5.46349040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085779523 meters 0.014870336684051728 Centerline is valid? [True, True] Translation: X:66.15, Y:-10.32, Z:-5.47 [[ 9.77774420e-01 1.96649585e-01 7.27057315e-02 6.61515479e+01] [-1.96045447e-01 9.80473485e-01 -1.54249275e-02 -1.03231745e+01] [-7.43193475e-02 8.28471859e-04 9.97234149e-01 -5.46551783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145779523 meters 0.015427063059938122 Centerline is valid? [True, True] Translation: X:66.21, Y:-10.34, Z:-5.47 [[ 9.78114793e-01 1.94186764e-01 7.47191578e-02 6.62114300e+01] [-1.93539978e-01 9.80964001e-01 -1.58715547e-02 -1.03396700e+01] [-7.63788498e-02 1.06305829e-03 9.97078302e-01 -5.46565403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20577952299999 meters 0.017343771463618395 Centerline is valid? [True, True] Translation: X:66.27, Y:-10.35, Z:-5.47 [[ 9.79428450e-01 1.87509810e-01 7.45652913e-02 6.62700631e+01] [-1.86844837e-01 9.82261427e-01 -1.58586411e-02 -1.03498264e+01] [-7.62162602e-02 1.60026458e-03 9.97090026e-01 -5.47282001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26577952299999 meters 0.018641533597865613 Centerline is valid? [True, True] Translation: X:66.33, Y:-10.37, Z:-5.48 [[ 9.80064824e-01 1.84672564e-01 7.32733625e-02 6.63300813e+01] [-1.84022538e-01 9.82798475e-01 -1.55840799e-02 -1.03678077e+01] [-7.48909009e-02 1.78945837e-03 9.97190128e-01 -5.47533298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325779523 meters 0.01975638523861387 Centerline is valid? [True, True] Translation: X:66.39, Y:-10.38, Z:-5.48 [[ 9.81264836e-01 1.78875498e-01 7.15742884e-02 6.63894977e+01] [-1.78239542e-01 9.83869291e-01 -1.52277387e-02 -1.03806090e+01] [-7.31436137e-02 2.18507614e-03 9.97319025e-01 -5.47803269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385779523 meters 0.022191950977663088 Centerline is valid? [True, True] Translation: X:66.45, Y:-10.39, Z:-5.49 [[ 9.83238740e-01 1.68963191e-01 6.85056267e-02 6.64494947e+01] [-1.68356401e-01 9.85618383e-01 -1.45782435e-02 -1.03903248e+01] [-6.99835916e-02 2.80053300e-03 9.97544212e-01 -5.48882698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445779523 meters 0.026885288427658676 Centerline is valid? [True, True] Translation: X:66.51, Y:-10.41, Z:-5.49 [[ 9.84145040e-01 1.63114822e-01 6.96569841e-02 6.65062056e+01] [-1.62472616e-01 9.86601661e-01 -1.48260202e-02 -1.04116724e+01] [-7.11420399e-02 3.27360179e-03 9.97460823e-01 -5.49142473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505779523 meters 0.024472391211003457 Centerline is valid? [True, True] Translation: X:66.57, Y:-10.42, Z:-5.49 [[ 9.84338425e-01 1.60592579e-01 7.27178728e-02 6.65686242e+01] [-1.59885720e-01 9.87014185e-01 -1.54775747e-02 -1.04161944e+01] [-7.42591556e-02 3.60862211e-03 9.97232448e-01 -5.49268991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56577952299999 meters 0.024920005308510976 Centerline is valid? [True, True] Translation: X:66.63, Y:-10.42, Z:-5.50 [[ 9.83988359e-01 1.62119802e-01 7.40545707e-02 6.66302795e+01] [-1.61390618e-01 9.86764652e-01 -1.57667581e-02 -1.04230531e+01] [-7.56305364e-02 3.56259351e-03 9.97129545e-01 -5.49665110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62577952299999 meters 0.02351436454436741 Centerline is valid? [True, True] Translation: X:66.69, Y:-10.43, Z:-5.50 [[ 9.83339283e-01 1.66467534e-01 7.30233904e-02 6.66909573e+01] [-1.65769021e-01 9.86041736e-01 -1.55668654e-02 -1.04299419e+01] [-7.45954883e-02 3.20249429e-03 9.97208733e-01 -5.50061960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685779523 meters 0.021639084606926345 Centerline is valid? [True, True] Translation: X:66.75, Y:-10.43, Z:-5.51 [[ 9.82609417e-01 1.71601838e-01 7.09333732e-02 6.67519284e+01] [-1.70956004e-01 9.85162594e-01 -1.51230958e-02 -1.04346956e+01] [-7.24760570e-02 2.73361030e-03 9.97366406e-01 -5.50644127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745779523 meters 0.019277227465871915 Centerline is valid? [True, True] Translation: X:66.81, Y:-10.43, Z:-5.51 [[ 9.81019255e-01 1.80518337e-01 7.08120878e-02 6.68143341e+01] [-1.79897724e-01 9.83569434e-01 -1.50989340e-02 -1.04338387e+01] [-7.23742395e-02 2.07341158e-03 9.97375391e-01 -5.51202894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805779523 meters 0.01651500365976652 Centerline is valid? [True, True] Translation: X:66.88, Y:-10.43, Z:-5.51 [[ 9.79145121e-01 1.89506814e-01 7.32256708e-02 6.68773988e+01] [-1.88867900e-01 9.81878319e-01 -1.56167837e-02 -1.04327155e+01] [-7.48581855e-02 1.46111891e-03 9.97193119e-01 -5.51132924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865779523 meters 0.015857562757381316 Centerline is valid? [True, True] Translation: X:66.94, Y:-10.43, Z:-5.52 [[ 9.78389955e-01 1.94667082e-01 6.96980806e-02 6.69394327e+01] [-1.94101420e-01 9.80868849e-01 -1.48640661e-02 -1.04332835e+01] [-7.12582204e-02 1.01435655e-03 9.97457386e-01 -5.52153405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92577952299999 meters 0.015635567165013926 Centerline is valid? [True, True] Translation: X:67.00, Y:-10.44, Z:-5.53 [[ 9.78366339e-01 1.94810711e-01 6.96282595e-02 6.70027412e+01] [-1.94245427e-01 9.80840328e-01 -1.48648630e-02 -1.04377304e+01] [-7.11900395e-02 1.01831061e-03 9.97462251e-01 -5.53097787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98577952299999 meters 0.016307195975758526 Centerline is valid? [True, True] Translation: X:67.06, Y:-10.45, Z:-5.53 [[ 9.79007246e-01 1.90549170e-01 7.23590042e-02 6.70635596e+01] [-1.89925322e-01 9.81676651e-01 -1.54701435e-02 -1.04495251e+01] [-7.39809679e-02 1.40257544e-03 9.97258667e-01 -5.53195876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045779523 meters 0.01693362074866543 Centerline is valid? [True, True] Translation: X:67.12, Y:-10.46, Z:-5.53 [[ 9.79482980e-01 1.87597904e-01 7.36214483e-02 6.71242063e+01] [-1.86942257e-01 9.82244484e-01 -1.57596296e-02 -1.04617673e+01] [-7.52707350e-02 1.67332924e-03 9.97161730e-01 -5.53156844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105779523 meters 0.017594940001149095 Centerline is valid? [True, True] Translation: X:67.19, Y:-10.46, Z:-5.54 [[ 9.79432503e-01 1.86372462e-01 7.73128576e-02 6.71867247e+01] [-1.85643922e-01 9.82477372e-01 -1.65695025e-02 -1.04640816e+01] [-7.90462321e-02 1.87604714e-03 9.96869186e-01 -5.53541524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165779523 meters 0.01770984604465041 Centerline is valid? [True, True] Translation: X:67.25, Y:-10.47, Z:-5.54 [[ 9.79848119e-01 1.86429220e-01 7.17064074e-02 6.72475982e+01] [-1.85801584e-01 9.82466833e-01 -1.53848577e-02 -1.04724712e+01] [-7.33173540e-02 1.75165984e-03 9.97307123e-01 -5.54487063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225779523 meters 0.017866708206459855 Centerline is valid? [True, True] Translation: X:67.31, Y:-10.48, Z:-5.55 [[ 9.79966289e-01 1.86104886e-01 7.09298558e-02 6.73092800e+01] [-1.85488630e-01 9.82528281e-01 -1.52363115e-02 -1.04810152e+01] [-7.25261413e-02 1.77438989e-03 9.97364933e-01 -5.55034955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28577952299999 meters 0.018106008847204234 Centerline is valid? [True, True] Translation: X:67.37, Y:-10.48, Z:-5.56 [[ 9.80347411e-01 1.83951154e-01 7.12806217e-02 6.73717249e+01] [-1.83321738e-01 9.82933429e-01 -1.53302118e-02 -1.04831279e+01] [-7.28841160e-02 1.96164599e-03 9.97338487e-01 -5.55759338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34577952299999 meters 0.019278262661383428 Centerline is valid? [True, True] Translation: X:67.43, Y:-10.49, Z:-5.56 [[ 9.80139905e-01 1.83599077e-01 7.49476211e-02 6.74333069e+01] [-1.82900496e-01 9.82998943e-01 -1.61395837e-02 -1.04941366e+01] [-7.66366450e-02 2.11109291e-03 9.97056853e-01 -5.55808506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40577952299999 meters 0.018423338924443422 Centerline is valid? [True, True] Translation: X:67.50, Y:-10.50, Z:-5.56 [[ 9.79735647e-01 1.85505317e-01 7.55370106e-02 6.74961430e+01] [-1.84799648e-01 9.82641227e-01 -1.62883024e-02 -1.04988511e+01] [-7.72473474e-02 1.99901746e-03 9.97009955e-01 -5.56427397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465779523 meters 0.017070323250280402 Centerline is valid? [True, True] Translation: X:67.56, Y:-10.50, Z:-5.57 [[ 9.79017171e-01 1.89055120e-01 7.60495882e-02 6.75579309e+01] [-1.88349946e-01 9.81964939e-01 -1.64059853e-02 -1.05014071e+01] [-7.77796648e-02 1.73780549e-03 9.96969059e-01 -5.56770730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525779523 meters 0.01683485477794548 Centerline is valid? [True, True] Translation: X:67.62, Y:-10.51, Z:-5.57 [[ 9.78631611e-01 1.90857232e-01 7.65093857e-02 6.76194308e+01] [-1.90148801e-01 9.81616491e-01 -1.65074973e-02 -1.05086529e+01] [-7.82534500e-02 1.60659075e-03 9.96932203e-01 -5.57193341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585779523 meters 0.016746477806833703 Centerline is valid? [True, True] Translation: X:67.68, Y:-10.51, Z:-5.58 [[ 9.78689752e-01 1.91208539e-01 7.48709779e-02 6.76825669e+01] [-1.90529777e-01 9.81548192e-01 -1.61725653e-02 -1.05111930e+01] [-7.65818055e-02 1.56277320e-03 9.97062077e-01 -5.58130689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64577952299999 meters 0.017072975554195534 Centerline is valid? [True, True] Translation: X:67.74, Y:-10.52, Z:-5.58 [[ 9.78891715e-01 1.90027452e-01 7.52368181e-02 6.77432284e+01] [-1.89336817e-01 9.81777331e-01 -1.62739908e-02 -1.05234024e+01] [-7.69583075e-02 1.68537510e-03 9.97032887e-01 -5.58365092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70577952299999 meters 0.01750545109730839 Centerline is valid? [True, True] Translation: X:67.80, Y:-10.53, Z:-5.59 [[ 9.79570839e-01 1.86205529e-01 7.59504594e-02 6.78045479e+01] [-1.85488658e-01 9.82508729e-01 -1.64485833e-02 -1.05310936e+01] [-7.76848064e-02 2.02460375e-03 9.96975913e-01 -5.59024330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76577952299999 meters 0.02160318828877631 Centerline is valid? [True, True] Translation: X:67.86, Y:-10.54, Z:-5.60 [[ 9.80561714e-01 1.80482249e-01 7.69732582e-02 6.78634637e+01] [-1.79727831e-01 9.83575020e-01 -1.66759438e-02 -1.05388838e+01] [-7.87186858e-02 2.51755530e-03 9.96893691e-01 -5.59787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825779523 meters 0.021155127015748353 Centerline is valid? [True, True] Translation: X:67.92, Y:-10.55, Z:-5.60 [[ 9.81246733e-01 1.76765067e-01 7.68697557e-02 6.79233394e+01] [-1.76000787e-01 9.84249037e-01 -1.66599977e-02 -1.05513875e+01] [-7.86038887e-02 2.81843083e-03 9.96901944e-01 -5.60123845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885779523 meters 0.021474313003290023 Centerline is valid? [True, True] Translation: X:67.99, Y:-10.56, Z:-5.61 [[ 9.81010501e-01 1.77628591e-01 7.78876108e-02 6.79850140e+01] [-1.76846399e-01 9.84093648e-01 -1.68832291e-02 -1.05571530e+01] [-7.96476472e-02 2.78848154e-03 9.96819180e-01 -5.60822222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945779523 meters 0.0212314980256988 Centerline is valid? [True, True] Translation: X:68.05, Y:-10.56, Z:-5.61 [[ 9.80515153e-01 1.81133967e-01 7.60297403e-02 6.80475904e+01] [-1.80397718e-01 9.83455348e-01 -1.64997604e-02 -1.05590508e+01] [-7.77605218e-02 2.46267339e-03 9.96969025e-01 -5.61425030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005779523 meters 0.02055113732495772 Centerline is valid? [True, True] Translation: X:68.11, Y:-10.56, Z:-5.62 [[ 9.80098139e-01 1.84124681e-01 7.42006780e-02 6.81100768e+01] [-1.83431809e-01 9.82900490e-01 -1.61058530e-02 -1.05635027e+01] [-7.58973678e-02 2.17455196e-03 9.97113264e-01 -5.62120401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06577952299999 meters 0.017534511445007513 Centerline is valid? [True, True] Translation: X:68.17, Y:-10.57, Z:-5.62 [[ 9.78973822e-01 1.89182189e-01 7.62912546e-02 6.81714438e+01] [-1.88463336e-01 9.81940254e-01 -1.65803415e-02 -1.05716388e+01] [-7.80501592e-02 1.85361597e-03 9.96947710e-01 -5.62319224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12577952299999 meters 0.015958934714276837 Centerline is valid? [True, True] Translation: X:68.23, Y:-10.57, Z:-5.62 [[ 9.77610125e-01 1.94556801e-01 8.01629233e-02 6.82337712e+01] [-1.93780616e-01 9.80890103e-01 -1.74263599e-02 -1.05738489e+01] [-8.20214350e-02 1.50216520e-03 9.96629434e-01 -5.62440702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185779523 meters 0.015739517707537395 Centerline is valid? [True, True] Translation: X:68.29, Y:-10.58, Z:-5.63 [[ 9.77125028e-01 1.97559616e-01 7.87202566e-02 6.82943259e+01] [-1.96820665e-01 9.80290102e-01 -1.71155187e-02 -1.05819093e+01] [-8.05500237e-02 1.23022843e-03 9.96749808e-01 -5.63367694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245779523 meters 0.0149281088731253 Centerline is valid? [True, True] Translation: X:68.36, Y:-10.59, Z:-5.64 [[ 9.76464410e-01 2.01102720e-01 7.79419752e-02 6.83555441e+01] [-2.00388145e-01 9.79569701e-01 -1.69644136e-02 -1.05935698e+01] [-7.97611871e-02 9.46498301e-04 9.96813552e-01 -5.64009471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305779523 meters 0.013995354644410549 Centerline is valid? [True, True] Translation: X:68.42, Y:-10.60, Z:-5.64 [[ 9.75742974e-01 2.03786949e-01 7.99783023e-02 6.84171506e+01] [-2.03042575e-01 9.79014967e-01 -1.74185581e-02 -1.06010512e+01] [-8.18496298e-02 7.57035178e-04 9.96644402e-01 -5.64440745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365779523 meters 0.013699144122371222 Centerline is valid? [True, True] Translation: X:68.48, Y:-10.61, Z:-5.65 [[ 9.74694899e-01 2.07999535e-01 8.18904594e-02 6.84777709e+01] [-2.07232104e-01 9.78128828e-01 -1.78563798e-02 -1.06077699e+01] [-8.38135378e-02 4.34190170e-04 9.96481361e-01 -5.64938996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42577952299999 meters 0.013381011556936013 Centerline is valid? [True, True] Translation: X:68.54, Y:-10.62, Z:-5.65 [[ 9.74043443e-01 2.11925779e-01 7.95414121e-02 6.85366699e+01] [-2.11213400e-01 9.77285758e-01 -1.73622476e-02 -1.06249002e+01] [-8.14141971e-02 1.11371293e-04 9.96680348e-01 -5.65264998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48577952299999 meters 0.013288816938610658 Centerline is valid? [True, True] Translation: X:68.60, Y:-10.63, Z:-5.66 [[ 9.73439962e-01 2.15252822e-01 7.79798826e-02 6.85988935e+01] [-2.14577430e-01 9.76558345e-01 -1.70389383e-02 -1.06332475e+01] [-7.98195847e-02 -1.46339338e-04 9.96809316e-01 -5.65989001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545779523 meters 0.01331311174421063 Centerline is valid? [True, True] Translation: X:68.66, Y:-10.64, Z:-5.67 [[ 9.73071208e-01 2.16825426e-01 7.82250514e-02 6.86594867e+01] [-2.16148950e-01 9.76210362e-01 -1.71161035e-02 -1.06433676e+01] [-8.00753122e-02 -2.53075198e-04 9.96788784e-01 -5.66672132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605779523 meters 0.013514119200523372 Centerline is valid? [True, True] Translation: X:68.72, Y:-10.66, Z:-5.67 [[ 9.72236463e-01 2.20632415e-01 7.79589505e-02 6.87187432e+01] [-2.19971022e-01 9.75356879e-01 -1.70794435e-02 -1.06615842e+01] [-7.98060775e-02 -5.43452337e-04 9.96810260e-01 -5.67086651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665779523 meters 0.013696370906805356 Centerline is valid? [True, True] Translation: X:68.78, Y:-10.68, Z:-5.68 [[ 9.71878873e-01 2.23268384e-01 7.48510875e-02 6.87788253e+01] [-2.22665112e-01 9.74756751e-01 -1.64172214e-02 -1.06776706e+01] [-7.66270493e-02 -7.11175184e-04 9.97059572e-01 -5.67800532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725779523 meters 0.018262887775140367 Centerline is valid? [True, True] Translation: X:68.84, Y:-10.69, Z:-5.69 [[ 9.71212529e-01 2.27185659e-01 7.16442638e-02 6.88373321e+01] [-2.26642274e-01 9.73850994e-01 -1.57327908e-02 -1.06923218e+01] [-7.33451020e-02 -9.57735256e-04 9.97306161e-01 -5.68665236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78577952299999 meters 0.014769634837609671 Centerline is valid? [True, True] Translation: X:68.90, Y:-10.71, Z:-5.68 [[ 9.70042287e-01 2.29412330e-01 7.99246137e-02 6.88977035e+01] [-2.28742436e-01 9.73328533e-01 -1.75631781e-02 -1.07135223e+01] [-8.18221166e-02 -1.24512537e-03 9.96646171e-01 -5.68136010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84577952299999 meters 0.014640767529885286 Centerline is valid? [True, True] Translation: X:68.96, Y:-10.73, Z:-5.68 [[ 9.69574333e-01 2.28954978e-01 8.66327377e-02 6.89583110e+01] [-2.28163472e-01 9.73436169e-01 -1.90645115e-02 -1.07297422e+01] [-8.86963551e-02 -1.28196522e-03 9.96057886e-01 -5.68230173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90577952299999 meters 0.014457943983661724 Centerline is valid? [True, True] Translation: X:69.01, Y:-10.75, Z:-5.70 [[ 9.70406338e-01 2.28807644e-01 7.71919836e-02 6.90147225e+01] [-2.28177577e-01 9.73471020e-01 -1.70049236e-02 -1.07521110e+01] [-7.90350155e-02 -1.11179411e-03 9.96871220e-01 -5.69651608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965779523 meters 0.01623143976296623 Centerline is valid? [True, True] Translation: X:69.07, Y:-10.78, Z:-5.70 [[ 9.69666956e-01 2.33354513e-01 7.27438369e-02 6.90714604e+01] [-2.32806545e-01 9.72390748e-01 -1.60419890e-02 -1.07765818e+01] [-7.44789045e-02 -1.37985469e-03 9.97221635e-01 -5.69911019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025779523 meters 0.01622731096551732 Centerline is valid? [True, True] Translation: X:69.13, Y:-10.79, Z:-5.71 [[ 9.68993180e-01 2.35841813e-01 7.36943440e-02 6.91316226e+01] [-2.35285922e-01 9.71790169e-01 -1.62604324e-02 -1.07879790e+01] [-7.54503289e-02 -1.58299360e-03 9.97148305e-01 -5.70610674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085779523 meters 0.017806016216293973 Centerline is valid? [True, True] Translation: X:69.19, Y:-10.82, Z:-5.71 [[ 9.69396286e-01 2.33295140e-01 7.64474933e-02 6.91886321e+01] [-2.32687501e-01 9.72404939e-01 -1.68867125e-02 -1.08158546e+01] [-7.82775080e-02 -1.41845985e-03 9.96930599e-01 -5.71211150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14577952299999 meters 0.0141707239067234 Centerline is valid? [True, True] Translation: X:69.24, Y:-10.85, Z:-5.71 [[ 9.70371531e-01 2.29232224e-01 7.63654281e-02 6.92447753e+01] [-2.28611757e-01 9.73371174e-01 -1.68885056e-02 -1.08518954e+01] [-7.82032961e-02 -1.06990970e-03 9.96936858e-01 -5.71239640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20577952299999 meters 0.015742841392416888 Centerline is valid? [True, True] Translation: X:69.31, Y:-10.86, Z:-5.72 [[ 9.70874024e-01 2.27711133e-01 7.45068370e-02 6.93052210e+01] [-2.27114628e-01 9.73728309e-01 -1.64962616e-02 -1.08643064e+01] [-7.63057988e-02 -9.05800649e-04 9.97084051e-01 -5.72204397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26577952299999 meters 0.013722400081517741 Centerline is valid? [True, True] Translation: X:69.37, Y:-10.89, Z:-5.72 [[ 9.70623603e-01 2.28294138e-01 7.59710983e-02 6.93650193e+01] [-2.27674110e-01 9.73591744e-01 -1.68409236e-02 -1.08876443e+01] [-7.78095182e-02 -9.50454194e-04 9.96967791e-01 -5.72204863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325779523 meters 0.01340518782198228 Centerline is valid? [True, True] Translation: X:69.42, Y:-10.92, Z:-5.72 [[ 9.71482285e-01 2.25245560e-01 7.40716398e-02 6.94213139e+01] [-2.24645672e-01 9.74301797e-01 -1.64416946e-02 -1.09197104e+01] [-7.58715505e-02 -6.67058252e-04 9.97117377e-01 -5.72198990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385779523 meters 0.01292713412493165 Centerline is valid? [True, True] Translation: X:69.48, Y:-10.93, Z:-5.74 [[ 9.72482691e-01 2.21648042e-01 7.17604449e-02 6.94809921e+01] [-2.21073924e-01 9.75126668e-01 -1.59468433e-02 -1.09330843e+01] [-7.35101101e-02 -3.56334005e-04 9.97294408e-01 -5.73627780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445779523 meters 0.013310729445247766 Centerline is valid? [True, True] Translation: X:69.54, Y:-10.96, Z:-5.75 [[ 9.74838998e-01 2.12127224e-01 6.84906501e-02 6.95380295e+01] [-2.11579583e-01 9.77241991e-01 -1.52371558e-02 -1.09609020e+01] [-7.01641549e-02 3.62550546e-04 9.97535393e-01 -5.74620445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505779523 meters 0.015222867267400948 Centerline is valid? [True, True] Translation: X:69.60, Y:-10.99, Z:-5.74 [[ 9.76865011e-01 2.01767028e-01 7.08859413e-02 6.95953082e+01] [-2.01151570e-01 9.79432849e-01 -1.57905011e-02 -1.09938097e+01] [-7.26140219e-02 1.16636968e-03 9.97359435e-01 -5.74136989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56577952299999 meters 0.01678903835460479 Centerline is valid? [True, True] Translation: X:69.65, Y:-11.01, Z:-5.75 [[ 9.78189073e-01 1.94689507e-01 7.24025791e-02 6.96542716e+01] [-1.94027589e-01 9.80863390e-01 -1.61339944e-02 -1.10096375e+01] [-7.41581586e-02 1.73399918e-03 9.97244985e-01 -5.74802359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62577952299999 meters 0.018766799731646338 Centerline is valid? [True, True] Translation: X:69.71, Y:-11.03, Z:-5.75 [[ 9.79211102e-01 1.88440605e-01 7.50716702e-02 6.97122725e+01] [-1.87710329e-01 9.82081914e-01 -1.67316252e-02 -1.10320562e+01] [-7.68794471e-02 2.29206522e-03 9.97037761e-01 -5.75024836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685779523 meters 0.020347670771452574 Centerline is valid? [True, True] Translation: X:69.77, Y:-11.06, Z:-5.75 [[ 9.79940434e-01 1.84684895e-01 7.48881585e-02 6.97692691e+01] [-1.83947049e-01 9.82794393e-01 -1.66932672e-02 -1.10568519e+01] [-7.66826566e-02 2.58295169e-03 9.97052205e-01 -5.74999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745779523 meters 0.019495649482296405 Centerline is valid? [True, True] Translation: X:69.83, Y:-11.06, Z:-5.76 [[ 9.80003394e-01 1.85176075e-01 7.28228633e-02 6.98319779e+01] [-1.84479453e-01 9.82702233e-01 -1.62373689e-02 -1.10609967e+01] [-7.45699626e-02 2.47835459e-03 9.97212705e-01 -5.76281489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805779523 meters 0.019805651033336622 Centerline is valid? [True, True] Translation: X:69.89, Y:-11.07, Z:-5.77 [[ 9.79607107e-01 1.87497624e-01 7.22118904e-02 6.98916896e+01] [-1.86817350e-01 9.82262355e-01 -1.61227464e-02 -1.10704332e+01] [-7.39539982e-02 2.30352300e-03 9.97258993e-01 -5.77117793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865779523 meters 0.0182038214707065 Centerline is valid? [True, True] Translation: X:69.95, Y:-11.09, Z:-5.77 [[ 9.79025659e-01 1.91401050e-01 6.98168804e-02 6.99500246e+01] [-1.90773849e-01 9.81509959e-01 -1.56057338e-02 -1.10914114e+01] [-7.15129173e-02 1.95917878e-03 9.97437750e-01 -5.76753050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92577952299999 meters 0.020705936846084256 Centerline is valid? [True, True] Translation: X:70.01, Y:-11.10, Z:-5.78 [[ 9.80052015e-01 1.86929606e-01 6.74934887e-02 7.00089213e+01] [-1.86332794e-01 9.82370823e-01 -1.50882755e-02 -1.10996096e+01] [-6.91240795e-02 2.21104449e-03 9.97605620e-01 -5.77836776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98577952299999 meters 0.02226418939475698 Centerline is valid? [True, True] Translation: X:70.07, Y:-11.11, Z:-5.78 [[ 9.81030204e-01 1.79651620e-01 7.28356631e-02 7.00686003e+01] [-1.78935888e-01 9.83725881e-01 -1.62892325e-02 -1.11115852e+01] [-7.45767139e-02 2.94731498e-03 9.97210924e-01 -5.78342541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045779523 meters 0.021800691952417958 Centerline is valid? [True, True] Translation: X:70.13, Y:-11.13, Z:-5.78 [[ 9.81296006e-01 1.77327350e-01 7.49210252e-02 7.01290579e+01] [-1.76562994e-01 9.84146668e-01 -1.67584546e-02 -1.11275252e+01] [-7.67050096e-02 3.21672406e-03 9.97048642e-01 -5.78155828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105779523 meters 0.02200820026350298 Centerline is valid? [True, True] Translation: X:70.19, Y:-11.14, Z:-5.78 [[ 9.80979493e-01 1.78518572e-01 7.62256752e-02 7.01911510e+01] [-1.77730444e-01 9.83931391e-01 -1.70560090e-02 -1.11374819e+01] [-7.80456490e-02 3.18397199e-03 9.96944702e-01 -5.78161769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165779523 meters 0.020655034582591207 Centerline is valid? [True, True] Translation: X:70.25, Y:-11.13, Z:-5.79 [[ 9.80365599e-01 1.82313860e-01 7.51328806e-02 7.02547121e+01] [-1.81558780e-01 9.83236264e-01 -1.68184186e-02 -1.11345597e+01] [-7.69396036e-02 2.84716488e-03 9.97031690e-01 -5.79159381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225779523 meters 0.018445874160827228 Centerline is valid? [True, True] Translation: X:70.32, Y:-11.14, Z:-5.80 [[ 9.79530530e-01 1.88236837e-01 7.13220492e-02 7.03150951e+01] [-1.87571888e-01 9.82121054e-01 -1.59693940e-02 -1.11402242e+01] [-7.30529143e-02 2.26449757e-03 9.97325495e-01 -5.80276946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28577952299999 meters 0.016166941767638374 Centerline is valid? [True, True] Translation: X:70.37, Y:-11.15, Z:-5.81 [[ 9.77779668e-01 1.97862656e-01 6.92624736e-02 7.03749217e+01] [-1.97259611e-01 9.80228603e-01 -1.55090864e-02 -1.11502379e+01] [-7.09617267e-02 1.50178074e-03 9.97477909e-01 -5.80586323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34577952299999 meters 0.014083030581654913 Centerline is valid? [True, True] Translation: X:70.44, Y:-11.14, Z:-5.81 [[ 9.76012397e-01 2.04891695e-01 7.36151728e-02 7.04394554e+01] [-2.04230142e-01 9.78784082e-01 -1.64854484e-02 -1.11414052e+01] [-7.54310907e-02 1.05556485e-03 9.97150458e-01 -5.81160846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40577952299999 meters 0.012870870073840641 Centerline is valid? [True, True] Translation: X:70.50, Y:-11.16, Z:-5.82 [[ 9.74217966e-01 2.14451900e-01 7.00695232e-02 7.05003304e+01] [-2.13877132e-01 9.76734504e-01 -1.56933493e-02 -1.11555816e+01] [-7.18047896e-02 3.02474097e-04 9.97418659e-01 -5.81615188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465779523 meters 0.012748382767894853 Centerline is valid? [True, True] Translation: X:70.56, Y:-11.17, Z:-5.82 [[ 9.73237295e-01 2.19011673e-01 6.95920582e-02 7.05610747e+01] [-2.18456032e-01 9.75722238e-01 -1.55908864e-02 -1.11711931e+01] [-7.13171049e-02 -2.91727896e-05 9.97453693e-01 -5.81793998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525779523 meters 0.013489476667735145 Centerline is valid? [True, True] Translation: X:70.62, Y:-11.17, Z:-5.82 [[ 9.70173540e-01 2.30443458e-01 7.52270835e-02 7.06247842e+01] [-2.29826387e-01 9.73085287e-01 -1.68776864e-02 -1.11695225e+01] [-7.70917205e-02 -9.14883998e-04 9.97023585e-01 -5.81801599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585779523 meters 0.019266337476981966 Centerline is valid? [True, True] Translation: X:70.69, Y:-11.16, Z:-5.83 [[ 9.68872383e-01 2.36130905e-01 7.43538961e-02 7.06876090e+01] [-2.35543424e-01 9.71720339e-01 -1.66996491e-02 -1.11629962e+01] [-7.61944963e-02 -1.33374253e-03 9.97092082e-01 -5.83351369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64577952299999 meters 0.01584953193763739 Centerline is valid? [True, True] Translation: X:70.74, Y:-11.20, Z:-5.83 [[ 9.68174541e-01 2.40435853e-01 6.94885499e-02 7.07431345e+01] [-2.39932643e-01 9.70663799e-01 -1.56241938e-02 -1.11988847e+01] [-7.12066362e-02 -1.54562469e-03 9.97460388e-01 -5.82941850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70577952299999 meters 0.01592675372593126 Centerline is valid? [True, True] Translation: X:70.81, Y:-11.21, Z:-5.84 [[ 9.68187883e-01 2.39706916e-01 7.17831295e-02 7.08050335e+01] [-2.39167691e-01 9.70844079e-01 -1.61427748e-02 -1.12077865e+01] [-7.35597610e-02 -1.53896641e-03 9.97289624e-01 -5.83629067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76577952299999 meters 0.015556359868227341 Centerline is valid? [True, True] Translation: X:70.87, Y:-11.21, Z:-5.85 [[ 9.67940094e-01 2.40051469e-01 7.39409670e-02 7.08674504e+01] [-2.39479832e-01 9.70758833e-01 -1.66342499e-02 -1.12088710e+01] [-7.57719229e-02 -1.60641295e-03 9.97123882e-01 -5.84839414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825779523 meters 0.01421019829125356 Centerline is valid? [True, True] Translation: X:70.92, Y:-11.25, Z:-5.85 [[ 9.69598152e-01 2.34767180e-01 6.90202503e-02 7.09222195e+01] [-2.34254598e-01 9.72051011e-01 -1.55439715e-02 -1.12508713e+01] [-7.07404184e-02 -1.09690498e-03 9.97494155e-01 -5.84659736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885779523 meters 0.012988091935650214 Centerline is valid? [True, True] Translation: X:70.98, Y:-11.28, Z:-5.85 [[ 9.71970463e-01 2.24944524e-01 6.83621233e-02 7.09793671e+01] [-2.24415968e-01 9.74371507e-01 -1.54155964e-02 -1.12780199e+01] [-7.00777591e-02 -3.58047643e-04 9.97541468e-01 -5.84936434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945779523 meters 0.012946138156333498 Centerline is valid? [True, True] Translation: X:71.04, Y:-11.29, Z:-5.86 [[ 9.73676522e-01 2.17092025e-01 6.94628232e-02 7.10382889e+01] [-2.16526134e-01 9.76151119e-01 -1.56660748e-02 -1.12903645e+01] [-7.12071925e-02 2.13172678e-04 9.97461523e-01 -5.86342448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005779523 meters 0.014140640021639218 Centerline is valid? [True, True] Translation: X:71.09, Y:-11.33, Z:-5.86 [[ 9.75087073e-01 2.10740189e-01 6.92370780e-02 7.10931135e+01] [-2.10160782e-01 9.77541863e-01 -1.56317277e-02 -1.13257206e+01] [-7.09763755e-02 6.91377136e-04 9.97477757e-01 -5.86234423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06577952299999 meters 0.01616469070648684 Centerline is valid? [True, True] Translation: X:71.15, Y:-11.35, Z:-5.87 [[ 9.76914272e-01 2.02479528e-01 6.81215525e-02 7.11500423e+01] [-2.01897332e-01 9.79285648e-01 -1.53976317e-02 -1.13523187e+01] [-6.98281639e-02 1.28860647e-03 9.97558202e-01 -5.86545682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12577952299999 meters 0.016677695246000265 Centerline is valid? [True, True] Translation: X:71.21, Y:-11.36, Z:-5.87 [[ 9.77100995e-01 2.01166869e-01 6.93219728e-02 7.12093318e+01] [-2.00560532e-01 9.79555974e-01 -1.56705515e-02 -1.13641831e+01] [-7.10571484e-02 1.40845976e-03 9.97471252e-01 -5.87325038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185779523 meters 0.016603334912278302 Centerline is valid? [True, True] Translation: X:71.27, Y:-11.39, Z:-5.87 [[ 9.76748629e-01 2.01647543e-01 7.28037339e-02 7.12681013e+01] [-2.00979266e-01 9.79457073e-01 -1.64674241e-02 -1.13867543e+01] [-7.46287477e-02 1.45249295e-03 9.97210329e-01 -5.86832122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245779523 meters 0.015939863183062845 Centerline is valid? [True, True] Translation: X:71.33, Y:-11.40, Z:-5.87 [[ 9.77117574e-01 2.00507429e-01 7.09789906e-02 7.13281365e+01] [-1.99868057e-01 9.79691007e-01 -1.60714366e-02 -1.14007545e+01] [-7.27599212e-02 1.51725025e-03 9.97348330e-01 -5.87299440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305779523 meters 0.018201927949158453 Centerline is valid? [True, True] Translation: X:71.39, Y:-11.42, Z:-5.89 [[ 9.78550953e-01 1.95402821e-01 6.52362688e-02 7.13861000e+01] [-1.94850302e-01 9.80721488e-01 -1.47892713e-02 -1.14173062e+01] [-6.68684760e-02 1.76074882e-03 9.97760245e-01 -5.88764599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365779523 meters 0.020228374639459624 Centerline is valid? [True, True] Translation: X:71.44, Y:-11.44, Z:-5.89 [[ 9.79380178e-01 1.90552632e-01 6.71130479e-02 7.14448237e+01] [-1.89956236e-01 9.81674614e-01 -1.52177403e-02 -1.14353495e+01] [-6.87829558e-02 2.15541118e-03 9.97629320e-01 -5.89088583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42577952299999 meters 0.02146303293408138 Centerline is valid? [True, True] Translation: X:71.50, Y:-11.45, Z:-5.89 [[ 9.80163111e-01 1.86459437e-01 6.71800074e-02 7.15036845e+01] [-1.85852083e-01 9.82459611e-01 -1.52353288e-02 -1.14519686e+01] [-6.88424148e-02 2.44756299e-03 9.97624544e-01 -5.89479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48577952299999 meters 0.021502711086317638 Centerline is valid? [True, True] Translation: X:71.56, Y:-11.47, Z:-5.89 [[ 9.79972812e-01 1.86208805e-01 7.05660650e-02 7.15643754e+01] [-1.85537867e-01 9.82506778e-01 -1.60041226e-02 -1.14668124e+01] [-7.23117456e-02 2.59092786e-03 9.97378714e-01 -5.89492950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545779523 meters 0.019712138761880108 Centerline is valid? [True, True] Translation: X:71.63, Y:-11.47, Z:-5.90 [[ 9.78536403e-01 1.92450958e-01 7.36826730e-02 7.16250407e+01] [-1.91735396e-01 9.81304025e-01 -1.67316799e-02 -1.14691126e+01] [-7.55251314e-02 2.24498140e-03 9.97141371e-01 -5.90020574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605779523 meters 0.016323414237744274 Centerline is valid? [True, True] Translation: X:71.69, Y:-11.47, Z:-5.91 [[ 9.77226401e-01 1.99799257e-01 7.14759995e-02 7.16867188e+01] [-1.99145556e-01 9.79835501e-01 -1.62307651e-02 -1.14721339e+01] [-7.32776166e-02 1.62700456e-03 9.97310255e-01 -5.90795007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665779523 meters 0.014938324539286847 Centerline is valid? [True, True] Translation: X:71.75, Y:-11.48, Z:-5.91 [[ 9.76026492e-01 2.06654873e-01 6.83084977e-02 7.17467879e+01] [-2.06074509e-01 9.78413322e-01 -1.55134590e-02 -1.14841958e+01] [-7.00398761e-02 1.06490679e-03 9.97543624e-01 -5.90978782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725779523 meters 0.01450802455284392 Centerline is valid? [True, True] Translation: X:71.81, Y:-11.49, Z:-5.91 [[ 9.75318585e-01 2.09510715e-01 6.97059404e-02 7.18079117e+01] [-2.08913547e-01 9.77805957e-01 -1.58316483e-02 -1.14921791e+01] [-7.14757837e-02 8.78385587e-04 9.97441949e-01 -5.91328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78577952299999 meters 0.016803125873092618 Centerline is valid? [True, True] Translation: X:71.87, Y:-11.50, Z:-5.92 [[ 9.75407382e-01 2.09495222e-01 6.84995725e-02 7.18688660e+01] [-2.08917365e-01 9.77809274e-01 -1.55742749e-02 -1.14990567e+01] [-7.02422534e-02 8.80512545e-04 9.97529574e-01 -5.92411457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84577952299999 meters 0.014359686969032288 Centerline is valid? [True, True] Translation: X:71.93, Y:-11.51, Z:-5.93 [[ 9.75387837e-01 2.08986995e-01 7.03064923e-02 7.19302962e+01] [-2.08376234e-01 9.77917958e-01 -1.59941301e-02 -1.15145921e+01] [-7.20965466e-02 9.50277867e-04 9.97397205e-01 -5.92552722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90577952299999 meters 0.016167524674619346 Centerline is valid? [True, True] Translation: X:71.99, Y:-11.53, Z:-5.93 [[ 9.76563126e-01 2.04159170e-01 6.81431927e-02 7.19886610e+01] [-2.03572286e-01 9.78936861e-01 -1.55224463e-02 -1.15316456e+01] [-6.98769330e-02 1.28658318e-03 9.97554790e-01 -5.93079884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965779523 meters 0.017112953216754906 Centerline is valid? [True, True] Translation: X:72.05, Y:-11.55, Z:-5.93 [[ 9.77351455e-01 1.99896491e-01 6.94660096e-02 7.20489719e+01] [-1.99274477e-01 9.79815646e-01 -1.58424130e-02 -1.15462971e+01] [-7.12307258e-02 1.64080260e-03 9.97458516e-01 -5.93265211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025779523 meters 0.019359787405429367 Centerline is valid? [True, True] Translation: X:72.11, Y:-11.56, Z:-5.94 [[ 9.78533626e-01 1.93748741e-01 7.02379365e-02 7.21080687e+01] [-1.93096568e-01 9.81048899e-01 -1.60241569e-02 -1.15608475e+01] [-7.20115105e-02 2.11747188e-03 9.97401553e-01 -5.93728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085779523 meters 0.020109705579746732 Centerline is valid? [True, True] Translation: X:72.17, Y:-11.57, Z:-5.95 [[ 9.79278936e-01 1.91288610e-01 6.64938563e-02 7.21685266e+01] [-1.90698486e-01 9.81531422e-01 -1.51708941e-02 -1.15688039e+01] [-6.81678286e-02 2.17625930e-03 9.97671495e-01 -5.95014827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14577952299999 meters 0.022061067191979103 Centerline is valid? [True, True] Translation: X:72.23, Y:-11.58, Z:-5.96 [[ 9.80106821e-01 1.87934792e-01 6.38054298e-02 7.22277171e+01] [-1.87384244e-01 9.82178782e-01 -1.45597274e-02 -1.15844365e+01] [-6.54046187e-02 2.31395594e-03 9.97856143e-01 -5.95608093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20577952299999 meters 0.022252340224311815 Centerline is valid? [True, True] Translation: X:72.29, Y:-11.59, Z:-5.95 [[ 9.80181236e-01 1.84171480e-01 7.29767850e-02 7.22885834e+01] [-1.83440428e-01 9.82889738e-01 -1.66545012e-02 -1.15932985e+01] [-7.47954172e-02 2.93753687e-03 9.97194573e-01 -5.95391237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26577952299999 meters 0.02389194696523279 Centerline is valid? [True, True] Translation: X:72.35, Y:-11.61, Z:-5.96 [[ 9.80599116e-01 1.80742694e-01 7.58778734e-02 7.23488692e+01] [-1.79940491e-01 9.83524723e-01 -1.73360381e-02 -1.16053082e+01] [-7.77611266e-02 3.34620180e-03 9.96966404e-01 -5.95796449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325779523 meters 0.025364305728357003 Centerline is valid? [True, True] Translation: X:72.41, Y:-11.63, Z:-5.96 [[ 9.81274062e-01 1.77798025e-01 7.40883095e-02 7.24068207e+01] [-1.77024713e-01 9.84060786e-01 -1.69298615e-02 -1.16253454e+01] [-7.59174960e-02 3.49737225e-03 9.97107969e-01 -5.96056727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385779523 meters 0.026092891174075143 Centerline is valid? [True, True] Translation: X:72.47, Y:-11.64, Z:-5.97 [[ 9.81287265e-01 1.78715570e-01 7.16662283e-02 7.24680446e+01] [-1.77994551e-01 9.83895201e-01 -1.63759902e-02 -1.16351571e+01] [-7.34387026e-02 3.31335249e-03 9.97294229e-01 -5.96746740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445779523 meters 0.02289300104632494 Centerline is valid? [True, True] Translation: X:72.53, Y:-11.63, Z:-5.98 [[ 9.80416794e-01 1.85399219e-01 6.64081274e-02 7.25309455e+01] [-1.84794327e-01 9.82659783e-01 -1.51923239e-02 -1.16282797e+01] [-6.80732411e-02 2.62296423e-03 9.97676879e-01 -5.98311989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505779523 meters 0.020568390082399142 Centerline is valid? [True, True] Translation: X:72.59, Y:-11.64, Z:-5.98 [[ 9.79530804e-01 1.89365834e-01 6.82640881e-02 7.25912444e+01] [-1.88736115e-01 9.81903636e-01 -1.56182107e-02 -1.16409371e+01] [-6.99863118e-02 2.41461971e-03 9.97545029e-01 -5.98348012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56577952299999 meters 0.01813686312744646 Centerline is valid? [True, True] Translation: X:72.65, Y:-11.65, Z:-5.98 [[ 9.78145876e-01 1.93831036e-01 7.52341295e-02 7.26523993e+01] [-1.93078871e-01 9.81032201e-01 -1.72154091e-02 -1.16485994e+01] [-7.71439842e-02 2.31306067e-03 9.97017279e-01 -5.98172756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62577952299999 meters 0.01605293229956005 Centerline is valid? [True, True] Translation: X:72.71, Y:-11.64, Z:-5.99 [[ 9.76064335e-01 2.04489126e-01 7.40446579e-02 7.27146311e+01] [-2.03791024e-01 9.78867763e-01 -1.69446786e-02 -1.16440316e+01] [-7.59449311e-02 1.44945983e-03 9.97110960e-01 -5.99163206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685779523 meters 0.013963399259438692 Centerline is valid? [True, True] Translation: X:72.78, Y:-11.65, Z:-6.00 [[ 9.73751601e-01 2.16311406e-01 7.08321694e-02 7.27771325e+01] [-2.15703824e-01 9.76324291e-01 -1.62092516e-02 -1.16456696e+01] [-7.26614136e-02 5.05014963e-04 9.97356538e-01 -5.99971286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745779523 meters 0.013708118916779189 Centerline is valid? [True, True] Translation: X:72.84, Y:-11.66, Z:-6.00 [[ 9.72630576e-01 2.21297623e-01 7.08316583e-02 7.28361985e+01] [-2.20703055e-01 9.75206308e-01 -1.62116536e-02 -1.16602193e+01] [-7.26630804e-02 1.35186630e-04 9.97356535e-01 -6.00069703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805779523 meters 0.013675031328752783 Centerline is valid? [True, True] Translation: X:72.90, Y:-11.67, Z:-6.00 [[ 9.71770888e-01 2.24557828e-01 7.23541506e-02 7.28971722e+01] [-2.23945095e-01 9.74460760e-01 -1.65777256e-02 -1.16704600e+01] [-7.42289387e-02 -9.36059983e-05 9.97241223e-01 -6.00461098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865779523 meters 0.013816399187667366 Centerline is valid? [True, True] Translation: X:72.96, Y:-11.67, Z:-6.01 [[ 9.70178864e-01 2.29356258e-01 7.84135164e-02 7.29617322e+01] [-2.28650289e-01 9.73342426e-01 -1.79879633e-02 -1.16689881e+01] [-8.04488543e-02 -4.77731386e-04 9.96758624e-01 -6.01249183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92577952299999 meters 0.014338440029132765 Centerline is valid? [True, True] Translation: X:73.02, Y:-11.69, Z:-6.02 [[ 9.69435840e-01 2.33556651e-01 7.51361573e-02 7.30208707e+01] [-2.32919445e-01 9.72342891e-01 -1.72578840e-02 -1.16868418e+01] [-7.70888020e-02 -7.70260849e-04 9.97023933e-01 -6.01754609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98577952299999 meters 0.015194202544818448 Centerline is valid? [True, True] Translation: X:73.08, Y:-11.71, Z:-6.02 [[ 9.69047483e-01 2.36659371e-01 7.02802769e-02 7.30789634e+01] [-2.36108859e-01 9.71592234e-01 -1.61597463e-02 -1.17053178e+01] [-7.21081266e-02 -9.34234534e-04 9.97396383e-01 -6.02021035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045779523 meters 0.014615425253716476 Centerline is valid? [True, True] Translation: X:73.14, Y:-11.71, Z:-6.03 [[ 9.69252033e-01 2.34713315e-01 7.38928649e-02 7.31409028e+01] [-2.34097622e-01 9.72064298e-01 -1.70089183e-02 -1.17121616e+01] [-7.58208355e-02 -8.12215255e-04 9.97121127e-01 -6.02834236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105779523 meters 0.014224563579237409 Centerline is valid? [True, True] Translation: X:73.20, Y:-11.74, Z:-6.03 [[ 9.69732474e-01 2.32558366e-01 7.44011706e-02 7.31984327e+01] [-2.31926346e-01 9.72582238e-01 -1.71452578e-02 -1.17404193e+01] [-7.63485302e-02 -6.29278374e-04 9.97080993e-01 -6.03004805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165779523 meters 0.01761927246866279 Centerline is valid? [True, True] Translation: X:73.26, Y:-11.76, Z:-6.04 [[ 9.70584329e-01 2.29852942e-01 7.16497368e-02 7.32584117e+01] [-2.29258194e-01 9.73225297e-01 -1.65288435e-02 -1.17600981e+01] [-7.35305397e-02 -3.83652801e-04 9.97292892e-01 -6.03800563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225779523 meters 0.013746574754003822 Centerline is valid? [True, True] Translation: X:73.32, Y:-11.77, Z:-6.04 [[ 9.70910262e-01 2.27234932e-01 7.54821132e-02 7.33180015e+01] [-2.26564965e-01 9.73839954e-01 -1.74373306e-02 -1.17716343e+01] [-7.74698683e-02 -1.71519131e-04 9.96994679e-01 -6.04047054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28577952299999 meters 0.013726335948166845 Centerline is valid? [True, True] Translation: X:73.38, Y:-11.80, Z:-6.04 [[ 9.71383393e-01 2.25328029e-01 7.51104700e-02 7.33765773e+01] [-2.24657573e-01 9.74282957e-01 -1.73693782e-02 -1.17992961e+01] [-7.70926586e-02 -1.81039212e-06 9.97023933e-01 -6.04271043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34577952299999 meters 0.013913847709198214 Centerline is valid? [True, True] Translation: X:73.43, Y:-11.81, Z:-6.05 [[ 9.71377080e-01 2.26570404e-01 7.13611909e-02 7.34348431e+01] [-2.25967145e-01 9.73994788e-01 -1.65228072e-02 -1.18132999e+01] [-7.32490071e-02 -7.54084070e-05 9.97313680e-01 -6.05441264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40577952299999 meters 0.014240915489939839 Centerline is valid? [True, True] Translation: X:73.50, Y:-11.83, Z:-6.06 [[ 9.70295748e-01 2.31410685e-01 7.05354919e-02 7.34950821e+01] [-2.30832885e-01 9.72856063e-01 -1.63480967e-02 -1.18267036e+01] [-7.24040052e-02 -4.19422365e-04 9.97375298e-01 -6.06265927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465779523 meters 0.014238769045437728 Centerline is valid? [True, True] Translation: X:73.55, Y:-11.85, Z:-6.06 [[ 9.69731141e-01 2.33771594e-01 7.05149380e-02 7.35532939e+01] [-2.33199144e-01 9.72291369e-01 -1.63600966e-02 -1.18499769e+01] [-7.23855915e-02 -5.79128071e-04 9.97376554e-01 -6.06231303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525779523 meters 0.01459015203906655 Centerline is valid? [True, True] Translation: X:73.61, Y:-11.87, Z:-6.07 [[ 9.68747693e-01 2.37117416e-01 7.28233384e-02 7.36129610e+01] [-2.36514784e-01 9.71480638e-01 -1.69152793e-02 -1.18673246e+01] [-7.47573705e-02 -8.37158370e-04 9.97201401e-01 -6.06626379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585779523 meters 0.01678588216708569 Centerline is valid? [True, True] Translation: X:73.67, Y:-11.88, Z:-6.08 [[ 9.67663828e-01 2.42097395e-01 7.08206730e-02 7.36722567e+01] [-2.41539473e-01 9.70251247e-01 -1.64681912e-02 -1.18795472e+01] [-7.27007525e-02 -1.17031508e-03 9.97353112e-01 -6.07935999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64577952299999 meters 0.01688838456999084 Centerline is valid? [True, True] Translation: X:73.73, Y:-11.90, Z:-6.07 [[ 9.66919584e-01 2.43835495e-01 7.49050748e-02 7.37305619e+01] [-2.43215032e-01 9.69815656e-01 -1.74367763e-02 -1.19045427e+01] [-7.68958192e-02 -1.35807976e-03 9.97038208e-01 -6.07465051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70577952299999 meters 0.015655638826448423 Centerline is valid? [True, True] Translation: X:73.79, Y:-11.93, Z:-6.08 [[ 9.67173804e-01 2.42233206e-01 7.67978261e-02 7.37893366e+01] [-2.41574220e-01 9.70217261e-01 -1.78986847e-02 -1.19288852e+01] [-7.88462323e-02 -1.24123594e-03 9.96886017e-01 -6.07513547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76577952299999 meters 0.015418500444153427 Centerline is valid? [True, True] Translation: X:73.85, Y:-11.94, Z:-6.09 [[ 9.67305167e-01 2.42132937e-01 7.54476995e-02 7.38499595e+01] [-2.41496155e-01 9.70242335e-01 -1.75903041e-02 -1.19429365e+01] [-7.74617441e-02 -1.20513725e-03 9.96994597e-01 -6.08715776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825779523 meters 0.014740411663264535 Centerline is valid? [True, True] Translation: X:73.91, Y:-11.97, Z:-6.09 [[ 9.68483025e-01 2.38474738e-01 7.19057039e-02 7.39066107e+01] [-2.37884792e-01 9.71148330e-01 -1.67853260e-02 -1.19735011e+01] [-7.38339805e-02 -8.48970111e-04 9.97270185e-01 -6.09096312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885779523 meters 0.014098540869456663 Centerline is valid? [True, True] Translation: X:73.96, Y:-12.00, Z:-6.10 [[ 9.70939458e-01 2.29355590e-01 6.83562841e-02 7.39635795e+01] [-2.28798699e-01 9.73342692e-01 -1.59736997e-02 -1.19994523e+01] [-7.01977469e-02 -1.30333507e-04 9.97533087e-01 -6.10303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945779523 meters 0.013904351784154813 Centerline is valid? [True, True] Translation: X:74.02, Y:-12.01, Z:-6.11 [[ 9.71490947e-01 2.26078606e-01 7.13708881e-02 7.40226348e+01] [-2.25461124e-01 9.74109053e-01 -1.66983507e-02 -1.20136469e+01] [-7.32981680e-02 1.30935877e-04 9.97310063e-01 -6.11139090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005779523 meters 0.014110670347501651 Centerline is valid? [True, True] Translation: X:74.08, Y:-12.05, Z:-6.10 [[ 9.71803389e-01 2.23473915e-01 7.52168997e-02 7.40780572e+01] [-2.22779322e-01 9.74709845e-01 -1.76094071e-02 -1.20526781e+01] [-7.72498958e-02 3.56111610e-04 9.97011698e-01 -6.09959762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06577952299999 meters 0.014453285914181891 Centerline is valid? [True, True] Translation: X:74.14, Y:-12.07, Z:-6.11 [[ 9.72312187e-01 2.21755273e-01 7.37130279e-02 7.41365432e+01] [-2.21081880e-01 9.75102224e-01 -1.72758336e-02 -1.20695126e+01] [-7.57087446e-02 5.00888786e-04 9.97129849e-01 -6.10974535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12577952299999 meters 0.014339080231919134 Centerline is valid? [True, True] Translation: X:74.20, Y:-12.08, Z:-6.12 [[ 9.72411488e-01 2.20819501e-01 7.51973782e-02 7.41969328e+01] [-2.20114509e-01 9.75314506e-01 -1.76413693e-02 -1.20820651e+01] [-7.72366521e-02 6.02636169e-04 9.97012606e-01 -6.12179760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185779523 meters 0.01739350175991558 Centerline is valid? [True, True] Translation: X:74.25, Y:-12.12, Z:-6.12 [[ 9.73583492e-01 2.16646592e-01 7.21071310e-02 7.42532937e+01] [-2.15985452e-01 9.76249669e-01 -1.69372110e-02 -1.21152902e+01] [-7.40639518e-02 9.15697806e-04 9.97253073e-01 -6.12231985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245779523 meters 0.018792730634784312 Centerline is valid? [True, True] Translation: X:74.31, Y:-12.14, Z:-6.13 [[ 9.74697799e-01 2.12596867e-01 6.90418257e-02 7.43100457e+01] [-2.11979361e-01 9.77139272e-01 -1.62355412e-02 -1.21402100e+01] [-7.09151045e-02 1.18930417e-03 9.97481646e-01 -6.12688360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305779523 meters 0.016613482771082495 Centerline is valid? [True, True] Translation: X:74.37, Y:-12.15, Z:-6.14 [[ 9.74811499e-01 2.11190182e-01 7.17024964e-02 7.43725052e+01] [-2.10519698e-01 9.77444058e-01 -1.68692377e-02 -1.21489823e+01] [-7.36477964e-02 1.34953902e-03 9.97283400e-01 -6.13522427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365779523 meters 0.016924906750778825 Centerline is valid? [True, True] Translation: X:74.43, Y:-12.17, Z:-6.14 [[ 9.75062785e-01 2.08714004e-01 7.54389177e-02 7.44313590e+01] [-2.07962462e-01 9.77975344e-01 -1.77718955e-02 -1.21680339e+01] [-7.74866450e-02 1.64025082e-03 9.96992041e-01 -6.14077349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42577952299999 meters 0.018109635651489986 Centerline is valid? [True, True] Translation: X:74.49, Y:-12.20, Z:-6.14 [[ 9.75912861e-01 2.05482593e-01 7.32870501e-02 7.44884781e+01] [-2.04762809e-01 9.78659000e-01 -1.72845003e-02 -1.21982058e+01] [-7.52746951e-02 1.86170384e-03 9.97161097e-01 -6.13900461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48577952299999 meters 0.02092749843144795 Centerline is valid? [True, True] Translation: X:74.54, Y:-12.22, Z:-6.15 [[ 9.77704889e-01 1.98607127e-01 6.81788681e-02 7.45449338e+01] [-1.97967299e-01 9.80076651e-01 -1.60843366e-02 -1.22182926e+01] [-7.00149807e-02 2.22854816e-03 9.97543451e-01 -6.14887627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545779523 meters 0.023118080148441904 Centerline is valid? [True, True] Translation: X:74.60, Y:-12.23, Z:-6.16 [[ 9.78704674e-01 1.93205026e-01 6.93468083e-02 7.46036044e+01] [-1.92529129e-01 9.81154786e-01 -1.63652480e-02 -1.22326717e+01] [-7.12018010e-02 2.66546418e-03 9.97458369e-01 -6.16127765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605779523 meters 0.02445191583265318 Centerline is valid? [True, True] Translation: X:74.66, Y:-12.26, Z:-6.16 [[ 9.78784317e-01 1.91925998e-01 7.17333332e-02 7.46606285e+01] [-1.91198865e-01 9.81405235e-01 -1.69339499e-02 -1.22581823e+01] [-7.36495340e-02 2.85935271e-03 9.97280086e-01 -6.15814422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665779523 meters 0.024469383799940826 Centerline is valid? [True, True] Translation: X:74.72, Y:-12.27, Z:-6.16 [[ 9.78399206e-01 1.93531568e-01 7.26672294e-02 7.47213253e+01] [-1.92788501e-01 9.81090079e-01 -1.71712209e-02 -1.22721057e+01] [-7.46162712e-02 2.79090267e-03 9.97208415e-01 -6.16030166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725779523 meters 0.02414219394521208 Centerline is valid? [True, True] Translation: X:74.78, Y:-12.28, Z:-6.17 [[ 9.77529204e-01 1.96753651e-01 7.56614528e-02 7.47821686e+01] [-1.95956041e-01 9.80449321e-01 -1.78985578e-02 -1.22762269e+01] [-7.77038266e-02 2.67004416e-03 9.96972911e-01 -6.16861588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78577952299999 meters 0.022337826174782832 Centerline is valid? [True, True] Translation: X:74.84, Y:-12.29, Z:-6.17 [[ 9.76577219e-01 2.01680472e-01 7.49794858e-02 7.48420429e+01] [-2.00911480e-01 9.79448763e-01 -1.77397149e-02 -1.22896118e+01] [-7.70163187e-02 2.25996204e-03 9.97027271e-01 -6.17162816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84577952299999 meters 0.016918676563774524 Centerline is valid? [True, True] Translation: X:74.90, Y:-12.29, Z:-6.18 [[ 9.74728455e-01 2.12579252e-01 6.86622258e-02 7.49037421e+01] [-2.11961245e-01 9.77142985e-01 -1.62486468e-02 -1.22906735e+01] [-7.05469374e-02 1.28428756e-03 9.97507634e-01 -6.18126471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90577952299999 meters 0.015349773298118454 Centerline is valid? [True, True] Translation: X:74.97, Y:-12.29, Z:-6.19 [[ 9.72410242e-01 2.22537173e-01 6.99680478e-02 7.49662883e+01] [-2.21920945e-01 9.74924036e-01 -1.65595434e-02 -1.22943938e+01] [-7.18986455e-02 5.75294339e-04 9.97411777e-01 -6.18668380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965779523 meters 0.014390505188694964 Centerline is valid? [True, True] Translation: X:75.03, Y:-12.31, Z:-6.19 [[ 9.70860687e-01 2.28596154e-01 7.19258223e-02 7.50260890e+01] [-2.27961133e-01 9.73521330e-01 -1.70276722e-02 -1.23055024e+01] [-7.39137826e-02 1.35205610e-04 9.97264626e-01 -6.19084922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025779523 meters 0.014309633574151309 Centerline is valid? [True, True] Translation: X:75.09, Y:-12.32, Z:-6.20 [[ 9.69819954e-01 2.32524174e-01 7.33605163e-02 7.50871629e+01] [-2.31873453e-01 9.72590606e-01 -1.73843564e-02 -1.23154572e+01] [-7.53920321e-02 -1.50660554e-04 9.97153959e-01 -6.19656623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085779523 meters 0.015679301168969956 Centerline is valid? [True, True] Translation: X:75.15, Y:-12.32, Z:-6.20 [[ 9.67766986e-01 2.41346828e-01 7.19636631e-02 7.51477212e+01] [-2.40743653e-01 9.70438593e-01 -1.70713492e-02 -1.23246619e+01] [-7.39564319e-02 -8.03706999e-04 9.97261149e-01 -6.19981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14577952299999 meters 0.01847042106073476 Centerline is valid? [True, True] Translation: X:75.21, Y:-12.34, Z:-6.20 [[ 9.66793871e-01 2.45293642e-01 7.16982600e-02 7.52078058e+01] [-2.44705161e-01 9.69448210e-01 -1.70162080e-02 -1.23406904e+01] [-7.36817175e-02 -1.09376870e-03 9.97281208e-01 -6.20299095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20577952299999 meters 0.017656024989324736 Centerline is valid? [True, True] Translation: X:75.27, Y:-12.35, Z:-6.21 [[ 9.65225008e-01 2.51464594e-01 7.14579725e-02 7.52684928e+01] [-2.50895593e-01 9.67865270e-01 -1.69770534e-02 -1.23493224e+01] [-7.34308176e-02 -1.54181392e-03 9.97299122e-01 -6.21060154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26577952299999 meters 0.019650655574531425 Centerline is valid? [True, True] Translation: X:75.33, Y:-12.36, Z:-6.22 [[ 9.64160023e-01 2.56080257e-01 6.94143526e-02 7.53264252e+01] [-2.55553995e-01 9.66653809e-01 -1.65096996e-02 -1.23626949e+01] [-7.13274564e-02 -1.82112276e-03 9.97451291e-01 -6.21848747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325779523 meters 0.01913843491881513 Centerline is valid? [True, True] Translation: X:75.39, Y:-12.39, Z:-6.22 [[ 9.64420156e-01 2.54861633e-01 7.02802297e-02 7.53853884e+01] [-2.54318970e-01 9.66975943e-01 -1.67148995e-02 -1.23871288e+01] [-7.22192779e-02 -1.75340967e-03 9.97387237e-01 -6.21694452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385779523 meters 0.01776475157647506 Centerline is valid? [True, True] Translation: X:75.44, Y:-12.40, Z:-6.23 [[ 9.65461119e-01 2.51408492e-01 6.84002701e-02 7.54442591e+01] [-2.50885537e-01 9.67879985e-01 -1.62721066e-02 -1.24033801e+01] [-7.02941982e-02 -1.45055221e-03 9.97525249e-01 -6.22864949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445779523 meters 0.017046959331660814 Centerline is valid? [True, True] Translation: X:75.50, Y:-12.42, Z:-6.24 [[ 9.66004785e-01 2.48806152e-01 7.02157657e-02 7.55020567e+01] [-2.48246811e-01 9.68552461e-01 -1.67227839e-02 -1.24235153e+01] [-7.21683842e-02 -1.27655066e-03 9.97391646e-01 -6.23555739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505779523 meters 0.01641282954703717 Centerline is valid? [True, True] Translation: X:75.56, Y:-12.45, Z:-6.23 [[ 9.66497216e-01 2.45755714e-01 7.40760421e-02 7.55609212e+01] [-2.45122742e-01 9.69331184e-01 -1.76606263e-02 -1.24488723e+01] [-7.61444174e-02 -1.08877643e-03 9.97096205e-01 -6.22691863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56577952299999 meters 0.01786187878438004 Centerline is valid? [True, True] Translation: X:75.62, Y:-12.46, Z:-6.24 [[ 9.67441419e-01 2.42792881e-01 7.14752999e-02 7.56217396e+01] [-2.42194199e-01 9.70077814e-01 -1.70588625e-02 -1.24606642e+01] [-7.34783730e-02 -8.07452870e-04 9.97296484e-01 -6.23866583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62577952299999 meters 0.01478348887423172 Centerline is valid? [True, True] Translation: X:75.68, Y:-12.47, Z:-6.25 [[ 9.68580390e-01 2.38170154e-01 7.16031123e-02 7.56814803e+01] [-2.37556289e-01 9.71223339e-01 -1.70949128e-02 -1.24707651e+01] [-7.36141118e-02 -4.51972284e-04 9.97286698e-01 -6.24858455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685779523 meters 0.014873582088450226 Centerline is valid? [True, True] Translation: X:75.74, Y:-12.50, Z:-6.24 [[ 9.71516640e-01 2.25325214e-01 7.33755113e-02 7.57393830e+01] [-2.24642531e-01 9.74283451e-01 -1.75354128e-02 -1.25025543e+01] [-7.54397170e-02 5.52684759e-04 9.97150211e-01 -6.24328289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745779523 meters 0.01646774007375981 Centerline is valid? [True, True] Translation: X:75.80, Y:-12.52, Z:-6.25 [[ 9.73503325e-01 2.17062091e-01 7.19397372e-02 7.57989267e+01] [-2.16381791e-01 9.76157073e-01 -1.72130552e-02 -1.25161918e+01] [-7.39607850e-02 1.19051733e-03 9.97260440e-01 -6.25281369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805779523 meters 0.02097651234008099 Centerline is valid? [True, True] Translation: X:75.86, Y:-12.53, Z:-6.26 [[ 9.75997906e-01 2.06737590e-01 6.84664662e-02 7.58571032e+01] [-2.06094885e-01 9.78394593e-01 -1.63987399e-02 -1.25329752e+01] [-7.03774563e-02 1.89454731e-03 9.97518634e-01 -6.26284160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865779523 meters 0.02376995081785311 Centerline is valid? [True, True] Translation: X:75.91, Y:-12.56, Z:-6.26 [[ 9.77244534e-01 2.00428650e-01 6.94368610e-02 7.59134891e+01] [-1.99751200e-01 9.79705389e-01 -1.66375532e-02 -1.25558689e+01] [-7.13623092e-02 2.38886154e-03 9.97447600e-01 -6.26289639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92577952299999 meters 0.024062646215092597 Centerline is valid? [True, True] Translation: X:75.97, Y:-12.56, Z:-6.27 [[ 9.79105353e-01 1.90611676e-01 7.08512325e-02 7.59746381e+01] [-1.89880132e-01 9.81660383e-01 -1.69831470e-02 -1.25632864e+01] [-7.27890342e-02 3.17504869e-03 9.97342306e-01 -6.26873575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98577952299999 meters 0.0245952602530643 Centerline is valid? [True, True] Translation: X:76.03, Y:-12.58, Z:-6.27 [[ 9.80159453e-01 1.84915414e-01 7.13704167e-02 7.60336246e+01] [-1.84157829e-01 9.82747746e-01 -1.71102976e-02 -1.25804247e+01] [-7.33030739e-02 3.62739890e-03 9.97303114e-01 -6.26863307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045779523 meters 0.026101830978239197 Centerline is valid? [True, True] Translation: X:76.09, Y:-12.59, Z:-6.27 [[ 9.80106644e-01 1.84645521e-01 7.27804788e-02 7.60930702e+01] [-1.83856811e-01 9.82798140e-01 -1.74496214e-02 -1.25936643e+01] [-7.47505136e-02 3.72130316e-03 9.97195323e-01 -6.26768933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105779523 meters 0.026820939434961562 Centerline is valid? [True, True] Translation: X:76.15, Y:-12.60, Z:-6.28 [[ 9.79598233e-01 1.87738306e-01 7.17051646e-02 7.61543172e+01] [-1.86979874e-01 9.82213029e-01 -1.72073468e-02 -1.25976666e+01] [-7.36602250e-02 3.44886385e-03 9.97277432e-01 -6.27719236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165779523 meters 0.024292163256048892 Centerline is valid? [True, True] Translation: X:76.21, Y:-12.60, Z:-6.28 [[ 9.78631839e-01 1.93158688e-01 7.04942963e-02 7.62146746e+01] [-1.92439498e-01 9.81162967e-01 -1.69195452e-02 -1.26036719e+01] [-7.24345500e-02 2.99211864e-03 9.97368680e-01 -6.28367324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225779523 meters 0.023597606335212067 Centerline is valid? [True, True] Translation: X:76.27, Y:-12.62, Z:-6.29 [[ 9.78033792e-01 1.96471856e-01 6.96326849e-02 7.62745185e+01] [-1.95778505e-01 9.80505710e-01 -1.67131713e-02 -1.26160166e+01] [-7.15589129e-02 2.71346335e-03 9.97432684e-01 -6.28566981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28577952299999 meters 0.02349274021499199 Centerline is valid? [True, True] Translation: X:76.34, Y:-12.62, Z:-6.29 [[ 9.77976710e-01 1.97467002e-01 6.75894854e-02 7.63370560e+01] [-1.96816203e-01 9.80306186e-01 -1.62223518e-02 -1.26230602e+01] [-6.94617698e-02 2.56237638e-03 9.97581323e-01 -6.29018357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34577952299999 meters 0.021950788333725307 Centerline is valid? [True, True] Translation: X:76.40, Y:-12.63, Z:-6.30 [[ 9.78083950e-01 1.96457289e-01 6.89660751e-02 7.64000699e+01] [-1.95775714e-01 9.80508644e-01 -1.65731555e-02 -1.26253331e+01] [-7.08777499e-02 2.70805474e-03 9.97481334e-01 -6.29501558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40577952299999 meters 0.02299064017673143 Centerline is valid? [True, True] Translation: X:76.46, Y:-12.64, Z:-6.30 [[ 9.78048833e-01 1.95838298e-01 7.11887786e-02 7.64603041e+01] [-1.95108956e-01 9.80632029e-01 -1.71265790e-02 -1.26384827e+01] [-7.31640364e-02 2.86106230e-03 9.97315817e-01 -6.29606677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465779523 meters 0.025288325872802327 Centerline is valid? [True, True] Translation: X:76.52, Y:-12.65, Z:-6.30 [[ 9.79053528e-01 1.91361849e-01 6.95329600e-02 7.65209199e+01] [-1.90653550e-01 9.81514540e-01 -1.67461055e-02 -1.26491663e+01] [-7.14521770e-02 3.13862804e-03 9.97439089e-01 -6.29857840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525779523 meters 0.028442682616565126 Centerline is valid? [True, True] Translation: X:76.58, Y:-12.66, Z:-6.31 [[ 9.80860083e-01 1.83492377e-01 6.51463345e-02 7.65814646e+01] [-1.82853271e-01 9.83014975e-01 -1.56920621e-02 -1.26550203e+01] [-6.69191962e-02 3.47949694e-03 9.97752331e-01 -6.31115084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585779523 meters 0.03273017787252516 Centerline is valid? [True, True] Translation: X:76.64, Y:-12.67, Z:-6.32 [[ 9.81339872e-01 1.81525258e-01 6.34084943e-02 7.66391481e+01] [-1.80915662e-01 9.83379989e-01 -1.52748120e-02 -1.26687962e+01] [-6.51274086e-02 3.51819229e-03 9.97870755e-01 -6.32105120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64577952299999 meters 0.027482705096004388 Centerline is valid? [True, True] Translation: X:76.70, Y:-12.67, Z:-6.32 [[ 9.80640128e-01 1.82949021e-01 6.98182951e-02 7.67024199e+01] [-1.82213338e-01 9.83115168e-01 -1.68186105e-02 -1.26691943e+01] [-7.17163733e-02 3.77117973e-03 9.97417936e-01 -6.31795402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70577952299999 meters 0.02960699776663199 Centerline is valid? [True, True] Translation: X:76.76, Y:-12.68, Z:-6.32 [[ 9.80109107e-01 1.84182015e-01 7.39129508e-02 7.67642080e+01] [-1.83360698e-01 9.82884417e-01 -1.78066566e-02 -1.26762645e+01] [-7.59275534e-02 3.89973607e-03 9.97105711e-01 -6.31600234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76577952299999 meters 0.02743078022279614 Centerline is valid? [True, True] Translation: X:76.83, Y:-12.68, Z:-6.32 [[ 9.80208438e-01 1.84549908e-01 7.16432153e-02 7.68272706e+01] [-1.83778169e-01 9.82815924e-01 -1.72755586e-02 -1.26823610e+01] [-7.36002955e-02 3.76718940e-03 9.97280705e-01 -6.32207928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825779523 meters 0.02647581099673273 Centerline is valid? [True, True] Translation: X:76.89, Y:-12.68, Z:-6.33 [[ 9.80211702e-01 1.84330250e-01 7.21621724e-02 7.68905421e+01] [-1.83545092e-01 9.82856893e-01 -1.74220067e-02 -1.26844414e+01] [-7.41364914e-02 3.83224224e-03 9.97240741e-01 -6.32821009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885779523 meters 0.026280669152448935 Centerline is valid? [True, True] Translation: X:76.95, Y:-12.68, Z:-6.33 [[ 9.80617469e-01 1.81850773e-01 7.29361142e-02 7.69530951e+01] [-1.81040305e-01 9.83317663e-01 -1.76290178e-02 -1.26843880e+01] [-7.49252199e-02 4.08294652e-03 9.97180797e-01 -6.33385705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945779523 meters 0.030396679112087273 Centerline is valid? [True, True] Translation: X:77.01, Y:-12.69, Z:-6.34 [[ 9.81204500e-01 1.79653970e-01 7.04427466e-02 7.70125861e+01] [-1.78892144e-01 9.83721287e-01 -1.70302603e-02 -1.26937603e+01] [-7.23555832e-02 4.10851403e-03 9.97370438e-01 -6.34314116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005779523 meters 0.031511811751883716 Centerline is valid? [True, True] Translation: X:77.07, Y:-12.71, Z:-6.34 [[ 9.81297455e-01 1.78771817e-01 7.13858683e-02 7.70732290e+01] [-1.77987117e-01 9.83881471e-01 -1.72579448e-02 -1.27067219e+01] [-7.33204673e-02 4.22941243e-03 9.97299464e-01 -6.34460491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06577952299999 meters 0.03154642993824074 Centerline is valid? [True, True] Translation: X:77.14, Y:-12.70, Z:-6.35 [[ 9.80616486e-01 1.80676907e-01 7.58100366e-02 7.71369690e+01] [-1.79795773e-01 9.83532830e-01 -1.83481119e-02 -1.27038215e+01] [-7.78767400e-02 4.36213695e-03 9.96953452e-01 -6.34758980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12577952299999 meters 0.025532278567060022 Centerline is valid? [True, True] Translation: X:77.20, Y:-12.70, Z:-6.36 [[ 9.80048908e-01 1.84670172e-01 7.34919425e-02 7.71999474e+01] [-1.83853169e-01 9.82792723e-01 -1.77897556e-02 -1.26985138e+01] [-7.55125835e-02 3.92310396e-03 9.97137131e-01 -6.35701345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185779523 meters 0.023827761667262738 Centerline is valid? [True, True] Translation: X:77.26, Y:-12.71, Z:-6.36 [[ 9.78425051e-01 1.93203745e-01 7.31896962e-02 7.72599963e+01] [-1.92417210e-01 9.81153271e-01 -1.77165425e-02 -1.27066365e+01] [-7.52332122e-02 3.25135189e-03 9.97160665e-01 -6.35913687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245779523 meters 0.02009381552313107 Centerline is valid? [True, True] Translation: X:77.32, Y:-12.70, Z:-6.36 [[ 9.76028019e-01 2.03827791e-01 7.63121029e-02 7.73242007e+01] [-2.03004819e-01 9.79003467e-01 -1.84731108e-02 -1.26993614e+01] [-7.84751466e-02 2.53854912e-03 9.96912838e-01 -6.36050281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305779523 meters 0.017488463723406743 Centerline is valid? [True, True] Translation: X:77.39, Y:-12.70, Z:-6.37 [[ 9.74334622e-01 2.12701102e-01 7.36904719e-02 7.73867289e+01] [-2.11959050e-01 9.77115724e-01 -1.78388118e-02 -1.26959476e+01] [-7.57984538e-02 1.76160952e-03 9.97121603e-01 -6.37079574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365779523 meters 0.01473714399068462 Centerline is valid? [True, True] Translation: X:77.45, Y:-12.70, Z:-6.37 [[ 9.71290293e-01 2.26387132e-01 7.31028895e-02 7.74466932e+01] [-2.25695351e-01 9.74037160e-01 -1.76980111e-02 -1.27039161e+01] [-7.52115329e-02 6.90924084e-04 9.97167362e-01 -6.37447592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42577952299999 meters 0.01396443069448446 Centerline is valid? [True, True] Translation: X:77.51, Y:-12.70, Z:-6.38 [[ 9.68411230e-01 2.37772990e-01 7.51245269e-02 7.75106473e+01] [-2.37076534e-01 9.71320733e-01 -1.81865650e-02 -1.27013985e+01] [-7.72942845e-02 -1.98188747e-04 9.97008302e-01 -6.37867829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48577952299999 meters 0.014628624255560635 Centerline is valid? [True, True] Translation: X:77.57, Y:-12.70, Z:-6.39 [[ 9.67107695e-01 2.43274356e-01 7.42986780e-02 7.75727037e+01] [-2.42607901e-01 9.69957325e-01 -1.80053710e-02 -1.27034070e+01] [-7.64467920e-02 -6.12313513e-04 9.97073474e-01 -6.38781397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545779523 meters 0.01488131334014573 Centerline is valid? [True, True] Translation: X:77.63, Y:-12.73, Z:-6.39 [[ 9.66267932e-01 2.47617428e-01 7.07947252e-02 7.76313595e+01] [-2.47022930e-01 9.68857475e-01 -1.71716171e-02 -1.27262242e+01] [-7.28419904e-02 -8.95537547e-04 9.97343092e-01 -6.39179598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605779523 meters 0.015274633924828642 Centerline is valid? [True, True] Translation: X:77.69, Y:-12.74, Z:-6.40 [[ 9.65601965e-01 2.49727361e-01 7.24506047e-02 7.76913047e+01] [-2.49109162e-01 9.68315610e-01 -1.75927472e-02 -1.27399892e+01] [-7.45484418e-02 -1.06051813e-03 9.97216830e-01 -6.39806704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665779523 meters 0.018467735430674953 Centerline is valid? [True, True] Translation: X:77.75, Y:-12.75, Z:-6.41 [[ 9.65269731e-01 2.50530591e-01 7.40862343e-02 7.77524610e+01] [-2.49884965e-01 9.68108026e-01 -1.80098638e-02 -1.27505329e+01] [-7.62354998e-02 -1.12865962e-03 9.97089201e-01 -6.40743226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725779523 meters 0.0177533514910461 Centerline is valid? [True, True] Translation: X:77.81, Y:-12.77, Z:-6.41 [[ 9.64732532e-01 2.52777218e-01 7.34494437e-02 7.78103409e+01] [-2.52148145e-01 9.67523661e-01 -1.78683582e-02 -1.27723196e+01] [-7.55807886e-02 -1.28195452e-03 9.97138857e-01 -6.40967763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78577952299999 meters 0.016333318660042867 Centerline is valid? [True, True] Translation: X:77.87, Y:-12.80, Z:-6.41 [[ 9.64745403e-01 2.53510119e-01 7.07030876e-02 7.78675525e+01] [-2.52928061e-01 9.67331896e-01 -1.72162235e-02 -1.27973914e+01] [-7.27578386e-02 -1.27352238e-03 9.97348823e-01 -6.41428726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84577952299999 meters 0.016490871343589383 Centerline is valid? [True, True] Translation: X:77.93, Y:-12.81, Z:-6.42 [[ 9.64408995e-01 2.53477241e-01 7.52633973e-02 7.79276442e+01] [-2.52815903e-01 9.67340431e-01 -1.83469412e-02 -1.28104371e+01] [-7.74558592e-02 -1.33382859e-03 9.96994890e-01 -6.41903232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90577952299999 meters 0.015039769752095774 Centerline is valid? [True, True] Translation: X:77.99, Y:-12.84, Z:-6.42 [[ 9.64705422e-01 2.52094634e-01 7.61035182e-02 7.79855091e+01] [-2.51412633e-01 9.67701820e-01 -1.85708308e-02 -1.28350752e+01] [-7.83271199e-02 -1.21800478e-03 9.96926968e-01 -6.42112151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965779523 meters 0.01391230900995175 Centerline is valid? [True, True] Translation: X:78.04, Y:-12.87, Z:-6.42 [[ 9.66147550e-01 2.47259383e-01 7.36322500e-02 7.80416268e+01] [-2.46605552e-01 9.68949012e-01 -1.79864746e-02 -1.28672038e+01] [-7.57932206e-02 -7.80533296e-04 9.97123251e-01 -6.42496280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025779523 meters 0.013029120670829791 Centerline is valid? [True, True] Translation: X:78.10, Y:-12.89, Z:-6.43 [[ 9.68086378e-01 2.39301471e-01 7.44551659e-02 7.80995103e+01] [-2.38607809e-01 9.70945306e-01 -1.82078701e-02 -1.28923442e+01] [-7.66490639e-02 -1.38793022e-04 9.97058124e-01 -6.43353598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085779523 meters 0.012874711501268945 Centerline is valid? [True, True] Translation: X:78.16, Y:-12.91, Z:-6.44 [[ 9.68243317e-01 2.37880000e-01 7.69284351e-02 7.81577071e+01] [-2.37134353e-01 9.71294551e-01 -1.88200299e-02 -1.29112559e+01] [-7.91970786e-02 -2.00065457e-05 9.96858978e-01 -6.43509000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14577952299999 meters 0.012863430103716676 Centerline is valid? [True, True] Translation: X:78.22, Y:-12.94, Z:-6.43 [[ 9.68403294e-01 2.37254361e-01 7.68467822e-02 7.82162699e+01] [-2.36507471e-01 9.71447562e-01 -1.88108981e-02 -1.29358449e+01] [-7.91155869e-02 4.16975944e-05 9.96865448e-01 -6.43483782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20577952299999 meters 0.012926807975599398 Centerline is valid? [True, True] Translation: X:78.27, Y:-12.95, Z:-6.44 [[ 9.68706326e-01 2.37094421e-01 7.34458243e-02 7.82749073e+01] [-2.36410142e-01 9.71486608e-01 -1.80004072e-02 -1.29535034e+01] [-7.56194309e-02 7.37706254e-05 9.97136749e-01 -6.44303922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26577952299999 meters 0.013127063414008686 Centerline is valid? [True, True] Translation: X:78.33, Y:-12.97, Z:-6.46 [[ 9.69713744e-01 2.34213176e-01 6.92780101e-02 7.83335260e+01] [-2.33596501e-01 9.72185221e-01 -1.69873658e-02 -1.29731919e+01] [-7.13297224e-02 2.89781344e-04 9.97452749e-01 -6.45500073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325779523 meters 0.018000482386640586 Centerline is valid? [True, True] Translation: X:78.39, Y:-13.01, Z:-6.46 [[ 9.72230320e-01 2.23811041e-01 6.83873024e-02 7.83888680e+01] [-2.23182986e-01 9.74631979e-01 -1.67886682e-02 -1.30085577e+01] [-7.04099412e-02 1.05956993e-03 9.97517578e-01 -6.45658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385779523 meters 0.01764602722945925 Centerline is valid? [True, True] Translation: X:78.45, Y:-13.03, Z:-6.46 [[ 9.74322469e-01 2.11940742e-01 7.60055860e-02 7.84464497e+01] [-2.11128058e-01 9.77280178e-01 -1.86654067e-02 -1.30314111e+01] [-7.82347127e-02 2.13921342e-03 9.96932673e-01 -6.45758135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445779523 meters 0.019062014409712374 Centerline is valid? [True, True] Translation: X:78.51, Y:-13.05, Z:-6.46 [[ 9.75541487e-01 2.05177145e-01 7.88742392e-02 7.85057751e+01] [-2.04279479e-01 9.78720885e-01 -1.93732493e-02 -1.30454039e+01] [-8.11708133e-02 2.78701996e-03 9.96696309e-01 -6.46454865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505779523 meters 0.022487294142977548 Centerline is valid? [True, True] Translation: X:78.56, Y:-13.08, Z:-6.47 [[ 9.77697144e-01 1.96387282e-01 7.44333950e-02 7.85598167e+01] [-1.95562393e-01 9.80520784e-01 -1.82850531e-02 -1.30804440e+01] [-7.65744427e-02 3.32087129e-03 9.97058337e-01 -6.46742584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56577952299999 meters 0.024241389792529613 Centerline is valid? [True, True] Translation: X:78.62, Y:-13.10, Z:-6.47 [[ 9.78654001e-01 1.92041919e-01 7.31863881e-02 7.86189363e+01] [-1.91232073e-01 9.81380109e-01 -1.79826651e-02 -1.30968252e+01] [-7.52770911e-02 3.60322244e-03 9.97156144e-01 -6.47157138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62577952299999 meters 0.025227728907816275 Centerline is valid? [True, True] Translation: X:78.68, Y:-13.10, Z:-6.48 [[ 9.78229642e-01 1.93538650e-01 7.48969924e-02 7.86817393e+01] [-1.92694639e-01 9.81086149e-01 -1.84050290e-02 -1.30987137e+01] [-7.70424863e-02 3.57209609e-03 9.97021412e-01 -6.48310602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685779523 meters 0.023417772259571534 Centerline is valid? [True, True] Translation: X:78.74, Y:-13.13, Z:-6.48 [[ 9.76842783e-01 2.00130687e-01 7.56695760e-02 7.87371468e+01] [-1.99287230e-01 9.79764294e-01 -1.86152619e-02 -1.31272915e+01] [-7.78638339e-02 3.10420400e-03 9.96959170e-01 -6.47882501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745779523 meters 0.018596886897643015 Centerline is valid? [True, True] Translation: X:78.80, Y:-13.13, Z:-6.49 [[ 9.74809294e-01 2.10866376e-01 7.26788236e-02 7.87993244e+01] [-2.10118065e-01 9.77512513e-01 -1.78797419e-02 -1.31270709e+01] [-7.48146959e-02 2.15820480e-03 9.97195118e-01 -6.48855710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805779523 meters 0.014606458807195032 Centerline is valid? [True, True] Translation: X:78.86, Y:-13.11, Z:-6.50 [[ 9.71839848e-01 2.23686688e-01 7.41051692e-02 7.88642063e+01] [-2.22945635e-01 9.74660367e-01 -1.82321619e-02 -1.31146114e+01] [-7.63056633e-02 1.19731736e-03 9.97083754e-01 -6.50105648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865779523 meters 0.013852375123381009 Centerline is valid? [True, True] Translation: X:78.92, Y:-13.14, Z:-6.50 [[ 9.70790489e-01 2.28394111e-01 7.34980062e-02 7.89215622e+01] [-2.27678588e-01 9.73568414e-01 -1.80832671e-02 -1.31418953e+01] [-7.56854490e-02 8.21141461e-04 9.97131405e-01 -6.49720149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92577952299999 meters 0.01372751444379487 Centerline is valid? [True, True] Translation: X:78.98, Y:-13.15, Z:-6.50 [[ 9.70148197e-01 2.29491200e-01 7.83981230e-02 7.89818924e+01] [-2.28678711e-01 9.73310402e-01 -1.93108383e-02 -1.31544126e+01] [-8.07373760e-02 8.06393256e-04 9.96735083e-01 -6.49599421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98577952299999 meters 0.01352255487679616 Centerline is valid? [True, True] Translation: X:79.04, Y:-13.15, Z:-6.51 [[ 9.69893596e-01 2.31431528e-01 7.58014491e-02 7.90444931e+01] [-2.30676573e-01 9.72850984e-01 -1.86890798e-02 -1.31516117e+01] [-7.80687567e-02 6.40800352e-04 9.96947771e-01 -6.51491790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045779523 meters 0.013496355378741798 Centerline is valid? [True, True] Translation: X:79.10, Y:-13.19, Z:-6.52 [[ 9.70205665e-01 2.32418204e-01 6.84305967e-02 7.91004029e+01] [-2.31805032e-01 9.72615810e-01 -1.68793598e-02 -1.31853566e+01] [-7.04797507e-02 5.13893837e-04 9.97513078e-01 -6.51506034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105779523 meters 0.013415446315675372 Centerline is valid? [True, True] Translation: X:79.16, Y:-13.20, Z:-6.52 [[ 9.69740131e-01 2.34034830e-01 6.95109893e-02 7.91599076e+01] [-2.33404917e-01 9.72228122e-01 -1.71646005e-02 -1.31971423e+01] [-7.15976530e-02 4.20995203e-04 9.97433506e-01 -6.52036408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165779523 meters 0.012700605317149538 Centerline is valid? [True, True] Translation: X:79.22, Y:-13.20, Z:-6.53 [[ 9.68085319e-01 2.38464227e-01 7.71078999e-02 7.92240019e+01] [-2.37701239e-01 9.71151274e-01 -1.90610580e-02 -1.31954995e+01] [-7.94288157e-02 1.24087127e-04 9.96840533e-01 -6.52653739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225779523 meters 0.012871829091850636 Centerline is valid? [True, True] Translation: X:79.28, Y:-13.23, Z:-6.53 [[ 9.67863790e-01 2.40676717e-01 7.28999441e-02 7.92803973e+01] [-2.39999772e-01 9.70605335e-01 -1.80386531e-02 -1.32284269e+01] [-7.50985585e-02 -3.70108275e-05 9.97176115e-01 -6.52726723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28577952299999 meters 0.012868949760138991 Centerline is valid? [True, True] Translation: X:79.34, Y:-13.24, Z:-6.54 [[ 9.67810573e-01 2.41081746e-01 7.22653948e-02 7.93413885e+01] [-2.40416331e-01 9.70504811e-01 -1.78996853e-02 -1.32399877e+01] [-7.44492007e-02 -5.02763715e-05 9.97224806e-01 -6.53688437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34577952299999 meters 0.012832552049099298 Centerline is valid? [True, True] Translation: X:79.40, Y:-13.25, Z:-6.54 [[ 9.67085078e-01 2.43311518e-01 7.44711856e-02 7.94020557e+01] [-2.42609642e-01 9.69948175e-01 -1.84688656e-02 -1.32515276e+01] [-7.67268783e-02 -2.06463413e-04 9.97052127e-01 -6.54329659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40577952299999 meters 0.013131176469743253 Centerline is valid? [True, True] Translation: X:79.46, Y:-13.28, Z:-6.54 [[ 9.65916923e-01 2.47590162e-01 7.55222453e-02 7.94592861e+01] [-2.46879819e-01 9.68864710e-01 -1.87491108e-02 -1.32793916e+01] [-7.78129336e-02 -5.34834798e-04 9.96967834e-01 -6.54077258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465779523 meters 0.013895823019935562 Centerline is valid? [True, True] Translation: X:79.52, Y:-13.29, Z:-6.55 [[ 9.64755251e-01 2.52604629e-01 7.37442007e-02 7.95191848e+01] [-2.51940533e-01 9.67569168e-01 -1.83268434e-02 -1.32935137e+01] [-7.59820604e-02 -8.98234838e-04 9.97108780e-01 -6.54944418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525779523 meters 0.014587612186411102 Centerline is valid? [True, True] Translation: X:79.58, Y:-13.31, Z:-6.55 [[ 9.63837182e-01 2.55674453e-01 7.51562453e-02 7.95781344e+01] [-2.54992388e-01 9.66762261e-01 -1.86979564e-02 -1.33121551e+01] [-7.74388114e-02 -1.14248485e-03 9.96996452e-01 -6.55424887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585779523 meters 0.01794794964451108 Centerline is valid? [True, True] Translation: X:79.64, Y:-13.33, Z:-6.56 [[ 9.63489649e-01 2.56856689e-01 7.55800115e-02 7.96364820e+01] [-2.56168982e-01 9.66448726e-01 -1.88231964e-02 -1.33342266e+01] [-7.78790697e-02 -1.22529975e-03 9.96962060e-01 -6.56031560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64577952299999 meters 0.017164513694314574 Centerline is valid? [True, True] Translation: X:79.69, Y:-13.35, Z:-6.57 [[ 9.63001894e-01 2.60115474e-01 7.04790220e-02 7.96943642e+01] [-2.59524985e-01 9.65576544e-01 -1.75704485e-02 -1.33541000e+01] [-7.26232359e-02 -1.37069194e-03 9.97358505e-01 -6.56888654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70577952299999 meters 0.01860015128132693 Centerline is valid? [True, True] Translation: X:79.75, Y:-13.38, Z:-6.57 [[ 9.62054354e-01 2.63002374e-01 7.26716620e-02 7.97516749e+01] [-2.62381368e-01 9.64793825e-01 -1.81353802e-02 -1.33811345e+01] [-7.48828188e-02 -1.62046862e-03 9.97191024e-01 -6.57080628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76577952299999 meters 0.01680364832742453 Centerline is valid? [True, True] Translation: X:79.81, Y:-13.40, Z:-6.57 [[ 9.61281760e-01 2.64315440e-01 7.79405248e-02 7.98123739e+01] [-2.63603527e-01 9.64434555e-01 -1.94722976e-02 -1.34008144e+01] [-8.03153643e-02 -1.82703272e-03 9.96767829e-01 -6.56870022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825779523 meters 0.01861800432936143 Centerline is valid? [True, True] Translation: X:79.87, Y:-13.43, Z:-6.58 [[ 9.61881358e-01 2.63289327e-01 7.39119958e-02 7.98678102e+01] [-2.62644529e-01 9.64715540e-01 -1.84872435e-02 -1.34266548e+01] [-7.61715449e-02 -1.63004643e-03 9.97093395e-01 -6.58005955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885779523 meters 0.016570081981737903 Centerline is valid? [True, True] Translation: X:79.93, Y:-13.45, Z:-6.58 [[ 9.61829150e-01 2.64219387e-01 7.12236081e-02 7.99252347e+01] [-2.63622034e-01 9.64461235e-01 -1.78311595e-02 -1.34524515e+01] [-7.34037470e-02 -1.62558349e-03 9.97300981e-01 -6.58403372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945779523 meters 0.01623124086141214 Centerline is valid? [True, True] Translation: X:79.98, Y:-13.48, Z:-6.59 [[ 9.62208143e-01 2.62595606e-01 7.21043525e-02 7.99823216e+01] [-2.61977371e-01 9.64904810e-01 -1.80710827e-02 -1.34791116e+01] [-7.43192235e-02 -1.50156578e-03 9.97233372e-01 -6.58761122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005779523 meters 0.01631385284292408 Centerline is valid? [True, True] Translation: X:80.04, Y:-13.50, Z:-6.59 [[ 9.62371365e-01 2.61263472e-01 7.47178324e-02 8.00405064e+01] [-2.60593945e-01 9.65266468e-01 -1.87467729e-02 -1.34976299e+01] [-7.70204651e-02 -1.42965730e-03 9.97028487e-01 -6.59350245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06577952299999 meters 0.016237804323312104 Centerline is valid? [True, True] Translation: X:80.10, Y:-13.53, Z:-6.59 [[ 9.62639650e-01 2.60453303e-01 7.40876649e-02 8.00969362e+01] [-2.59791279e-01 9.65485521e-01 -1.86064401e-02 -1.35298041e+01] [-7.63766765e-02 -1.33603222e-03 9.97078141e-01 -6.59471529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12577952299999 meters 0.01597935488792366 Centerline is valid? [True, True] Translation: X:80.15, Y:-13.55, Z:-6.60 [[ 9.63306187e-01 2.58693131e-01 7.15475694e-02 8.01534353e+01] [-2.58069616e-01 9.65958886e-01 -1.79862328e-02 -1.35534923e+01] [-7.37649253e-02 -1.13800445e-03 9.97275008e-01 -6.60076029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185779523 meters 0.014563949758457448 Centerline is valid? [True, True] Translation: X:80.21, Y:-13.58, Z:-6.61 [[ 9.64823947e-01 2.52797903e-01 7.21662800e-02 8.02107497e+01] [-2.52145796e-01 9.67518869e-01 -1.81586092e-02 -1.35789848e+01] [-7.44126959e-02 -6.76563078e-04 9.97227303e-01 -6.60908949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245779523 meters 0.013848993437492598 Centerline is valid? [True, True] Translation: X:80.27, Y:-13.61, Z:-6.61 [[ 9.66878738e-01 2.44346671e-01 7.37577823e-02 8.02660592e+01] [-2.43639386e-01 9.69687942e-01 -1.85780849e-02 -1.36128828e+01] [-7.60615253e-02 -7.54550463e-06 9.97103126e-01 -6.60866583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305779523 meters 0.014535078062449795 Centerline is valid? [True, True] Translation: X:80.32, Y:-13.64, Z:-6.61 [[ 9.68597529e-01 2.38043165e-01 7.17933075e-02 8.03230642e+01] [-2.37354481e-01 9.71254452e-01 -1.81008570e-02 -1.36406318e+01] [-7.40383548e-02 4.91982123e-04 9.97255273e-01 -6.61317596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365779523 meters 0.014308251158065322 Centerline is valid? [True, True] Translation: X:80.38, Y:-13.65, Z:-6.62 [[ 9.68208876e-01 2.39628667e-01 7.17612338e-02 8.03824184e+01] [-2.38943567e-01 9.70864538e-01 -1.81113460e-02 -1.36513949e+01] [-7.40104348e-02 3.88680818e-04 9.97257391e-01 -6.62216200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42577952299999 meters 0.01463585754937078 Centerline is valid? [True, True] Translation: X:80.44, Y:-13.67, Z:-6.62 [[ 9.68978391e-01 2.35865572e-01 7.38126634e-02 8.04422557e+01] [-2.35129009e-01 9.71785436e-01 -1.86390613e-02 -1.36679173e+01] [-7.61263842e-02 7.05349212e-04 9.97097927e-01 -6.62482921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48577952299999 meters 0.01744178973536037 Centerline is valid? [True, True] Translation: X:80.50, Y:-13.69, Z:-6.63 [[ 9.70660710e-01 2.28985012e-01 7.33733616e-02 8.04985255e+01] [-2.28236040e-01 9.73429136e-01 -1.85479590e-02 -1.36929961e+01] [-7.56709726e-02 1.25732952e-03 9.97132049e-01 -6.62579516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545779523 meters 0.017670043696509298 Centerline is valid? [True, True] Translation: X:80.56, Y:-13.70, Z:-6.63 [[ 9.72036872e-01 2.24243550e-01 6.97076026e-02 8.05583404e+01] [-2.23555077e-01 9.74531901e-01 -1.76267103e-02 -1.37035229e+01] [-7.18849586e-02 1.55032384e-03 9.97411725e-01 -6.63412174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605779523 meters 0.02106983309556359 Centerline is valid? [True, True] Translation: X:80.62, Y:-13.72, Z:-6.65 [[ 9.72996475e-01 2.20724549e-01 6.75169131e-02 8.06182049e+01] [-2.20069142e-01 9.75334581e-01 -1.70888378e-02 -1.37182365e+01] [-6.96235062e-02 1.76898983e-03 9.97571771e-01 -6.64544592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665779523 meters 0.02196574654080703 Centerline is valid? [True, True] Translation: X:80.68, Y:-13.74, Z:-6.65 [[ 9.74498747e-01 2.14028174e-01 6.74101825e-02 8.06757755e+01] [-2.13358444e-01 9.76824897e-01 -1.70673419e-02 -1.37369458e+01] [-6.95008367e-02 2.24957161e-03 9.97579357e-01 -6.64796654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725779523 meters 0.025708298744565428 Centerline is valid? [True, True] Translation: X:80.73, Y:-13.76, Z:-6.65 [[ 9.75748684e-01 2.06169871e-01 7.35424363e-02 8.07336578e+01] [-2.05350141e-01 9.78511407e-01 -1.86210940e-02 -1.37551614e+01] [-7.58012214e-02 3.06755832e-03 9.97118230e-01 -6.64633100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78577952299999 meters 0.028603790326229325 Centerline is valid? [True, True] Translation: X:80.79, Y:-13.77, Z:-6.65 [[ 9.76289890e-01 2.02600018e-01 7.62317772e-02 8.07924456e+01] [-2.01708204e-01 9.79255432e-01 -1.93028074e-02 -1.37706521e+01] [-7.85611310e-02 3.46856079e-03 9.96903264e-01 -6.64861321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84577952299999 meters 0.024158347864106162 Centerline is valid? [True, True] Translation: X:80.86, Y:-13.78, Z:-6.66 [[ 9.76202347e-01 2.05183480e-01 7.02048226e-02 8.08551217e+01] [-2.04433323e-01 9.78718896e-01 -1.77859391e-02 -1.37762562e+01] [-7.23601673e-02 3.01047027e-03 9.97374024e-01 -6.65518088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90577952299999 meters 0.024529006495572915 Centerline is valid? [True, True] Translation: X:80.92, Y:-13.79, Z:-6.66 [[ 9.75376686e-01 2.10025247e-01 6.73031638e-02 8.09157208e+01] [-2.09346952e-01 9.77692644e-01 -1.70571800e-02 -1.37853862e+01] [-6.93842466e-02 2.54746344e-03 9.97586757e-01 -6.66383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965779523 meters 0.01905161134654153 Centerline is valid? [True, True] Translation: X:80.98, Y:-13.79, Z:-6.67 [[ 9.73670841e-01 2.18208400e-01 6.59559549e-02 8.09777739e+01] [-2.17575531e-01 9.75900290e-01 -1.67186007e-02 -1.37875897e+01] [-6.80145746e-02 1.92801207e-03 9.97682465e-01 -6.66850417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025779523 meters 0.017843645060247795 Centerline is valid? [True, True] Translation: X:81.04, Y:-13.79, Z:-6.67 [[ 9.71910496e-01 2.24615023e-01 7.02714630e-02 8.10381934e+01] [-2.23912999e-01 9.74446302e-01 -1.78149772e-02 -1.37947771e+01] [-7.24772788e-02 1.57986934e-03 9.97368812e-01 -6.67205735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085779523 meters 0.016072455392008984 Centerline is valid? [True, True] Translation: X:81.10, Y:-13.81, Z:-6.67 [[ 9.70301455e-01 2.30610931e-01 7.30320769e-02 8.10995428e+01] [-2.29869440e-01 9.73045328e-01 -1.85156548e-02 -1.38050352e+01] [-7.53334336e-02 1.17792422e-03 9.97157704e-01 -6.66861928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14577952299999 meters 0.015405371817828252 Centerline is valid? [True, True] Translation: X:81.16, Y:-13.81, Z:-6.68 [[ 9.69337442e-01 2.35546335e-01 7.00203380e-02 8.11612860e+01] [-2.34877389e-01 9.71862819e-01 -1.77559516e-02 -1.38133381e+01] [-7.22325124e-02 7.65314590e-04 9.97387527e-01 -6.67756751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20577952299999 meters 0.01466601185514716 Centerline is valid? [True, True] Translation: X:81.22, Y:-13.82, Z:-6.69 [[ 9.67758678e-01 2.43250153e-01 6.53644027e-02 8.12233924e+01] [-2.42683840e-01 9.69963570e-01 -1.65899793e-02 -1.38190183e+01] [-6.74366043e-02 1.92212130e-04 9.97723543e-01 -6.69085794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26577952299999 meters 0.014461601453321189 Centerline is valid? [True, True] Translation: X:81.28, Y:-13.83, Z:-6.70 [[ 9.66506282e-01 2.48029431e-01 6.59318470e-02 8.12836033e+01] [-2.47462942e-01 9.68752490e-01 -1.67542935e-02 -1.38300299e+01] [-6.80271988e-02 -1.22558886e-04 9.97683459e-01 -6.69683338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325779523 meters 0.017944355975038316 Centerline is valid? [True, True] Translation: X:81.35, Y:-13.84, Z:-6.70 [[ 9.65120067e-01 2.52278213e-01 6.99925633e-02 8.13454060e+01] [-2.51649582e-01 9.67654648e-01 -1.78036612e-02 -1.38400972e+01] [-7.22201051e-02 -4.30928565e-04 9.97388626e-01 -6.69693080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385779523 meters 0.014678402996142224 Centerline is valid? [True, True] Translation: X:81.41, Y:-13.85, Z:-6.70 [[ 9.64281660e-01 2.55029116e-01 7.15613732e-02 8.14072776e+01] [-2.54378190e-01 9.66933166e-01 -1.82205525e-02 -1.38547718e+01] [-7.38418366e-02 -6.33908000e-04 9.97269764e-01 -6.69568604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445779523 meters 0.01574196088715615 Centerline is valid? [True, True] Translation: X:81.47, Y:-13.87, Z:-6.70 [[ 9.62678530e-01 2.61978572e-01 6.79505396e-02 8.14675100e+01] [-2.61407554e-01 9.65073078e-01 -1.73218096e-02 -1.38655190e+01] [-7.01151793e-02 -1.08745020e-03 9.97538310e-01 -6.70405079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50577952299999 meters 0.016697128297572496 Centerline is valid? [True, True] Translation: X:81.53, Y:-13.88, Z:-6.71 [[ 9.61691468e-01 2.65917119e-01 6.66153634e-02 8.15286845e+01] [-2.65377179e-01 9.63994965e-01 -1.69899996e-02 -1.38751596e+01] [-6.87348067e-02 -1.33905951e-03 9.97634068e-01 -6.71394467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56577952299999 meters 0.016777099900959404 Centerline is valid? [True, True] Translation: X:81.59, Y:-13.89, Z:-6.72 [[ 9.62105545e-01 2.64091107e-01 6.78881993e-02 8.15870434e+01] [-2.63525526e-01 9.64496956e-01 -1.73181556e-02 -1.38944453e+01] [-7.00515325e-02 -1.22837993e-03 9.97542618e-01 -6.71728600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62577952299999 meters 0.016763140513684566 Centerline is valid? [True, True] Translation: X:81.65, Y:-13.91, Z:-6.72 [[ 9.61709408e-01 2.64504768e-01 7.17791269e-02 8.16475705e+01] [-2.63872207e-01 9.64383483e-01 -1.83290804e-02 -1.39098345e+01] [-7.40707335e-02 -1.31326760e-03 9.97252125e-01 -6.71791225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685779523 meters 0.019565142028971035 Centerline is valid? [True, True] Translation: X:81.71, Y:-13.93, Z:-6.72 [[ 9.61825770e-01 2.64611510e-01 6.97992601e-02 8.17069169e+01] [-2.64012452e-01 9.64354261e-01 -1.78405537e-02 -1.39286869e+01] [-7.20320297e-02 -1.26836949e-03 9.97401513e-01 -6.72346896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745779523 meters 0.016109200389490458 Centerline is valid? [True, True] Translation: X:81.76, Y:-13.95, Z:-6.72 [[ 9.62502654e-01 2.62357644e-01 6.89717880e-02 8.17644931e+01] [-2.61765663e-01 9.64970115e-01 -1.76469363e-02 -1.39500222e+01] [-7.11855228e-02 -1.06922283e-03 9.97462520e-01 -6.72495227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805779523 meters 0.015595989273329341 Centerline is valid? [True, True] Translation: X:81.82, Y:-13.97, Z:-6.74 [[ 9.63278422e-01 2.59094230e-01 7.04617678e-02 8.18232336e+01] [-2.58466399e-01 9.65851692e-01 -1.80451959e-02 -1.39662075e+01] [-7.27310238e-02 -8.29451507e-04 9.97351247e-01 -6.73562067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865779523 meters 0.015389111426528898 Centerline is valid? [True, True] Translation: X:81.88, Y:-13.98, Z:-6.74 [[ 9.63374467e-01 2.58457330e-01 7.14803816e-02 8.18829915e+01] [-2.57808092e-01 9.66022364e-01 -1.83242925e-02 -1.39816806e+01] [-7.37876949e-02 -7.75065258e-04 9.97273671e-01 -6.74143253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92577952299999 meters 0.015118310629929448 Centerline is valid? [True, True] Translation: X:81.94, Y:-14.01, Z:-6.74 [[ 9.63986666e-01 2.56264973e-01 7.11194141e-02 8.19412350e+01] [-2.55615025e-01 9.66606393e-01 -1.82493724e-02 -1.40058518e+01] [-7.34211553e-02 -5.87039146e-04 9.97300852e-01 -6.74146763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98577952299999 meters 0.014788864705884797 Centerline is valid? [True, True] Translation: X:82.00, Y:-14.03, Z:-6.74 [[ 9.64832406e-01 2.53028321e-01 7.12397143e-02 8.19996141e+01] [-2.52366043e-01 9.67458818e-01 -1.82979943e-02 -1.40269514e+01] [-7.35514006e-02 -3.23986910e-04 9.97291375e-01 -6.74219710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045779523 meters 0.014897054030555015 Centerline is valid? [True, True] Translation: X:82.06, Y:-14.05, Z:-6.75 [[ 9.66542466e-01 2.46112755e-01 7.22784468e-02 8.20575914e+01] [-2.45410267e-01 9.69241178e-01 -1.85832902e-02 -1.40464107e+01] [-7.46288317e-02 2.23666140e-04 9.97211355e-01 -6.75178946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105779523 meters 0.015986367123907327 Centerline is valid? [True, True] Translation: X:82.12, Y:-14.07, Z:-6.76 [[ 9.68519984e-01 2.38647618e-01 7.08262322e-02 8.21151702e+01] [-2.37951892e-01 9.71105903e-01 -1.82269786e-02 -1.40693889e+01] [-7.31295972e-02 7.99957024e-04 9.97322126e-01 -6.75992716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165779523 meters 0.018219077158593912 Centerline is valid? [True, True] Translation: X:82.17, Y:-14.09, Z:-6.77 [[ 9.69817566e-01 2.33278991e-01 7.09563261e-02 8.21727608e+01] [-2.32564988e-01 9.72409076e-01 -1.82788229e-02 -1.40899002e+01] [-7.32626409e-02 1.22516648e-03 9.97311929e-01 -6.76686720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225779523 meters 0.02098863567231774 Centerline is valid? [True, True] Translation: X:82.23, Y:-14.12, Z:-6.76 [[ 9.71874670e-01 2.23903022e-01 7.29867240e-02 8.22289079e+01] [-2.23119709e-01 9.74609365e-01 -1.88196961e-02 -1.41171061e+01] [-7.53473315e-02 2.00560928e-03 9.97155333e-01 -6.76497674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28577952299999 meters 0.022577472659278175 Centerline is valid? [True, True] Translation: X:82.29, Y:-14.14, Z:-6.77 [[ 9.73412613e-01 2.16482227e-01 7.48553886e-02 8.22868770e+01] [-2.15635156e-01 9.76282932e-01 -1.93162113e-02 -1.41361243e+01] [-7.72616547e-02 2.66119030e-03 9.97007299e-01 -6.76756203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34577952299999 meters 0.023361007403615325 Centerline is valid? [True, True] Translation: X:82.35, Y:-14.15, Z:-6.78 [[ 9.74475905e-01 2.11896290e-01 7.41395508e-02 8.23466288e+01] [-2.11051049e-01 9.77287524e-01 -1.91454984e-02 -1.41474771e+01] [-7.65125181e-02 3.00959687e-03 9.97064079e-01 -6.77751202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40577952299999 meters 0.02765542888146716 Centerline is valid? [True, True] Translation: X:82.40, Y:-14.17, Z:-6.79 [[ 9.75385385e-01 2.08589263e-01 7.15113275e-02 8.24037451e+01] [-2.07793976e-01 9.77998246e-01 -1.84687629e-02 -1.41676880e+01] [-7.37903384e-02 3.15453834e-03 9.97268788e-01 -6.78543133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465779523 meters 0.024082062160830798 Centerline is valid? [True, True] Translation: X:82.47, Y:-14.18, Z:-6.78 [[ 9.75284310e-01 2.08417584e-01 7.33663756e-02 8.24658044e+01] [-2.07579176e-01 9.78034500e-01 -1.89579188e-02 -1.41805098e+01] [-7.57060101e-02 3.26002896e-03 9.97124853e-01 -6.78203998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525779523 meters 0.02563339149107751 Centerline is valid? [True, True] Translation: X:82.53, Y:-14.19, Z:-6.79 [[ 9.74785511e-01 2.10664263e-01 7.35783686e-02 8.25251049e+01] [-2.09825600e-01 9.77553503e-01 -1.90359393e-02 -1.41932123e+01] [-7.59369841e-02 3.11733246e-03 9.97107746e-01 -6.78785172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585779523 meters 0.02530019136012123 Centerline is valid? [True, True] Translation: X:82.59, Y:-14.20, Z:-6.80 [[ 9.74147311e-01 2.14715574e-01 7.02441319e-02 8.25864346e+01] [-2.13961646e-01 9.76672955e-01 -1.81756370e-02 -1.41998392e+01] [-7.25081362e-02 2.67619782e-03 9.97364230e-01 -6.80065721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64577952299999 meters 0.02109779039461071 Centerline is valid? [True, True] Translation: X:82.65, Y:-14.21, Z:-6.81 [[ 9.73236193e-01 2.18935861e-01 6.98455535e-02 8.26489042e+01] [-2.18201038e-01 9.75736417e-01 -1.80762434e-02 -1.42051424e+01] [-7.21083881e-02 2.35208200e-03 9.97394029e-01 -6.80586464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70577952299999 meters 0.020294439876173614 Centerline is valid? [True, True] Translation: X:82.71, Y:-14.22, Z:-6.80 [[ 9.72450758e-01 2.21334850e-01 7.31464782e-02 8.27094484e+01] [-2.20535238e-01 9.75195199e-01 -1.89349444e-02 -1.42185671e+01] [-7.55230574e-02 2.28192508e-03 9.97141445e-01 -6.80365358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76577952299999 meters 0.02099866834285165 Centerline is valid? [True, True] Translation: X:82.77, Y:-14.23, Z:-6.80 [[ 9.72145927e-01 2.21917453e-01 7.53985448e-02 8.27692805e+01] [-2.21069322e-01 9.75062724e-01 -1.95202070e-02 -1.42337735e+01] [-7.78501852e-02 2.30818460e-03 9.96962397e-01 -6.80411438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825779523 meters 0.022914828695290743 Centerline is valid? [True, True] Translation: X:82.83, Y:-14.24, Z:-6.82 [[ 9.72271692e-01 2.22248627e-01 7.27550967e-02 8.28319309e+01] [-2.21458611e-01 9.74987500e-01 -1.88535973e-02 -1.42370866e+01] [-7.51254960e-02 2.21857628e-03 9.97171619e-01 -6.82047979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885779523 meters 0.02399880002705269 Centerline is valid? [True, True] Translation: X:82.89, Y:-14.25, Z:-6.83 [[ 9.72348191e-01 2.23380457e-01 6.81187681e-02 8.28911574e+01] [-2.22689424e-01 9.74729252e-01 -1.76721799e-02 -1.42511489e+01] [-7.03449755e-02 2.01418292e-03 9.97520690e-01 -6.82827840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945779523 meters 0.022190007819938497 Centerline is valid? [True, True] Translation: X:82.95, Y:-14.26, Z:-6.83 [[ 9.72542416e-01 2.21121725e-01 7.25701872e-02 8.29526142e+01] [-2.20330227e-01 9.75243432e-01 -1.88371880e-02 -1.42617675e+01] [-7.49389099e-02 2.33055851e-03 9.97185403e-01 -6.82601657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00577952299999 meters 0.022698158194237025 Centerline is valid? [True, True] Translation: X:83.01, Y:-14.28, Z:-6.83 [[ 9.73432751e-01 2.16946519e-01 7.32317356e-02 8.30118035e+01] [-2.16127261e-01 9.76179771e-01 -1.90279382e-02 -1.42758166e+01] [-7.56153838e-02 2.69504376e-03 9.97133417e-01 -6.83122440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06577952299999 meters 0.026974348202654107 Centerline is valid? [True, True] Translation: X:83.07, Y:-14.29, Z:-6.84 [[ 9.74890493e-01 2.11023163e-01 7.11178660e-02 8.30698849e+01] [-2.10234132e-01 9.77476231e-01 -1.84885957e-02 -1.42919337e+01] [-7.34175456e-02 3.07295338e-03 9.97296556e-01 -6.84252909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12577952299999 meters 0.028910392116620196 Centerline is valid? [True, True] Translation: X:83.13, Y:-14.30, Z:-6.85 [[ 9.75289518e-01 2.08971231e-01 7.17034167e-02 8.31298258e+01] [-2.08163495e-01 9.77916370e-01 -1.86422530e-02 -1.43013282e+01] [-7.40156395e-02 3.25556016e-03 9.97251767e-01 -6.84721392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185779523 meters 0.02413924700897854 Centerline is valid? [True, True] Translation: X:83.19, Y:-14.31, Z:-6.85 [[ 9.75884694e-01 2.06480644e-01 7.08153062e-02 8.31913487e+01] [-2.05685609e-01 9.78444741e-01 -1.84206217e-02 -1.43107590e+01] [-7.30923658e-02 3.41071335e-03 9.97319344e-01 -6.84694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245779523 meters 0.025600709791266933 Centerline is valid? [True, True] Translation: X:83.25, Y:-14.33, Z:-6.85 [[ 9.76168223e-01 2.04282335e-01 7.32415758e-02 8.32513482e+01] [-2.03425342e-01 9.78905012e-01 -1.90553956e-02 -1.43255111e+01] [-7.55892263e-02 3.70207903e-03 9.97132170e-01 -6.85060030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305779523 meters 0.02807063905367008 Centerline is valid? [True, True] Translation: X:83.31, Y:-14.34, Z:-6.85 [[ 9.76888231e-01 1.99906138e-01 7.56764177e-02 8.33115594e+01] [-1.98977544e-01 9.79806128e-01 -1.96948840e-02 -1.43356490e+01] [-7.80853460e-02 4.18179270e-03 9.96937907e-01 -6.85490964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365779523 meters 0.029827963035588302 Centerline is valid? [True, True] Translation: X:83.37, Y:-14.35, Z:-6.86 [[ 9.77087745e-01 2.00404517e-01 7.16768281e-02 8.33720627e+01] [-1.99572984e-01 9.79705388e-01 -1.86541114e-02 -1.43489602e+01] [-7.39605429e-02 3.92194513e-03 9.97253456e-01 -6.86321349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42577952299999 meters 0.02566171414584538 Centerline is valid? [True, True] Translation: X:83.43, Y:-14.35, Z:-6.86 [[ 9.76547268e-01 2.02054981e-01 7.43587161e-02 8.34343458e+01] [-2.01162961e-01 9.79366166e-01 -1.93746155e-02 -1.43548937e+01] [-7.67391483e-02 3.96200830e-03 9.97043332e-01 -6.86435506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48577952299999 meters 0.024803420499302196 Centerline is valid? [True, True] Translation: X:83.50, Y:-14.36, Z:-6.87 [[ 9.75983883e-01 2.03878422e-01 7.67401456e-02 8.34952110e+01] [-2.02933479e-01 9.78988262e-01 -1.99996609e-02 -1.43636875e+01] [-7.92052010e-02 3.94620199e-03 9.96850522e-01 -6.86578185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545779523 meters 0.02531708586698659 Centerline is valid? [True, True] Translation: X:83.55, Y:-14.37, Z:-6.87 [[ 9.75884709e-01 2.06372504e-01 7.11296284e-02 8.35547349e+01] [-2.05567330e-01 9.78467343e-01 -1.85399839e-02 -1.43747819e+01] [-7.34241614e-02 3.47095903e-03 9.97294763e-01 -6.87395223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605779523 meters 0.024574719672322255 Centerline is valid? [True, True] Translation: X:83.62, Y:-14.38, Z:-6.88 [[ 9.75296699e-01 2.08575993e-01 7.27489089e-02 8.36165807e+01] [-2.07739566e-01 9.78000310e-01 -1.89648589e-02 -1.43780972e+01] [-7.51040697e-02 3.38353750e-03 9.97169961e-01 -6.88269436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665779523 meters 0.023430166297579026 Centerline is valid? [True, True] Translation: X:83.68, Y:-14.38, Z:-6.89 [[ 9.74736856e-01 2.10966336e-01 7.33571221e-02 8.36786549e+01] [-2.10122377e-01 9.77487994e-01 -1.91261021e-02 -1.43846316e+01] [-7.57406698e-02 3.22894374e-03 9.97122322e-01 -6.88839589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725779523 meters 0.023930881777366474 Centerline is valid? [True, True] Translation: X:83.74, Y:-14.40, Z:-6.89 [[ 9.74264372e-01 2.13643882e-01 7.18694981e-02 8.37377348e+01] [-2.12840819e-01 9.76907115e-01 -1.87423300e-02 -1.43988444e+01] [-7.42140081e-02 2.96322159e-03 9.97237936e-01 -6.89280763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78577952299999 meters 0.022374643561349047 Centerline is valid? [True, True] Translation: X:83.80, Y:-14.41, Z:-6.90 [[ 9.73975798e-01 2.15279223e-01 7.08942954e-02 8.37987117e+01] [-2.14502091e-01 9.76548520e-01 -1.84889559e-02 -1.44107433e+01] [-7.32120073e-02 2.80082098e-03 9.97312467e-01 -6.89842234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84577952299999 meters 0.023154806515971297 Centerline is valid? [True, True] Translation: X:83.86, Y:-14.41, Z:-6.91 [[ 9.73094688e-01 2.19045253e-01 7.14556194e-02 8.38613033e+01] [-2.18264376e-01 9.75711350e-01 -1.86554144e-02 -1.44122905e+01] [-7.38064388e-02 2.55726851e-03 9.97269307e-01 -6.91079725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90577952299999 meters 0.02177785373934542 Centerline is valid? [True, True] Translation: X:83.92, Y:-14.42, Z:-6.91 [[ 9.71826087e-01 2.22690986e-01 7.72190465e-02 8.39226970e+01] [-2.21789719e-01 9.74885948e-01 -2.01670180e-02 -1.44219301e+01] [-7.97707765e-02 2.47244352e-03 9.96810168e-01 -6.91073196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965779523 meters 0.021760314818640648 Centerline is valid? [True, True] Translation: X:83.98, Y:-14.44, Z:-6.92 [[ 9.72355675e-01 2.21977554e-01 7.24596934e-02 8.39826357e+01] [-2.21181973e-01 9.75048879e-01 -1.89266299e-02 -1.44360983e+01] [-7.48530298e-02 2.37663804e-03 9.97191745e-01 -6.91738614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025779523 meters 0.023096148584811134 Centerline is valid? [True, True] Translation: X:84.04, Y:-14.44, Z:-6.93 [[ 9.72679073e-01 2.20886075e-01 7.14476297e-02 8.40442909e+01] [-2.20108280e-01 9.75296553e-01 -1.86809591e-02 -1.44426433e+01] [-7.38089907e-02 2.44436315e-03 9.97269401e-01 -6.92937829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085779523 meters 0.020700213110987405 Centerline is valid? [True, True] Translation: X:84.10, Y:-14.46, Z:-6.93 [[ 9.72932068e-01 2.18754409e-01 7.44963047e-02 8.41029273e+01] [-2.17900855e-01 9.75776107e-01 -1.94989011e-02 -1.44630179e+01] [-7.69571848e-02 2.73829765e-03 9.97030638e-01 -6.92746820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14577952299999 meters 0.025176779734124008 Centerline is valid? [True, True] Translation: X:84.16, Y:-14.48, Z:-6.93 [[ 9.73214879e-01 2.16538517e-01 7.72260922e-02 8.41606458e+01] [-2.15612601e-01 9.76269342e-01 -2.02331165e-02 -1.44830418e+01] [-7.97747153e-02 3.04025145e-03 9.96808282e-01 -6.92961050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20577952299999 meters 0.02132541411114829 Centerline is valid? [True, True] Translation: X:84.22, Y:-14.48, Z:-6.94 [[ 9.72489662e-01 2.19571598e-01 7.77956942e-02 8.42238283e+01] [-2.18640077e-01 9.75592281e-01 -2.04014133e-02 -1.44820938e+01] [-8.03764497e-02 2.83090704e-03 9.96760559e-01 -6.93956867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26577952299999 meters 0.018608786968346988 Centerline is valid? [True, True] Translation: X:84.28, Y:-14.50, Z:-6.94 [[ 9.71395210e-01 2.25477017e-01 7.45081185e-02 8.42827065e+01] [-2.24639800e-01 9.74245899e-01 -1.95419436e-02 -1.44978901e+01] [-7.69954881e-02 2.24546153e-03 9.97028913e-01 -6.94440671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325779523 meters 0.020080136265401418 Centerline is valid? [True, True] Translation: X:84.34, Y:-14.51, Z:-6.95 [[ 9.70603952e-01 2.29666935e-01 7.19796333e-02 8.43416873e+01] [-2.28897003e-01 9.73267526e-01 -1.88808086e-02 -1.45135051e+01] [-7.43917370e-02 1.84986511e-03 9.97227380e-01 -6.94831195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385779523 meters 0.01638891123432616 Centerline is valid? [True, True] Translation: X:84.40, Y:-14.51, Z:-6.96 [[ 9.68863643e-01 2.35936855e-01 7.50802289e-02 8.44034843e+01] [-2.35117564e-01 9.71767334e-01 -1.96971792e-02 -1.45146500e+01] [-7.76078044e-02 1.43120027e-03 9.96982939e-01 -6.95556456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445779523 meters 0.015029872518899872 Centerline is valid? [True, True] Translation: X:84.46, Y:-14.54, Z:-6.95 [[ 9.67169836e-01 2.42165696e-01 7.70602663e-02 8.44615065e+01] [-2.41322134e-01 9.70234435e-01 -2.02180413e-02 -1.45392425e+01] [-7.96626399e-02 9.57931714e-04 9.96821421e-01 -6.95216746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50577952299999 meters 0.014601621803178476 Centerline is valid? [True, True] Translation: X:84.52, Y:-14.55, Z:-6.96 [[ 9.66080283e-01 2.46700148e-01 7.63408430e-02 8.45225494e+01] [-2.45886070e-01 9.69091687e-01 -2.00335557e-02 -1.45518364e+01] [-7.89235574e-02 5.82873316e-04 9.96880501e-01 -6.95850587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56577952299999 meters 0.014426478137550637 Centerline is valid? [True, True] Translation: X:84.58, Y:-14.56, Z:-6.98 [[ 9.65201097e-01 2.52045273e-01 6.97138642e-02 8.45833176e+01] [-2.51380169e-01 9.67715434e-01 -1.82988810e-02 -1.45589865e+01] [-7.20753288e-02 1.37417043e-04 9.97399182e-01 -6.97641885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62577952299999 meters 0.01833295085384563 Centerline is valid? [True, True] Translation: X:84.64, Y:-14.59, Z:-6.98 [[ 9.64889540e-01 2.53374348e-01 6.92070407e-02 8.46412054e+01] [-2.52720941e-01 9.67368304e-01 -1.81848662e-02 -1.45866798e+01] [-7.15562763e-02 5.63187072e-05 9.97436562e-01 -6.97923173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685779523 meters 0.014398924158222198 Centerline is valid? [True, True] Translation: X:84.70, Y:-14.61, Z:-6.97 [[ 9.64775961e-01 2.52215193e-01 7.47986694e-02 8.47000838e+01] [-2.51446360e-01 9.67671155e-01 -1.96790108e-02 -1.46104409e+01] [-7.73438603e-02 1.77983442e-04 9.97004461e-01 -6.97352492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745779523 meters 0.014533707337058457 Centerline is valid? [True, True] Translation: X:84.76, Y:-14.63, Z:-6.98 [[ 9.65394088e-01 2.49026391e-01 7.74603863e-02 8.47607921e+01] [-2.48189823e-01 9.68496586e-01 -2.04003836e-02 -1.46272460e+01] [-8.01003535e-02 4.69530195e-04 9.96786694e-01 -6.97861333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805779523 meters 0.015050939399358804 Centerline is valid? [True, True] Translation: X:84.82, Y:-14.66, Z:-6.99 [[ 9.66558720e-01 2.47129350e-01 6.84932496e-02 8.48160600e+01] [-2.46469452e-01 9.68982331e-01 -1.80569020e-02 -1.46577528e+01] [-7.08311391e-02 5.71562425e-04 9.97488157e-01 -6.98893676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865779523 meters 0.014952632532456888 Centerline is valid? [True, True] Translation: X:84.87, Y:-14.68, Z:-6.99 [[ 9.65954178e-01 2.49925410e-01 6.68566838e-02 8.48740103e+01] [-2.49302218e-01 9.68265020e-01 -1.76424205e-02 -1.46824716e+01] [-6.91442775e-02 3.74250201e-04 9.97606600e-01 -6.99268259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92577952299999 meters 0.01460056458509292 Centerline is valid? [True, True] Translation: X:84.93, Y:-14.70, Z:-7.00 [[ 9.64245380e-01 2.55585029e-01 7.00509855e-02 8.49344013e+01] [-2.54914022e-01 9.66786581e-01 -1.85080667e-02 -1.46964071e+01] [-7.24547375e-02 -1.06607077e-05 9.97371701e-01 -6.99760440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98577952299999 meters 0.014685594000026076 Centerline is valid? [True, True] Translation: X:84.99, Y:-14.72, Z:-7.00 [[ 9.63333672e-01 2.59005346e-01 7.00319001e-02 8.49934881e+01] [-2.58342393e-01 9.65875855e-01 -1.85213439e-02 -1.47203552e+01] [-7.24392486e-02 -2.49974364e-04 9.97372795e-01 -7.00052879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045779523 meters 0.015091685390147798 Centerline is valid? [True, True] Translation: X:85.05, Y:-14.74, Z:-7.01 [[ 9.61879052e-01 2.64863422e-01 6.80885924e-02 8.50516286e+01] [-2.64249999e-01 9.64285716e-01 -1.80276342e-02 -1.47428432e+01] [-7.04317180e-02 -6.52006740e-04 9.97516390e-01 -7.00582816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105779523 meters 0.01673984618365555 Centerline is valid? [True, True] Translation: X:85.11, Y:-14.76, Z:-7.00 [[ 9.59120244e-01 2.73637826e-01 7.21851666e-02 8.51103918e+01] [-2.72971414e-01 9.61831851e-01 -1.91336817e-02 -1.47586313e+01] [-7.46656915e-02 -1.35298552e-03 9.97207704e-01 -7.00468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165779523 meters 0.019551964531797698 Centerline is valid? [True, True] Translation: X:85.17, Y:-14.78, Z:-7.01 [[ 9.56965813e-01 2.81954668e-01 6.86876793e-02 8.51682880e+01] [-2.81371995e-01 9.59425857e-01 -1.82160604e-02 -1.47795666e+01] [-7.10368388e-02 -1.89464236e-03 9.97471893e-01 -7.00912889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225779523 meters 0.020332681542983434 Centerline is valid? [True, True] Translation: X:85.23, Y:-14.80, Z:-7.02 [[ 9.55843452e-01 2.86502364e-01 6.54193415e-02 8.52257001e+01] [-2.85984305e-01 9.58077183e-01 -1.73519339e-02 -1.48005228e+01] [-6.76481484e-02 -2.12317253e-03 9.97706981e-01 -7.01708005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28577952299999 meters 0.02151763419304234 Centerline is valid? [True, True] Translation: X:85.28, Y:-14.82, Z:-7.03 [[ 9.55920171e-01 2.87380483e-01 6.02418848e-02 8.52815519e+01] [-2.86942839e-01 9.57814397e-01 -1.59808418e-02 -1.48219823e+01] [-6.22931266e-02 -2.00956843e-03 9.98055874e-01 -7.03185177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34577952299999 meters 0.020318531045263374 Centerline is valid? [True, True] Translation: X:85.34, Y:-14.86, Z:-7.03 [[ 9.57063713e-01 2.82965878e-01 6.29234508e-02 8.53355431e+01] [-2.82478664e-01 9.59128294e-01 -1.66949140e-02 -1.48554098e+01] [-6.50757531e-02 -1.79643590e-03 9.97878710e-01 -7.03138078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40577952299999 meters 0.023010823775876058 Centerline is valid? [True, True] Translation: X:85.39, Y:-14.89, Z:-7.03 [[ 9.57978785e-01 2.78425435e-01 6.89632122e-02 8.53904199e+01] [-2.77828209e-01 9.60456465e-01 -1.82993025e-02 -1.48858151e+01] [-7.13311543e-02 -1.62958216e-03 9.97451358e-01 -7.02883761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465779523 meters 0.020904664314068618 Centerline is valid? [True, True] Translation: X:85.45, Y:-14.91, Z:-7.03 [[ 9.57869424e-01 2.78309849e-01 7.09210388e-02 8.54474557e+01] [-2.77677895e-01 9.60489900e-01 -1.88185911e-02 -1.49120933e+01] [-7.33563407e-02 -1.66745172e-03 9.97304400e-01 -7.03047382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525779523 meters 0.017963404894424186 Centerline is valid? [True, True] Translation: X:85.50, Y:-14.94, Z:-7.04 [[ 9.58418955e-01 2.78118800e-01 6.38986599e-02 8.55038267e+01] [-2.77604496e-01 9.60545553e-01 -1.69700887e-02 -1.49366391e+01] [-6.60972744e-02 -1.47410055e-03 9.97812095e-01 -7.04410130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585779523 meters 0.017671185108338018 Centerline is valid? [True, True] Translation: X:85.56, Y:-14.96, Z:-7.05 [[ 9.59272458e-01 2.76234456e-01 5.90836456e-02 8.55602764e+01] [-2.75790442e-01 9.61089492e-01 -1.57041551e-02 -1.49634857e+01] [-6.11226997e-02 -1.23014129e-03 9.98129502e-01 -7.05222112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64577952299999 meters 0.01675542019761917 Centerline is valid? [True, True] Translation: X:85.61, Y:-15.00, Z:-7.05 [[ 9.60406867e-01 2.71226346e-01 6.36782523e-02 8.56149370e+01] [-2.70698067e-01 9.62515114e-01 -1.69473053e-02 -1.49968795e+01] [-6.58878360e-02 -9.61271432e-04 9.97826573e-01 -7.04608627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70577952299999 meters 0.015495980555918824 Centerline is valid? [True, True] Translation: X:85.67, Y:-15.02, Z:-7.05 [[ 9.61753048e-01 2.65535412e-01 6.72459595e-02 8.56717942e+01] [-2.64932192e-01 9.64100919e-01 -1.78983565e-02 -1.50247352e+01] [-6.95845389e-02 -6.01820538e-04 9.97575877e-01 -7.04553123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76577952299999 meters 0.018137647577995467 Centerline is valid? [True, True] Translation: X:85.73, Y:-15.05, Z:-7.06 [[ 9.63283632e-01 2.60445859e-01 6.52119572e-02 8.57294523e+01] [-2.59866795e-01 9.65488428e-01 -1.73592825e-02 -1.50484869e+01] [-6.74825433e-02 -2.24509668e-04 9.97720430e-01 -7.06091795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825779523 meters 0.015350085039371872 Centerline is valid? [True, True] Translation: X:85.79, Y:-15.07, Z:-7.07 [[ 9.63086503e-01 2.61896699e-01 6.22455306e-02 8.57861939e+01] [-2.61370877e-01 9.65095868e-01 -1.65900814e-02 -1.50703410e+01] [-6.44177919e-02 -2.91485433e-04 9.97922975e-01 -7.06604236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885779523 meters 0.01873532841745167 Centerline is valid? [True, True] Translation: X:85.84, Y:-15.09, Z:-7.07 [[ 9.62639080e-01 2.63107820e-01 6.40333963e-02 8.58441511e+01] [-2.62553529e-01 9.64766362e-01 -1.70736945e-02 -1.50901184e+01] [-6.62694893e-02 -3.76388621e-04 9.97801690e-01 -7.06729582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945779523 meters 0.01548579844877243 Centerline is valid? [True, True] Translation: X:85.90, Y:-15.11, Z:-7.06 [[ 9.63219270e-01 2.60386415e-01 6.63894090e-02 8.59037865e+01] [-2.59782960e-01 9.65504470e-01 -1.77180998e-02 -1.51102901e+01] [-6.87128236e-02 -1.80422047e-04 9.97636465e-01 -7.06361513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00577952299999 meters 0.015119081319875103 Centerline is valid? [True, True] Translation: X:85.96, Y:-15.12, Z:-7.08 [[ 9.63463883e-01 2.60020037e-01 6.42411646e-02 8.59640406e+01] [-2.59453183e-01 9.65603212e-01 -1.71605201e-02 -1.51207718e+01] [-6.64935540e-02 -1.34033257e-04 9.97786846e-01 -7.07788185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06577952299999 meters 0.015314134200072058 Centerline is valid? [True, True] Translation: X:86.02, Y:-15.14, Z:-7.09 [[ 9.63803143e-01 2.59536342e-01 6.10277754e-02 8.60237312e+01] [-2.59022938e-01 9.65733338e-01 -1.63167800e-02 -1.51350382e+01] [-6.31713546e-02 -8.14298137e-05 9.98002692e-01 -7.08736823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12577952299999 meters 0.01781503877670091 Centerline is valid? [True, True] Translation: X:86.08, Y:-15.16, Z:-7.08 [[ 9.66516318e-01 2.49245578e-01 6.10151531e-02 8.60811155e+01] [-2.48710876e-01 9.68440124e-01 -1.63287134e-02 -1.51642154e+01] [-6.31593820e-02 6.06835789e-04 9.98003269e-01 -7.08279459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185779523 meters 0.020098795383561633 Centerline is valid? [True, True] Translation: X:86.14, Y:-15.19, Z:-7.08 [[ 9.68776296e-01 2.38404095e-01 6.80879993e-02 8.61391517e+01] [-2.37709775e-01 9.71164906e-01 -1.82425032e-02 -1.51852503e+01] [-7.04737629e-02 1.48772166e-03 9.97512524e-01 -7.08319680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245779523 meters 0.020828038734563337 Centerline is valid? [True, True] Translation: X:86.20, Y:-15.20, Z:-7.09 [[ 9.70162122e-01 2.32276072e-01 6.95218236e-02 8.61992794e+01] [-2.31535761e-01 9.72647878e-01 -1.86359116e-02 -1.51979096e+01] [-7.19489306e-02 1.98306714e-03 9.97406346e-01 -7.09118209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305779523 meters 0.023114079047797952 Centerline is valid? [True, True] Translation: X:86.26, Y:-15.22, Z:-7.09 [[ 9.72326042e-01 2.24358294e-01 6.51569219e-02 8.62564438e+01] [-2.23690169e-01 9.74503743e-01 -1.74689197e-02 -1.52201879e+01] [-6.74149613e-02 2.41052271e-03 9.97722112e-01 -7.09375290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365779523 meters 0.02714437368498808 Centerline is valid? [True, True] Translation: X:86.31, Y:-15.24, Z:-7.10 [[ 9.74214222e-01 2.16778000e-01 6.25615515e-02 8.63147396e+01] [-2.16146377e-01 9.76216855e-01 -1.67748723e-02 -1.52355729e+01] [-6.47100643e-02 2.81986648e-03 9.97900123e-01 -7.10184778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42577952299999 meters 0.024256692120430953 Centerline is valid? [True, True] Translation: X:86.38, Y:-15.24, Z:-7.10 [[ 9.74105966e-01 2.15426625e-01 6.86216856e-02 8.63776510e+01] [-2.14662837e-01 9.76514796e-01 -1.84043335e-02 -1.52428690e+01] [-7.09748748e-02 3.19724533e-03 9.97472979e-01 -7.10393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48577952299999 meters 0.02842756943317927 Centerline is valid? [True, True] Translation: X:86.44, Y:-15.26, Z:-7.11 [[ 9.73876817e-01 2.15469017e-01 7.16731986e-02 8.64361354e+01] [-2.14635033e-01 9.76504942e-01 -1.92328125e-02 -1.52617701e+01] [-7.41333078e-02 3.34681082e-03 9.97242724e-01 -7.10716723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545779523 meters 0.026853678733200815 Centerline is valid? [True, True] Translation: X:86.50, Y:-15.27, Z:-7.11 [[ 9.73018277e-01 2.20319240e-01 6.85190890e-02 8.64958043e+01] [-2.19567869e-01 9.75423619e-01 -1.84042209e-02 -1.52710685e+01] [-7.08899417e-02 2.86305299e-03 9.97480034e-01 -7.11069593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605779523 meters 0.021244942560440617 Centerline is valid? [True, True] Translation: X:86.56, Y:-15.28, Z:-7.11 [[ 9.71831779e-01 2.25234990e-01 6.93699751e-02 8.65577505e+01] [-2.24477189e-01 9.74301166e-01 -1.86341141e-02 -1.52767661e+01] [-7.17843021e-02 2.53724724e-03 9.97416952e-01 -7.11003122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665779523 meters 0.01995614295652624 Centerline is valid? [True, True] Translation: X:86.62, Y:-15.29, Z:-7.12 [[ 9.69916686e-01 2.33632091e-01 6.83934796e-02 8.66177133e+01] [-2.32916080e-01 9.72323231e-01 -1.83748164e-02 -1.52854776e+01] [-7.07935158e-02 1.89209990e-03 9.97489197e-01 -7.11813039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725779523 meters 0.016044608837721852 Centerline is valid? [True, True] Translation: X:86.68, Y:-15.28, Z:-7.13 [[ 9.66378509e-01 2.47985799e-01 6.79383675e-02 8.66810243e+01] [-2.47314550e-01 9.68763306e-01 -1.82529593e-02 -1.52849082e+01] [-7.03426722e-02 8.37120764e-04 9.97522535e-01 -7.12651112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78577952299999 meters 0.01772972526915341 Centerline is valid? [True, True] Translation: X:86.74, Y:-15.29, Z:-7.13 [[ 9.63235150e-01 2.59980679e-01 6.77354578e-02 8.67431161e+01] [-2.59342762e-01 9.65613818e-01 -1.82012801e-02 -1.52918342e+01] [-7.01382752e-02 -3.45879600e-05 9.97537278e-01 -7.13074859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84577952299999 meters 0.01505474061528512 Centerline is valid? [True, True] Translation: X:86.81, Y:-15.30, Z:-7.13 [[ 9.61172716e-01 2.66635173e-01 7.10823020e-02 8.68060534e+01] [-2.65949259e-01 9.63797389e-01 -1.91202616e-02 -1.53024453e+01] [-7.36070713e-02 -5.26411727e-04 9.97287181e-01 -7.13103804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90577952299999 meters 0.01587356653789842 Centerline is valid? [True, True] Translation: X:86.87, Y:-15.32, Z:-7.13 [[ 9.59112646e-01 2.73333174e-01 7.34296118e-02 8.68670131e+01] [-2.72618933e-01 9.61918848e-01 -1.97749272e-02 -1.53150132e+01] [-7.60384712e-02 -1.05191965e-03 9.97104330e-01 -7.13369617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965779523 meters 0.01699692108029576 Centerline is valid? [True, True] Translation: X:86.93, Y:-15.33, Z:-7.14 [[ 9.57701022e-01 2.78488658e-01 7.24763450e-02 8.69281539e+01] [-2.77806073e-01 9.60438464e-01 -1.95382304e-02 -1.53259461e+01] [-7.50502451e-02 -1.42258551e-03 9.97178739e-01 -7.13897422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025779523 meters 0.019839237789769943 Centerline is valid? [True, True] Translation: X:86.99, Y:-15.34, Z:-7.15 [[ 9.58286628e-01 2.77268335e-01 6.93470209e-02 8.69873906e+01] [-2.76640072e-01 9.60791687e-01 -1.86976985e-02 -1.53437291e+01] [-7.18123210e-02 -1.26641047e-03 9.97417358e-01 -7.14987492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085779523 meters 0.016266687739778428 Centerline is valid? [True, True] Translation: X:87.05, Y:-15.37, Z:-7.15 [[ 9.58577273e-01 2.76240437e-01 6.94322165e-02 8.70458526e+01] [-2.75606399e-01 9.61087848e-01 -1.87419718e-02 -1.53659231e+01] [-7.19077501e-02 -1.17033495e-03 9.97410600e-01 -7.14977624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14577952299999 meters 0.015147979607850604 Centerline is valid? [True, True] Translation: X:87.10, Y:-15.39, Z:-7.16 [[ 9.60296247e-01 2.69268272e-01 7.29775052e-02 8.71033356e+01] [-2.68545952e-01 9.63064983e-01 -1.97207856e-02 -1.53867424e+01] [-7.55922616e-02 -6.60017245e-04 9.97138593e-01 -7.15502876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20577952299999 meters 0.014802412958806679 Centerline is valid? [True, True] Translation: X:87.16, Y:-15.41, Z:-7.16 [[ 9.62360767e-01 2.62712470e-01 6.95982153e-02 8.71592804e+01] [-2.62038319e-01 9.64874157e-01 -1.88090262e-02 -1.54117303e+01] [-7.20948851e-02 -1.36330512e-04 9.97397769e-01 -7.16196850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26577952299999 meters 0.014881742130492159 Centerline is valid? [True, True] Translation: X:87.22, Y:-15.43, Z:-7.17 [[ 9.63273984e-01 2.59253645e-01 6.99341086e-02 8.72172261e+01] [-2.58562616e-01 9.65809261e-01 -1.89168026e-02 -1.54348831e+01] [-7.24472598e-02 1.39717775e-04 9.97372235e-01 -7.16519641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325779523 meters 0.01841832991632178 Centerline is valid? [True, True] Translation: X:87.28, Y:-15.45, Z:-7.18 [[ 9.64782588e-01 2.53397702e-01 7.05985983e-02 8.72755193e+01] [-2.52676297e-01 9.67362000e-01 -1.91167558e-02 -1.54526740e+01] [-7.31385432e-02 6.04920740e-04 9.97321607e-01 -7.17862753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385779523 meters 0.016447495406424338 Centerline is valid? [True, True] Translation: X:87.33, Y:-15.48, Z:-7.18 [[ 9.65939198e-01 2.49223050e-01 6.96371747e-02 8.73339077e+01] [-2.48509090e-01 9.68445669e-01 -1.88737243e-02 -1.54766505e+01] [-7.21435875e-02 9.25399250e-04 9.97393827e-01 -7.17912704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445779523 meters 0.01774559616436237 Centerline is valid? [True, True] Translation: X:87.39, Y:-15.50, Z:-7.18 [[ 9.67604514e-01 2.41798848e-01 7.26279666e-02 8.73918969e+01] [-2.40999766e-01 9.70325140e-01 -1.97037089e-02 -1.54989713e+01] [-7.52370760e-02 1.56207477e-03 9.97164451e-01 -7.17764254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50577952299999 meters 0.019955248803237548 Centerline is valid? [True, True] Translation: X:87.45, Y:-15.52, Z:-7.18 [[ 9.68986997e-01 2.35653563e-01 7.43747098e-02 8.74499468e+01] [-2.34795986e-01 9.71834841e-01 -2.01961855e-02 -1.55176321e+01] [-7.70392374e-02 2.10695777e-03 9.97025835e-01 -7.18445478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56577952299999 meters 0.021775340520231813 Centerline is valid? [True, True] Translation: X:87.51, Y:-15.54, Z:-7.19 [[ 9.70450446e-01 2.29488394e-01 7.45721755e-02 8.75083818e+01] [-2.28606830e-01 9.73307874e-01 -2.02657382e-02 -1.55358855e+01] [-7.72324373e-02 2.61918602e-03 9.97009674e-01 -7.19104538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62577952299999 meters 0.021905274850016906 Centerline is valid? [True, True] Translation: X:87.57, Y:-15.55, Z:-7.20 [[ 9.70780313e-01 2.28769405e-01 7.24578690e-02 8.75684898e+01] [-2.27934154e-01 9.73477132e-01 -1.97051746e-02 -1.55512302e+01] [-7.50440196e-02 2.61377251e-03 9.97176796e-01 -7.19881003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685779523 meters 0.023095242450628627 Centerline is valid? [True, True] Translation: X:87.63, Y:-15.56, Z:-7.21 [[ 9.71212743e-01 2.28075717e-01 6.87551830e-02 8.76287609e+01] [-2.27320848e-01 9.73640068e-01 -1.87149857e-02 -1.55639138e+01] [-7.12112348e-02 2.54674605e-03 9.97458006e-01 -7.20793682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745779523 meters 0.023595824487321677 Centerline is valid? [True, True] Translation: X:87.69, Y:-15.58, Z:-7.21 [[ 9.70730704e-01 2.28910427e-01 7.26767997e-02 8.76873184e+01] [-2.28067615e-01 9.73443888e-01 -1.98030110e-02 -1.55827549e+01] [-7.52799022e-02 2.64816648e-03 9.97158926e-01 -7.20693035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805779523 meters 0.021558913222859587 Centerline is valid? [True, True] Translation: X:87.75, Y:-15.59, Z:-7.21 [[ 9.69800089e-01 2.31400685e-01 7.70811949e-02 8.77496607e+01] [-2.30458658e-01 9.72854993e-01 -2.10230851e-02 -1.55872444e+01] [-7.98535816e-02 2.62416104e-03 9.96803150e-01 -7.21285381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865779523 meters 0.018520785978963176 Centerline is valid? [True, True] Translation: X:87.81, Y:-15.59, Z:-7.22 [[ 9.67634340e-01 2.40993373e-01 7.48730797e-02 8.78114217e+01] [-2.40132911e-01 9.70525121e-01 -2.04248565e-02 -1.55920891e+01] [-7.75884598e-02 1.78430199e-03 9.96983875e-01 -7.22239550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92577952299999 meters 0.01824032428748614 Centerline is valid? [True, True] Translation: X:87.87, Y:-15.60, Z:-7.22 [[ 9.65585292e-01 2.49059183e-01 7.49304143e-02 8.78727421e+01] [-2.48221288e-01 9.68487594e-01 -2.04443535e-02 -1.56034467e+01] [-7.76610307e-02 1.14144310e-03 9.96979168e-01 -7.22043627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98577952299999 meters 0.017562158347579463 Centerline is valid? [True, True] Translation: X:87.94, Y:-15.60, Z:-7.23 [[ 9.62885357e-01 2.58970084e-01 7.60676353e-02 8.79353216e+01] [-2.58136952e-01 9.65885278e-01 -2.07591651e-02 -1.55988312e+01] [-7.88486118e-02 3.52828551e-04 9.96886539e-01 -7.23482669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045779523 meters 0.01715750846120395 Centerline is valid? [True, True] Translation: X:88.00, Y:-15.61, Z:-7.24 [[ 9.60441508e-01 2.68847616e-01 7.26159079e-02 8.79952926e+01] [-2.68116587e-01 9.63182625e-01 -1.98173215e-02 -1.56093937e+01] [-7.52702204e-02 -4.36151281e-04 9.97163078e-01 -7.24131704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105779523 meters 0.015319425626754375 Centerline is valid? [True, True] Translation: X:88.06, Y:-15.63, Z:-7.24 [[ 9.59605250e-01 2.72459135e-01 7.01696780e-02 8.80554138e+01] [-2.71785070e-01 9.62167115e-01 -1.91655451e-02 -1.56254031e+01] [-7.27367845e-02 -6.79713195e-04 9.97350940e-01 -7.24295991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165779523 meters 0.018605206447001487 Centerline is valid? [True, True] Translation: X:88.12, Y:-15.63, Z:-7.25 [[ 9.59124016e-01 2.72634466e-01 7.58391072e-02 8.81171568e+01] [-2.71845779e-01 9.62117413e-01 -2.07353731e-02 -1.56348868e+01] [-7.86193030e-02 -7.28746788e-04 9.96904446e-01 -7.24877350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225779523 meters 0.019097486668492092 Centerline is valid? [True, True] Translation: X:88.18, Y:-15.65, Z:-7.25 [[ 9.58013619e-01 2.76727929e-01 7.50437138e-02 8.81753215e+01] [-2.75966696e-01 9.60947753e-01 -2.05377410e-02 -1.56521655e+01] [-7.77964547e-02 -1.03413015e-03 9.96968727e-01 -7.25386795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28577952299999 meters 0.016222033820762052 Centerline is valid? [True, True] Translation: X:88.24, Y:-15.67, Z:-7.26 [[ 9.57374301e-01 2.79642115e-01 7.23514723e-02 8.82354025e+01] [-2.78941627e-01 9.60103550e-01 -1.98177254e-02 -1.56672100e+01] [-7.50067760e-02 -1.20885638e-03 9.97182291e-01 -7.26041834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34577952299999 meters 0.018911313498290064 Centerline is valid? [True, True] Translation: X:88.30, Y:-15.68, Z:-7.27 [[ 9.57572056e-01 2.79264778e-01 7.11824554e-02 8.82956155e+01] [-2.78584368e-01 9.60213455e-01 -1.95159225e-02 -1.56846380e+01] [-7.38004611e-02 -1.14241729e-03 9.97272373e-01 -7.27010613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40577952299999 meters 0.016006862403903106 Centerline is valid? [True, True] Translation: X:88.35, Y:-15.71, Z:-7.26 [[ 9.57160366e-01 2.78411212e-01 7.95690337e-02 8.83535153e+01] [-2.77555604e-01 9.60461248e-01 -2.18421197e-02 -1.57110061e+01] [-8.25040644e-02 -1.17841997e-03 9.96590031e-01 -7.25960734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465779523 meters 0.017847551418130114 Centerline is valid? [True, True] Translation: X:88.41, Y:-15.73, Z:-7.27 [[ 9.57264600e-01 2.78657071e-01 7.74255965e-02 8.84141686e+01] [-2.77846177e-01 9.60389983e-01 -2.12739769e-02 -1.57253413e+01] [-8.02869114e-02 -1.14758105e-03 9.96771135e-01 -7.27447039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525779523 meters 0.016599276397965212 Centerline is valid? [True, True] Translation: X:88.47, Y:-15.74, Z:-7.28 [[ 9.57173646e-01 2.79833715e-01 7.42408415e-02 8.84728558e+01] [-2.79090064e-01 9.60047767e-01 -2.04210960e-02 -1.57399425e+01] [-7.69892653e-02 -1.17334629e-03 9.97031231e-01 -7.28359357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585779523 meters 0.015533639925066957 Centerline is valid? [True, True] Translation: X:88.53, Y:-15.77, Z:-7.28 [[ 9.58564908e-01 2.75215997e-01 7.35491154e-02 8.85293497e+01] [-2.74471812e-01 9.61382098e-01 -2.02407056e-02 -1.57708151e+01] [-7.62793688e-02 -7.85128892e-04 9.97086176e-01 -7.28198070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64577952299999 meters 0.017538201581251616 Centerline is valid? [True, True] Translation: X:88.59, Y:-15.80, Z:-7.29 [[ 9.60341531e-01 2.68203607e-01 7.62297100e-02 8.85871365e+01] [-2.67380359e-01 9.63362226e-01 -2.09991647e-02 -1.57959184e+01] [-7.90688749e-02 -2.15957273e-04 9.96869132e-01 -7.28659556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70577952299999 meters 0.014689577039978297 Centerline is valid? [True, True] Translation: X:88.65, Y:-15.81, Z:-7.29 [[ 9.61007661e-01 2.65636393e-01 7.68217610e-02 8.86470955e+01] [-2.64791538e-01 9.64073289e-01 -2.11691983e-02 -1.58139259e+01] [-7.96851173e-02 2.00953718e-06 9.96820085e-01 -7.29200526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76577952299999 meters 0.015156510241277569 Centerline is valid? [True, True] Translation: X:88.70, Y:-15.84, Z:-7.30 [[ 9.62951027e-01 2.59155537e-01 7.45904031e-02 8.87040554e+01] [-2.58338019e-01 9.65835448e-01 -2.05756066e-02 -1.58386214e+01] [-7.73743377e-02 5.43764499e-04 9.97001964e-01 -7.29870420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825779523 meters 0.01989798136328678 Centerline is valid? [True, True] Translation: X:88.76, Y:-15.87, Z:-7.31 [[ 9.66182135e-01 2.47712459e-01 7.16283393e-02 8.87591439e+01] [-2.46925858e-01 9.68832555e-01 -1.97762822e-02 -1.58686336e+01] [-7.42946985e-02 1.42060146e-03 9.97235318e-01 -7.30594026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885779523 meters 0.021725715434770473 Centerline is valid? [True, True] Translation: X:88.82, Y:-15.89, Z:-7.31 [[ 9.68345430e-01 2.38451984e-01 7.38090784e-02 8.88154332e+01] [-2.37588475e-01 9.71151766e-01 -2.03952023e-02 -1.58913312e+01] [-7.65430933e-02 2.21341454e-03 9.97063817e-01 -7.30901435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945779523 meters 0.025656954153522114 Centerline is valid? [True, True] Translation: X:88.87, Y:-15.92, Z:-7.31 [[ 9.69996880e-01 2.30788916e-01 7.64364433e-02 8.88720008e+01] [-2.29838862e-01 9.72999459e-01 -2.11222731e-02 -1.59161919e+01] [-7.92474045e-02 2.92047385e-03 9.96850701e-01 -7.31043435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00577952299999 meters 0.02619825100396628 Centerline is valid? [True, True] Translation: X:88.93, Y:-15.94, Z:-7.31 [[ 9.72810522e-01 2.19227553e-01 7.46924860e-02 8.89302991e+01] [-2.18286128e-01 9.75666442e-01 -2.06436347e-02 -1.59363769e+01] [-7.74006056e-02 3.77801146e-03 9.96992915e-01 -7.31414034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06577952299999 meters 0.030472198166010066 Centerline is valid? [True, True] Translation: X:88.99, Y:-15.95, Z:-7.32 [[ 9.74409882e-01 2.11952546e-01 7.48431741e-02 8.89881789e+01] [-2.10984579e-01 9.77270135e-01 -2.07024257e-02 -1.59538425e+01] [-7.75299307e-02 4.38189263e-03 9.96980395e-01 -7.32184930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12577952299999 meters 0.029664403159190982 Centerline is valid? [True, True] Translation: X:89.05, Y:-15.97, Z:-7.33 [[ 9.74500725e-01 2.12480356e-01 7.21140442e-02 8.90492949e+01] [-2.11583029e-01 9.77156382e-01 -1.99506362e-02 -1.59694808e+01] [-7.47058167e-02 4.18380159e-03 9.97196840e-01 -7.32513558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185779523 meters 0.030013043341828857 Centerline is valid? [True, True] Translation: X:89.11, Y:-15.98, Z:-7.33 [[ 9.74186762e-01 2.14380621e-01 7.07184683e-02 8.91097820e+01] [-2.13521115e-01 9.76742085e-01 -1.95865560e-02 -1.59813046e+01] [-7.32726822e-02 3.98107742e-03 9.97303998e-01 -7.33337548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245779523 meters 0.028557978422558833 Centerline is valid? [True, True] Translation: X:89.17, Y:-15.99, Z:-7.34 [[ 9.72940994e-01 2.20230879e-01 6.98869234e-02 8.91706385e+01] [-2.19406224e-01 9.75441485e-01 -1.93602109e-02 -1.59908735e+01] [-7.24343206e-02 3.50271683e-03 9.97367034e-01 -7.33845869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305779523 meters 0.023560101077119863 Centerline is valid? [True, True] Translation: X:89.23, Y:-15.99, Z:-7.34 [[ 9.70780168e-01 2.27932385e-01 7.50512688e-02 8.92349756e+01] [-2.27003815e-01 9.73671872e-01 -2.07931235e-02 -1.59893362e+01] [-7.78147356e-02 3.14862757e-03 9.96962864e-01 -7.33964462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365779523 meters 0.021385198365898597 Centerline is valid? [True, True] Translation: X:89.30, Y:-15.99, Z:-7.34 [[ 9.69039775e-01 2.35447374e-01 7.43400862e-02 8.92973446e+01] [-2.34558112e-01 9.71883821e-01 -2.05992882e-02 -1.59941676e+01] [-7.70999753e-02 2.52445938e-03 9.97020171e-01 -7.34451107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42577952299999 meters 0.021092142904356403 Centerline is valid? [True, True] Translation: X:89.36, Y:-16.00, Z:-7.35 [[ 9.68420503e-01 2.39027112e-01 7.09067609e-02 8.93574354e+01] [-2.38227552e-01 9.71010539e-01 -1.96511401e-02 -1.60044851e+01] [-7.35483674e-02 2.13862288e-03 9.97289358e-01 -7.35173091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48577952299999 meters 0.01892281087610024 Centerline is valid? [True, True] Translation: X:89.42, Y:-16.02, Z:-7.35 [[ 9.67713592e-01 2.41851464e-01 7.09807899e-02 8.94177105e+01] [-2.41057721e-01 9.70311370e-01 -1.96728272e-02 -1.60179401e+01] [-7.36313696e-02 1.92719484e-03 9.97283664e-01 -7.35344435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545779523 meters 0.01918811909148381 Centerline is valid? [True, True] Translation: X:89.48, Y:-16.01, Z:-7.37 [[ 9.66523537e-01 2.46248666e-01 7.20683450e-02 8.94813019e+01] [-2.45441018e-01 9.69205301e-01 -1.99947958e-02 -1.60143994e+01] [-7.47727138e-02 1.63691281e-03 9.97199259e-01 -7.36513576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605779523 meters 0.01862530346028535 Centerline is valid? [True, True] Translation: X:89.54, Y:-16.03, Z:-7.37 [[ 9.66191013e-01 2.47714697e-01 7.15007410e-02 8.95405455e+01] [-2.46923650e-01 9.68831843e-01 -1.98386078e-02 -1.60315771e+01] [-7.41865095e-02 1.51266056e-03 9.97243237e-01 -7.36661170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665779523 meters 0.017733249965017666 Centerline is valid? [True, True] Translation: X:89.60, Y:-16.04, Z:-7.37 [[ 9.66352864e-01 2.46730559e-01 7.27060781e-02 8.96027689e+01] [-2.45908312e-01 9.69082742e-01 -2.01926083e-02 -1.60411616e+01] [-7.54403391e-02 1.63415586e-03 9.97148978e-01 -7.36850765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725779523 meters 0.021147520170014474 Centerline is valid? [True, True] Translation: X:89.66, Y:-16.05, Z:-7.38 [[ 9.66841173e-01 2.45394803e-01 7.07074008e-02 8.96642541e+01] [-2.44612331e-01 9.69421722e-01 -1.96553577e-02 -1.60481778e+01] [-7.33686128e-02 1.70770692e-03 9.97303429e-01 -7.38368341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78577952299999 meters 0.018277017214614038 Centerline is valid? [True, True] Translation: X:89.72, Y:-16.07, Z:-7.38 [[ 9.66671991e-01 2.45440588e-01 7.28298025e-02 8.97239532e+01] [-2.44609024e-01 9.69410011e-01 -2.02646525e-02 -1.60679546e+01] [-7.55757079e-02 1.77444498e-03 9.97138488e-01 -7.37799669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84577952299999 meters 0.022172564118774052 Centerline is valid? [True, True] Translation: X:89.78, Y:-16.08, Z:-7.39 [[ 9.67008777e-01 2.44520009e-01 7.14422122e-02 8.97837853e+01] [-2.43716018e-01 9.69642522e-01 -1.98967778e-02 -1.60797858e+01] [-7.41385671e-02 1.82874738e-03 9.97246273e-01 -7.38620917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90577952299999 meters 0.01921844837237019 Centerline is valid? [True, True] Translation: X:89.85, Y:-16.08, Z:-7.40 [[ 9.66915465e-01 2.45610212e-01 6.89210187e-02 8.98472672e+01] [-2.44863735e-01 9.69367186e-01 -1.92096477e-02 -1.60840415e+01] [-7.15278596e-02 1.69784740e-03 9.97437157e-01 -7.39853031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965779523 meters 0.01743729709001287 Centerline is valid? [True, True] Translation: X:89.91, Y:-16.10, Z:-7.39 [[ 9.66507725e-01 2.46469870e-01 7.15221628e-02 8.99070433e+01] [-2.45666538e-01 9.69148931e-01 -1.99575194e-02 -1.61040844e+01] [-7.42345548e-02 1.71849461e-03 9.97239328e-01 -7.39437329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025779523 meters 0.017532636811159606 Centerline is valid? [True, True] Translation: X:89.97, Y:-16.12, Z:-7.40 [[ 9.66369050e-01 2.46952726e-01 7.17301283e-02 8.99688909e+01] [-2.46144616e-01 9.69026029e-01 -2.00345501e-02 -1.61161258e+01] [-7.44559481e-02 1.70478426e-03 9.97222846e-01 -7.39901195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085779523 meters 0.019751430545191885 Centerline is valid? [True, True] Translation: X:90.03, Y:-16.13, Z:-7.41 [[ 9.66149123e-01 2.47602897e-01 7.24477497e-02 9.00299177e+01] [-2.46778640e-01 9.68860123e-01 -2.02574564e-02 -1.61251586e+01] [-7.52075406e-02 1.69316659e-03 9.97166465e-01 -7.40903979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14577952299999 meters 0.01685564747092286 Centerline is valid? [True, True] Translation: X:90.09, Y:-16.15, Z:-7.41 [[ 9.65538053e-01 2.49530457e-01 7.39649888e-02 9.00888006e+01] [-2.48675355e-01 9.68365637e-01 -2.07017107e-02 -1.61454026e+01] [-7.67908608e-02 1.59501953e-03 9.97045947e-01 -7.40565736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20577952299999 meters 0.01915566353366835 Centerline is valid? [True, True] Translation: X:90.15, Y:-16.16, Z:-7.41 [[ 9.64904890e-01 2.52646374e-01 7.16125933e-02 9.01497706e+01] [-2.51852068e-01 9.67557782e-01 -2.00617558e-02 -1.61565600e+01] [-7.43578518e-02 1.32190661e-03 9.97230747e-01 -7.41424316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26577952299999 meters 0.01486440971915241 Centerline is valid? [True, True] Translation: X:90.21, Y:-16.16, Z:-7.43 [[ 9.62628710e-01 2.62232971e-01 6.76744777e-02 9.02113506e+01] [-2.61545976e-01 9.65004428e-01 -1.89777874e-02 -1.61590483e+01] [-7.02827722e-02 5.68575637e-04 9.97526946e-01 -7.42744280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325779523 meters 0.0142061008170306 Centerline is valid? [True, True] Translation: X:90.27, Y:-16.18, Z:-7.43 [[ 9.61060889e-01 2.67168501e-01 7.05900774e-02 9.02711993e+01] [-2.66434141e-01 9.63649804e-01 -1.97965602e-02 -1.61764380e+01] [-7.33131315e-02 2.18093120e-04 9.97308948e-01 -7.42561792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385779523 meters 0.017669311439495274 Centerline is valid? [True, True] Translation: X:90.33, Y:-16.20, Z:-7.43 [[ 9.60476804e-01 2.69160607e-01 7.09709616e-02 9.03305727e+01] [-2.68422337e-01 9.63095302e-01 -1.99220607e-02 -1.61959654e+01] [-7.37140336e-02 8.44858306e-05 9.97279416e-01 -7.42662149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445779523 meters 0.014189910723778744 Centerline is valid? [True, True] Translation: X:90.39, Y:-16.20, Z:-7.43 [[ 9.58666485e-01 2.75015390e-01 7.29733189e-02 9.03929949e+01] [-2.74250127e-01 9.61439758e-01 -2.05050991e-02 -1.62005491e+01] [-7.57986679e-02 -3.55390717e-04 9.97123079e-01 -7.43484790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50577952299999 meters 0.014604294125329882 Centerline is valid? [True, True] Translation: X:90.45, Y:-16.22, Z:-7.44 [[ 9.57568635e-01 2.79262219e-01 7.12384832e-02 9.04525940e+01] [-2.78543270e-01 9.60214654e-01 -2.00365824e-02 -1.62174504e+01] [-7.39996960e-02 -6.56597194e-04 9.97258048e-01 -7.44047599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56577952299999 meters 0.014661865106483273 Centerline is valid? [True, True] Translation: X:90.51, Y:-16.24, Z:-7.44 [[ 9.57324731e-01 2.80413136e-01 6.99845206e-02 9.05112958e+01] [-2.79721039e-01 9.59879139e-01 -1.97022284e-02 -1.62402838e+01] [-7.27014451e-02 -7.14712336e-04 9.97353493e-01 -7.44100854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62577952299999 meters 0.016402931900554318 Centerline is valid? [True, True] Translation: X:90.57, Y:-16.25, Z:-7.45 [[ 9.57646492e-01 2.79579895e-01 6.89077569e-02 9.05722568e+01] [-2.78905524e-01 9.60122228e-01 -1.94168990e-02 -1.62544025e+01] [-7.15884437e-02 -6.24228817e-04 9.97434061e-01 -7.44999980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685779523 meters 0.018276792726856825 Centerline is valid? [True, True] Translation: X:90.63, Y:-16.28, Z:-7.46 [[ 9.57929845e-01 2.79049275e-01 6.70963052e-02 9.06289531e+01] [-2.78407219e-01 9.60276627e-01 -1.89267146e-02 -1.62790388e+01] [-6.97124996e-02 -5.49630915e-04 9.97566973e-01 -7.45678839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745779523 meters 0.01640664287622738 Centerline is valid? [True, True] Translation: X:90.69, Y:-16.30, Z:-7.46 [[ 9.58682361e-01 2.75892992e-01 6.93627185e-02 9.06858834e+01] [-2.75197237e-01 9.61188305e-01 -1.95837270e-02 -1.63018024e+01] [-7.20736469e-02 -3.13854883e-04 9.97399264e-01 -7.45911227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805779523 meters 0.017255906663792595 Centerline is valid? [True, True] Translation: X:90.74, Y:-16.32, Z:-7.46 [[ 9.59430385e-01 2.73062366e-01 7.02159603e-02 9.07445264e+01] [-2.72340547e-01 9.61996329e-01 -1.98416137e-02 -1.63223118e+01] [-7.29654940e-02 -8.60059439e-05 9.97334462e-01 -7.46349542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865779523 meters 0.017770304959609993 Centerline is valid? [True, True] Translation: X:90.80, Y:-16.35, Z:-7.46 [[ 9.59807419e-01 2.71714320e-01 7.02925805e-02 9.08019846e+01] [-2.70985945e-01 9.62377954e-01 -1.98819106e-02 -1.63517767e+01] [-7.30502297e-02 3.45039004e-05 9.97328262e-01 -7.46057619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92577952299999 meters 0.01429638860979569 Centerline is valid? [True, True] Translation: X:90.86, Y:-16.37, Z:-7.47 [[ 9.59839683e-01 2.72385942e-01 6.71839423e-02 9.08608918e+01] [-2.71720902e-01 9.62188079e-01 -1.90224350e-02 -1.63719096e+01] [-6.98250322e-02 3.20658942e-06 9.97559254e-01 -7.46681319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98577952299999 meters 0.017313915181465193 Centerline is valid? [True, True] Translation: X:90.92, Y:-16.39, Z:-7.48 [[ 9.60128812e-01 2.72128735e-01 6.40204311e-02 9.09198935e+01] [-2.71523257e-01 9.62260853e-01 -1.81430659e-02 -1.63876710e+01] [-6.65416043e-02 3.66442855e-05 9.97783651e-01 -7.48328924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045779523 meters 0.014396132216913384 Centerline is valid? [True, True] Translation: X:90.98, Y:-16.42, Z:-7.48 [[ 9.59591243e-01 2.73294121e-01 6.70445286e-02 9.09755364e+01] [-2.72631510e-01 9.61930519e-01 -1.90193856e-02 -1.64164231e+01] [-6.96900644e-02 -2.76152404e-05 9.97568691e-01 -7.48052855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105779523 meters 0.014266688274212196 Centerline is valid? [True, True] Translation: X:91.03, Y:-16.44, Z:-7.48 [[ 9.59348482e-01 2.73963595e-01 6.77822928e-02 9.10348229e+01] [-2.73286821e-01 9.61740061e-01 -1.92449597e-02 -1.64383360e+01] [-7.04613648e-02 -6.13844502e-05 9.97514507e-01 -7.48057072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165779523 meters 0.01786111757786381 Centerline is valid? [True, True] Translation: X:91.09, Y:-16.46, Z:-7.49 [[ 9.58672624e-01 2.76234984e-01 6.81251303e-02 9.10944726e+01] [-2.75555559e-01 9.61090105e-01 -1.93634684e-02 -1.64556156e+01] [-7.08232560e-02 -2.09031305e-04 9.97488858e-01 -7.48985084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225779523 meters 0.014747820504890076 Centerline is valid? [True, True] Translation: X:91.15, Y:-16.48, Z:-7.49 [[ 9.57226573e-01 2.81292952e-01 6.77610816e-02 9.11520544e+01] [-2.80631898e-01 9.59621781e-01 -1.92814769e-02 -1.64825854e+01] [-7.04487534e-02 -5.59178854e-04 9.97515243e-01 -7.48820127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28577952299999 meters 0.014755351239824818 Centerline is valid? [True, True] Translation: X:91.21, Y:-16.50, Z:-7.50 [[ 9.57543616e-01 2.80679818e-01 6.57956173e-02 9.12098827e+01] [-2.80053983e-01 9.59801337e-01 -1.87392664e-02 -1.65046748e+01] [-6.84104553e-02 -4.82659795e-04 9.97657144e-01 -7.49823638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34577952299999 meters 0.0147121745533742 Centerline is valid? [True, True] Translation: X:91.27, Y:-16.53, Z:-7.51 [[ 9.57972204e-01 2.79452879e-01 6.47714756e-02 9.12686436e+01] [-2.78842471e-01 9.60159335e-01 -1.84642073e-02 -1.65268940e+01] [-6.73508129e-02 -3.72840937e-04 9.97729286e-01 -7.50734772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40577952299999 meters 0.014686001808380856 Centerline is valid? [True, True] Translation: X:91.33, Y:-16.55, Z:-7.51 [[ 9.57643395e-01 2.79867919e-01 6.77722313e-02 9.13262662e+01] [-2.79199017e-01 9.60038431e-01 -1.93421828e-02 -1.65503827e+01] [-7.04772030e-02 -3.99026699e-04 9.97513311e-01 -7.50965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465779523 meters 0.01801156646986593 Centerline is valid? [True, True] Translation: X:91.38, Y:-16.58, Z:-7.51 [[ 9.57309944e-01 2.80149303e-01 7.12322839e-02 9.13841051e+01] [-2.79409546e-01 9.59956348e-01 -2.03498269e-02 -1.65758976e+01] [-7.40808729e-02 -4.21888485e-04 9.97252148e-01 -7.51054934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525779523 meters 0.01797012701817605 Centerline is valid? [True, True] Translation: X:91.44, Y:-16.60, Z:-7.52 [[ 9.57588022e-01 2.79493592e-01 7.00607688e-02 9.14416050e+01] [-2.78774863e-01 9.60147495e-01 -2.00340687e-02 -1.65979509e+01] [-7.28680655e-02 -3.46797022e-04 9.97341529e-01 -7.51668109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585779523 meters 0.01761660164010369 Centerline is valid? [True, True] Translation: X:91.50, Y:-16.62, Z:-7.52 [[ 9.57196152e-01 2.80890335e-01 6.98294063e-02 9.15003973e+01] [-2.80179176e-01 9.59739770e-01 -1.99800804e-02 -1.66212157e+01] [-7.26302698e-02 -4.39889404e-04 9.97358837e-01 -7.52448089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64577952299999 meters 0.015492057254740482 Centerline is valid? [True, True] Translation: X:91.56, Y:-16.64, Z:-7.53 [[ 9.56009783e-01 2.85417646e-01 6.76909252e-02 9.15583967e+01] [-2.84759285e-01 9.58402953e-01 -1.93888956e-02 -1.66427758e+01] [-7.04091156e-02 -7.39645570e-04 9.97517924e-01 -7.53109296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70577952299999 meters 0.015988470554116594 Centerline is valid? [True, True] Translation: X:91.62, Y:-16.66, Z:-7.53 [[ 9.54953761e-01 2.88179867e-01 7.08214529e-02 9.16196873e+01] [-2.87465244e-01 9.57575807e-01 -2.03053278e-02 -1.66591262e+01] [-7.36684966e-02 -9.68057107e-04 9.97282315e-01 -7.53239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76577952299999 meters 0.017663445191411536 Centerline is valid? [True, True] Translation: X:91.68, Y:-16.68, Z:-7.53 [[ 9.54263383e-01 2.89311649e-01 7.53668737e-02 9.16777000e+01] [-2.88503791e-01 9.57234329e-01 -2.16333574e-02 -1.66776215e+01] [-7.84025411e-02 -1.09970793e-03 9.96921177e-01 -7.53208963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825779523 meters 0.019279620116404866 Centerline is valid? [True, True] Translation: X:91.74, Y:-16.69, Z:-7.54 [[ 9.53252270e-01 2.92175120e-01 7.70961038e-02 9.17373844e+01] [-2.91338119e-01 9.56363876e-01 -2.21412900e-02 -1.66917808e+01] [-8.02010628e-02 -1.35479894e-03 9.96777786e-01 -7.53959849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885779523 meters 0.02024964206929759 Centerline is valid? [True, True] Translation: X:91.80, Y:-16.71, Z:-7.55 [[ 9.52868828e-01 2.94092926e-01 7.45006551e-02 9.17963055e+01] [-2.93315737e-01 9.55775737e-01 -2.14153912e-02 -1.67067124e+01] [-7.75040336e-02 -1.44615582e-03 9.96990990e-01 -7.54811869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945779523 meters 0.017067297621401387 Centerline is valid? [True, True] Translation: X:91.86, Y:-16.73, Z:-7.55 [[ 9.53805368e-01 2.91451942e-01 7.28771994e-02 9.18552963e+01] [-2.90699820e-01 9.56584726e-01 -2.09589167e-02 -1.67278226e+01] [-7.58217328e-02 -1.19466148e-03 9.97120674e-01 -7.55273945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00577952299999 meters 0.018395836429941914 Centerline is valid? [True, True] Translation: X:91.91, Y:-16.75, Z:-7.56 [[ 9.55377762e-01 2.85949017e-01 7.40708522e-02 9.19128786e+01] [-2.85154983e-01 9.58244528e-01 -2.13086707e-02 -1.67497237e+01] [-7.70711823e-02 -7.63842471e-04 9.97025300e-01 -7.55872925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06577952299999 meters 0.0178521272865306 Centerline is valid? [True, True] Translation: X:91.97, Y:-16.77, Z:-7.56 [[ 9.55987510e-01 2.82252030e-01 8.01353437e-02 9.19718317e+01] [-2.81307587e-01 9.59340168e-01 -2.30755871e-02 -1.67703743e+01] [-8.33901855e-02 -4.82707126e-04 9.96516856e-01 -7.55781438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12577952299999 meters 0.017988111662867293 Centerline is valid? [True, True] Translation: X:92.03, Y:-16.79, Z:-7.56 [[ 9.57067815e-01 2.78804336e-01 7.93053508e-02 9.20297409e+01] [-2.77865858e-01 9.60347914e-01 -2.28571398e-02 -1.67901368e+01] [-8.25333979e-02 -1.60416480e-04 9.96588286e-01 -7.56478787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185779523 meters 0.015071676543711835 Centerline is valid? [True, True] Translation: X:92.09, Y:-16.81, Z:-7.57 [[ 9.57625569e-01 2.76206936e-01 8.16271935e-02 9.20896202e+01] [-2.75201437e-01 9.61098185e-01 -2.35467125e-02 -1.68089085e+01] [-8.49555128e-02 8.50129580e-05 9.96384742e-01 -7.56719037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245779523 meters 0.015558207504879237 Centerline is valid? [True, True] Translation: X:92.15, Y:-16.83, Z:-7.57 [[ 9.59094208e-01 2.70703883e-01 8.28112852e-02 9.21466918e+01] [-2.69646280e-01 9.62662475e-01 -2.39132153e-02 -1.68304906e+01] [-8.61927171e-02 6.05271276e-04 9.96278299e-01 -7.56997723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305779523 meters 0.016470513400023833 Centerline is valid? [True, True] Translation: X:92.20, Y:-16.85, Z:-7.58 [[ 9.60608216e-01 2.65583819e-01 8.18357490e-02 9.22036072e+01] [-2.64530801e-01 9.64087178e-01 -2.36509540e-02 -1.68547547e+01] [-8.51781070e-02 1.07122452e-03 9.96365165e-01 -7.57751461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365779523 meters 0.0161556969465553 Centerline is valid? [True, True] Translation: X:92.26, Y:-16.87, Z:-7.59 [[ 9.60516720e-01 2.66444193e-01 8.00944568e-02 9.22628903e+01] [-2.65436901e-01 9.63849836e-01 -2.31677675e-02 -1.68729144e+01] [-8.33719461e-02 9.93003659e-04 9.96518004e-01 -7.58537175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42577952299999 meters 0.015624212117095254 Centerline is valid? [True, True] Translation: X:92.32, Y:-16.89, Z:-7.59 [[ 9.58452962e-01 2.71362185e-01 8.79231705e-02 9.23245854e+01] [-2.70166184e-01 9.62477089e-01 -2.54575256e-02 -1.68854260e+01] [-9.15322470e-02 6.45973399e-04 9.95801903e-01 -7.58719025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48577952299999 meters 0.015582354722573393 Centerline is valid? [True, True] Translation: X:92.39, Y:-16.90, Z:-7.59 [[ 9.56610360e-01 2.76891522e-01 9.07066933e-02 9.23850074e+01] [-2.75640496e-01 9.60901172e-01 -2.62917131e-02 -1.69038248e+01] [-9.44401204e-02 1.48487225e-04 9.95530533e-01 -7.58798190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545779523 meters 0.017848835784891444 Centerline is valid? [True, True] Translation: X:92.44, Y:-16.92, Z:-7.60 [[ 9.56451681e-01 2.78276996e-01 8.81027593e-02 9.24440918e+01] [-2.77100598e-01 9.60500865e-01 -2.55606443e-02 -1.69228697e+01] [-9.17357159e-02 3.41939794e-05 9.95783389e-01 -7.59745973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605779523 meters 0.017828337679720897 Centerline is valid? [True, True] Translation: X:92.50, Y:-16.94, Z:-7.60 [[ 9.57073947e-01 2.76366746e-01 8.73549123e-02 9.25023358e+01] [-2.75201502e-01 9.61052221e-01 -2.53527542e-02 -1.69418740e+01] [-9.09592906e-02 2.24257477e-04 9.95854586e-01 -7.60344456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665779523 meters 0.01879124523311492 Centerline is valid? [True, True] Translation: X:92.56, Y:-16.96, Z:-7.61 [[ 9.57444122e-01 2.74075684e-01 9.04614452e-02 9.25617391e+01] [-2.72813950e-01 9.61708008e-01 -2.62727169e-02 -1.69588670e+01] [-9.41982091e-02 4.75514167e-04 9.95553349e-01 -7.60915023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725779523 meters 0.01727287023547921 Centerline is valid? [True, True] Translation: X:92.62, Y:-16.98, Z:-7.61 [[ 9.57726550e-01 2.72982198e-01 9.07776093e-02 9.26208824e+01] [-2.71704461e-01 9.62018893e-01 -2.63881841e-02 -1.69779866e+01] [-9.45332796e-02 6.07983102e-04 9.95521516e-01 -7.61394804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78577952299999 meters 0.015501926196943194 Centerline is valid? [True, True] Translation: X:92.68, Y:-16.99, Z:-7.62 [[ 9.57733190e-01 2.73329980e-01 8.96541034e-02 9.26803147e+01] [-2.72083113e-01 9.61920150e-01 -2.60845567e-02 -1.69927757e+01] [-9.33697800e-02 5.88678137e-04 9.95631326e-01 -7.62429089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84577952299999 meters 0.018104972420014694 Centerline is valid? [True, True] Translation: X:92.74, Y:-17.01, Z:-7.63 [[ 9.58563698e-01 2.71354923e-01 8.67302867e-02 9.27388590e+01] [-2.70178145e-01 9.62479040e-01 -2.52560433e-02 -1.70121862e+01] [-9.03294347e-02 7.76898262e-04 9.95911637e-01 -7.63301640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90577952299999 meters 0.018448074052780292 Centerline is valid? [True, True] Translation: X:92.80, Y:-17.03, Z:-7.63 [[ 9.59347039e-01 2.68472159e-01 8.70399832e-02 9.27965773e+01] [-2.67272998e-01 9.63286845e-01 -2.53692601e-02 -1.70330299e+01] [-9.06554108e-02 1.07448733e-03 9.95881741e-01 -7.63471319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965779523 meters 0.019025577079797067 Centerline is valid? [True, True] Translation: X:92.86, Y:-17.05, Z:-7.65 [[ 9.61078672e-01 2.63335094e-01 8.35608444e-02 9.28554178e+01] [-2.62208950e-01 9.64703235e-01 -2.43748942e-02 -1.70490637e+01] [-8.70301819e-02 1.51578963e-03 9.96204522e-01 -7.64761398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025779523 meters 0.019734374706419366 Centerline is valid? [True, True] Translation: X:92.91, Y:-17.07, Z:-7.66 [[ 9.62773369e-01 2.57241922e-01 8.30303192e-02 9.29140103e+01] [-2.56105624e-01 9.66344810e-01 -2.42408098e-02 -1.70667855e+01] [-8.64716706e-02 2.07387447e-03 9.96252151e-01 -7.65586993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085779523 meters 0.0214636880748624 Centerline is valid? [True, True] Translation: X:92.97, Y:-17.09, Z:-7.66 [[ 9.64617406e-01 2.51218281e-01 8.00164657e-02 9.29719679e+01] [-2.50142025e-01 9.67927170e-01 -2.33657897e-02 -1.70873180e+01] [-8.33200247e-02 2.52356667e-03 9.96519646e-01 -7.66222720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14577952299999 meters 0.021997658316604125 Centerline is valid? [True, True] Translation: X:93.03, Y:-17.10, Z:-7.67 [[ 9.65451622e-01 2.48442767e-01 7.86088857e-02 9.30321635e+01] [-2.47394546e-01 9.68642761e-01 -2.29595255e-02 -1.71004927e+01] [-8.18480562e-02 2.71890156e-03 9.96641111e-01 -7.66950956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20577952299999 meters 0.020406986145128796 Centerline is valid? [True, True] Translation: X:93.09, Y:-17.11, Z:-7.68 [[ 9.65645992e-01 2.47388175e-01 7.95418700e-02 9.30931832e+01] [-2.46310754e-01 9.68912265e-01 -2.32386401e-02 -1.71133071e+01] [-8.28180582e-02 2.84828174e-03 9.96560614e-01 -7.67544901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26577952299999 meters 0.021148063653432803 Centerline is valid? [True, True] Translation: X:93.15, Y:-17.13, Z:-7.68 [[ 9.65743494e-01 2.48010923e-01 7.63549949e-02 9.31527540e+01] [-2.47018634e-01 9.68753469e-01 -2.23273363e-02 -1.71268309e+01] [-7.95065895e-02 2.70137328e-03 9.96830680e-01 -7.68485427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325779523 meters 0.020575313443120958 Centerline is valid? [True, True] Translation: X:93.21, Y:-17.14, Z:-7.69 [[ 9.65520704e-01 2.49088002e-01 7.56633111e-02 9.32124679e+01] [-2.48115371e-01 9.68477343e-01 -2.21449358e-02 -1.71424591e+01] [-7.87942403e-02 2.60816350e-03 9.96887489e-01 -7.69020514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385779523 meters 0.022122993284053698 Centerline is valid? [True, True] Translation: X:93.27, Y:-17.16, Z:-7.69 [[ 9.65310447e-01 2.50330806e-01 7.42309199e-02 9.32720924e+01] [-2.49396887e-01 9.68157192e-01 -2.17449850e-02 -1.71590701e+01] [-7.73106385e-02 2.47770088e-03 9.97003975e-01 -7.69338698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445779523 meters 0.02051789434038428 Centerline is valid? [True, True] Translation: X:93.33, Y:-17.17, Z:-7.70 [[ 9.64728147e-01 2.53057014e-01 7.25379230e-02 9.33317227e+01] [-2.52171539e-01 9.67448807e-01 -2.12678354e-02 -1.71721770e+01] [-7.55587020e-02 2.22567973e-03 9.97138871e-01 -7.70274812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50577952299999 meters 0.019835472443965742 Centerline is valid? [True, True] Translation: X:93.39, Y:-17.19, Z:-7.71 [[ 9.64024151e-01 2.55827711e-01 7.21776935e-02 9.33914550e+01] [-2.54957352e-01 9.66720288e-01 -2.11809744e-02 -1.71859593e+01] [-7.51943208e-02 2.01673723e-03 9.97166860e-01 -7.71135503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56577952299999 meters 0.0208956082769865 Centerline is valid? [True, True] Translation: X:93.45, Y:-17.20, Z:-7.71 [[ 9.63847431e-01 2.56287548e-01 7.29028305e-02 9.34517602e+01] [-2.55399462e-01 9.66598477e-01 -2.14125886e-02 -1.72021185e+01] [-7.59555448e-02 2.01912486e-03 9.97109161e-01 -7.71415684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62577952299999 meters 0.019486948132319968 Centerline is valid? [True, True] Translation: X:93.51, Y:-17.22, Z:-7.72 [[ 9.64135827e-01 2.55193621e-01 7.29268299e-02 9.35109554e+01] [-2.54300381e-01 9.66887637e-01 -2.14386012e-02 -1.72203435e+01] [-7.59830445e-02 2.12440288e-03 9.97106847e-01 -7.71732397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685779523 meters 0.02335353602784234 Centerline is valid? [True, True] Translation: X:93.57, Y:-17.24, Z:-7.72 [[ 9.64969962e-01 2.50904084e-01 7.66819018e-02 9.35679729e+01] [-2.49901079e-01 9.68008433e-01 -2.25637921e-02 -1.72394849e+01] [-7.98900752e-02 2.61049158e-03 9.96800261e-01 -7.72189661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745779523 meters 0.021302452136785114 Centerline is valid? [True, True] Translation: X:93.63, Y:-17.26, Z:-7.72 [[ 9.65283154e-01 2.49270494e-01 7.80554467e-02 9.36271687e+01] [-2.48225564e-01 9.68429858e-01 -2.29712889e-02 -1.72570383e+01] [-8.13172897e-02 2.79844092e-03 9.96684337e-01 -7.72372196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805779523 meters 0.022921604791824816 Centerline is valid? [True, True] Translation: X:93.68, Y:-17.28, Z:-7.73 [[ 9.66437656e-01 2.45712979e-01 7.49892598e-02 9.36844156e+01] [-2.44736584e-01 9.69338008e-01 -2.20868898e-02 -1.72810523e+01] [-7.81169752e-02 2.99298673e-03 9.96939707e-01 -7.72628534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865779523 meters 0.026036962968641546 Centerline is valid? [True, True] Translation: X:93.74, Y:-17.30, Z:-7.73 [[ 9.66615747e-01 2.45608860e-01 7.30087996e-02 9.37408195e+01] [-2.44682952e-01 9.69364605e-01 -2.15061977e-02 -1.73038503e+01] [-7.60542589e-02 2.92422074e-03 9.97099393e-01 -7.73297446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92577952299999 meters 0.024129821325642724 Centerline is valid? [True, True] Translation: X:93.80, Y:-17.32, Z:-7.74 [[ 9.66637049e-01 2.45141393e-01 7.42866881e-02 9.38012230e+01] [-2.44179941e-01 9.69482600e-01 -2.19008021e-02 -1.73164184e+01] [-7.73884446e-02 3.03080765e-03 9.96996411e-01 -7.74429523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98577952299999 meters 0.024825418420056252 Centerline is valid? [True, True] Translation: X:93.86, Y:-17.34, Z:-7.74 [[ 9.67214802e-01 2.42368463e-01 7.58488879e-02 9.38578634e+01] [-2.41355948e-01 9.70178521e-01 -2.23817647e-02 -1.73420487e+01] [-7.90115958e-02 3.34139388e-03 9.96868097e-01 -7.74473260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045779523 meters 0.02699113450355246 Centerline is valid? [True, True] Translation: X:93.92, Y:-17.36, Z:-7.74 [[ 9.67736537e-01 2.39297896e-01 7.88828981e-02 9.39160974e+01] [-2.38190887e-01 9.70938937e-01 -2.32955499e-02 -1.73636462e+01] [-8.21650533e-02 3.75476732e-03 9.96611662e-01 -7.74407143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105779523 meters 0.02713980807225268 Centerline is valid? [True, True] Translation: X:93.97, Y:-17.38, Z:-7.75 [[ 9.68032907e-01 2.37488932e-01 8.06926148e-02 9.39739469e+01] [-2.36323774e-01 9.71381996e-01 -2.38346836e-02 -1.73832388e+01] [-8.40438268e-02 4.00317482e-03 9.96454018e-01 -7.74556168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165779523 meters 0.0284300226640801 Centerline is valid? [True, True] Translation: X:94.03, Y:-17.40, Z:-7.76 [[ 9.69603718e-01 2.30995294e-01 8.06833625e-02 9.40324171e+01] [-2.29806425e-01 9.72944069e-01 -2.38504834e-02 -1.73987604e+01] [-8.40097484e-02 4.58396225e-03 9.96454389e-01 -7.75718351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225779523 meters 0.029077387616466117 Centerline is valid? [True, True] Translation: X:94.09, Y:-17.42, Z:-7.76 [[ 9.70784803e-01 2.25675950e-01 8.15305529e-02 9.40901692e+01] [-2.24442830e-01 9.74189063e-01 -2.41057372e-02 -1.74191821e+01] [-8.48662581e-02 5.10253540e-03 9.96379286e-01 -7.75982651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28577952299999 meters 0.03266255612297906 Centerline is valid? [True, True] Translation: X:94.15, Y:-17.44, Z:-7.76 [[ 9.72048692e-01 2.20899765e-01 7.95275653e-02 9.41473204e+01] [-2.19710346e-01 9.75281635e-01 -2.35179939e-02 -1.74429660e+01] [-8.27568932e-02 5.38760629e-03 9.96555202e-01 -7.76400489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34577952299999 meters 0.03502545215295086 Centerline is valid? [True, True] Translation: X:94.21, Y:-17.46, Z:-7.77 [[ 9.73678946e-01 2.13818372e-01 7.89367680e-02 9.42052067e+01] [-2.12623085e-01 9.76855316e-01 -2.33476943e-02 -1.74635620e+01] [-8.21019674e-02 5.94937921e-03 9.96606177e-01 -7.77073018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40577952299999 meters 0.03448580932581739 Centerline is valid? [True, True] Translation: X:94.27, Y:-17.47, Z:-7.79 [[ 9.74859534e-01 2.09199008e-01 7.67115575e-02 9.42652279e+01] [-2.08055751e-01 9.77853666e-01 -2.26939031e-02 -1.74748324e+01] [-7.97602197e-02 6.16308710e-03 9.96795026e-01 -7.78523993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465779523 meters 0.034814799981230674 Centerline is valid? [True, True] Translation: X:94.32, Y:-17.50, Z:-7.79 [[ 9.75267424e-01 2.08035068e-01 7.46649966e-02 9.43234683e+01] [-2.06948531e-01 9.78102390e-01 -2.20911645e-02 -1.74957110e+01] [-7.76257485e-02 6.09298173e-03 9.96963951e-01 -7.78758089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525779523 meters 0.03861513632495386 Centerline is valid? [True, True] Translation: X:94.38, Y:-17.52, Z:-7.79 [[ 9.75671678e-01 2.06510270e-01 7.36089987e-02 9.43802989e+01] [-2.05449342e-01 9.78425203e-01 -2.17873958e-02 -1.75158821e+01] [-7.65202205e-02 6.13442464e-03 9.97049159e-01 -7.79278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585779523 meters 0.03641979456333815 Centerline is valid? [True, True] Translation: X:94.44, Y:-17.53, Z:-7.80 [[ 9.75430019e-01 2.07229484e-01 7.47811468e-02 9.44408481e+01] [-2.06135273e-01 9.78272770e-01 -2.21503402e-02 -1.75281406e+01] [-7.77465632e-02 6.19107467e-03 9.96953932e-01 -7.79721332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64577952299999 meters 0.03804994404794177 Centerline is valid? [True, True] Translation: X:94.50, Y:-17.54, Z:-7.80 [[ 9.75166671e-01 2.08424138e-01 7.48955474e-02 9.45003630e+01] [-2.07328533e-01 9.78019361e-01 -2.22038243e-02 -1.75429346e+01] [-7.78771083e-02 6.12444549e-03 9.96944154e-01 -7.80495034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70577952299999 meters 0.03832858338541844 Centerline is valid? [True, True] Translation: X:94.56, Y:-17.55, Z:-7.81 [[ 9.75116512e-01 2.08947360e-01 7.40863556e-02 9.45606493e+01] [-2.07875392e-01 9.77908267e-01 -2.19827734e-02 -1.75547412e+01] [-7.70429021e-02 6.03503515e-03 9.97009513e-01 -7.81377384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76577952299999 meters 0.039766003868605744 Centerline is valid? [True, True] Translation: X:94.62, Y:-17.57, Z:-7.82 [[ 9.74670660e-01 2.12187247e-01 7.06659465e-02 9.46181830e+01] [-2.11219206e-01 9.77213385e-01 -2.09868327e-02 -1.75733542e+01] [-7.35088470e-02 5.52924498e-03 9.97279237e-01 -7.81910718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825779523 meters 0.03832867203254283 Centerline is valid? [True, True] Translation: X:94.68, Y:-17.59, Z:-7.82 [[ 9.73965161e-01 2.15637519e-01 6.99451544e-02 9.46776759e+01] [-2.14697920e-01 9.76459552e-01 -2.07737155e-02 -1.75864748e+01] [-7.27782066e-02 5.21579595e-03 9.97334512e-01 -7.82467047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885779523 meters 0.03748940634492666 Centerline is valid? [True, True] Translation: X:94.74, Y:-17.60, Z:-7.83 [[ 9.72688676e-01 2.21640643e-01 6.89359473e-02 9.47373406e+01] [-2.20742813e-01 9.75117089e-01 -2.04761663e-02 -1.75973949e+01] [-7.17589709e-02 4.69982016e-03 9.97410929e-01 -7.83038130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945779523 meters 0.037328945935416295 Centerline is valid? [True, True] Translation: X:94.80, Y:-17.61, Z:-7.84 [[ 9.72114534e-01 2.24165479e-01 6.88706802e-02 9.47977805e+01] [-2.23275564e-01 9.74540658e-01 -2.04579510e-02 -1.76089214e+01] [-7.17032444e-02 4.51033150e-03 9.97415812e-01 -7.83689262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00577952299999 meters 0.02988612863591085 Centerline is valid? [True, True] Translation: X:94.86, Y:-17.62, Z:-7.84 [[ 9.72548408e-01 2.23438634e-01 6.49982434e-02 9.48597177e+01] [-2.22644521e-01 9.74708487e-01 -1.93075842e-02 -1.76162728e+01] [-6.76683997e-02 4.30605752e-03 9.97698575e-01 -7.83876588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06577952299999 meters 0.04215783133003111 Centerline is valid? [True, True] Translation: X:94.92, Y:-17.64, Z:-7.85 [[ 9.72732732e-01 2.22528604e-01 6.53609428e-02 9.49155382e+01] [-2.21722420e-01 9.74916187e-01 -1.94318349e-02 -1.76412604e+01] [-6.80455803e-02 4.40999549e-03 9.97672467e-01 -7.84859539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12577952299999 meters 0.03263077830055858 Centerline is valid? [True, True] Translation: X:94.98, Y:-17.64, Z:-7.85 [[ 9.72348453e-01 2.22647870e-01 7.04727802e-02 9.49810658e+01] [-2.21709344e-01 9.74887281e-01 -2.09703479e-02 -1.76407084e+01] [-7.33720204e-02 4.76601143e-03 9.97293253e-01 -7.84739738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185779523 meters 0.03340612531529303 Centerline is valid? [True, True] Translation: X:95.04, Y:-17.66, Z:-7.85 [[ 9.72171425e-01 2.23042503e-01 7.16572524e-02 9.50414620e+01] [-2.22071757e-01 9.74796731e-01 -2.13416928e-02 -1.76560874e+01] [-7.46113600e-02 4.83473199e-03 9.97200968e-01 -7.84822028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245779523 meters 0.02790296254981569 Centerline is valid? [True, True] Translation: X:95.11, Y:-17.66, Z:-7.85 [[ 9.72283592e-01 2.23548846e-01 6.84874515e-02 9.51056680e+01] [-2.22662322e-01 9.74681881e-01 -2.04137696e-02 -1.76592550e+01] [-7.13169527e-02 4.59839826e-03 9.97443105e-01 -7.85316638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305779523 meters 0.03290432179760423 Centerline is valid? [True, True] Translation: X:95.16, Y:-17.67, Z:-7.86 [[ 9.73549616e-01 2.19680117e-01 6.27836901e-02 9.51633262e+01] [-2.18925919e-01 9.75561606e-01 -1.87348639e-02 -1.76743529e+01] [-6.53650346e-02 4.49434251e-03 9.97851298e-01 -7.86075066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365779523 meters 0.035752785946494774 Centerline is valid? [True, True] Translation: X:95.22, Y:-17.69, Z:-7.87 [[ 9.74548385e-01 2.15574801e-01 6.15056978e-02 9.52214088e+01] [-2.14842605e-01 9.76476130e-01 -1.83581852e-02 -1.76912112e+01] [-6.40164078e-02 4.67689539e-03 9.97937887e-01 -7.86628131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42577952299999 meters 0.035075933055278216 Centerline is valid? [True, True] Translation: X:95.28, Y:-17.70, Z:-7.87 [[ 9.75926103e-01 2.07810190e-01 6.62054936e-02 9.52827868e+01] [-2.06943819e-01 9.78153225e-01 -1.97616890e-02 -1.76989708e+01] [-6.88657974e-02 5.58513044e-03 9.97610299e-01 -7.86720405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48577952299999 meters 0.035575646025702956 Centerline is valid? [True, True] Translation: X:95.34, Y:-17.71, Z:-7.87 [[ 9.77675038e-01 1.98880964e-01 6.78076910e-02 9.53434832e+01] [-1.97950512e-01 9.80002959e-01 -2.02434183e-02 -1.77106576e+01] [-7.04777684e-02 6.36891764e-03 9.97493018e-01 -7.86749882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545779523 meters 0.04309788520851889 Centerline is valid? [True, True] Translation: X:95.40, Y:-17.73, Z:-7.87 [[ 9.78118809e-01 1.96379829e-01 6.86917662e-02 9.54003106e+01] [-1.95418701e-01 9.80505442e-01 -2.05087796e-02 -1.77311555e+01] [-7.13801612e-02 6.63636730e-03 9.97427106e-01 -7.86960784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605779523 meters 0.03566350811651601 Centerline is valid? [True, True] Translation: X:95.47, Y:-17.73, Z:-7.87 [[ 9.77461050e-01 1.99661270e-01 6.85949973e-02 9.54656691e+01] [-1.98710470e-01 9.79844124e-01 -2.04851345e-02 -1.77258494e+01] [-7.13024931e-02 6.39287689e-03 9.97434251e-01 -7.87102554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665779523 meters 0.035715593929361134 Centerline is valid? [True, True] Translation: X:95.53, Y:-17.73, Z:-7.88 [[ 9.75651603e-01 2.09541763e-01 6.47780766e-02 9.55282834e+01] [-2.08715358e-01 9.77785025e-01 -1.93479737e-02 -1.77271980e+01] [-6.73932417e-02 5.35670211e-03 9.97712111e-01 -7.88323634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725779523 meters 0.030675650859767773 Centerline is valid? [True, True] Translation: X:95.59, Y:-17.73, Z:-7.89 [[ 9.73408518e-01 2.19606618e-01 6.51827443e-02 9.55915447e+01] [-2.18792004e-01 9.75577221e-01 -1.94716339e-02 -1.77272201e+01] [-6.78669002e-02 4.69239103e-03 9.97683349e-01 -7.88904477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78577952299999 meters 0.030957645293643452 Centerline is valid? [True, True] Translation: X:95.65, Y:-17.74, Z:-7.89 [[ 9.72155624e-01 2.23771314e-01 6.95689665e-02 9.56513398e+01] [-2.22853612e-01 9.74630337e-01 -2.07839751e-02 -1.77376603e+01] [-7.24548827e-02 4.70156286e-03 9.97360609e-01 -7.88732313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84577952299999 meters 0.029900856513701585 Centerline is valid? [True, True] Translation: X:95.71, Y:-17.75, Z:-7.89 [[ 9.72766124e-01 2.21002207e-01 6.98862889e-02 9.57111513e+01] [-2.20068973e-01 9.75260844e-01 -2.08790220e-02 -1.77503886e+01] [-7.27716711e-02 4.93060148e-03 9.97336439e-01 -7.88738037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90577952299999 meters 0.03617602326351284 Centerline is valid? [True, True] Translation: X:95.77, Y:-17.77, Z:-7.90 [[ 9.73574128e-01 2.18272028e-01 6.71620300e-02 9.57677256e+01] [-2.17403693e-01 9.75875488e-01 -2.00665654e-02 -1.77670473e+01] [-6.99217487e-02 4.93501560e-03 9.97540272e-01 -7.89931780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965779523 meters 0.03392550124311493 Centerline is valid? [True, True] Translation: X:95.83, Y:-17.77, Z:-7.90 [[ 9.74428537e-01 2.14246756e-01 6.77300125e-02 9.58289976e+01] [-2.13354000e-01 9.76765363e-01 -2.02359950e-02 -1.77746353e+01] [-7.04918265e-02 5.26806193e-03 9.97498446e-01 -7.90310920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025779523 meters 0.03417804629999122 Centerline is valid? [True, True] Translation: X:95.89, Y:-17.79, Z:-7.91 [[ 9.76328725e-01 2.05570949e-01 6.72518033e-02 9.58891294e+01] [-2.04670195e-01 9.78624701e-01 -2.00948945e-02 -1.77874487e+01] [-6.99452025e-02 5.85478304e-03 9.97533654e-01 -7.90594298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085779523 meters 0.04030135088167355 Centerline is valid? [True, True] Translation: X:95.95, Y:-17.81, Z:-7.91 [[ 9.78408940e-01 1.95846171e-01 6.60319869e-02 9.59455339e+01] [-1.94955755e-01 9.80613531e-01 -1.97321286e-02 -1.78067907e+01] [-6.86163216e-02 6.43277520e-03 9.97622383e-01 -7.90974132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14577952299999 meters 0.0442034628790593 Centerline is valid? [True, True] Translation: X:96.01, Y:-17.82, Z:-7.92 [[ 9.79403524e-01 1.90972333e-01 6.55614658e-02 9.60053581e+01] [-1.90083323e-01 9.81572333e-01 -1.95981144e-02 -1.78166869e+01] [-6.80960185e-02 6.73232101e-03 9.97656057e-01 -7.91907427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20577952299999 meters 0.0427043149466542 Centerline is valid? [True, True] Translation: X:96.07, Y:-17.82, Z:-7.92 [[ 9.79253121e-01 1.91107082e-01 6.73899655e-02 9.60695487e+01] [-1.90168101e-01 9.81544871e-01 -2.01434872e-02 -1.78184302e+01] [-6.99958380e-02 6.91015088e-03 9.97523349e-01 -7.91861754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26577952299999 meters 0.041489678743961284 Centerline is valid? [True, True] Translation: X:96.13, Y:-17.82, Z:-7.92 [[ 9.79143268e-01 1.91903683e-01 6.67190961e-02 9.61333642e+01] [-1.90983967e-01 9.81390195e-01 -1.99602123e-02 -1.78211820e+01] [-6.93079049e-02 6.80162991e-03 9.97572129e-01 -7.92383628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325779523 meters 0.04244826569989823 Centerline is valid? [True, True] Translation: X:96.20, Y:-17.82, Z:-7.93 [[ 9.79062976e-01 1.93270491e-01 6.38921532e-02 9.61976675e+01] [-1.92428986e-01 9.81124407e-01 -1.91306874e-02 -1.78210358e+01] [-6.63835483e-02 6.43544555e-03 9.97773426e-01 -7.93228183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385779523 meters 0.042507775435390346 Centerline is valid? [True, True] Translation: X:96.26, Y:-17.82, Z:-7.94 [[ 9.79449736e-01 1.90238960e-01 6.69877031e-02 9.62609343e+01] [-1.89305308e-01 9.81712967e-01 -2.00786107e-02 -1.78205478e+01] [-6.95824308e-02 6.98486217e-03 9.97551752e-01 -7.93757279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445779523 meters 0.044203413909075236 Centerline is valid? [True, True] Translation: X:96.32, Y:-17.82, Z:-7.94 [[ 9.79579272e-01 1.88756498e-01 6.92490755e-02 9.63220827e+01] [-1.87754797e-01 9.81996544e-01 -2.07587130e-02 -1.78249337e+01] [-7.19206948e-02 7.33295885e-03 9.97383397e-01 -7.93818062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50577952299999 meters 0.04399550110616215 Centerline is valid? [True, True] Translation: X:96.38, Y:-17.83, Z:-7.94 [[ 9.79278396e-01 1.90548962e-01 6.85923897e-02 9.63834071e+01] [-1.89570558e-01 9.81651782e-01 -2.05616933e-02 -1.78311576e+01] [-7.12518508e-02 7.13252444e-03 9.97432855e-01 -7.94292674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56577952299999 meters 0.04651004667439438 Centerline is valid? [True, True] Translation: X:96.45, Y:-17.83, Z:-7.95 [[ 9.79078636e-01 1.92929012e-01 6.46793671e-02 9.64461638e+01] [-1.92064292e-01 9.81190778e-01 -1.93898318e-02 -1.78314024e+01] [-6.72036596e-02 6.56157322e-03 9.97717703e-01 -7.95388615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62577952299999 meters 0.04457214423624105 Centerline is valid? [True, True] Translation: X:96.51, Y:-17.83, Z:-7.96 [[ 9.79433579e-01 1.91618515e-01 6.31839336e-02 9.65103050e+01] [-1.90790638e-01 9.81447973e-01 -1.89422380e-02 -1.78282486e+01] [-6.56414271e-02 6.49776094e-03 9.97822120e-01 -7.96301400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685779523 meters 0.04069231817762248 Centerline is valid? [True, True] Translation: X:96.58, Y:-17.83, Z:-7.96 [[ 9.79353609e-01 1.89844499e-01 6.94663626e-02 9.65757523e+01] [-1.88838808e-01 9.81787172e-01 -2.08291493e-02 -1.78280900e+01] [-7.21554831e-02 7.28115743e-03 9.97366819e-01 -7.95795236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745779523 meters 0.08503881818999584 Centerline is valid? [True, True] Translation: X:96.62, Y:-17.88, Z:-7.97 [[ 9.79829361e-01 1.88112695e-01 6.74391315e-02 9.66213739e+01] [-1.87160571e-01 9.82121088e-01 -2.02259769e-02 -1.78815950e+01] [-7.00381562e-02 7.19605968e-03 9.97518357e-01 -7.96813272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805779523 meters 0.05516081049851769 Centerline is valid? [True, True] Translation: X:96.70, Y:-17.85, Z:-7.97 [[ 9.79701091e-01 1.87895737e-01 6.98638999e-02 9.66956217e+01] [-1.86872809e-01 9.82160513e-01 -2.09590086e-02 -1.78493287e+01] [-7.25556721e-02 7.47790039e-03 9.97336330e-01 -7.96941395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865779523 meters 0.053596996340882025 Centerline is valid? [True, True] Translation: X:96.76, Y:-17.84, Z:-7.97 [[ 9.78721276e-01 1.91861104e-01 7.27597493e-02 9.67607222e+01] [-1.90760258e-01 9.81393360e-01 -2.18539788e-02 -1.78448462e+01] [-7.55988634e-02 7.50928548e-03 9.97110035e-01 -7.96507538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92577952299999 meters 0.05273221534975532 Centerline is valid? [True, True] Translation: X:96.82, Y:-17.84, Z:-7.97 [[ 9.77994326e-01 1.96451404e-01 7.02420414e-02 9.68232054e+01] [-1.95437274e-01 9.80489245e-01 -2.10976706e-02 -1.78447117e+01] [-7.30162331e-02 6.90548899e-03 9.97306845e-01 -7.97431932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98577952299999 meters 0.04877230522809557 Centerline is valid? [True, True] Translation: X:96.89, Y:-17.84, Z:-7.98 [[ 9.77658707e-01 1.97681677e-01 7.14521322e-02 9.68877740e+01] [-1.96635511e-01 9.80241762e-01 -2.14607440e-02 -1.78424677e+01] [-7.42827599e-02 6.93125670e-03 9.97213131e-01 -7.97896587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045779523 meters 0.050615858300107563 Centerline is valid? [True, True] Translation: X:96.95, Y:-17.84, Z:-7.98 [[ 9.77107348e-01 1.99683134e-01 7.34021502e-02 9.69519587e+01] [-1.98584307e-01 9.79835746e-01 -2.20495856e-02 -1.78374658e+01] [-7.63249810e-02 6.96829701e-03 9.97058644e-01 -7.98267960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105779523 meters 0.05119216369454566 Centerline is valid? [True, True] Translation: X:97.01, Y:-17.85, Z:-7.99 [[ 9.76898253e-01 2.00837397e-01 7.30352160e-02 9.70119846e+01] [-1.99752757e-01 9.79600688e-01 -2.19391913e-02 -1.78504767e+01] [-7.59515579e-02 6.84337197e-03 9.97088025e-01 -7.98923498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165779523 meters 0.05249389872204259 Centerline is valid? [True, True] Translation: X:97.07, Y:-17.86, Z:-7.99 [[ 9.76925019e-01 2.01192218e-01 7.16882111e-02 9.70739986e+01] [-2.00148155e-01 9.79528932e-01 -2.15357366e-02 -1.78622843e+01] [-7.45534994e-02 6.69053666e-03 9.97194571e-01 -7.99481611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225779523 meters 0.053633498815454095 Centerline is valid? [True, True] Translation: X:97.14, Y:-17.86, Z:-8.00 [[ 9.77338698e-01 1.99533867e-01 7.06774769e-02 9.71372925e+01] [-1.98513099e-01 9.79867729e-01 -2.12551950e-02 -1.78621288e+01] [-7.34957100e-02 6.74311961e-03 9.97272737e-01 -8.00362510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28577952299999 meters 0.05598415493939221 Centerline is valid? [True, True] Translation: X:97.20, Y:-17.87, Z:-8.01 [[ 9.76877151e-01 2.01789292e-01 7.06548917e-02 9.71972750e+01] [-2.00774897e-01 9.79406901e-01 -2.12499980e-02 -1.78671131e+01] [-7.34879106e-02 6.57290893e-03 9.97274448e-01 -8.01306066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34577952299999 meters 0.04739516278839753 Centerline is valid? [True, True] Translation: X:97.26, Y:-17.86, Z:-8.02 [[ 9.75474363e-01 2.07610717e-01 7.31269936e-02 9.72614983e+01] [-2.06540236e-01 9.78190922e-01 -2.19920693e-02 -1.78621548e+01] [-7.60979506e-02 6.34903324e-03 9.97080133e-01 -8.01585067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40577952299999 meters 0.03904789448203309 Centerline is valid? [True, True] Translation: X:97.33, Y:-17.86, Z:-8.01 [[ 9.73486289e-01 2.14113668e-01 8.04970972e-02 9.73264484e+01] [-2.12838073e-01 9.76787570e-01 -2.42073732e-02 -1.78568675e+01] [-8.38116935e-02 6.43269884e-03 9.96460847e-01 -8.01471993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465779523 meters 0.0369204036632642 Centerline is valid? [True, True] Translation: X:97.39, Y:-17.85, Z:-8.02 [[ 9.71242938e-01 2.24633387e-01 7.89113298e-02 9.73893846e+01] [-2.23441993e-01 9.74428294e-01 -2.37313157e-02 -1.78531821e+01] [-8.22242783e-02 5.41676794e-03 9.96599130e-01 -8.02196596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525779523 meters 0.030866912837159532 Centerline is valid? [True, True] Translation: X:97.45, Y:-17.85, Z:-8.03 [[ 9.68957249e-01 2.34791222e-01 7.74269431e-02 9.74521389e+01] [-2.33676443e-01 9.72035546e-01 -2.32855721e-02 -1.78548276e+01] [-8.07289888e-02 4.46987127e-03 9.96726066e-01 -8.03008363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585779523 meters 0.030380275371807226 Centerline is valid? [True, True] Translation: X:97.51, Y:-17.87, Z:-8.04 [[ 9.67193354e-01 2.42031246e-01 7.71873859e-02 9.75101127e+01] [-2.40946157e-01 9.70260796e-01 -2.32150281e-02 -1.78671493e+01] [-8.05106567e-02 3.85541690e-03 9.96746292e-01 -8.03570299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64577952299999 meters 0.02747756403243977 Centerline is valid? [True, True] Translation: X:97.57, Y:-17.87, Z:-8.04 [[ 9.63854427e-01 2.54405979e-01 7.91343269e-02 9.75710122e+01] [-2.53306903e-01 9.67093184e-01 -2.37988892e-02 -1.78685787e+01] [-8.25848478e-02 2.89339347e-03 9.96579837e-01 -8.04059981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70577952299999 meters 0.02432567017982541 Centerline is valid? [True, True] Translation: X:97.63, Y:-17.88, Z:-8.05 [[ 9.60617027e-01 2.66874717e-01 7.74132551e-02 9.76308304e+01] [-2.65863405e-01 9.63729585e-01 -2.32795588e-02 -1.78777307e+01] [-8.08181698e-02 1.78138898e-03 9.96727270e-01 -8.04842612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76577952299999 meters 0.02003268317831857 Centerline is valid? [True, True] Translation: X:97.69, Y:-17.89, Z:-8.05 [[ 9.57904183e-01 2.76532842e-01 7.71308234e-02 9.76885862e+01] [-2.75560336e-01 9.61003988e-01 -2.31913191e-02 -1.78935540e+01] [-8.05361902e-02 9.60865939e-04 9.96751222e-01 -8.05289989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825779523 meters 0.021839850922566358 Centerline is valid? [True, True] Translation: X:97.75, Y:-17.91, Z:-8.06 [[ 9.54571946e-01 2.87455923e-01 7.84951792e-02 9.77460276e+01] [-2.86485689e-01 9.57793867e-01 -2.35978643e-02 -1.79050335e+01] [-8.19655471e-02 3.81137157e-05 9.96635163e-01 -8.05744192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885779523 meters 0.020938103332718557 Centerline is valid? [True, True] Translation: X:97.80, Y:-17.93, Z:-8.06 [[ 9.53131755e-01 2.92341047e-01 7.79523599e-02 9.77988233e+01] [-2.91400982e-01 9.56314051e-01 -2.34286801e-02 -1.79297717e+01] [-8.13961019e-02 -3.84775245e-04 9.96681758e-01 -8.06216422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945779523 meters 0.020024529500664086 Centerline is valid? [True, True] Translation: X:97.85, Y:-17.96, Z:-8.07 [[ 9.53163947e-01 2.92739397e-01 7.60403580e-02 9.78510684e+01] [-2.91846781e-01 9.56192174e-01 -2.28469553e-02 -1.79596641e+01] [-7.93973991e-02 -4.15239703e-04 9.96842957e-01 -8.06813527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00577952299999 meters 0.020767662065958505 Centerline is valid? [True, True] Translation: X:97.90, Y:-17.99, Z:-8.07 [[ 9.54820700e-01 2.87841389e-01 7.39240461e-02 9.79033038e+01] [-2.86983585e-01 9.57678095e-01 -2.22055683e-02 -1.79892356e+01] [-7.71871213e-02 -1.26515629e-05 9.97016624e-01 -8.07310525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06577952299999 meters 0.019575815483842508 Centerline is valid? [True, True] Translation: X:97.95, Y:-18.03, Z:-8.08 [[ 9.57283059e-01 2.79712343e-01 7.32813073e-02 9.79548653e+01] [-2.78846025e-01 9.60083645e-01 -2.20065695e-02 -1.80286968e+01] [-7.65116937e-02 6.32314961e-04 9.97068484e-01 -8.07667025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12577952299999 meters 0.022326713041092152 Centerline is valid? [True, True] Translation: X:98.01, Y:-18.07, Z:-8.08 [[ 9.61555461e-01 2.64195850e-01 7.49109426e-02 9.80053323e+01] [-2.63243176e-01 9.64467156e-01 -2.24974719e-02 -1.80715190e+01] [-7.81928824e-02 1.91277251e-03 9.96936414e-01 -8.08067834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185779523 meters 0.026585355962409404 Centerline is valid? [True, True] Translation: X:98.06, Y:-18.10, Z:-8.08 [[ 9.64730666e-01 2.51826548e-01 7.66689695e-02 9.80600282e+01] [-2.50789437e-01 9.67767779e-01 -2.30257289e-02 -1.81025381e+01] [-7.99962482e-02 2.98585910e-03 9.96790693e-01 -8.08311292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245779523 meters 0.03074118961589751 Centerline is valid? [True, True] Translation: X:98.11, Y:-18.15, Z:-8.08 [[ 9.68876617e-01 2.35080216e-01 7.75589694e-02 9.81095179e+01] [-2.33964958e-01 9.71965903e-01 -2.32955217e-02 -1.81466734e+01] [-8.08609900e-02 4.42440517e-03 9.96715569e-01 -8.08269571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305779523 meters 0.03641976502231922 Centerline is valid? [True, True] Translation: X:98.16, Y:-18.18, Z:-8.09 [[ 9.71628720e-01 2.24182466e-01 7.53647906e-02 9.81631937e+01] [-2.23096683e-01 9.74533407e-01 -2.26386692e-02 -1.81781325e+01] [-7.85206989e-02 5.18274638e-03 9.96899011e-01 -8.08929656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36577952299999 meters 0.03868167512868244 Centerline is valid? [True, True] Translation: X:98.22, Y:-18.20, Z:-8.09 [[ 9.73079502e-01 2.17354889e-01 7.66363805e-02 9.82195268e+01] [-2.16210871e-01 9.76075216e-01 -2.30224028e-02 -1.82025065e+01] [-7.98069035e-02 5.83300966e-03 9.96793276e-01 -8.09234639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42577952299999 meters 0.04288927971352081 Centerline is valid? [True, True] Translation: X:98.28, Y:-18.23, Z:-8.09 [[ 9.74033369e-01 2.12902922e-01 7.70152075e-02 9.82754369e+01] [-2.11733592e-01 9.77053494e-01 -2.31377656e-02 -1.82261451e+01] [-8.01740754e-02 6.23024925e-03 9.96761407e-01 -8.09440798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48577952299999 meters 0.04127210116823225 Centerline is valid? [True, True] Translation: X:98.34, Y:-18.23, Z:-8.10 [[ 9.73893116e-01 2.14966020e-01 7.29507277e-02 9.83366839e+01] [-2.13922610e-01 9.76604651e-01 -2.19196907e-02 -1.82341169e+01] [-7.59560086e-02 5.74162577e-03 9.97094639e-01 -8.10480249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545779523 meters 0.03951794569178597 Centerline is valid? [True, True] Translation: X:98.40, Y:-18.25, Z:-8.11 [[ 9.72825755e-01 2.18679701e-01 7.60870515e-02 9.83955561e+01] [-2.17555334e-01 9.75780091e-01 -2.28667907e-02 -1.82483146e+01] [-7.92447330e-02 5.69225907e-03 9.96838939e-01 -8.10733318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605779523 meters 0.03720504869337341 Centerline is valid? [True, True] Translation: X:98.46, Y:-18.26, Z:-8.11 [[ 9.72098336e-01 2.20728877e-01 7.93951338e-02 9.84563184e+01] [-2.19511098e-01 9.75318151e-01 -2.38617446e-02 -1.82588651e+01] [-8.27024911e-02 5.76784927e-03 9.96557590e-01 -8.10849218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665779523 meters 0.039876319465176495 Centerline is valid? [True, True] Translation: X:98.52, Y:-18.27, Z:-8.12 [[ 9.71974464e-01 2.22966753e-01 7.45081797e-02 9.85155115e+01] [-2.21900886e-01 9.74811995e-01 -2.23958067e-02 -1.82691156e+01] [-7.76249876e-02 5.23472116e-03 9.96968886e-01 -8.12094649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725779523 meters 0.04192291142172452 Centerline is valid? [True, True] Translation: X:98.58, Y:-18.28, Z:-8.13 [[ 9.71573980e-01 2.24842408e-01 7.40938166e-02 9.85751006e+01] [-2.23793707e-01 9.74382015e-01 -2.22725242e-02 -1.82838338e+01] [-7.72034903e-02 5.05767509e-03 9.97002528e-01 -8.12787379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78577952299999 meters 0.035451924057758565 Centerline is valid? [True, True] Translation: X:98.64, Y:-18.29, Z:-8.13 [[ 9.70029190e-01 2.30854597e-01 7.58256319e-02 9.86359384e+01] [-2.29774079e-01 9.72976950e-01 -2.27975404e-02 -1.82930096e+01] [-7.90395090e-02 4.69151493e-03 9.96860444e-01 -8.12612208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84577952299999 meters 0.03369039025732296 Centerline is valid? [True, True] Translation: X:98.70, Y:-18.30, Z:-8.14 [[ 9.68722102e-01 2.36978737e-01 7.36109124e-02 9.86976894e+01] [-2.35978115e-01 9.71506317e-01 -2.21315564e-02 -1.82959347e+01] [-7.67581747e-02 4.06876350e-03 9.97041437e-01 -8.13601647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90577952299999 meters 0.026157981878837843 Centerline is valid? [True, True] Translation: X:98.76, Y:-18.30, Z:-8.14 [[ 9.67032570e-01 2.43908046e-01 7.31906620e-02 9.87585181e+01] [-2.42938578e-01 9.69792052e-01 -2.20050884e-02 -1.83037248e+01] [-7.63469404e-02 3.49880191e-03 9.97075174e-01 -8.14268830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965779523 meters 0.026334456886873754 Centerline is valid? [True, True] Translation: X:98.82, Y:-18.31, Z:-8.15 [[ 9.64766165e-01 2.52441220e-01 7.41598060e-02 9.88202035e+01] [-2.51470886e-01 9.67607998e-01 -2.22969977e-02 -1.83096512e+01] [-7.73863027e-02 2.86235686e-03 9.96997075e-01 -8.14729801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025779523 meters 0.02135923143137846 Centerline is valid? [True, True] Translation: X:98.88, Y:-18.32, Z:-8.15 [[ 9.63657259e-01 2.55929635e-01 7.65813865e-02 9.88814866e+01] [-2.54905627e-01 9.66691730e-01 -2.30265342e-02 -1.83216300e+01] [-7.99237655e-02 2.66866047e-03 9.96797407e-01 -8.14803370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085779523 meters 0.022581237396665732 Centerline is valid? [True, True] Translation: X:98.94, Y:-18.34, Z:-8.15 [[ 9.61667055e-01 2.62844932e-01 7.81601945e-02 9.89398156e+01] [-2.61800529e-01 9.64835712e-01 -2.35060073e-02 -1.83351199e+01] [-8.15901818e-02 2.14257264e-03 9.96663660e-01 -8.15254638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14577952299999 meters 0.020819556760014374 Centerline is valid? [True, True] Translation: X:99.00, Y:-18.35, Z:-8.16 [[ 9.61922207e-01 2.61723556e-01 7.87810120e-02 9.89991871e+01] [-2.60658680e-01 9.65140244e-01 -2.36930764e-02 -1.83536360e+01] [-8.22357614e-02 2.25594180e-03 9.96610350e-01 -8.15523444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20577952299999 meters 0.024617397563687988 Centerline is valid? [True, True] Translation: X:99.06, Y:-18.37, Z:-8.17 [[ 9.62343972e-01 2.61045237e-01 7.58252209e-02 9.90581595e+01] [-2.60055250e-01 9.65323957e-01 -2.28237897e-02 -1.83720578e+01] [-7.91539438e-02 2.24558961e-03 9.96859875e-01 -8.16752505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26577952299999 meters 0.025223149537282375 Centerline is valid? [True, True] Translation: X:99.11, Y:-18.40, Z:-8.18 [[ 9.63365432e-01 2.58129614e-01 7.27746307e-02 9.91147115e+01] [-2.57208018e-01 9.66107305e-01 -2.19251192e-02 -1.83978981e+01] [-7.59676249e-02 2.40368335e-03 9.97107388e-01 -8.17898990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325779523 meters 0.02697779313603995 Centerline is valid? [True, True] Translation: X:99.17, Y:-18.42, Z:-8.18 [[ 9.65369801e-01 2.49667300e-01 7.56795044e-02 9.91725679e+01] [-2.48644051e-01 9.68326393e-01 -2.28064118e-02 -1.84170464e+01] [-7.89764768e-02 3.19936261e-03 9.96871346e-01 -8.17767232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385779523 meters 0.037895375911903735 Centerline is valid? [True, True] Translation: X:99.22, Y:-18.46, Z:-8.18 [[ 9.68105800e-01 2.39040066e-01 7.50400362e-02 9.92224868e+01] [-2.38002154e-01 9.71001329e-01 -2.26140109e-02 -1.84565853e+01] [-7.82696295e-02 4.03306487e-03 9.96924069e-01 -8.18260023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445779523 meters 0.033255074550252305 Centerline is valid? [True, True] Translation: X:99.28, Y:-18.48, Z:-8.19 [[ 9.70205496e-01 2.30756297e-01 7.38432534e-02 9.92790475e+01] [-2.29727452e-01 9.73000584e-01 -2.22521987e-02 -1.84772662e+01] [-7.69843637e-02 4.62538297e-03 9.97021571e-01 -8.18678603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50577952299999 meters 0.043371110281731705 Centerline is valid? [True, True] Translation: X:99.33, Y:-18.50, Z:-8.19 [[ 9.71544541e-01 2.24748964e-01 7.47603402e-02 9.93336112e+01] [-2.23676630e-01 9.74403007e-01 -2.25287579e-02 -1.85036104e+01] [-7.79100153e-02 5.16555076e-03 9.96947013e-01 -8.19013000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56577952299999 meters 0.04061623028379897 Centerline is valid? [True, True] Translation: X:99.39, Y:-18.52, Z:-8.19 [[ 9.72007958e-01 2.22524797e-01 7.53872967e-02 9.93919432e+01] [-2.21427198e-01 9.74912101e-01 -2.27242455e-02 -1.85201368e+01] [-7.85526959e-02 5.39534958e-03 9.96895363e-01 -8.19491194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62577952299999 meters 0.035583154443995076 Centerline is valid? [True, True] Translation: X:99.45, Y:-18.54, Z:-8.20 [[ 9.72003344e-01 2.22980023e-01 7.40905405e-02 9.94520286e+01] [-2.21921210e-01 9.74808789e-01 -2.23338654e-02 -1.85360411e+01] [-7.72041159e-02 5.26632949e-03 9.97001399e-01 -8.20042131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685779523 meters 0.036294953555930785 Centerline is valid? [True, True] Translation: X:99.51, Y:-18.55, Z:-8.20 [[ 9.70795397e-01 2.27334788e-01 7.66497982e-02 9.95106983e+01] [-2.26213081e-01 9.73803240e-01 -2.31277125e-02 -1.85492182e+01] [-7.98995555e-02 5.11308975e-03 9.96789806e-01 -8.20075684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745779523 meters 0.035011873115793915 Centerline is valid? [True, True] Translation: X:99.57, Y:-18.56, Z:-8.21 [[ 9.69972068e-01 2.30393938e-01 7.79282990e-02 9.95695576e+01] [-2.29244344e-01 9.73084897e-01 -2.35120087e-02 -1.85626001e+01] [-8.12478750e-02 4.94136993e-03 9.96681677e-01 -8.20546478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805779523 meters 0.03389636919932731 Centerline is valid? [True, True] Translation: X:99.63, Y:-18.58, Z:-8.21 [[ 9.69034851e-01 2.34891151e-01 7.61419994e-02 9.96269465e+01] [-2.33807561e-01 9.72011452e-01 -2.29730545e-02 -1.85807890e+01] [-7.94070627e-02 4.45911529e-03 9.96832300e-01 -8.21310244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86577952299999 meters 0.03554028872136817 Centerline is valid? [True, True] Translation: X:99.69, Y:-18.60, Z:-8.22 [[ 9.68958005e-01 2.35145136e-01 7.63357718e-02 9.96860997e+01] [-2.34056793e-01 9.71950084e-01 -2.30315503e-02 -1.86003784e+01] [-7.96103169e-02 4.44969909e-03 9.96816130e-01 -8.21783493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92577952299999 meters 0.032694535846973787 Centerline is valid? [True, True] Translation: X:99.75, Y:-18.61, Z:-8.22 [[ 9.69723255e-01 2.31804127e-01 7.68352548e-02 9.97456667e+01] [-2.30689860e-01 9.72750791e-01 -2.31967145e-02 -1.86141393e+01] [-8.01186490e-02 4.76927930e-03 9.96773924e-01 -8.22475586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98577952299999 meters 0.033712840920660396 Centerline is valid? [True, True] Translation: X:99.81, Y:-18.63, Z:-8.23 [[ 9.70037180e-01 2.31723840e-01 7.30200726e-02 9.98055863e+01] [-2.30717337e-01 9.72771021e-01 -2.20465653e-02 -1.86294812e+01] [-7.61405254e-02 4.53899132e-03 9.97086766e-01 -8.23386148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045779523 meters 0.03001631362240908 Centerline is valid? [True, True] Translation: X:99.86, Y:-18.65, Z:-8.24 [[ 9.68752833e-01 2.36807269e-01 7.37581552e-02 9.98618619e+01] [-2.35793218e-01 9.71547554e-01 -2.22914360e-02 -1.86485561e+01] [-7.69383294e-02 4.20321907e-03 9.97026994e-01 -8.23544704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105779523 meters 0.026468855175756284 Centerline is valid? [True, True] Translation: X:99.92, Y:-18.65, Z:-8.24 [[ 9.66603550e-01 2.45527558e-01 7.34424622e-02 9.99234074e+01] [-2.44547306e-01 9.69383317e-01 -2.21945710e-02 -1.86530946e+01] [-7.66432765e-02 3.49319484e-03 9.97052459e-01 -8.24173222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165779523 meters 0.029333821504640683 Centerline is valid? [True, True] Translation: X:99.98, Y:-18.67, Z:-8.25 [[ 9.64723465e-01 2.53177683e-01 7.21782316e-02 9.99805976e+01] [-2.52252249e-01 9.67415639e-01 -2.18124872e-02 -1.86685938e+01] [-7.53487850e-02 2.83589696e-03 9.97153207e-01 -8.24900132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225779523 meters 0.023093692755474366 Centerline is valid? [True, True] Translation: X:100.04, Y:-18.69, Z:-8.25 [[ 9.62174002e-01 2.61992093e-01 7.47083220e-02 1.00039119e+02] [-2.61027076e-01 9.65067465e-01 -2.25755153e-02 -1.86856747e+01] [-7.80131774e-02 2.22067904e-03 9.96949855e-01 -8.24914959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28577952299999 meters 0.01983062319345182 Centerline is valid? [True, True] Translation: X:100.10, Y:-18.70, Z:-8.25 [[ 9.61127426e-01 2.65680791e-01 7.51517684e-02 1.00098077e+02] [-2.64715508e-01 9.64059117e-01 -2.27094431e-02 -1.87018165e+01] [-7.84842103e-02 1.93283009e-03 9.96913483e-01 -8.25200305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34577952299999 meters 0.019406776534198224 Centerline is valid? [True, True] Translation: X:100.16, Y:-18.72, Z:-8.26 [[ 9.60762240e-01 2.67496586e-01 7.33586710e-02 1.00156653e+02] [-2.66582033e-01 9.63557231e-01 -2.21694078e-02 -1.87215318e+01] [-7.66155187e-02 1.74342630e-03 9.97059187e-01 -8.26255248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40577952299999 meters 0.022860674027492426 Centerline is valid? [True, True] Translation: X:100.21, Y:-18.75, Z:-8.27 [[ 9.60576553e-01 2.68068577e-01 7.37015840e-02 1.00213411e+02] [-2.67145625e-01 9.63398289e-01 -2.22924021e-02 -1.87464687e+01] [-7.69798725e-02 1.72450307e-03 9.97031156e-01 -8.26893370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465779523 meters 0.023121170930293693 Centerline is valid? [True, True] Translation: X:100.27, Y:-18.77, Z:-8.27 [[ 9.60769719e-01 2.66420728e-01 7.70814008e-02 1.00269917e+02] [-2.65404028e-01 9.63854836e-01 -2.33357587e-02 -1.87734687e+01] [-8.05124107e-02 1.96257600e-03 9.96751674e-01 -8.26939421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525779523 meters 0.019191763234191587 Centerline is valid? [True, True] Translation: X:100.33, Y:-18.79, Z:-8.27 [[ 9.61705390e-01 2.63182170e-01 7.65368398e-02 1.00328913e+02] [-2.62168718e-01 9.64743583e-01 -2.31815210e-02 -1.87938216e+01] [-7.99393880e-02 2.22822848e-03 9.96797236e-01 -8.27293829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585779523 meters 0.02366041236097989 Centerline is valid? [True, True] Translation: X:100.38, Y:-18.82, Z:-8.28 [[ 9.63379575e-01 2.57829324e-01 7.36466787e-02 1.00383497e+02] [-2.56875034e-01 9.66187042e-01 -2.23118161e-02 -1.88216787e+01] [-7.69091071e-02 2.57675483e-03 9.97034779e-01 -8.27992762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64577952299999 meters 0.021677706864387438 Centerline is valid? [True, True] Translation: X:100.44, Y:-18.85, Z:-8.28 [[ 9.64790389e-01 2.52132612e-01 7.48909264e-02 1.00437554e+02] [-2.51128310e-01 9.67687770e-01 -2.26925397e-02 -1.88544494e+01] [-7.81925629e-02 3.08631249e-03 9.96933497e-01 -8.27896759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70577952299999 meters 0.034871941695184205 Centerline is valid? [True, True] Translation: X:100.49, Y:-18.89, Z:-8.29 [[ 9.65779476e-01 2.48841158e-01 7.31305751e-02 1.00488528e+02] [-2.47874086e-01 9.68538772e-01 -2.21604200e-02 -1.88932719e+01] [-7.63442220e-02 3.27490430e-03 9.97076143e-01 -8.28771227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76577952299999 meters 0.023643080569546632 Centerline is valid? [True, True] Translation: X:100.55, Y:-18.90, Z:-8.29 [[ 9.65924619e-01 2.47817668e-01 7.46728414e-02 1.00551983e+02] [-2.46806034e-01 9.68800620e-01 -2.26305282e-02 -1.88989554e+01] [-7.79513397e-02 3.42967651e-03 9.96951266e-01 -8.29080649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825779523 meters 0.025266191981977205 Centerline is valid? [True, True] Translation: X:100.61, Y:-18.93, Z:-8.29 [[ 9.65098515e-01 2.49884753e-01 7.83738904e-02 1.00606419e+02] [-2.48774670e-01 9.68269431e-01 -2.37796478e-02 -1.89288371e+01] [-8.18292137e-02 3.45226409e-03 9.96640387e-01 -8.29096715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885779523 meters 0.024205266719592063 Centerline is valid? [True, True] Translation: X:100.66, Y:-18.95, Z:-8.30 [[ 9.64027774e-01 2.54652931e-01 7.61730632e-02 1.00663730e+02] [-2.53619140e-01 9.67027976e-01 -2.31133306e-02 -1.89465363e+01] [-7.95473605e-02 2.96294591e-03 9.96826684e-01 -8.29863093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945779523 meters 0.022350503715988183 Centerline is valid? [True, True] Translation: X:100.72, Y:-18.96, Z:-8.30 [[ 9.63425657e-01 2.56786619e-01 7.66266043e-02 1.00723932e+02] [-2.55747197e-01 9.66464057e-01 -2.32507536e-02 -1.89617059e+01] [-8.00273413e-02 2.80333324e-03 9.96788727e-01 -8.30328861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00577952299999 meters 0.02412249284403639 Centerline is valid? [True, True] Translation: X:100.78, Y:-18.98, Z:-8.31 [[ 9.62274838e-01 2.61196710e-01 7.61801466e-02 1.00781304e+02] [-2.60181549e-01 9.65282506e-01 -2.31353883e-02 -1.89818330e+01] [-7.95782501e-02 2.44193353e-03 9.96825631e-01 -8.31130402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06577952299999 meters 0.02250032489506596 Centerline is valid? [True, True] Translation: X:100.84, Y:-19.00, Z:-8.32 [[ 9.61455515e-01 2.64143451e-01 7.63644547e-02 1.00839037e+02] [-2.63132413e-01 9.64480881e-01 -2.31940192e-02 -1.90035827e+01] [-7.97786048e-02 2.20605440e-03 9.96810166e-01 -8.31782149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12577952299999 meters 0.02315295391754699 Centerline is valid? [True, True] Translation: X:100.90, Y:-19.02, Z:-8.32 [[ 9.60878889e-01 2.66225990e-01 7.63903315e-02 1.00898654e+02] [-2.65219198e-01 9.63908453e-01 -2.32222291e-02 -1.90220866e+01] [-7.98156472e-02 2.05356731e-03 9.96807527e-01 -8.32276829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185779523 meters 0.018713247414245314 Centerline is valid? [True, True] Translation: X:100.96, Y:-19.05, Z:-8.32 [[ 9.60594449e-01 2.66990018e-01 7.72957609e-02 1.00956413e+02] [-2.65961036e-01 9.63697175e-01 -2.35049249e-02 -1.90453217e+01] [-8.07652868e-02 2.02103970e-03 9.96731099e-01 -8.32198038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245779523 meters 0.022156221623648612 Centerline is valid? [True, True] Translation: X:101.02, Y:-19.06, Z:-8.33 [[ 9.60497551e-01 2.66706991e-01 7.94470600e-02 1.01015202e+02] [-2.65617030e-01 9.63775323e-01 -2.41810027e-02 -1.90649833e+01] [-8.30183584e-02 2.12330179e-03 9.96545756e-01 -8.33007224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305779523 meters 0.018702804392822858 Centerline is valid? [True, True] Translation: X:101.07, Y:-19.08, Z:-8.33 [[ 9.60288576e-01 2.67990793e-01 7.76323714e-02 1.01074550e+02] [-2.66952661e-01 9.63419426e-01 -2.36492286e-02 -1.90832794e+01] [-8.11303102e-02 1.98591592e-03 9.96701524e-01 -8.33317456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36577952299999 meters 0.01779922971866028 Centerline is valid? [True, True] Translation: X:101.13, Y:-19.10, Z:-8.33 [[ 9.58499057e-01 2.73605007e-01 8.01240185e-02 1.01131074e+02] [-2.72516782e-01 9.61840840e-01 -2.44295142e-02 -1.91048740e+01] [-8.37505907e-02 1.58052659e-03 9.96485494e-01 -8.33454968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42577952299999 meters 0.01657752615658876 Centerline is valid? [True, True] Translation: X:101.19, Y:-19.12, Z:-8.34 [[ 9.57328421e-01 2.78166244e-01 7.83953697e-02 1.01190428e+02] [-2.77139659e-01 9.60532248e-01 -2.39041616e-02 -1.91213969e+01] [-8.19506116e-02 1.15766723e-03 9.96635719e-01 -8.34099606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48577952299999 meters 0.018483762336273774 Centerline is valid? [True, True] Translation: X:101.25, Y:-19.13, Z:-8.35 [[ 9.53482167e-01 2.91055373e-01 7.84762830e-02 1.01251266e+02] [-2.90068411e-01 9.56706206e-01 -2.39489550e-02 -1.91289473e+01] [-8.20492190e-02 7.14107658e-05 9.96628276e-01 -8.35208012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545779523 meters 0.01850769819993631 Centerline is valid? [True, True] Translation: X:101.31, Y:-19.15, Z:-8.36 [[ 9.51853320e-01 2.96528524e-01 7.77566118e-02 1.01309807e+02] [-2.95577555e-01 9.55023916e-01 -2.37324498e-02 -1.91508272e+01] [-8.12967722e-02 -3.93298104e-04 9.96689862e-01 -8.35757803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605779523 meters 0.01900225269397221 Centerline is valid? [True, True] Translation: X:101.37, Y:-19.17, Z:-8.37 [[ 9.52046520e-01 2.96286374e-01 7.63007696e-02 1.01368015e+02] [-2.95368103e-01 9.55099087e-01 -2.33113186e-02 -1.91747543e+01] [-7.97816215e-02 -3.43353812e-04 9.96812307e-01 -8.36629034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665779523 meters 0.019133476728841435 Centerline is valid? [True, True] Translation: X:101.42, Y:-19.20, Z:-8.37 [[ 9.54554131e-01 2.87511434e-01 7.85085164e-02 1.01424369e+02] [-2.86507363e-01 9.57777110e-01 -2.40111967e-02 -1.92038063e+01] [-8.20971536e-02 4.26718934e-04 9.96624240e-01 -8.36862495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725779523 meters 0.016180362910470404 Centerline is valid? [True, True] Translation: X:101.48, Y:-19.23, Z:-8.37 [[ 9.56833291e-01 2.79641773e-01 7.91866857e-02 1.01480684e+02] [-2.78591391e-01 9.60103740e-01 -2.42413796e-02 -1.92321032e+01] [-8.28063355e-02 1.13423009e-03 9.96565013e-01 -8.36814777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78577952299999 meters 0.024175467076296406 Centerline is valid? [True, True] Translation: X:101.53, Y:-19.27, Z:-8.38 [[ 9.60748166e-01 2.66320574e-01 7.76937204e-02 1.01530824e+02] [-2.65265387e-01 9.63881893e-01 -2.37901489e-02 -1.92700226e+01] [-8.12233764e-02 2.24688711e-03 9.96693390e-01 -8.37875296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84577952299999 meters 0.023447606064300644 Centerline is valid? [True, True] Translation: X:101.59, Y:-19.30, Z:-8.38 [[ 9.63510164e-01 2.56216262e-01 7.74686466e-02 1.01586847e+02] [-2.55134305e-01 9.66614534e-01 -2.37240062e-02 -1.92960473e+01] [-8.09607959e-02 3.09341174e-03 9.96712486e-01 -8.37973390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90577952299999 meters 0.02672425460488334 Centerline is valid? [True, True] Translation: X:101.64, Y:-19.32, Z:-8.38 [[ 9.65209219e-01 2.49439895e-01 7.84276928e-02 1.01642852e+02] [-2.48308413e-01 9.68383175e-01 -2.40199411e-02 -1.93192368e+01] [-8.19395898e-02 3.71001265e-03 9.96630393e-01 -8.38455296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965779523 meters 0.028832969217352823 Centerline is valid? [True, True] Translation: X:101.70, Y:-19.35, Z:-8.39 [[ 9.66154684e-01 2.45817221e-01 7.82241633e-02 1.01698767e+02] [-2.44679659e-01 9.69307911e-01 -2.39590727e-02 -1.93453971e+01] [-8.17128530e-02 4.00830869e-03 9.96647853e-01 -8.38933667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025779523 meters 0.034586903497690606 Centerline is valid? [True, True] Translation: X:101.75, Y:-19.37, Z:-8.40 [[ 9.67487036e-01 2.40274398e-01 7.89749886e-02 1.01753776e+02] [-2.39096191e-01 9.70694472e-01 -2.41920205e-02 -1.93676772e+01] [-8.24733081e-02 4.52284729e-03 9.96583011e-01 -8.39623905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085779523 meters 0.036086886925565075 Centerline is valid? [True, True] Translation: X:101.81, Y:-19.38, Z:-8.40 [[ 9.69023560e-01 2.34182000e-01 7.84355239e-02 1.01813095e+02] [-2.32999493e-01 9.72179851e-01 -2.40327690e-02 -1.93807551e+01] [-8.18814778e-02 5.01288201e-03 9.96629467e-01 -8.40078283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14577952299999 meters 0.03158821651047772 Centerline is valid? [True, True] Translation: X:101.87, Y:-19.39, Z:-8.40 [[ 9.70236458e-01 2.29580467e-01 7.70326256e-02 1.01872778e+02] [-2.28425305e-01 9.73275215e-01 -2.36058481e-02 -1.93930404e+01] [-8.03933869e-02 5.30705349e-03 9.96749085e-01 -8.40470964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20577952299999 meters 0.035061400697982296 Centerline is valid? [True, True] Translation: X:101.93, Y:-19.41, Z:-8.41 [[ 9.71169991e-01 2.25445073e-01 7.74814054e-02 1.01929546e+02] [-2.24263171e-01 9.74239298e-01 -2.37448950e-02 -1.94141103e+01] [-8.08385996e-02 5.68410373e-03 9.96710997e-01 -8.41038628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26577952299999 meters 0.03946437870842657 Centerline is valid? [True, True] Translation: X:101.99, Y:-19.43, Z:-8.41 [[ 9.72290832e-01 2.19663964e-01 7.99892587e-02 1.01988640e+02] [-2.18384564e-01 9.75554817e-01 -2.45149040e-02 -1.94297543e+01] [-8.34189476e-02 6.36719703e-03 9.96494224e-01 -8.41379365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325779523 meters 0.03960568320037322 Centerline is valid? [True, True] Translation: X:102.05, Y:-19.44, Z:-8.42 [[ 9.73046426e-01 2.15886645e-01 8.10778007e-02 1.02050212e+02] [-2.14558874e-01 9.76394857e-01 -2.48509959e-02 -1.94351414e+01] [-8.45289458e-02 6.78521114e-03 9.96397922e-01 -8.41821056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385779523 meters 0.03379639548257429 Centerline is valid? [True, True] Translation: X:102.11, Y:-19.44, Z:-8.43 [[ 9.72945261e-01 2.16556236e-01 8.05041298e-02 1.02114526e+02] [-2.15249294e-01 9.76247281e-01 -2.46776881e-02 -1.94375379e+01] [-8.39360451e-02 6.68158257e-03 9.96448743e-01 -8.42546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445779523 meters 0.04595139119299398 Centerline is valid? [True, True] Translation: X:102.17, Y:-19.47, Z:-8.43 [[ 9.72656229e-01 2.19082041e-01 7.70903313e-02 1.02167857e+02] [-2.17890072e-01 9.75686695e-01 -2.36514333e-02 -1.94664159e+01] [-8.03976148e-02 6.20749604e-03 9.96743543e-01 -8.43286558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50577952299999 meters 0.03858033713590567 Centerline is valid? [True, True] Translation: X:102.24, Y:-19.45, Z:-8.44 [[ 9.71773448e-01 2.22529095e-01 7.83400806e-02 1.02235202e+02] [-2.21309013e-01 9.74907457e-01 -2.40368872e-02 -1.94536077e+01] [-8.17232354e-02 6.02104284e-03 9.96636875e-01 -8.43570711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56577952299999 meters 0.037495240398696776 Centerline is valid? [True, True] Translation: X:102.30, Y:-19.46, Z:-8.44 [[ 9.70781759e-01 2.27159797e-01 7.73382340e-02 1.02296975e+02] [-2.25985294e-01 9.73841628e-01 -2.37303734e-02 -1.94592787e+01] [-8.07057785e-02 5.55971008e-03 9.96722462e-01 -8.44305406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62577952299999 meters 0.03618060569186759 Centerline is valid? [True, True] Translation: X:102.36, Y:-19.47, Z:-8.45 [[ 9.69889834e-01 2.30752005e-01 7.78923800e-02 1.02358077e+02] [-2.29571941e-01 9.72998159e-01 -2.39020161e-02 -1.94662725e+01] [-8.13045805e-02 5.30041755e-03 9.96675208e-01 -8.44876484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685779523 meters 0.03512583203383771 Centerline is valid? [True, True] Translation: X:102.42, Y:-19.46, Z:-8.45 [[ 9.68603932e-01 2.35576458e-01 7.94364854e-02 1.02422422e+02] [-2.34365053e-01 9.71842985e-01 -2.43769052e-02 -1.94614919e+01] [-8.29424161e-02 4.99443007e-03 9.96541826e-01 -8.45376230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745779523 meters 0.03684874486121604 Centerline is valid? [True, True] Translation: X:102.48, Y:-19.47, Z:-8.46 [[ 9.67127709e-01 2.41141977e-01 8.07127053e-02 1.02481739e+02] [-2.39910493e-01 9.70478992e-01 -2.47685584e-02 -1.94698085e+01] [-8.43027241e-02 4.59053426e-03 9.96429615e-01 -8.46019374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805779523 meters 0.03018865362170846 Centerline is valid? [True, True] Translation: X:102.54, Y:-19.48, Z:-8.46 [[ 9.66290558e-01 2.44665422e-01 8.01335703e-02 1.02544192e+02] [-2.43463756e-01 9.69598247e-01 -2.45893893e-02 -1.94750740e+01] [-8.37135426e-02 4.25087471e-03 9.96480794e-01 -8.46256542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86577952299999 meters 0.02964183023649747 Centerline is valid? [True, True] Translation: X:102.61, Y:-19.48, Z:-8.47 [[ 9.65513651e-01 2.48257178e-01 7.84331766e-02 1.02605043e+02] [-2.47117746e-01 9.68686481e-01 -2.40690910e-02 -1.94821999e+01] [-8.19524824e-02 3.85680617e-03 9.96628775e-01 -8.47118567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92577952299999 meters 0.028376760389586905 Centerline is valid? [True, True] Translation: X:102.66, Y:-19.49, Z:-8.47 [[ 9.64412215e-01 2.51854096e-01 8.04897062e-02 1.02664590e+02] [-2.50666331e-01 9.67758346e-01 -2.47016951e-02 -1.94945076e+01] [-8.41158081e-02 3.64655712e-03 9.96449313e-01 -8.47461287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98577952299999 meters 0.029578099537316452 Centerline is valid? [True, True] Translation: X:102.72, Y:-19.51, Z:-8.49 [[ 9.64180268e-01 2.54080832e-01 7.61534108e-02 1.02724698e+02] [-2.53024765e-01 9.67177476e-01 -2.33708746e-02 -1.95058985e+01] [-7.95919549e-02 3.26503724e-03 9.96822181e-01 -8.48698994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045779523 meters 0.025854084094729442 Centerline is valid? [True, True] Translation: X:102.79, Y:-19.51, Z:-8.49 [[ 9.63559262e-01 2.56145378e-01 7.70914651e-02 1.02787369e+02] [-2.55069425e-01 9.66633184e-01 -2.36617051e-02 -1.95141007e+01] [-8.05800048e-02 3.13577943e-03 9.96743212e-01 -8.49194909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105779523 meters 0.0272785494016354 Centerline is valid? [True, True] Translation: X:102.85, Y:-19.53, Z:-8.50 [[ 9.63299095e-01 2.57427301e-01 7.60660066e-02 1.02845807e+02] [-2.56383234e-01 9.66293027e-01 -2.33543045e-02 -1.95319381e+01] [-7.95140874e-02 2.99513158e-03 9.96829243e-01 -8.49671784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165779523 meters 0.027938006719802684 Centerline is valid? [True, True] Translation: X:102.90, Y:-19.55, Z:-8.50 [[ 9.64635491e-01 2.51711072e-01 7.82298252e-02 1.02903280e+02] [-2.50586201e-01 9.67795784e-01 -2.40390546e-02 -1.95502423e+01] [-8.17613912e-02 3.58561050e-03 9.96645483e-01 -8.49983298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225779523 meters 0.030547332234289053 Centerline is valid? [True, True] Translation: X:102.96, Y:-19.58, Z:-8.50 [[ 9.66919923e-01 2.42286993e-01 7.97676295e-02 1.02958309e+02] [-2.41085311e-01 9.70194325e-01 -2.45121369e-02 -1.95784126e+01] [-8.33290734e-02 4.47046977e-03 9.96512057e-01 -8.50266864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28577952299999 meters 0.03716368693830624 Centerline is valid? [True, True] Translation: X:103.01, Y:-19.60, Z:-8.51 [[ 9.69500403e-01 2.32976844e-01 7.60970357e-02 1.03013516e+02] [-2.31854759e-01 9.72469282e-01 -2.33851639e-02 -1.96042664e+01] [-7.94502313e-02 5.02846597e-03 9.96826151e-01 -8.51393414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34577952299999 meters 0.040847213859975556 Centerline is valid? [True, True] Translation: X:103.07, Y:-19.63, Z:-8.51 [[ 9.71149056e-01 2.25282789e-01 7.82123801e-02 1.03069140e+02] [-2.24072444e-01 9.74276053e-01 -2.40356378e-02 -1.96271263e+01] [-8.16152645e-02 5.81694777e-03 9.96646934e-01 -8.51459697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40577952299999 meters 0.042888785323576095 Centerline is valid? [True, True] Translation: X:103.13, Y:-19.65, Z:-8.52 [[ 9.71863529e-01 2.22692959e-01 7.67406443e-02 1.03126284e+02] [-2.21519906e-01 9.74870663e-01 -2.35822261e-02 -1.96467152e+01] [-8.00637985e-02 5.91912520e-03 9.96772167e-01 -8.52297696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465779523 meters 0.040178774762479615 Centerline is valid? [True, True] Translation: X:103.19, Y:-19.66, Z:-8.53 [[ 9.71994133e-01 2.21499067e-01 7.85211345e-02 1.03185886e+02] [-2.20266668e-01 9.75141118e-01 -2.41328571e-02 -1.96628976e+01] [-8.19145923e-02 6.16140690e-03 9.96620307e-01 -8.52686121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525779523 meters 0.043968527469930456 Centerline is valid? [True, True] Translation: X:103.25, Y:-19.68, Z:-8.53 [[ 9.71604217e-01 2.22713788e-01 7.98987791e-02 1.03245682e+02] [-2.21440018e-01 9.74864247e-01 -2.45767684e-02 -1.96753244e+01] [-8.33640483e-02 6.18610473e-03 9.96499959e-01 -8.53112810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585779523 meters 0.039045189785820264 Centerline is valid? [True, True] Translation: X:103.31, Y:-19.68, Z:-8.54 [[ 9.70918286e-01 2.26709941e-01 7.69433860e-02 1.03306388e+02] [-2.25540380e-01 9.73946009e-01 -2.36792616e-02 -1.96812670e+01] [-8.03070278e-02 5.63678751e-03 9.96754236e-01 -8.53968281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64577952299999 meters 0.036169909149491836 Centerline is valid? [True, True] Translation: X:103.37, Y:-19.69, Z:-8.54 [[ 9.69144981e-01 2.33052476e-01 8.02779553e-02 1.03365904e+02] [-2.31800676e-01 9.72449528e-01 -2.47055215e-02 -1.96903948e+01] [-8.38239426e-02 5.33474785e-03 9.96466300e-01 -8.54026260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70577952299999 meters 0.034927219641939504 Centerline is valid? [True, True] Translation: X:103.43, Y:-19.70, Z:-8.55 [[ 9.68010985e-01 2.37236325e-01 8.16924635e-02 1.03427529e+02] [-2.35954851e-01 9.71438794e-01 -2.51391876e-02 -1.96961064e+01] [-8.53231567e-02 5.05927676e-03 9.96340485e-01 -8.54687704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76577952299999 meters 0.035257647178730186 Centerline is valid? [True, True] Translation: X:103.49, Y:-19.71, Z:-8.56 [[ 9.67990889e-01 2.37929612e-01 7.98945408e-02 1.03487788e+02] [-2.36706288e-01 9.71270096e-01 -2.45872578e-02 -1.97096918e+01] [-8.34492151e-02 4.88870142e-03 9.96500040e-01 -8.55821141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825779523 meters 0.03475629198927154 Centerline is valid? [True, True] Translation: X:103.55, Y:-19.72, Z:-8.56 [[ 9.68093873e-01 2.37604769e-01 7.96129875e-02 1.03548434e+02] [-2.36387142e-01 9.71349453e-01 -2.45226075e-02 -1.97231805e+01] [-8.31587204e-02 4.92069940e-03 9.96524166e-01 -8.56416027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885779523 meters 0.0330908712672413 Centerline is valid? [True, True] Translation: X:103.61, Y:-19.74, Z:-8.57 [[ 9.68006367e-01 2.38679497e-01 7.74323681e-02 1.03609411e+02] [-2.37529523e-01 9.71086948e-01 -2.38718378e-02 -1.97369081e+01] [-8.08912803e-02 4.71561750e-03 9.96711776e-01 -8.57075806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945779523 meters 0.03398561614694833 Centerline is valid? [True, True] Translation: X:103.67, Y:-19.75, Z:-8.58 [[ 9.67564859e-01 2.40275350e-01 7.80128241e-02 1.03670199e+02] [-2.39112549e-01 9.70693757e-01 -2.40586438e-02 -1.97510988e+01] [-8.15072604e-02 4.62445308e-03 9.96662019e-01 -8.57623655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00577952299999 meters 0.0371683711425259 Centerline is valid? [True, True] Translation: X:103.73, Y:-19.77, Z:-8.58 [[ 9.66735154e-01 2.42754306e-01 8.05821838e-02 1.03728196e+02] [-2.41520112e-01 9.70076973e-01 -2.48737316e-02 -1.97681398e+01] [-8.42091263e-02 4.58409279e-03 9.96437559e-01 -8.57859986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06577952299999 meters 0.03525072828090929 Centerline is valid? [True, True] Translation: X:103.79, Y:-19.79, Z:-8.58 [[ 9.65619490e-01 2.47335352e-01 8.00264012e-02 1.03785677e+02] [-2.46133040e-01 9.68920988e-01 -2.47112623e-02 -1.97852155e+01] [-8.36512284e-02 4.16453509e-03 9.96486392e-01 -8.58453374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12577952299999 meters 0.03516592498422279 Centerline is valid? [True, True] Translation: X:103.84, Y:-19.80, Z:-8.59 [[ 9.64671481e-01 2.51267749e-01 7.92051326e-02 1.03844003e+02] [-2.50103182e-01 9.67910220e-01 -2.44582095e-02 -1.97969286e+01] [-8.28090166e-02 3.78468150e-03 9.96558249e-01 -8.59037507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185779523 meters 0.029204856898799293 Centerline is valid? [True, True] Translation: X:103.90, Y:-19.81, Z:-8.59 [[ 9.63931080e-01 2.52399363e-01 8.44478194e-02 1.03903431e+02] [-2.51078947e-01 9.67615133e-01 -2.60828773e-02 -1.98062596e+01] [-8.82962896e-02 3.93902655e-03 9.96086467e-01 -8.59038834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245779523 meters 0.0334038482626649 Centerline is valid? [True, True] Translation: X:103.96, Y:-19.83, Z:-8.60 [[ 9.64663023e-01 2.49721627e-01 8.40497511e-02 1.03960553e+02] [-2.48403771e-01 9.68308726e-01 -2.59572259e-02 -1.98285768e+01] [-8.78681882e-02 4.16170093e-03 9.96123417e-01 -8.59575376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305779523 meters 0.03364579126807214 Centerline is valid? [True, True] Translation: X:104.02, Y:-19.85, Z:-8.60 [[ 9.66317470e-01 2.43943729e-01 8.19878325e-02 1.04017371e+02] [-2.42668904e-01 9.69778599e-01 -2.53233526e-02 -1.98486231e+01] [-8.56875184e-02 4.57450058e-03 9.96311559e-01 -8.60411436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36577952299999 meters 0.035395098196600014 Centerline is valid? [True, True] Translation: X:104.07, Y:-19.87, Z:-8.61 [[ 9.67425067e-01 2.40045047e-01 8.04183734e-02 1.04074926e+02] [-2.38805230e-01 9.70749757e-01 -2.48389101e-02 -1.98678793e+01] [-8.40285738e-02 4.82545613e-03 9.96451662e-01 -8.61134253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42577952299999 meters 0.03515801167683198 Centerline is valid? [True, True] Translation: X:104.13, Y:-19.89, Z:-8.61 [[ 9.69480011e-01 2.31473907e-01 8.07981336e-02 1.04133000e+02] [-2.30192541e-01 9.72825013e-01 -2.49577381e-02 -1.98851937e+01] [-8.43795105e-02 5.59690052e-03 9.96417971e-01 -8.61385399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48577952299999 meters 0.04417364459775724 Centerline is valid? [True, True] Translation: X:104.19, Y:-19.91, Z:-8.62 [[ 9.72180812e-01 2.20114054e-01 8.00891499e-02 1.04185865e+02] [-2.18816734e-01 9.75452313e-01 -2.47390825e-02 -1.99148760e+01] [-8.35685662e-02 6.52601506e-03 9.96480660e-01 -8.62037157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545779523 meters 0.048011298364023784 Centerline is valid? [True, True] Translation: X:104.24, Y:-19.94, Z:-8.62 [[ 9.74312389e-01 2.09627780e-01 8.22895091e-02 1.04243096e+02] [-2.08220754e-01 9.77751469e-01 -2.54201260e-02 -1.99361554e+01] [-8.57874530e-02 7.63275999e-03 9.96284223e-01 -8.62215255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605779523 meters 0.05496223825549161 Centerline is valid? [True, True] Translation: X:104.30, Y:-19.95, Z:-8.62 [[ 9.75609955e-01 2.03534107e-01 8.22136471e-02 1.04300543e+02] [-2.02108206e-01 9.79033837e-01 -2.53972419e-02 -1.99529097e+01] [-8.56591473e-02 8.16174931e-03 9.96291070e-01 -8.62406364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665779523 meters 0.04965342476740118 Centerline is valid? [True, True] Translation: X:104.36, Y:-19.96, Z:-8.63 [[ 9.75808580e-01 2.02725231e-01 8.18541201e-02 1.04362453e+02] [-2.01308798e-01 9.79201338e-01 -2.52884701e-02 -1.99606697e+01] [-8.52782749e-02 8.19875159e-03 9.96323440e-01 -8.63079792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725779523 meters 0.050352282642416014 Centerline is valid? [True, True] Translation: X:104.42, Y:-19.98, Z:-8.64 [[ 9.75467512e-01 2.04335705e-01 8.19149072e-02 1.04422323e+02] [-2.02921002e-01 9.78867490e-01 -2.53279190e-02 -1.99752133e+01] [-8.53592379e-02 8.08430706e-03 9.96317442e-01 -8.63664245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78577952299999 meters 0.048686449095567325 Centerline is valid? [True, True] Translation: X:104.48, Y:-19.98, Z:-8.64 [[ 9.74653557e-01 2.07572340e-01 8.34515851e-02 1.04483735e+02] [-2.06115217e-01 9.78187340e-01 -2.58078494e-02 -1.99812601e+01] [-8.69882798e-02 7.95307068e-03 9.96177589e-01 -8.63942140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84577952299999 meters 0.04906074269146813 Centerline is valid? [True, True] Translation: X:104.55, Y:-19.98, Z:-8.65 [[ 9.73429226e-01 2.13431103e-01 8.29620817e-02 1.04545774e+02] [-2.12012062e-01 9.76930196e-01 -2.56569222e-02 -1.99836747e+01] [-8.65241479e-02 7.38623591e-03 9.96222372e-01 -8.64682110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90577952299999 meters 0.04596436887506577 Centerline is valid? [True, True] Translation: X:104.61, Y:-19.99, Z:-8.66 [[ 9.72351090e-01 2.18862534e-01 8.14404572e-02 1.04607387e+02] [-2.17514018e-01 9.75732175e-01 -2.51867863e-02 -1.99869569e+01] [-8.49765183e-02 6.77595802e-03 9.96359914e-01 -8.65617247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965779523 meters 0.04750266554614404 Centerline is valid? [True, True] Translation: X:104.67, Y:-19.99, Z:-8.66 [[ 9.71412576e-01 2.22998836e-01 8.14194433e-02 1.04668370e+02] [-2.21665435e-01 9.74797621e-01 -2.51800157e-02 -1.99896937e+01] [-8.49825938e-02 6.41230760e-03 9.96361802e-01 -8.65806584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025779523 meters 0.04627772875411623 Centerline is valid? [True, True] Translation: X:104.73, Y:-20.00, Z:-8.66 [[ 9.70855519e-01 2.24846505e-01 8.29675218e-02 1.04728695e+02] [-2.23468651e-01 9.74373385e-01 -2.56567505e-02 -1.99963918e+01] [-8.66101757e-02 6.36835771e-03 9.96221924e-01 -8.65999116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085779523 meters 0.04595934018809387 Centerline is valid? [True, True] Translation: X:104.79, Y:-20.01, Z:-8.67 [[ 9.69589929e-01 2.30610187e-01 8.19409037e-02 1.04787387e+02] [-2.29286972e-01 9.73029064e-01 -2.53362518e-02 -2.00058496e+01] [-8.55736786e-02 5.77779292e-03 9.96315092e-01 -8.66825500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14577952299999 meters 0.04336339253368053 Centerline is valid? [True, True] Translation: X:104.85, Y:-20.01, Z:-8.67 [[ 9.68426388e-01 2.35444905e-01 8.19513679e-02 1.04849592e+02] [-2.34138662e-01 9.71872972e-01 -2.53379711e-02 -2.00102787e+01] [-8.56120157e-02 5.34997621e-03 9.96314188e-01 -8.67082541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20577952299999 meters 0.03803293274019911 Centerline is valid? [True, True] Translation: X:104.91, Y:-20.01, Z:-8.67 [[ 9.67060008e-01 2.41226966e-01 8.12680210e-02 1.04913148e+02] [-2.39962659e-01 9.70456863e-01 -2.51276439e-02 -2.00088470e+01] [-8.49285740e-02 4.79864913e-03 9.96375487e-01 -8.67298671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26577952299999 meters 0.03671855349435398 Centerline is valid? [True, True] Translation: X:104.97, Y:-20.03, Z:-8.68 [[ 9.65305223e-01 2.47665634e-01 8.27499843e-02 1.04969878e+02] [-2.46378263e-01 9.68835983e-01 -2.55849388e-02 -2.00269763e+01] [-8.65076725e-02 4.30947766e-03 9.96241864e-01 -8.67888688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325779523 meters 0.03447100958119653 Centerline is valid? [True, True] Translation: X:105.03, Y:-20.04, Z:-8.68 [[ 9.64709849e-01 2.49960690e-01 8.27922750e-02 1.05028212e+02] [-2.48680637e-01 9.68247291e-01 -2.55953929e-02 -2.00374175e+01] [-8.65612381e-02 4.10329187e-03 9.96238082e-01 -8.68142832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385779523 meters 0.03383063403775718 Centerline is valid? [True, True] Translation: X:105.09, Y:-20.05, Z:-8.69 [[ 9.64071823e-01 2.52744415e-01 8.17666186e-02 1.05087696e+02] [-2.51506451e-01 9.67525620e-01 -2.52720984e-02 -2.00483280e+01] [-8.54986801e-02 3.79928591e-03 9.96331040e-01 -8.68617253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445779523 meters 0.033046974354031824 Centerline is valid? [True, True] Translation: X:105.14, Y:-20.07, Z:-8.70 [[ 9.63864817e-01 2.53811672e-01 8.08965309e-02 1.05141289e+02] [-2.52604095e-01 9.67246729e-01 -2.49987254e-02 -2.00730785e+01] [-8.45918732e-02 3.66059693e-03 9.96408960e-01 -8.69651775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50577952299999 meters 0.036118115143188134 Centerline is valid? [True, True] Translation: X:105.20, Y:-20.10, Z:-8.70 [[ 9.65477126e-01 2.47656878e-01 8.07464523e-02 1.05195712e+02] [-2.46432833e-01 9.68838761e-01 -2.49462205e-02 -2.00972110e+01] [-8.44083959e-02 4.18642826e-03 9.96422449e-01 -8.70059577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56577952299999 meters 0.038293583019914326 Centerline is valid? [True, True] Translation: X:105.25, Y:-20.12, Z:-8.70 [[ 9.67139534e-01 2.41034356e-01 8.08922840e-02 1.05252119e+02] [-2.39782785e-01 9.70504845e-01 -2.49912501e-02 -2.01179727e+01] [-8.45301034e-02 4.77344885e-03 9.96409492e-01 -8.70274665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62577952299999 meters 0.03996109187638243 Centerline is valid? [True, True] Translation: X:105.31, Y:-20.14, Z:-8.71 [[ 9.69230636e-01 2.33091914e-01 7.91210016e-02 1.05307604e+02] [-2.31868356e-01 9.72440015e-01 -2.44434516e-02 -2.01403810e+01] [-8.26379989e-02 5.34568558e-03 9.96565294e-01 -8.70834293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685779523 meters 0.04471322384743919 Centerline is valid? [True, True] Translation: X:105.36, Y:-20.17, Z:-8.71 [[ 9.70916974e-01 2.25659023e-01 7.99889691e-02 1.05360228e+02] [-2.24383432e-01 9.74187602e-01 -2.47101472e-02 -2.01696950e+01] [-8.35003297e-02 6.04330193e-03 9.96489425e-01 -8.71192944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745779523 meters 0.049030817106482216 Centerline is valid? [True, True] Translation: X:105.42, Y:-20.19, Z:-8.72 [[ 9.72174036e-01 2.21110881e-01 7.73797313e-02 1.05415415e+02] [-2.19903189e-01 9.75228834e-01 -2.39020772e-02 -2.01897140e+01] [-8.07479544e-02 6.22092920e-03 9.96715139e-01 -8.71915711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805779523 meters 0.04815472318975409 Centerline is valid? [True, True] Translation: X:105.47, Y:-20.20, Z:-8.73 [[ 9.72541648e-01 2.19978318e-01 7.59755356e-02 1.05474014e+02] [-2.18810509e-01 9.75485044e-01 -2.34710614e-02 -2.02017440e+01] [-7.92761232e-02 6.20233912e-03 9.96833400e-01 -8.72705530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86577952299999 meters 0.05020789389625705 Centerline is valid? [True, True] Translation: X:105.53, Y:-20.22, Z:-8.73 [[ 9.72028298e-01 2.21193268e-01 7.89590121e-02 1.05529088e+02] [-2.19935964e-01 9.75209375e-01 -2.43894709e-02 -2.02195319e+01] [-8.23963556e-02 6.34132951e-03 9.96579464e-01 -8.72836112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92577952299999 meters 0.05545924772773558 Centerline is valid? [True, True] Translation: X:105.59, Y:-20.23, Z:-8.73 [[ 9.72304449e-01 2.20471555e-01 7.75651519e-02 1.05585282e+02] [-2.19256662e-01 9.75373177e-01 -2.39516512e-02 -2.02338450e+01] [-8.09356265e-02 6.28162072e-03 9.96699536e-01 -8.73234302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98577952299999 meters 0.0477685604895375 Centerline is valid? [True, True] Translation: X:105.65, Y:-20.24, Z:-8.74 [[ 9.72583226e-01 2.19776969e-01 7.60259950e-02 1.05645820e+02] [-2.18608606e-01 9.75530423e-01 -2.34664034e-02 -2.02350103e+01] [-7.93230460e-02 6.20309358e-03 9.96829662e-01 -8.73934258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045779523 meters 0.04515065422734941 Centerline is valid? [True, True] Translation: X:105.71, Y:-20.24, Z:-8.75 [[ 9.72689692e-01 2.20502093e-01 7.24816504e-02 1.05705394e+02] [-2.19442760e-01 9.75368956e-01 -2.23668389e-02 -2.02404543e+01] [-7.56282864e-02 5.85042020e-03 9.97118917e-01 -8.75012455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105779523 meters 0.04582001369085125 Centerline is valid? [True, True] Translation: X:105.76, Y:-20.25, Z:-8.75 [[ 9.72393675e-01 2.20750712e-01 7.56284601e-02 1.05762160e+02] [-2.19598316e-01 9.75311306e-01 -2.33331681e-02 -2.02531999e+01] [-7.89121056e-02 6.08114262e-03 9.96863029e-01 -8.75337962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 893.24 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%| | 0/3630 [00:00