+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters 0.03607624766629871 Centerline is valid? [0, True] SLAMing on 0.08483917299999999 meters 0.03802105226610018 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99940683e-01 -1.01841008e-02 -3.86181300e-03 5.95422544e-02] [ 1.01842004e-02 9.99948140e-01 6.11547528e-06 -1.21924059e-02] [ 3.86155044e-03 -4.54445900e-05 9.99992543e-01 -9.32952168e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144839173 meters 0.033440253441848214 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.03, Z:-0.03 [[ 9.99722346e-01 -2.10119891e-02 -1.06642743e-02 1.22610178e-01] [ 2.10133113e-02 9.99779196e-01 1.19375365e-05 -2.50195491e-02] [ 1.06616687e-02 -2.36025937e-04 9.99943135e-01 -2.56647075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20483917299999996 meters 0.03667166971946382 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.03, Z:-0.02 [[ 9.99686728e-01 -2.25405084e-02 -1.08798658e-02 1.82967625e-01] [ 2.25419122e-02 9.99745899e-01 6.39420891e-06 -2.77192744e-02] [ 1.08769571e-02 -2.51645186e-04 9.99940812e-01 -1.56854875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264839173 meters 0.03589272133122813 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.03, Z:-0.02 [[ 9.99438551e-01 -2.81803834e-02 -1.81231774e-02 2.44193503e-01] [ 2.81853981e-02 9.99602713e-01 2.12820569e-05 -2.88633837e-02] [ 1.81153775e-02 -5.32079076e-04 9.99835762e-01 -1.98038610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3248391729999999 meters 0.0362139270163413 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:-0.02 [[ 9.99446436e-01 -2.83243728e-02 -1.74513835e-02 3.05951116e-01] [ 2.83289514e-02 9.99598655e-01 1.51638975e-05 -3.02066980e-02] [ 1.74439499e-02 -5.09534898e-04 9.99847713e-01 -1.80750718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3848391729999999 meters 0.031296877840032225 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.00, Z:-0.01 [[ 9.99731792e-01 -1.51163148e-02 -1.75453997e-02 3.66078512e-01] [ 1.51190120e-02 9.99885701e-01 2.10824042e-05 -4.33910496e-03] [ 1.75430756e-02 -2.86345858e-04 9.99846067e-01 -1.17959117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4448391729999999 meters 0.028558593508985246 Centerline is valid? [True, True] Translation: X:0.43, Y:0.01, Z:-0.02 [[ 9.99822517e-01 -8.98703862e-05 -1.88395155e-02 4.26759554e-01] [ 9.03550747e-05 9.99999996e-01 2.48760310e-05 1.17208765e-02] [ 1.88395132e-02 -2.65738617e-05 9.99822520e-01 -1.65839303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5048391729999999 meters 0.030455925794554937 Centerline is valid? [True, True] Translation: X:0.49, Y:0.02, Z:-0.01 [[ 9.99842500e-01 7.49582770e-03 -1.60868898e-02 4.85306424e-01] [-7.49645768e-03 9.99971901e-01 2.11403943e-05 1.66977318e-02] [ 1.60865963e-02 9.94576241e-05 9.99870597e-01 -9.19961208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.564839173 meters 0.029999008869643757 Centerline is valid? [True, True] Translation: X:0.55, Y:0.01, Z:-0.01 [[ 9.99843474e-01 -4.93746668e-03 -1.69896908e-02 5.45045652e-01] [ 4.93864258e-03 9.99987804e-01 2.72568724e-05 1.37169888e-02] [ 1.69893490e-02 -1.11158616e-04 9.99855664e-01 -1.35828629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6248391729999999 meters 0.036571258432444485 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.00, Z:-0.01 [[ 9.99431876e-01 -2.58314492e-02 -2.16485961e-02 6.02588540e-01] [ 2.58381981e-02 9.99666138e-01 3.20457397e-05 -7.92777762e-04] [ 2.16405406e-02 -5.91388247e-04 9.99765641e-01 -8.58381726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.684839173 meters 0.044738031958514994 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.02, Z:-0.02 [[ 9.98524824e-01 -4.87578823e-02 -2.38923788e-02 6.64615721e-01] [ 4.87723670e-02 9.98809920e-01 2.35496443e-05 -1.55248062e-02] [ 2.38627967e-02 -1.18880277e-03 9.99714536e-01 -1.69684461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7448391729999999 meters 0.045042586440722024 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.02, Z:-0.02 [[ 9.98523421e-01 -4.77012582e-02 -2.59916766e-02 7.26040191e-01] [ 4.77180199e-02 9.98860846e-01 2.46730275e-05 -1.76777645e-02] [ 2.59608912e-02 -1.26490794e-03 9.99662159e-01 -2.17113422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.804839173 meters 0.04249238861887799 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.02, Z:-0.04 [[ 9.98341751e-01 -4.41121919e-02 -3.69846216e-02 7.88574334e-01] [ 4.41437950e-02 9.99025187e-01 3.79307319e-05 -1.94219241e-02] [ 3.69468953e-02 -1.67050939e-03 9.99315834e-01 -3.57716551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8648391729999999 meters 0.03557790749939788 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.01, Z:-0.05 [[ 9.97845631e-01 -4.71794943e-02 -4.55871982e-02 8.51715380e-01] [ 4.72306789e-02 9.98884008e-01 4.57188873e-05 -8.70742391e-03] [ 4.55341662e-02 -2.19873471e-03 9.98960362e-01 -5.42646173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.924839173 meters 0.04264836907598582 Centerline is valid? [True, True] Translation: X:0.92, Y:0.04, Z:-0.13 [[ 9.47844696e-01 -6.31810853e-02 -3.12407719e-01 9.20446743e-01] [ 6.66165509e-02 9.97778598e-01 3.24606819e-04 4.25092307e-02] [ 3.11693227e-01 -2.11192016e-02 9.49948057e-01 -1.29647097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9848391729999999 meters 0.04065757585746251 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.09 [[ 9.91065858e-01 -5.02661688e-02 -1.23538563e-01 9.75675206e-01] [ 5.06699253e-02 9.98715446e-01 1.26549968e-04 1.33901736e-02] [ 1.23373510e-01 -6.38510910e-03 9.92339764e-01 -8.71828565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0448391729999997 meters 0.038875401735630234 Centerline is valid? [True, True] Translation: X:1.03, Y:0.02, Z:-0.08 [[ 9.92990410e-01 -2.79271819e-02 -1.14848237e-01 1.03439918e+00] [ 2.81259649e-02 9.99604381e-01 1.10407155e-04 1.55276293e-02] [ 1.14799718e-01 -3.33985074e-03 9.93383043e-01 -8.36655973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1048391729999998 meters 0.03498171632479951 Centerline is valid? [True, True] Translation: X:1.09, Y:0.04, Z:-0.06 [[ 9.97312758e-01 -3.15560030e-02 -6.61171781e-02 1.09246751e+00] [ 3.16292306e-02 9.99499669e-01 6.08116835e-05 4.25045698e-02] [ 6.60821786e-02 -2.15188374e-03 9.97811864e-01 -5.79752200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1648391729999998 meters 0.056725708880295926 Centerline is valid? [True, True] Translation: X:1.16, Y:0.06, Z:-0.13 [[ 9.96132599e-01 4.42779961e-02 -7.58900816e-02 1.15880322e+00] [-4.44001757e-02 9.99013823e-01 7.73189238e-05 6.17954439e-02] [ 7.58186641e-02 3.29251306e-03 9.97116187e-01 -1.27748258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2248391729999997 meters 0.07522486020054397 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.08, Z:0.03 [[ 9.90772264e-01 4.46743287e-03 1.35463510e-01 1.20298914e+00] [-4.50058528e-03 9.99989870e-01 -6.15113874e-05 -7.85480555e-02] [-1.35462413e-01 -5.48721305e-04 9.90782334e-01 2.62935347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2848391729999997 meters 0.03450356381725892 Centerline is valid? [True, True] Translation: X:1.27, Y:0.06, Z:-0.04 [[ 9.98829524e-01 1.19511685e-02 -4.68695264e-02 1.27098530e+00] [-1.19633896e-02 9.99928436e-01 1.97679614e-05 6.34042816e-02] [ 4.68664084e-02 5.40973581e-04 9.98901020e-01 -3.80252016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3448391729999998 meters 0.03673078680749482 Centerline is valid? [True, True] Translation: X:1.33, Y:0.06, Z:0.00 [[ 9.99504631e-01 -4.30273548e-03 -3.11765820e-02 1.32644786e+00] [ 4.30527915e-03 9.99990732e-01 1.44609298e-05 5.79409815e-02] [ 3.11762308e-02 -1.48677655e-04 9.99513892e-01 1.35022191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4048391729999998 meters 0.041281828669870985 Centerline is valid? [True, True] Translation: X:1.39, Y:0.05, Z:-0.00 [[ 9.99040730e-01 -2.23668921e-02 -3.76476003e-02 1.38623994e+00] [ 2.23836069e-02 9.99749455e-01 2.24944505e-05 4.67351774e-02] [ 3.76376648e-02 -8.65161960e-04 9.99291078e-01 -9.42746627e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4648391729999997 meters 0.045040241120006236 Centerline is valid? [True, True] Translation: X:1.45, Y:0.05, Z:-0.01 [[ 9.98340977e-01 -3.76659511e-02 -4.35496140e-02 1.44679745e+00] [ 3.77027466e-02 9.99288998e-01 2.35658359e-05 5.32096854e-02] [ 4.35177625e-02 -1.66546680e-03 9.99051265e-01 -6.27085627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5248391729999997 meters 0.0831475994749295 Centerline is valid? [True, True] Translation: X:1.51, Y:0.05, Z:-0.05 [[ 9.97052580e-01 -7.65440042e-02 -5.21223664e-03 1.51134316e+00] [ 7.65450589e-02 9.97066123e-01 2.87818429e-06 5.26072227e-02] [ 5.19672428e-03 -4.01840662e-04 9.99986416e-01 -4.79240953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5848391729999998 meters 0.045864218898693694 Centerline is valid? [True, True] Translation: X:1.57, Y:0.08, Z:-0.00 [[ 9.97904283e-01 -4.06002352e-02 -5.03851532e-02 1.56687629e+00] [ 4.06529693e-02 9.99173326e-01 2.18348593e-05 7.99208935e-02] [ 5.03426146e-02 -2.07009519e-03 9.98729861e-01 -6.09848333e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6448391729999996 meters 0.04219503679342845 Centerline is valid? [True, True] Translation: X:1.63, Y:0.07, Z:0.01 [[ 9.98181407e-01 -2.94067059e-02 -5.26224766e-02 1.62545420e+00] [ 2.94488149e-02 9.99566289e-01 2.48489968e-05 7.23887229e-02] [ 5.25989229e-02 -1.57447338e-03 9.98614477e-01 8.48028487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7048391729999997 meters 0.04152135737964106 Centerline is valid? [True, True] Translation: X:1.69, Y:0.10, Z:-0.03 [[ 9.96648739e-01 -2.21071956e-02 -7.87563555e-02 1.69103479e+00] [ 2.21787854e-02 9.99754020e-01 3.42926371e-05 9.88785073e-02] [ 7.87362249e-02 -1.78089802e-03 9.96893894e-01 -3.49640353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7648391729999997 meters 0.0421754924591889 Centerline is valid? [True, True] Translation: X:1.75, Y:0.07, Z:0.01 [[ 9.97869264e-01 -2.81980261e-02 -5.88370880e-02 1.74600423e+00] [ 2.82485401e-02 9.99600930e-01 2.67994876e-05 7.33251954e-02] [ 5.88128522e-02 -1.68880422e-03 9.98267598e-01 1.17557609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8248391729999998 meters 0.040009620890237435 Centerline is valid? [True, True] Translation: X:1.81, Y:0.08, Z:0.01 [[ 9.97506380e-01 -2.21477348e-02 -6.70111925e-02 1.80754136e+00] [ 2.21994399e-02 9.99753562e-01 2.69531175e-05 7.70953579e-02] [ 6.69940814e-02 -1.51449685e-03 9.97752223e-01 5.91468584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8848391729999996 meters 0.0389393863214283 Centerline is valid? [True, True] Translation: X:1.87, Y:0.09, Z:0.00 [[ 9.97679883e-01 -1.33392252e-02 -6.67601314e-02 1.86788451e+00] [ 1.33708545e-02 9.99910606e-01 2.69588249e-05 8.81905757e-02] [ 6.67538038e-02 -9.19536281e-04 9.97769054e-01 4.41838998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9448391729999996 meters 0.03892636048067435 Centerline is valid? [True, True] Translation: X:1.93, Y:0.10, Z:0.01 [[ 9.97737989e-01 -6.37857676e-03 -6.69194899e-02 1.92625980e+00] [ 6.39522529e-03 9.99979550e-01 3.45626186e-05 1.04561243e-01] [ 6.69179009e-02 -4.62449652e-04 9.97758378e-01 8.33058397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0048391729999997 meters 0.039530050898080364 Centerline is valid? [True, True] Translation: X:1.98, Y:0.13, Z:0.01 [[ 9.97614815e-01 2.50970263e-03 -6.89810267e-02 1.98480456e+00] [-2.51505840e-03 9.99996837e-01 9.20784671e-06 1.27517019e-01] [ 6.89808317e-02 1.64305427e-04 9.97617972e-01 1.38178770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0648391729999998 meters 0.04116388511012089 Centerline is valid? [True, True] Translation: X:2.05, Y:0.14, Z:0.01 [[ 9.97043916e-01 1.19965684e-02 -7.58914439e-02 2.04548866e+00] [-1.20310496e-02 9.99927624e-01 2.83639294e-06 1.40659801e-01] [ 7.58859853e-02 9.10225721e-04 9.97116086e-01 9.89921818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.124839173 meters 0.04280643662560416 Centerline is valid? [True, True] Translation: X:2.11, Y:0.15, Z:0.00 [[ 9.95780595e-01 1.69681455e-02 -9.01836380e-02 2.10589725e+00] [-1.70378380e-02 9.99854845e-01 -2.94928754e-06 1.53699816e-01] [ 9.01704974e-02 1.53947106e-03 9.95925154e-01 7.07485026e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.184839173 meters 0.04588987115597901 Centerline is valid? [True, True] Translation: X:2.16, Y:0.16, Z:-0.01 [[ 9.94884707e-01 1.99810535e-02 -9.90210975e-02 2.16466472e+00] [-2.00804495e-02 9.99798367e-01 -7.14374733e-06 1.55239180e-01] [ 9.90009889e-02 1.99549535e-03 9.95085334e-01 -1.25926842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters 0.04700463167091544 Centerline is valid? [True, True] Translation: X:2.22, Y:0.16, Z:-0.00 [[ 9.94867387e-01 2.01931038e-02 -9.91520103e-02 2.22235246e+00] [-2.02950718e-02 9.99794034e-01 -1.97718302e-05 1.63023130e-01] [ 9.91311890e-02 2.03196752e-03 9.95072298e-01 -3.93358460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.304839173 meters 0.04788958634291169 Centerline is valid? [True, True] Translation: X:2.28, Y:0.16, Z:-0.01 [[ 9.93906741e-01 1.04188016e-02 -1.09730760e-01 2.28239734e+00] [-1.04878359e-02 9.99945000e-01 -5.19662267e-05 1.56210501e-01] [ 1.09724184e-01 1.20248779e-03 9.93961346e-01 -9.95113412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.364839173 meters 0.052767014337516696 Centerline is valid? [True, True] Translation: X:2.34, Y:0.14, Z:-0.02 [[ 9.91433393e-01 -1.23464790e-02 -1.30028424e-01 2.34408704e+00] [ 1.24434095e-02 9.99922576e-01 -6.69961415e-05 1.37392296e-01] [ 1.30019184e-01 -1.55157472e-03 9.91510264e-01 -2.13435619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4248391729999996 meters 0.053762833909700214 Centerline is valid? [True, True] Translation: X:2.40, Y:0.13, Z:-0.02 [[ 9.92652144e-01 -1.12738891e-02 -1.20476638e-01 2.40260641e+00] [ 1.13486108e-02 9.99935600e-01 -6.59066513e-05 1.27028814e-01] [ 1.20469623e-01 -1.30182010e-03 9.92716160e-01 -1.74324130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4848391729999997 meters 0.05394040032353361 Centerline is valid? [True, True] Translation: X:2.46, Y:0.13, Z:-0.02 [[ 9.92462211e-01 -7.45437403e-03 -1.22324127e-01 2.46057712e+00] [ 7.50123275e-03 9.99971862e-01 -7.74519168e-05 1.27540971e-01] [ 1.22321263e-01 -8.40713650e-04 9.92490202e-01 -1.57655781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5448391729999997 meters 0.05373756899415451 Centerline is valid? [True, True] Translation: X:2.52, Y:0.13, Z:-0.00 [[ 9.93206321e-01 -5.69623987e-03 -1.16227173e-01 2.51851340e+00] [ 5.72275367e-03 9.99983619e-01 -1.05581449e-04 1.26693075e-01] [ 1.16225871e-01 -5.60275319e-04 9.93222650e-01 -4.11101981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.604839173 meters 0.052696594392504084 Centerline is valid? [True, True] Translation: X:2.57, Y:0.14, Z:0.03 [[ 9.94223181e-01 -6.15364880e-03 -1.07155959e-01 2.57319668e+00] [ 6.17793464e-03 9.99980911e-01 -1.05318447e-04 1.43881106e-01] [ 1.07154561e-01 -5.57292468e-04 9.94242219e-01 2.83229862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.664839173 meters 0.05342320044107589 Centerline is valid? [True, True] Translation: X:2.63, Y:0.16, Z:0.05 [[ 9.94975905e-01 -6.85514741e-04 -1.00112332e-01 2.62934412e+00] [ 6.78159409e-04 9.99999764e-01 -1.07502322e-04 1.57918866e-01] [ 1.00112382e-01 3.90700997e-05 9.94976135e-01 4.68415466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.724839173 meters 0.05463183682175556 Centerline is valid? [True, True] Translation: X:2.69, Y:0.17, Z:0.05 [[ 9.94451374e-01 3.98972789e-03 -1.05121580e-01 2.68851340e+00] [-4.02504572e-03 9.99991892e-01 -1.23825251e-04 1.65016033e-01] [ 1.05120234e-01 5.46257359e-04 9.94459370e-01 4.94126579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.784839173 meters 0.05618239560849856 Centerline is valid? [True, True] Translation: X:2.75, Y:0.17, Z:0.04 [[ 9.92725467e-01 1.89438164e-03 -1.20385045e-01 2.74904490e+00] [-1.92935636e-03 9.99998124e-01 -1.73967717e-04 1.66153559e-01] [ 1.20384490e-01 4.04967835e-04 9.92727259e-01 3.98925743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8448391729999996 meters 0.05757570342539831 Centerline is valid? [True, True] Translation: X:2.81, Y:0.17, Z:0.04 [[ 9.91981769e-01 2.48347627e-03 -1.26356647e-01 2.80781325e+00] [-2.52776059e-03 9.99996787e-01 -1.90129596e-04 1.73156030e-01] [ 1.26355769e-01 5.08004447e-04 9.91984860e-01 4.18283050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9048391729999996 meters 0.05861183725695117 Centerline is valid? [True, True] Translation: X:2.87, Y:0.18, Z:0.04 [[ 9.91474789e-01 4.82582118e-03 -1.30209270e-01 2.86763694e+00] [-4.89390262e-03 9.99988004e-01 -2.02887123e-04 1.80129318e-01] [ 1.30206728e-01 8.38388953e-04 9.91486513e-01 4.46216735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9648391729999997 meters 0.06158703436537425 Centerline is valid? [True, True] Translation: X:2.93, Y:0.18, Z:0.03 [[ 9.89932532e-01 9.53398001e-03 -1.41218573e-01 2.92960066e+00] [-9.66250152e-03 9.99953292e-01 -2.24403231e-04 1.83364137e-01] [ 1.41209837e-01 1.58666873e-03 9.89978416e-01 3.36621698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0248391729999997 meters 0.0637776999309925 Centerline is valid? [True, True] Translation: X:2.99, Y:0.19, Z:0.04 [[ 9.89565200e-01 1.16256399e-02 -1.43616017e-01 2.98753835e+00] [-1.17811050e-02 9.99930573e-01 -2.32138313e-04 1.92165489e-01] [ 1.43603348e-01 1.92167138e-03 9.89633460e-01 3.80225649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0848391729999998 meters 0.0690312925847685 Centerline is valid? [True, True] Translation: X:3.05, Y:0.20, Z:0.03 [[ 9.87721760e-01 2.25579332e-02 -1.54586106e-01 3.04883753e+00] [-2.28729250e-02 9.99738347e-01 -2.59110616e-04 2.00208870e-01] [ 1.54539813e-01 3.79176559e-03 9.87979286e-01 3.30101130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.144839173 meters 0.0738131896252697 Centerline is valid? [True, True] Translation: X:3.11, Y:0.21, Z:0.04 [[ 9.86310581e-01 3.47568079e-02 -1.61193680e-01 3.10835805e+00] [-3.52623143e-02 9.99378053e-01 -2.75461641e-04 2.09784814e-01] [ 1.61083852e-01 5.95575293e-03 9.86922754e-01 3.69762016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204839173 meters 0.07497813549977253 Centerline is valid? [True, True] Translation: X:3.17, Y:0.22, Z:0.05 [[ 9.86780012e-01 3.46543091e-02 -1.58317044e-01 3.16682376e+00] [-3.51412664e-02 9.99382317e-01 -2.76632038e-04 2.18334679e-01] [ 1.58209668e-01 5.83643639e-03 9.87388291e-01 4.80227301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2648391729999995 meters 0.06976136917348026 Centerline is valid? [True, True] Translation: X:3.23, Y:0.19, Z:0.07 [[ 9.89121537e-01 1.93160083e-02 -1.45826875e-01 3.22527701e+00] [-1.95630374e-02 9.99808592e-01 -2.59969608e-04 1.90070197e-01] [ 1.45793941e-01 3.10995815e-03 9.89310090e-01 6.50955333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3248391729999995 meters 0.06781891037917072 Centerline is valid? [True, True] Translation: X:3.28, Y:0.16, Z:0.08 [[ 9.90592109e-01 2.65794797e-03 -1.36821818e-01 3.28327579e+00] [-2.71759353e-03 9.99996276e-01 -2.49146207e-04 1.63150602e-01] [ 1.36820646e-01 6.18628354e-04 9.90595643e-01 7.95851031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3848391729999996 meters 0.06798467297280163 Centerline is valid? [True, True] Translation: X:3.34, Y:0.14, Z:0.09 [[ 9.91948423e-01 -1.20487989e-02 -1.26068047e-01 3.34250289e+00] [ 1.21159729e-02 9.99926572e-01 -2.33953204e-04 1.43583905e-01] [ 1.26061609e-01 -1.29536752e-03 9.92021569e-01 9.38027564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4448391729999996 meters 0.06877555943766782 Centerline is valid? [True, True] Translation: X:3.40, Y:0.14, Z:0.12 [[ 9.94244261e-01 -1.85273773e-02 -1.05522916e-01 3.40029970e+00] [ 1.86104366e-02 9.99826791e-01 -1.97571938e-04 1.39966777e-01] [ 1.05508299e-01 -1.76739277e-03 9.94416852e-01 1.21553566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5048391729999997 meters 0.06952042532606857 Centerline is valid? [True, True] Translation: X:3.46, Y:0.14, Z:0.13 [[ 9.93760729e-01 -2.03854624e-02 -1.09654213e-01 3.45766208e+00] [ 2.04861476e-02 9.99790115e-01 -2.08426384e-04 1.38942213e-01] [ 1.09635447e-01 -2.03926644e-03 9.93969773e-01 1.26806369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5648391729999998 meters 0.07070666964489193 Centerline is valid? [True, True] Translation: X:3.51, Y:0.14, Z:0.14 [[ 9.94734312e-01 -2.23404193e-02 -1.00022767e-01 3.51427383e+00] [ 2.24326608e-02 9.99748336e-01 -2.02550641e-04 1.37010050e-01] [ 1.00002120e-01 -2.04229272e-03 9.94985128e-01 1.37833563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.624839173 meters 0.07084022547773962 Centerline is valid? [True, True] Translation: X:3.57, Y:0.13, Z:0.15 [[ 9.95254670e-01 -2.23919780e-02 -9.46928779e-02 3.57262091e+00] [ 2.24722649e-02 9.99747443e-01 -2.18560894e-04 1.32597874e-01] [ 9.46738566e-02 -1.91043969e-03 9.95506510e-01 1.48494028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6848391729999994 meters 0.0718261456180096 Centerline is valid? [True, True] Translation: X:3.63, Y:0.12, Z:0.15 [[ 9.94419543e-01 -2.48546037e-02 -1.02528149e-01 3.63072374e+00] [ 2.49589095e-02 9.99688443e-01 -2.65611784e-04 1.21322737e-01] [ 1.02502807e-01 -2.29486125e-03 9.94730068e-01 1.49088882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7448391729999995 meters 0.07356261483895377 Centerline is valid? [True, True] Translation: X:3.69, Y:0.10, Z:0.16 [[ 9.94957730e-01 -2.87058352e-02 -9.60993747e-02 3.68988886e+00] [ 2.88144610e-02 9.99584744e-01 -2.57485218e-04 9.79615957e-02] [ 9.60668602e-02 -2.51286478e-03 9.95371711e-01 1.58327764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8048391729999995 meters 0.07391624428323752 Centerline is valid? [True, True] Translation: X:3.75, Y:0.08, Z:0.16 [[ 9.94893884e-01 -3.16038878e-02 -9.58506853e-02 3.74815601e+00] [ 3.17250416e-02 9.99496600e-01 -2.60076582e-04 8.23731389e-02] [ 9.58106535e-02 -2.78211838e-03 9.95395689e-01 1.62341127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8648391729999996 meters 0.07715778613916853 Centerline is valid? [True, True] Translation: X:3.81, Y:0.06, Z:0.17 [[ 9.94544852e-01 -4.05405912e-02 -9.61093018e-02 3.80708663e+00] [ 4.07030013e-02 9.99171253e-01 -2.70867591e-04 5.75188224e-02] [ 9.60406326e-02 -3.64254706e-03 9.95370749e-01 1.68229188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9248391729999996 meters 0.078516148586916 Centerline is valid? [True, True] Translation: X:3.87, Y:0.04, Z:0.18 [[ 9.95454127e-01 -4.18160180e-02 -8.55716221e-02 3.86508344e+00] [ 4.19493032e-02 9.99119712e-01 -2.40743650e-04 4.02112548e-02] [ 8.55063614e-02 -3.35002067e-03 9.96331993e-01 1.83585574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9848391729999997 meters 0.07725915335146402 Centerline is valid? [True, True] Translation: X:3.92, Y:0.04, Z:0.19 [[ 9.95786463e-01 -4.07184290e-02 -8.21664782e-02 3.92264063e+00] [ 4.08370357e-02 9.99165792e-01 -2.37250088e-04 4.16241883e-02] [ 8.21075948e-02 -3.11918498e-03 9.96618590e-01 1.93732093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044839173 meters 0.07747744706306406 Centerline is valid? [True, True] Translation: X:3.98, Y:0.03, Z:0.20 [[ 9.96542647e-01 -3.60086157e-02 -7.48741042e-02 3.97855880e+00] [ 3.60934974e-02 9.99348393e-01 -2.19605515e-04 3.33777149e-02] [ 7.48332234e-02 -2.48362203e-03 9.97192970e-01 2.02826583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.104839172999999 meters 0.07735381714163851 Centerline is valid? [True, True] Translation: X:4.04, Y:0.04, Z:0.22 [[ 9.97218878e-01 -3.47833634e-02 -6.59137904e-02 4.03706908e+00] [ 3.48452203e-02 9.99392699e-01 -2.11306113e-04 3.81865479e-02] [ 6.58811108e-02 -2.08606210e-03 9.97825299e-01 2.19577491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164839173 meters 0.07827869142622201 Centerline is valid? [True, True] Translation: X:4.10, Y:0.03, Z:0.22 [[ 9.96990648e-01 -3.79287422e-02 -6.76096058e-02 4.09621111e+00] [ 3.80015253e-02 9.99277659e-01 -2.09725380e-04 3.43860689e-02] [ 6.75687232e-02 -2.36017390e-03 9.97711831e-01 2.22462389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2248391729999994 meters 0.0770412212803065 Centerline is valid? [True, True] Translation: X:4.16, Y:0.04, Z:0.23 [[ 9.97464938e-01 -3.73363742e-02 -6.05779917e-02 4.15537364e+00] [ 3.73922566e-02 9.99300643e-01 -2.11262388e-04 3.50472472e-02] [ 6.05435138e-02 -2.05442099e-03 9.98163445e-01 2.34216163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284839173 meters 0.07630479042938362 Centerline is valid? [True, True] Translation: X:4.21, Y:0.05, Z:0.24 [[ 9.97851678e-01 -3.10778289e-02 -5.76731896e-02 4.21392822e+00] [ 3.11185793e-02 9.99515681e-01 -1.91609504e-04 5.12473102e-02] [ 5.76512122e-02 -1.60350986e-03 9.98335498e-01 2.41923710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3448391729999996 meters 0.07857396144769717 Centerline is valid? [True, True] Translation: X:4.27, Y:0.03, Z:0.24 [[ 9.97312961e-01 -3.81021691e-02 -6.25706249e-02 4.27171950e+00] [ 3.81623887e-02 9.99271524e-01 -2.32821313e-04 3.48870734e-02] [ 6.25339147e-02 -2.15564879e-03 9.98040512e-01 2.40812188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404839172999999 meters 0.07968787221665863 Centerline is valid? [True, True] Translation: X:4.33, Y:0.03, Z:0.25 [[ 9.97131254e-01 -4.18556379e-02 -6.30663714e-02 4.33046604e+00] [ 4.19238105e-02 9.99120781e-01 -2.42536345e-04 3.15695665e-02] [ 6.30210738e-02 -2.40214203e-03 9.98009306e-01 2.47171992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464839173 meters 0.08258066217253282 Centerline is valid? [True, True] Translation: X:4.39, Y:0.02, Z:0.25 [[ 9.96379225e-01 -5.06013808e-02 -6.83223269e-02 4.39086308e+00] [ 5.07015300e-02 9.98713814e-01 -2.68533428e-04 2.16251869e-02] [ 6.82480398e-02 -3.19648538e-03 9.97663264e-01 2.46878526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524839172999999 meters 0.08265991805126768 Centerline is valid? [True, True] Translation: X:4.45, Y:0.02, Z:0.25 [[ 9.96451463e-01 -5.05313481e-02 -6.73131901e-02 4.44931714e+00] [ 5.06288738e-02 9.98717503e-01 -2.57399873e-04 2.22856054e-02] [ 6.72398679e-02 -3.15150453e-03 9.97731862e-01 2.54657176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584839173 meters 0.08197826122352571 Centerline is valid? [True, True] Translation: X:4.51, Y:0.02, Z:0.26 [[ 9.96820261e-01 -4.56072789e-02 -6.53402090e-02 4.50840828e+00] [ 4.56869761e-02 9.98955767e-01 -2.74729029e-04 2.29309705e-02] [ 6.52845082e-02 -2.71134110e-03 9.97863007e-01 2.60682692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.644839172999999 meters 0.08404002987333488 Centerline is valid? [True, True] Translation: X:4.57, Y:0.01, Z:0.27 [[ 9.96765112e-01 -5.17972330e-02 -6.14520830e-02 4.56859072e+00] [ 5.18792005e-02 9.98653333e-01 -2.62030195e-04 6.81824048e-03] [ 6.13829000e-02 -2.92690238e-03 9.98110000e-01 2.68452673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704839173 meters 0.08195932771873765 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.00, Z:0.27 [[ 9.96505160e-01 -5.40323037e-02 -6.37022410e-02 4.62665350e+00] [ 5.41257405e-02 9.98534094e-01 -2.59294932e-04 -4.16318906e-03] [ 6.36228698e-02 -3.18954223e-03 9.97968916e-01 2.65644807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7648391729999995 meters 0.08145697727353969 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.01, Z:0.27 [[ 9.96506629e-01 -5.32057226e-02 -6.43714882e-02 4.68520752e+00] [ 5.32979643e-02 9.98578613e-01 -2.84627426e-04 -6.15708001e-03] [ 6.42951352e-02 -3.14723616e-03 9.97925964e-01 2.70903571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824839172999999 meters 0.07988679360461595 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.01, Z:0.28 [[ 9.96826830e-01 -4.74845516e-02 -6.38865218e-02 4.74407942e+00] [ 4.75619692e-02 9.98868241e-01 -3.09354959e-04 -1.26258430e-02] [ 6.38289072e-02 -2.73019546e-03 9.97957122e-01 2.80739653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884839173 meters 0.07850495432159792 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.02, Z:0.29 [[ 9.96942505e-01 -4.33291626e-02 -6.50248036e-02 4.80366174e+00] [ 4.34003370e-02 9.99057711e-01 -3.18236344e-04 -2.29833383e-02] [ 6.49773203e-02 -2.50483505e-03 9.97883597e-01 2.87444589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944839172999999 meters 0.07835330963612525 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.04, Z:0.30 [[ 9.96972418e-01 -4.03308734e-02 -6.64787035e-02 4.86232503e+00] [ 4.03985819e-02 9.99183591e-01 -3.26044625e-04 -3.53700721e-02] [ 6.64375793e-02 -2.36058785e-03 9.97787791e-01 2.99523315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004839173 meters 0.07921852588588024 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.06, Z:0.31 [[ 9.97001088e-01 -4.10225345e-02 -6.56199906e-02 4.92021117e+00] [ 4.10904035e-02 9.99155383e-01 -3.15592856e-04 -5.55066143e-02] [ 6.55775133e-02 -2.38170547e-03 9.97844636e-01 3.10103340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064839172999999 meters 0.07909363270803162 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.07, Z:0.32 [[ 9.96849209e-01 -4.18133055e-02 -6.74040135e-02 4.97853589e+00] [ 4.18853635e-02 9.99122364e-01 -3.44447346e-04 -6.82076072e-02] [ 6.73592598e-02 -2.47987954e-03 9.97725704e-01 3.17675075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124839173 meters 0.07934558268235264 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.07, Z:0.33 [[ 9.96702924e-01 -4.37689782e-02 -6.83195339e-02 5.03651504e+00] [ 4.38462289e-02 9.99038223e-01 -3.69114253e-04 -7.45635817e-02] [ 6.82699815e-02 -2.62765666e-03 9.97663423e-01 3.25836705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.184839172999999 meters 0.08239080535462183 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.11, Z:0.33 [[ 9.96321727e-01 -5.02743103e-02 -6.93938700e-02 5.09635789e+00] [ 5.03677104e-02 9.98730660e-01 -4.04226182e-04 -1.07425945e-01] [ 6.93261077e-02 -3.09247102e-03 9.97589258e-01 3.27886157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244839172999999 meters 0.08117843192916868 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.11, Z:0.33 [[ 9.96243126e-01 -5.00307146e-02 -7.06863649e-02 5.15520743e+00] [ 5.01275092e-02 9.98742744e-01 -4.04981612e-04 -1.11244190e-01] [ 7.06177556e-02 -3.13987126e-03 9.97498508e-01 3.31518438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3048391729999995 meters 0.07972474604316294 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.12, Z:0.34 [[ 9.97120761e-01 -4.21633039e-02 -6.30273193e-02 5.21295968e+00] [ 4.22235607e-02 9.99108117e-01 -3.76188836e-04 -1.15981653e-01] [ 6.29869677e-02 -2.28613215e-03 9.98011731e-01 3.44287618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364839172999999 meters 0.0788173335768765 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.13, Z:0.34 [[ 9.96762946e-01 -3.89981980e-02 -7.03048403e-02 5.27381455e+00] [ 3.90631056e-02 9.99236643e-01 -4.51921052e-04 -1.26517963e-01] [ 7.02687968e-02 -2.29586724e-03 9.97525451e-01 3.43107622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424839173 meters 0.07851514366758258 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.14, Z:0.35 [[ 9.97064435e-01 -3.63035060e-02 -6.74134112e-02 5.33135943e+00] [ 3.63577386e-02 9.99338749e-01 -4.22649318e-04 -1.36326059e-01] [ 6.73841777e-02 -2.02959058e-03 9.97725039e-01 3.50553003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484839172999999 meters 0.07813910072058247 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.14, Z:0.35 [[ 9.96722051e-01 -3.49474021e-02 -7.29645952e-02 5.39125558e+00] [ 3.50047448e-02 9.99387024e-01 -4.93104842e-04 -1.40495148e-01] [ 7.29371024e-02 -2.06261856e-03 9.97334410e-01 3.52186817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.544839173 meters 0.08021985283297513 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.16, Z:0.36 [[ 9.96754172e-01 -3.93681894e-02 -7.02229698e-02 5.44971046e+00] [ 3.94319672e-02 9.99222143e-01 -4.78316534e-04 -1.58770663e-01] [ 7.01871769e-02 -2.29226584e-03 9.97531205e-01 3.60017380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.604839172999999 meters 0.08133596300923823 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.17, Z:0.36 [[ 9.96424931e-01 -4.42389473e-02 -7.19741070e-02 5.50909677e+00] [ 4.43186317e-02 9.99017326e-01 -4.90250325e-04 -1.65202162e-01] [ 7.19250681e-02 -2.70129629e-03 9.97406380e-01 3.64250552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.664839172999999 meters 0.07991595559638118 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.16, Z:0.37 [[ 9.96827001e-01 -3.72644392e-02 -7.03369918e-02 5.56895201e+00] [ 3.73229578e-02 9.99303139e-01 -4.82519157e-04 -1.60898162e-01] [ 7.03059575e-02 -2.14419646e-03 9.97523170e-01 3.68106338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7248391729999994 meters 0.08041385353258884 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.17, Z:0.38 [[ 9.97078411e-01 -3.77100977e-02 -6.64273396e-02 5.62774123e+00] [ 3.77632656e-02 9.99286610e-01 -4.55518563e-04 -1.66636092e-01] [ 6.63971287e-02 -2.05432554e-03 9.97791161e-01 3.77010495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.784839172999999 meters 0.07933934184971264 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.16, Z:0.39 [[ 9.97565397e-01 -3.11812702e-02 -6.23779367e-02 5.68504917e+00] [ 3.12157188e-02 9.99512581e-01 -4.22439333e-04 -1.59639128e-01] [ 6.23607047e-02 -1.52576127e-03 9.98052511e-01 3.90116426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8448391729999996 meters 0.08001974840956635 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.18, Z:0.39 [[ 9.97073084e-01 -3.66807139e-02 -6.70804769e-02 5.74441430e+00] [ 3.67315649e-02 9.99325055e-01 -4.75574739e-04 -1.76125468e-01] [ 6.70526457e-02 -1.98978812e-03 9.97747455e-01 3.88561979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.904839172999999 meters 0.08350629361368384 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.20, Z:0.39 [[ 9.96205147e-01 -4.98187319e-02 -7.13680596e-02 5.80373920e+00] [ 4.99076296e-02 9.98753693e-01 -5.38126390e-04 -2.03067304e-01] [ 7.13059218e-02 -3.02572640e-03 9.97449904e-01 3.91448243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964839173 meters 0.08430520715318213 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.21, Z:0.40 [[ 9.96311416e-01 -5.07276564e-02 -6.92117497e-02 5.86146319e+00] [ 5.08135896e-02 9.98708020e-01 -5.19532642e-04 -2.08823131e-01] [ 6.91486842e-02 -2.99928115e-03 9.97601856e-01 4.00377635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024839172999999 meters 0.08249484309941456 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.20, Z:0.40 [[ 9.96433109e-01 -4.31114457e-02 -7.25428348e-02 5.92019727e+00] [ 4.31851942e-02 9.99066932e-01 -5.52260532e-04 -2.04467314e-01] [ 7.24989562e-02 -2.58248573e-03 9.97365145e-01 4.03904265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.084839172999999 meters 0.08065126306771943 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.20, Z:0.41 [[ 9.97049531e-01 -3.46069713e-02 -6.85170805e-02 5.97945528e+00] [ 3.46523980e-02 9.99399287e-01 -5.25785616e-04 -1.98110704e-01] [ 6.84941172e-02 -1.85004684e-03 9.97649805e-01 4.14094325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.144839172999999 meters 0.0795192175085098 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.19, Z:0.42 [[ 9.97219003e-01 -3.36315582e-02 -6.65069754e-02 6.03832511e+00] [ 3.36727567e-02 9.99432786e-01 -5.01737339e-04 -1.94499744e-01] [ 6.64861259e-02 -1.73913120e-03 9.97785834e-01 4.18677124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.204839172999999 meters 0.08059828271020629 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.21, Z:0.42 [[ 9.96653428e-01 -3.83821319e-02 -7.21717154e-02 6.09586673e+00] [ 3.84409251e-02 9.99260709e-01 -5.74692979e-04 -2.09323596e-01] [ 7.21404175e-02 -2.20157778e-03 9.97392056e-01 4.22927863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2648391729999995 meters 0.08249643477270001 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.23, Z:0.42 [[ 9.96065672e-01 -4.70927081e-02 -7.50696650e-02 6.15644004e+00] [ 4.71802064e-02 9.98886209e-01 -6.08403328e-04 -2.26088191e-01] [ 7.50147044e-02 -2.93579262e-03 9.97178106e-01 4.24336781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.324839172999999 meters 0.08108750109919856 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.22, Z:0.43 [[ 9.96543389e-01 -3.97911680e-02 -7.29241913e-02 6.21621505e+00] [ 3.98541005e-02 9.99205334e-01 -5.92491280e-04 -2.17234222e-01] [ 7.28898168e-02 -2.31588478e-03 9.97337311e-01 4.31836432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384839173 meters 0.08082224755735178 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.22, Z:0.44 [[ 9.96360019e-01 -4.24368233e-02 -7.39312427e-02 6.27460103e+00] [ 4.25092362e-02 9.99095897e-01 -5.94506741e-04 -2.20501467e-01] [ 7.38896303e-02 -2.55041792e-03 9.97263164e-01 4.37029220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444839172999999 meters 0.08086517772903519 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.22, Z:0.44 [[ 9.96178831e-01 -3.99602321e-02 -7.76589782e-02 6.33283045e+00] [ 4.00302760e-02 9.99198252e-01 -6.55179206e-04 -2.16845371e-01] [ 7.76228964e-02 -2.45603467e-03 9.96979766e-01 4.41700590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504839172999999 meters 0.08079698292439647 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.22, Z:0.45 [[ 9.96471600e-01 -3.87743389e-02 -7.44372275e-02 6.39151131e+00] [ 3.88354838e-02 9.99245422e-01 -6.26352245e-04 -2.22204919e-01] [ 7.44053452e-02 -2.26666352e-03 9.97225505e-01 4.48023484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.564839172999999 meters 0.08150478139472218 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.23, Z:0.46 [[ 9.96377770e-01 -4.34011909e-02 -7.31278008e-02 6.45024635e+00] [ 4.34707041e-02 9.99054496e-01 -6.41503793e-04 -2.27988290e-01] [ 7.30865002e-02 -2.53973687e-03 9.97322372e-01 4.56011176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624839172999999 meters 0.08094753595375331 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.23, Z:0.47 [[ 9.96844497e-01 -4.02661541e-02 -6.84082208e-02 6.50806759e+00] [ 4.03196467e-02 9.99186653e-01 -5.99135871e-04 -2.28125168e-01] [ 6.83767060e-02 -2.16095000e-03 9.97657234e-01 4.67253071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.684839172999999 meters 0.08060812087159411 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.23, Z:0.48 [[ 9.96998786e-01 -3.84458377e-02 -6.71962736e-02 6.56611774e+00] [ 3.84920193e-02 9.99258723e-01 -6.07804261e-04 -2.28391386e-01] [ 6.71698301e-02 -1.98054015e-03 9.97739591e-01 4.75138057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744839172999999 meters 0.07896959427791501 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.22, Z:0.48 [[ 9.97191546e-01 -3.07640472e-02 -6.82831889e-02 6.62564177e+00] [ 3.07917785e-02 9.99525612e-01 -6.46599818e-04 -2.19611610e-01] [ 6.82706882e-02 -1.45777696e-03 9.97665770e-01 4.80810900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8048391729999995 meters 0.07854700159968146 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.22, Z:0.49 [[ 9.97623386e-01 -2.56842372e-02 -6.39366798e-02 6.68342164e+00] [ 2.56985408e-02 9.99669559e-01 -5.98791891e-04 -2.21872702e-01] [ 6.39309320e-02 -1.04571058e-03 9.97953778e-01 4.91551027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.864839172999999 meters 0.07715064002254841 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.20, Z:0.50 [[ 9.97892075e-01 -9.00164846e-03 -6.42680143e-02 6.74139167e+00] [ 8.97972173e-03 9.99959483e-01 -6.30027085e-04 -2.04374252e-01] [ 6.42710816e-02 5.15901504e-05 9.97932475e-01 5.02114716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924839172999999 meters 0.07788319338404025 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.19, Z:0.50 [[ 9.97478024e-01 1.05951164e-02 -7.01807261e-02 6.80024870e+00] [-1.06693502e-02 9.99942848e-01 -6.82972985e-04 -1.91791672e-01] [ 7.01694789e-02 1.43003329e-03 9.97534059e-01 4.99895373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984839172999999 meters 0.07841142974739855 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.19, Z:0.50 [[ 9.96841734e-01 1.28262478e-02 -7.83712045e-02 6.86062301e+00] [-1.29284030e-02 9.99916108e-01 -7.96209065e-04 -1.91966414e-01] [ 7.83544174e-02 1.80690894e-03 9.96923929e-01 4.95875979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044839172999999 meters 0.07702164482094853 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.23, Z:0.51 [[ 9.97714023e-01 -9.35970552e-03 -6.69262571e-02 6.91737974e+00] [ 9.33512492e-03 9.99956196e-01 -6.80009293e-04 -2.26027474e-01] [ 6.69296901e-02 5.36898367e-05 9.97757693e-01 5.12060010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104839172999999 meters 0.07876143128784277 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.27, Z:0.51 [[ 9.96812903e-01 -3.22013910e-02 -7.29870386e-02 6.97720684e+00] [ 3.22330065e-02 9.99480104e-01 -7.44966213e-04 -2.67470982e-01] [ 7.29730818e-02 -1.60999975e-03 9.97332611e-01 5.10446776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.164839172999999 meters 0.08274471805906276 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.30, Z:0.52 [[ 9.96595339e-01 -4.59579882e-02 -6.84513950e-02 7.03613875e+00] [ 4.60161488e-02 9.98940431e-01 -7.27715499e-04 -2.98936815e-01] [ 6.84123104e-02 -2.42463171e-03 9.97654187e-01 5.20587111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2248391729999994 meters 0.08381519590975682 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.31, Z:0.53 [[ 9.96201706e-01 -5.24450295e-02 -6.95102848e-02 7.09654674e+00] [ 5.25207463e-02 9.98619560e-01 -7.39101683e-04 -3.12896844e-01] [ 6.94530922e-02 -2.91443768e-03 9.97580961e-01 5.25821643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284839172999999 meters 0.08301901067367595 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.31, Z:0.53 [[ 9.96308927e-01 -4.97366900e-02 -6.99627250e-02 7.15557588e+00] [ 4.98073515e-02 9.98758573e-01 -7.35200798e-04 -3.06242227e-01] [ 6.99124378e-02 -2.75217091e-03 9.97549335e-01 5.30789222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.344839172999999 meters 0.08501880689985507 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.31, Z:0.54 [[ 9.96147959e-01 -5.19692562e-02 -7.06288859e-02 7.21302691e+00] [ 5.20450930e-02 9.98644441e-01 -7.67328979e-04 -3.14039710e-01] [ 7.05730218e-02 -2.91151374e-03 9.97502367e-01 5.36980318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404839172999999 meters 0.08579563416187128 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.32, Z:0.54 [[ 9.95694623e-01 -5.69800290e-02 -7.31128820e-02 7.27259083e+00] [ 5.70741624e-02 9.98369619e-01 -8.02775041e-04 -3.16370058e-01] [ 7.30394222e-02 -3.37353771e-03 9.97323349e-01 5.38263594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464839172999999 meters 0.08352703040291107 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.31, Z:0.54 [[ 9.95833676e-01 -5.07833014e-02 -7.57386700e-02 7.33308728e+00] [ 5.08657922e-02 9.98705144e-01 -8.40726630e-04 -3.08021698e-01] [ 7.56832942e-02 -3.01528355e-03 9.97127347e-01 5.41678814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524839172999999 meters 0.07937901340492112 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.29, Z:0.56 [[ 9.97092923e-01 -3.16908304e-02 -6.92920870e-02 7.39209153e+00] [ 3.17137663e-02 9.99496696e-01 -7.69328157e-04 -2.91246107e-01] [ 6.92815927e-02 -1.43042139e-03 9.97596118e-01 5.56123432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584839172999999 meters 0.07985304958877 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.30, Z:0.55 [[ 9.96521103e-01 -3.71192015e-02 -7.46180682e-02 7.45198047e+00] [ 3.71614259e-02 9.99308937e-01 -8.22919305e-04 -2.95137239e-01] [ 7.45970485e-02 -1.95285736e-03 9.97211846e-01 5.52697279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.644839172999999 meters 0.08522425729516328 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.34, Z:0.55 [[ 9.95483525e-01 -5.78145175e-02 -7.52996240e-02 7.51337052e+00] [ 5.79141696e-02 9.98321194e-01 -8.61310824e-04 -3.36321193e-01] [ 7.52230068e-02 -3.50349446e-03 9.97160581e-01 5.54862458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.704839172999999 meters 0.08221048500716088 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.33, Z:0.56 [[ 9.95828436e-01 -4.77889139e-02 -7.77299537e-02 7.57221245e+00] [ 4.78646314e-02 9.98853435e-01 -8.89744247e-04 -3.27253215e-01] [ 7.76833512e-02 -2.83448296e-03 9.96974053e-01 5.62250304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.764839172999999 meters 0.08073603102747497 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.31, Z:0.57 [[ 9.96349963e-01 -4.09092451e-02 -7.49211957e-02 7.63112772e+00] [ 4.09599745e-02 9.99160418e-01 -8.59963077e-04 -3.14793893e-01] [ 7.48934737e-02 -2.21194608e-03 9.97189087e-01 5.70571137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.824839172999999 meters 0.08220348705637721 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.31, Z:0.58 [[ 9.96008969e-01 -4.58654187e-02 -7.65669449e-02 7.68894735e+00] [ 4.59328411e-02 9.98944141e-01 -8.81184655e-04 -3.14970974e-01] [ 7.65265169e-02 -2.63926949e-03 9.97064053e-01 5.76275318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884839172999999 meters 0.08389571993962835 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.32, Z:0.58 [[ 9.95850179e-01 -5.28503484e-02 -7.40895575e-02 7.74884787e+00] [ 5.29321310e-02 9.98597741e-01 -8.60667730e-04 -3.24837760e-01] [ 7.40311514e-02 -3.06462205e-03 9.97251220e-01 5.82733306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944839172999999 meters 0.08323803260155971 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.32, Z:0.59 [[ 9.96191735e-01 -5.19505401e-02 -7.00226274e-02 7.80687887e+00] [ 5.20219302e-02 9.98645618e-01 -8.04916343e-04 -3.20281025e-01] [ 6.99696059e-02 -2.84086122e-03 9.97545079e-01 5.91550593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004839172999999 meters 0.08202939444726469 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.31, Z:0.60 [[ 9.96467301e-01 -4.65171051e-02 -6.99219287e-02 7.86562175e+00] [ 4.65728935e-02 9.98914547e-01 -8.33036550e-04 -3.06381841e-01] [ 6.98847822e-02 -2.42637285e-03 9.97552119e-01 5.97415760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064839173 meters 0.08735076670505322 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.33, Z:0.60 [[ 9.95449128e-01 -6.44741455e-02 -7.01720581e-02 7.92558633e+00] [ 6.45744877e-02 9.97912536e-01 -8.39943059e-04 -3.28372284e-01] [ 7.00797311e-02 -3.69520412e-03 9.97534549e-01 6.03303433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124839173 meters 0.08893883476502767 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.33, Z:0.61 [[ 9.94909438e-01 -6.79364530e-02 -7.44301632e-02 7.98428742e+00] [ 6.80595380e-02 9.97680869e-01 -8.84355641e-04 -3.30031771e-01] [ 7.43176299e-02 -4.18582875e-03 9.97225836e-01 6.06720194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184839172999999 meters 0.08559317858584278 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.32, Z:0.62 [[ 9.95908925e-01 -5.71639999e-02 -6.99834998e-02 8.04316258e+00] [ 5.72443663e-02 9.98359828e-01 -8.58285647e-04 -3.20653396e-01] [ 6.99177778e-02 -3.15138676e-03 9.97547780e-01 6.16944482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244839172999999 meters 0.08276394487522343 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.31, Z:0.62 [[ 9.96299225e-01 -4.95722798e-02 -7.02171155e-02 8.10343840e+00] [ 4.96341786e-02 9.98767091e-01 -8.64005708e-04 -3.12673547e-01] [ 7.01733749e-02 -2.62436063e-03 9.97531358e-01 6.22340814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.304839173 meters 0.0836536597401084 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.32, Z:0.63 [[ 9.96022224e-01 -5.25570316e-02 -7.19547627e-02 8.16147575e+00] [ 5.26299587e-02 9.98613693e-01 -8.83372952e-04 -3.16545250e-01] [ 7.19014387e-02 -2.90711710e-03 9.97407505e-01 6.26822162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364839172999998 meters 0.08350154980299446 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.32, Z:0.63 [[ 9.95856349e-01 -5.39538813e-02 -7.32059538e-02 8.21903405e+00] [ 5.40330656e-02 9.98538741e-01 -8.99779844e-04 -3.23064431e-01] [ 7.31475276e-02 -3.05949064e-03 9.97316439e-01 6.30784396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424839172999999 meters 0.08249694138309867 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.32, Z:0.64 [[ 9.96085904e-01 -4.95937337e-02 -7.31664800e-02 8.27858428e+00] [ 4.96586562e-02 9.98765812e-01 -9.32643197e-04 -3.23659814e-01] [ 7.31224321e-02 -2.70435634e-03 9.97319305e-01 6.35313161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484839173 meters 0.08676058200834069 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.34, Z:0.64 [[ 9.95587661e-01 -5.87145582e-02 -7.31970605e-02 8.33791942e+00] [ 5.88038336e-02 9.98269118e-01 -9.36636510e-04 -3.42010892e-01] [ 7.31253592e-02 -3.37176401e-03 9.97317057e-01 6.43790662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544839173 meters 0.08548500475497531 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.34, Z:0.64 [[ 9.95210113e-01 -5.89153617e-02 -7.80116148e-02 8.39706741e+00] [ 5.90173999e-02 9.98256454e-01 -9.98913444e-04 -3.36414666e-01] [ 7.79344493e-02 -3.60991391e-03 9.96951950e-01 6.42434364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.604839172999998 meters 0.08523768327863078 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.34, Z:0.65 [[ 9.95218924e-01 -5.71333775e-02 -7.92153485e-02 8.45563252e+00] [ 5.72324531e-02 9.98360358e-01 -1.02099875e-03 -3.38120536e-01] [ 7.91437968e-02 -3.51757144e-03 9.96857004e-01 6.45532711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664839172999999 meters 0.08430247123913849 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.34, Z:0.65 [[ 9.95088963e-01 -5.81073257e-02 -8.01342328e-02 8.51397410e+00] [ 5.82117104e-02 9.98303724e-01 -1.03487719e-03 -3.38788249e-01] [ 8.00584370e-02 -3.63495588e-03 9.96783544e-01 6.49352895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724839173 meters 0.08243024788725768 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.33, Z:0.66 [[ 9.95603256e-01 -4.94019390e-02 -7.95839553e-02 8.57272696e+00] [ 4.94747928e-02 9.98774813e-01 -1.05734400e-03 -3.25480701e-01] [ 7.95386849e-02 -2.88470457e-03 9.96827606e-01 6.58051593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784839172999998 meters 0.08110393317071593 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.31, Z:0.67 [[ 9.95889158e-01 -4.52809125e-02 -7.84501331e-02 8.63135752e+00] [ 4.53391552e-02 9.98971111e-01 -1.03951889e-03 -3.13077318e-01] [ 7.84164869e-02 -2.52161716e-03 9.96917497e-01 6.66671026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844839172999999 meters 0.08180511961199607 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.31, Z:0.67 [[ 9.95240440e-01 -4.93706800e-02 -8.40178727e-02 8.68992087e+00] [ 4.94500654e-02 9.98775950e-01 -1.13717455e-03 -3.10018188e-01] [ 8.39711737e-02 -3.02292720e-03 9.96463599e-01 6.67813234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904839173 meters 0.08328968887677818 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.31, Z:0.67 [[ 9.94519043e-01 -5.51964711e-02 -8.87987774e-02 8.74981019e+00] [ 5.53056086e-02 9.98468713e-01 -1.23277077e-03 -3.11294372e-01] [ 8.87308455e-02 -3.68505642e-03 9.96048823e-01 6.66642794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964839173 meters 0.08052424149900075 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.29, Z:0.68 [[ 9.95227827e-01 -4.44329154e-02 -8.68751297e-02 8.80956348e+00] [ 4.44960679e-02 9.99008826e-01 -1.21035429e-03 -2.93306262e-01] [ 8.68428009e-02 -2.66102340e-03 9.96218473e-01 6.75672640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024839172999998 meters 0.0772815630732497 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.26, Z:0.68 [[ 9.95943552e-01 -2.46326395e-02 -8.65429057e-02 8.86897373e+00] [ 2.46207569e-02 9.99696137e-01 -1.20484212e-03 -2.60782504e-01] [ 8.65462870e-02 -9.30797099e-04 9.96247396e-01 6.83210662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084839172999999 meters 0.07785004717131244 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.26, Z:0.69 [[ 9.95869194e-01 -2.92878339e-02 -8.59463225e-02 8.92767828e+00] [ 2.92934312e-02 9.99570139e-01 -1.19631046e-03 -2.59743224e-01] [ 8.59444149e-02 -1.32629395e-03 9.96299051e-01 6.88593918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144839173 meters 0.0783118416301016 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.26, Z:0.70 [[ 9.96192234e-01 -3.06392611e-02 -8.16227240e-02 8.98493845e+00] [ 3.06465625e-02 9.99529606e-01 -1.16365888e-03 -2.64576939e-01] [ 8.16199829e-02 -1.34222798e-03 9.96662619e-01 7.00386857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204839172999998 meters 0.07855668158628605 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.27, Z:0.70 [[ 9.95891660e-01 -2.89679203e-02 -8.57942903e-02 9.04348111e+00] [ 2.89689480e-02 9.99579551e-01 -1.23326435e-03 -2.67577951e-01] [ 8.57939433e-02 -1.25717266e-03 9.96312109e-01 7.01907957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264839172999999 meters 0.08073069150728475 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.28, Z:0.72 [[ 9.96174569e-01 -4.40103804e-02 -7.54937991e-02 9.10324084e+00] [ 4.40536551e-02 9.99028569e-01 -1.09275813e-03 -2.82559723e-01] [ 7.54685548e-02 -2.23719993e-03 9.97145672e-01 7.16583585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324839172999999 meters 0.08025277670839992 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.27, Z:0.73 [[ 9.96835448e-01 -3.81176832e-02 -6.97576611e-02 9.15869660e+00] [ 3.81407254e-02 9.99271875e-01 -1.00206502e-03 -2.65652462e-01] [ 6.97450652e-02 -1.66171386e-03 9.97563464e-01 7.31204838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384839173 meters 0.079234583249269 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.25, Z:0.73 [[ 9.96991814e-01 -3.07696728e-02 -7.11375417e-02 9.21796865e+00] [ 3.07733153e-02 9.99525843e-01 -1.04501382e-03 -2.50755235e-01] [ 7.11359661e-02 -1.14726778e-03 9.97465968e-01 7.34924671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444839172999998 meters 0.0811244860073557 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.26, Z:0.74 [[ 9.96887262e-01 -4.00615002e-02 -6.79033367e-02 9.27828115e+00] [ 4.00860341e-02 9.99195730e-01 -1.00176423e-03 -2.57631460e-01] [ 6.78888562e-02 -1.72332946e-03 9.97691402e-01 7.42651845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504839172999999 meters 0.0820386742084705 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.26, Z:0.75 [[ 9.96607173e-01 -4.49789596e-02 -6.89277568e-02 9.33718074e+00] [ 4.50161667e-02 9.98985744e-01 -1.01417433e-03 -2.58869843e-01] [ 6.89034629e-02 -2.09212998e-03 9.97621138e-01 7.49684977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564839173 meters 0.08172410548190559 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.25, Z:0.75 [[ 9.96372178e-01 -4.54045911e-02 -7.19785137e-02 9.39660318e+00] [ 4.54463973e-02 9.98966219e-01 -1.05763230e-03 -2.53690006e-01] [ 7.19521250e-02 -2.21736874e-03 9.97405622e-01 7.51686751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624839172999998 meters 0.08241288646831706 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.25, Z:0.76 [[ 9.96613907e-01 -4.66601826e-02 -6.77019094e-02 9.45531609e+00] [ 4.66983507e-02 9.98908517e-01 -1.01958894e-03 -2.48192631e-01] [ 6.76755881e-02 -2.14543099e-03 9.97705073e-01 7.62197233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684839172999999 meters 0.08521314968151433 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.25, Z:0.77 [[ 9.96036246e-01 -5.60607787e-02 -6.90578441e-02 9.51546855e+00] [ 5.61227553e-02 9.98423330e-01 -1.04391935e-03 -2.52066895e-01] [ 6.90074856e-02 -2.83593497e-03 9.97612111e-01 7.65406859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744839172999999 meters 0.08586103360237601 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.25, Z:0.78 [[ 9.96259090e-01 -5.58114164e-02 -6.59765966e-02 9.57350469e+00] [ 5.58680057e-02 9.98437674e-01 -9.88415125e-04 -2.52963915e-01] [ 6.59286845e-02 -2.70126333e-03 9.97820681e-01 7.75008594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804839173 meters 0.07973651786982774 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.21, Z:0.78 [[ 9.97382715e-01 -3.11473567e-02 -6.52499979e-02 9.63301399e+00] [ 3.11481279e-02 9.99514273e-01 -1.00572040e-03 -2.13193982e-01] [ 6.52496298e-02 -1.02932714e-03 9.97868441e-01 7.79477434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864839172999998 meters 0.07872025186268686 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.18, Z:0.79 [[ 9.97929979e-01 -1.53231854e-02 -6.24576482e-02 9.68937909e+00] [ 1.52932266e-02 9.99882593e-01 -9.57722573e-04 -1.83072506e-01] [ 6.24649906e-02 5.61099384e-07 9.98047156e-01 7.89726637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924839172999999 meters 0.08049576986761893 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.20, Z:0.80 [[ 9.97577996e-01 -2.79567278e-02 -6.36911619e-02 9.74691561e+00] [ 2.79504946e-02 9.99608819e-01 -9.89043397e-04 -1.98179842e-01] [ 6.36938975e-02 -7.93551547e-04 9.97969167e-01 7.96493122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984839173 meters 0.08154400045234814 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.22, Z:0.80 [[ 9.97365957e-01 -3.61515623e-02 -6.28825232e-02 9.80660953e+00] [ 3.61612469e-02 9.99345483e-01 -9.84436947e-04 -2.17931556e-01] [ 6.28769544e-02 -1.29206655e-03 9.98020450e-01 7.96872269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044839172999998 meters 0.0814782040340982 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.23, Z:0.80 [[ 9.97393360e-01 -3.28896313e-02 -6.42242778e-02 9.86597852e+00] [ 3.28932060e-02 9.99458370e-01 -1.00198970e-03 -2.25195066e-01] [ 6.42224471e-02 -1.11316452e-03 9.97934987e-01 8.01846679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104839172999998 meters 0.08233777537217976 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.24, Z:0.80 [[ 9.96948549e-01 -4.25613374e-02 -6.54379412e-02 9.92607642e+00] [ 4.25841435e-02 9.99092335e-01 -1.04688430e-03 -2.38520162e-01] [ 6.54231023e-02 -1.74292889e-03 9.97856092e-01 8.04203795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164839172999999 meters 0.0832014977294555 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.24, Z:0.82 [[ 9.97112085e-01 -4.33762427e-02 -6.23377240e-02 9.98383871e+00] [ 4.33984113e-02 9.99057346e-01 -9.98970698e-04 -2.44918306e-01] [ 6.23222927e-02 -1.70927243e-03 9.98054613e-01 8.15160211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224839173 meters 0.0831466679635994 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.25, Z:0.83 [[ 9.97531567e-01 -4.13326396e-02 -5.67660635e-02 1.00424957e+01] [ 4.13475298e-02 9.99144408e-01 -9.12684827e-04 -2.53272273e-01] [ 5.67552186e-02 -1.43670458e-03 9.98387090e-01 8.26731082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284839172999998 meters 0.08453254909249615 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.26, Z:0.83 [[ 9.97079845e-01 -4.75524134e-02 -5.97540872e-02 1.01012483e+01] [ 4.75803941e-02 9.98866955e-01 -9.55288420e-04 -2.64439318e-01] [ 5.97318094e-02 -1.89062419e-03 9.98212671e-01 8.29810457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344839172999999 meters 0.08298857848963692 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.27, Z:0.83 [[ 9.96931956e-01 -4.48549786e-02 -6.41459755e-02 1.01614767e+01] [ 4.48796903e-02 9.98991841e-01 -1.05634376e-03 -2.69709107e-01] [ 6.41286884e-02 -1.82574867e-03 9.97939967e-01 8.30866653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404839173 meters 0.08404895123809225 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.28, Z:0.84 [[ 9.96931624e-01 -4.61542932e-02 -6.32227689e-02 1.02188505e+01] [ 4.61810214e-02 9.98932547e-01 -1.03926281e-03 -2.83587863e-01] [ 6.32032480e-02 -1.88361808e-03 9.97998899e-01 8.42565908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464839172999998 meters 0.08309166754198989 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.28, Z:0.85 [[ 9.96899270e-01 -4.47447940e-02 -6.47282729e-02 1.02774902e+01] [ 4.47693458e-02 9.98996775e-01 -1.07181441e-03 -2.83765505e-01] [ 6.47112940e-02 -1.82935144e-03 9.97902351e-01 8.45590432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524839172999998 meters 0.08278132344777822 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.29, Z:0.85 [[ 9.96623004e-01 -4.37188354e-02 -6.95072016e-02 1.03376356e+01] [ 4.37441603e-02 9.99042094e-01 -1.15844633e-03 -2.93415244e-01] [ 6.94912662e-02 -1.88599990e-03 9.97580777e-01 8.47014160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584839172999999 meters 0.08659196436760853 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.32, Z:0.86 [[ 9.95973552e-01 -6.08862092e-02 -6.57993334e-02 1.03971267e+01] [ 6.09459261e-02 9.98140462e-01 -1.10120287e-03 -3.20029674e-01] [ 6.57440251e-02 -2.91343238e-03 9.97832268e-01 8.58978851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644839173 meters 0.08729614473936147 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.33, Z:0.87 [[ 9.95936425e-01 -5.62462409e-02 -7.03348946e-02 1.04558542e+01] [ 5.63029655e-02 9.98413036e-01 -1.17730952e-03 -3.30673455e-01] [ 7.02894949e-02 -2.78753771e-03 9.97522740e-01 8.65845468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704839172999998 meters 0.0840997410232653 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.33, Z:0.86 [[ 9.95580158e-01 -5.35790814e-02 -7.71325491e-02 1.05169657e+01] [ 5.36391511e-02 9.98559546e-01 -1.29424685e-03 -3.28007550e-01] [ 7.70907878e-02 -2.84879797e-03 9.97020007e-01 8.60329232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764839172999999 meters 0.08570808261690487 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.33, Z:0.88 [[ 9.96212381e-01 -5.38186871e-02 -6.82967178e-02 1.05755676e+01] [ 5.38662359e-02 9.98547502e-01 -1.14653364e-03 -3.30804747e-01] [ 6.82592219e-02 -2.53669610e-03 9.97664394e-01 8.77368349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824839172999999 meters 0.08503162262944676 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.33, Z:0.88 [[ 9.96007344e-01 -5.46785520e-02 -7.05664734e-02 1.06346966e+01] [ 5.47319389e-02 9.98500389e-01 -1.17821274e-03 -3.34840936e-01] [ 7.05250741e-02 -2.68873137e-03 9.97506383e-01 8.82650627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884839172999998 meters 0.08752804181620104 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.35, Z:0.89 [[ 9.95622679e-01 -6.17507598e-02 -7.01592849e-02 1.06938144e+01] [ 6.18191244e-02 9.98086649e-01 -1.19851190e-03 -3.47407645e-01] [ 7.00990546e-02 -3.14391993e-03 9.97535081e-01 8.92582776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944839172999998 meters 0.08893036042546673 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.36, Z:0.89 [[ 9.94896619e-01 -6.41703701e-02 -7.78645089e-02 1.07532577e+01] [ 6.42619065e-02 9.97932178e-01 -1.33210550e-03 -3.55160900e-01] [ 7.77889807e-02 -3.67841453e-03 9.96963060e-01 8.92938670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004839172999999 meters 0.08494953659905508 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.33, Z:0.91 [[ 9.96210122e-01 -5.29845253e-02 -6.89785009e-02 1.08116491e+01] [ 5.30290460e-02 9.98592265e-01 -1.18681566e-03 -3.34667653e-01] [ 6.89442803e-02 -2.47554633e-03 9.97617441e-01 9.07918059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064839173 meters 0.08418928023696036 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.32, Z:0.91 [[ 9.96363217e-01 -5.04776773e-02 -6.86465114e-02 1.08703114e+01] [ 5.05163468e-02 9.98722545e-01 -1.17361358e-03 -3.15932582e-01] [ 6.86180598e-02 -2.29842557e-03 9.97640356e-01 9.11151327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124839172999998 meters 0.08451840929074163 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.31, Z:0.92 [[ 9.96703512e-01 -5.11401355e-02 -6.29825094e-02 1.09301936e+01] [ 5.11722558e-02 9.98689232e-01 -1.10404552e-03 -3.14342017e-01] [ 6.29564150e-02 -2.12255104e-03 9.98014020e-01 9.20066708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184839172999999 meters 0.0856833908075495 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.32, Z:0.92 [[ 9.96040194e-01 -5.85477320e-02 -6.69036256e-02 1.09897605e+01] [ 5.86008142e-02 9.98280809e-01 -1.17050272e-03 -3.15991403e-01] [ 6.68571358e-02 -2.75473918e-03 9.97758756e-01 9.20419171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244839172999999 meters 0.09016293239671729 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.33, Z:0.93 [[ 9.95425573e-01 -6.80681827e-02 -6.70421642e-02 1.10486079e+01] [ 6.81425960e-02 9.97674895e-01 -1.17887734e-03 -3.29139768e-01] [ 6.69665282e-02 -3.39494245e-03 9.97749447e-01 9.30201128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304839172999998 meters 0.08843716760799279 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.31, Z:0.94 [[ 9.95921901e-01 -6.55929289e-02 -6.19446138e-02 1.11060164e+01] [ 6.56517722e-02 9.97842003e-01 -1.08712913e-03 -3.14390060e-01] [ 6.18822455e-02 -2.98407796e-03 9.98078996e-01 9.39736549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364839172999998 meters 0.08649488165918064 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.29, Z:0.94 [[ 9.96313385e-01 -5.90521789e-02 -6.22292423e-02 1.11663143e+01] [ 5.90982114e-02 9.98251565e-01 -1.10223010e-03 -2.94169651e-01] [ 6.21855276e-02 -2.57947031e-03 9.98061274e-01 9.43714348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424839172999999 meters 0.09198031119687987 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.29, Z:0.95 [[ 9.95182993e-01 -7.32360443e-02 -6.51712576e-02 1.12252304e+01] [ 7.33167972e-02 9.97308033e-01 -1.15489045e-03 -2.94311952e-01] [ 6.50803984e-02 -3.62882055e-03 9.97873426e-01 9.48207989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484839173 meters 0.0918400153458249 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.28, Z:0.95 [[ 9.94341500e-01 -8.13010039e-02 -6.83749134e-02 1.12860914e+01] [ 8.14086453e-02 9.96680067e-01 -1.21529251e-03 -2.83519999e-01] [ 6.82467178e-02 -4.35789330e-03 9.97658957e-01 9.45309890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544839172999998 meters 0.0917157643793225 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.27, Z:0.95 [[ 9.94616065e-01 -7.73694377e-02 -6.89409470e-02 1.13445947e+01] [ 7.74695332e-02 9.96993968e-01 -1.22453274e-03 -2.68996112e-01] [ 6.88284497e-02 -4.12288305e-03 9.97619991e-01 9.51074625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604839172999998 meters 0.09316489147175566 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.26, Z:0.96 [[ 9.94257146e-01 -7.95420451e-02 -7.15946312e-02 1.14019298e+01] [ 7.96555423e-02 9.96821636e-01 -1.27299260e-03 -2.59615339e-01] [ 7.14683338e-02 -4.43722718e-03 9.97432999e-01 9.56934515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664839172999999 meters 0.09164060773053419 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.24, Z:0.97 [[ 9.94891905e-01 -7.49243971e-02 -6.76493338e-02 1.14608223e+01] [ 7.50144258e-02 9.97181712e-01 -1.21203860e-03 -2.41740440e-01] [ 6.75494898e-02 -3.86882855e-03 9.97708424e-01 9.68601403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724839172999998 meters 0.09042371061983322 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.24, Z:0.97 [[ 9.94813225e-01 -7.46598732e-02 -6.90836475e-02 1.15195381e+01] [ 7.47536487e-02 9.97201273e-01 -1.23042493e-03 -2.37139788e-01] [ 6.89821646e-02 -3.94021172e-03 9.97610112e-01 9.71173093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784839172999998 meters 0.09043542970142333 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.23, Z:0.98 [[ 9.94841102e-01 -7.70686262e-02 -6.59667286e-02 1.15789590e+01] [ 7.71575518e-02 9.97018188e-01 -1.20239649e-03 -2.32991559e-01] [ 6.58626953e-02 -3.89363783e-03 9.97821099e-01 9.81335731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844839172999999 meters 0.0917269522295628 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.24, Z:0.98 [[ 9.94240440e-01 -7.70760803e-02 -7.44662642e-02 1.16382122e+01] [ 7.71894433e-02 9.97015518e-01 -1.35876298e-03 -2.37392858e-01] [ 7.43487491e-02 -4.39707238e-03 9.97222608e-01 9.80669768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904839173 meters 0.09091838609415581 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.24, Z:0.99 [[ 9.94158360e-01 -7.87301978e-02 -7.38289373e-02 1.16972942e+01] [ 7.88459766e-02 9.96885897e-01 -1.34956709e-03 -2.35313283e-01] [ 7.37052780e-02 -4.47943125e-03 9.97270007e-01 9.86817591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964839172999998 meters 0.08957549861796679 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.22, Z:1.00 [[ 9.94844447e-01 -7.44359557e-02 -6.88753496e-02 1.17533713e+01] [ 7.45263599e-02 9.97218248e-01 -1.25963791e-03 -2.24341406e-01] [ 6.87775178e-02 -3.87988531e-03 9.97624478e-01 1.00252407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024839172999998 meters 0.08663956590209435 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.21, Z:1.01 [[ 9.95037905e-01 -6.93457237e-02 -7.13494059e-02 1.18129009e+01] [ 6.94289837e-02 9.97586029e-01 -1.31542292e-03 -2.05816108e-01] [ 7.12683895e-02 -3.64482107e-03 9.97450516e-01 1.00586598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084839172999999 meters 0.08836576390837922 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.20, Z:1.00 [[ 9.94105085e-01 -7.52221251e-02 -7.80814380e-02 1.18725709e+01] [ 7.53400094e-02 9.97156864e-01 -1.43916188e-03 -2.00148157e-01] [ 7.79676987e-02 -4.45197813e-03 9.96945945e-01 1.00212559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144839172999998 meters 0.08684007382693502 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.19, Z:1.02 [[ 9.95467028e-01 -6.71714562e-02 -6.73304706e-02 1.19288686e+01] [ 6.72404858e-02 9.97736023e-01 -1.24304858e-03 -1.85839570e-01] [ 6.72615334e-02 -3.28991968e-03 9.97729955e-01 1.01758527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204839172999998 meters 0.08324228816702471 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.16, Z:1.03 [[ 9.96302599e-01 -5.45205924e-02 -6.63975582e-02 1.19884454e+01] [ 5.45590561e-02 9.98509781e-01 -1.23521654e-03 -1.60541831e-01] [ 6.63659561e-02 -2.39193866e-03 9.97792483e-01 1.02648995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264839172999999 meters 0.08619618727195621 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.16, Z:1.03 [[ 9.95151437e-01 -6.72383726e-02 -7.17817456e-02 1.20486323e+01] [ 6.73161044e-02 9.97730801e-01 -1.33846384e-03 -1.64408510e-01] [ 7.17088546e-02 -3.50009326e-03 9.97419465e-01 1.02757091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324839172999999 meters 0.08435721733270114 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.15, Z:1.03 [[ 9.95170404e-01 -5.92056382e-02 -7.82978899e-02 1.21082812e+01] [ 5.92734385e-02 9.98240717e-01 -1.45989759e-03 -1.50861383e-01] [ 7.82465759e-02 -3.18813829e-03 9.96928939e-01 1.02630399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384839172999998 meters 0.08263081238431802 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.14, Z:1.03 [[ 9.95283002e-01 -5.70615077e-02 -7.84584578e-02 1.21668350e+01] [ 5.71228594e-02 9.98366083e-01 -1.46399723e-03 -1.36984610e-01] [ 7.84138011e-02 -3.02467990e-03 9.96916309e-01 1.02985336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444839172999998 meters 0.08270052759939288 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.12, Z:1.04 [[ 9.95766002e-01 -5.70839561e-02 -7.20520068e-02 1.22252774e+01] [ 5.71352192e-02 9.98365535e-01 -1.35104725e-03 -1.15509245e-01] [ 7.20113634e-02 -2.77138028e-03 9.97399961e-01 1.03923509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504839172999999 meters 0.07882524009149691 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.08, Z:1.05 [[ 9.96703066e-01 -4.00645284e-02 -7.05537552e-02 1.22838251e+01] [ 4.00708772e-02 9.99195960e-01 -1.32592182e-03 -7.69225013e-02] [ 7.05501496e-02 -1.50560052e-03 9.97507098e-01 1.04607315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564839172999998 meters 0.07858863506497812 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.06, Z:1.05 [[ 9.96581838e-01 -3.67539303e-02 -7.39850533e-02 1.23434236e+01] [ 3.67516021e-02 9.99323460e-01 -1.39333081e-03 -5.51943234e-02] [ 7.39862099e-02 -1.33050105e-03 9.97258377e-01 1.04731616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624839172999998 meters 0.08108603157141052 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.06, Z:1.05 [[ 9.96300635e-01 -4.66690560e-02 -7.21598432e-02 1.24033209e+01] [ 4.66925511e-02 9.98908379e-01 -1.36215293e-03 -5.50892053e-02] [ 7.21446425e-02 -2.01221334e-03 9.97392150e-01 1.04861511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684839172999999 meters 0.083387750554764 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.06, Z:1.06 [[ 9.95834471e-01 -5.73107356e-02 -7.09167487e-02 1.24630109e+01] [ 5.73601353e-02 9.98352651e-01 -1.34135933e-03 -6.42619787e-02] [ 7.08767984e-02 -2.73202244e-03 9.97481336e-01 1.05566617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744839172999999 meters 0.08333284477101839 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.06, Z:1.05 [[ 9.95315557e-01 -5.98503043e-02 -7.59268298e-02 1.25226899e+01] [ 5.99148467e-02 9.98202468e-01 -1.42956619e-03 -6.10295686e-02] [ 7.58759089e-02 -3.12627490e-03 9.97112367e-01 1.05294538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804839172999998 meters 0.08952535814294627 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.04, Z:1.04 [[ 9.95949669e-01 -6.68686563e-02 -6.01069013e-02 1.25848643e+01] [ 6.69203815e-02 9.97757651e-01 -1.15430367e-03 -4.47474121e-02] [ 6.00493074e-02 -2.87274841e-03 9.98191278e-01 1.03606746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864839172999998 meters 0.08279122182438839 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.03, Z:1.08 [[ 9.95378455e-01 -5.87968233e-02 -7.59253876e-02 1.26394459e+01] [ 5.88561179e-02 9.98265411e-01 -1.45831744e-03 -3.07409089e-02] [ 7.58794326e-02 -3.01709579e-03 9.97112435e-01 1.07857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924839172999999 meters 0.08696461855930271 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.04, Z:1.08 [[ 9.94999079e-01 -6.41998288e-02 -7.65193730e-02 1.26990966e+01] [ 6.42757031e-02 9.97931091e-01 -1.47335009e-03 -3.64712372e-02] [ 7.64556502e-02 -3.45235452e-03 9.97067006e-01 1.07588342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984839172999997 meters 0.08342002258887612 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.02, Z:1.08 [[ 9.94831647e-01 -5.98487700e-02 -8.20251068e-02 1.27591025e+01] [ 5.99209542e-02 9.98201869e-01 -1.58357027e-03 -2.21510262e-02] [ 8.19723896e-02 -3.33963685e-03 9.96629005e-01 1.07539763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044839172999998 meters 0.0811312289173245 Centerline is valid? [True, True] Translation: X:12.82, Y:0.00, Z:1.08 [[ 9.94748906e-01 -5.66523854e-02 -8.52356853e-02 1.28181867e+01] [ 5.67186718e-02 9.98388844e-01 -1.64570529e-03 3.88908828e-03] [ 8.51915904e-02 -3.19739133e-03 9.96359458e-01 1.07689643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104839172999998 meters 0.07993187674127046 Centerline is valid? [True, True] Translation: X:12.88, Y:0.02, Z:1.09 [[ 9.95580333e-01 -4.49610714e-02 -8.24518171e-02 1.28767455e+01] [ 4.49827344e-02 9.98986490e-01 -1.59580809e-03 2.12600213e-02] [ 8.24400006e-02 -2.12015304e-03 9.96593774e-01 1.09137963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164839172999999 meters 0.08069753129529918 Centerline is valid? [True, True] Translation: X:12.94, Y:0.01, Z:1.10 [[ 9.95199751e-01 -5.12564317e-02 -8.33680644e-02 1.29350249e+01] [ 5.13005882e-02 9.98681954e-01 -1.61381684e-03 1.13039186e-02] [ 8.33408999e-02 -2.67076063e-03 9.96517517e-01 1.09978225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224839172999998 meters 0.08156340775254113 Centerline is valid? [True, True] Translation: X:12.99, Y:0.02, Z:1.11 [[ 9.95477088e-01 -4.76795716e-02 -8.21707070e-02 1.29922581e+01] [ 4.77099570e-02 9.98859958e-01 -1.59479915e-03 2.21509187e-02] [ 8.21530684e-02 -2.33277488e-03 9.96616993e-01 1.10784674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284839172999998 meters 0.08136784690683138 Centerline is valid? [True, True] Translation: X:13.05, Y:0.03, Z:1.11 [[ 9.95065668e-01 -4.81832754e-02 -8.67334305e-02 1.30511152e+01] [ 4.82185320e-02 9.98835381e-01 -1.68971141e-03 3.21268366e-02] [ 8.67138349e-02 -2.50078487e-03 9.96230122e-01 1.10820415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344839172999999 meters 0.0845122223777508 Centerline is valid? [True, True] Translation: X:13.11, Y:0.05, Z:1.11 [[ 9.94824300e-01 -4.90236028e-02 -8.90016749e-02 1.31093585e+01] [ 4.90616449e-02 9.98794199e-01 -1.76146624e-03 4.52160620e-02] [ 8.89807100e-02 -2.61421915e-03 9.96029919e-01 1.10757116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404839172999997 meters 0.08222749313872456 Centerline is valid? [True, True] Translation: X:13.17, Y:0.06, Z:1.10 [[ 9.94569579e-01 -5.25837191e-02 -8.98126160e-02 1.31688690e+01] [ 5.26363400e-02 9.98612153e-01 -1.78414214e-03 5.64175879e-02] [ 8.97817867e-02 -2.95295389e-03 9.95957083e-01 1.10314051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464839172999998 meters 0.07995735333542077 Centerline is valid? [True, True] Translation: X:13.23, Y:0.10, Z:1.08 [[ 9.93110394e-01 -3.18388056e-02 -1.12774268e-01 1.32296356e+01] [ 3.17849307e-02 9.99492140e-01 -2.27614754e-03 9.64719467e-02] [ 1.12789464e-01 -1.32405649e-03 9.93618027e-01 1.07764379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524839172999998 meters 0.07856129833667798 Centerline is valid? [True, True] Translation: X:13.28, Y:0.08, Z:1.12 [[ 9.94289812e-01 -3.51961806e-02 -1.00742242e-01 1.32841282e+01] [ 3.51700332e-02 9.99379269e-01 -2.03616291e-03 8.32291850e-02] [ 1.00751374e-01 -1.51857197e-03 9.94910476e-01 1.12392951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584839172999999 meters 0.0784935416658328 Centerline is valid? [True, True] Translation: X:13.34, Y:0.11, Z:1.13 [[ 9.95593182e-01 -2.49488740e-02 -9.03978403e-02 1.33417040e+01] [ 2.48834998e-02 9.99688645e-01 -1.85030150e-03 1.06997116e-01] [ 9.04158575e-02 -4.07267088e-04 9.95904015e-01 1.13109913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644839172999998 meters 0.07832778982096542 Centerline is valid? [True, True] Translation: X:13.40, Y:0.12, Z:1.12 [[ 9.95001270e-01 -2.35720963e-02 -9.70403426e-02 1.34012568e+01] [ 2.34873681e-02 9.99722102e-01 -2.01549720e-03 1.20443182e-01] [ 9.70608848e-02 -2.73799976e-04 9.95278408e-01 1.12240884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704839172999998 meters 0.07667612957812116 Centerline is valid? [True, True] Translation: X:13.46, Y:0.13, Z:1.12 [[ 9.95333060e-01 -2.75300630e-02 -9.24888920e-02 1.34597170e+01] [ 2.74677733e-02 9.99620794e-01 -1.94661857e-03 1.32558304e-01] [ 9.25074102e-02 -6.02930100e-04 9.95711813e-01 1.12294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764839172999999 meters 0.07713515051554047 Centerline is valid? [True, True] Translation: X:13.52, Y:0.15, Z:1.13 [[ 9.95328530e-01 -2.44870882e-02 -9.33889733e-02 1.35178561e+01] [ 2.44075481e-02 9.99700103e-01 -1.99397827e-03 1.46354061e-01] [ 9.34097929e-02 -2.94732400e-04 9.95627703e-01 1.12565947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824839172999997 meters 0.07825862452175839 Centerline is valid? [True, True] Translation: X:13.57, Y:0.17, Z:1.13 [[ 9.95822541e-01 -1.70700557e-02 -8.96999498e-02 1.35742961e+01] [ 1.69641673e-02 9.99854211e-01 -1.94277557e-03 1.69495113e-01] [ 8.97200358e-02 4.12974748e-04 9.95966940e-01 1.13201598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884839172999998 meters 0.0942019337275561 Centerline is valid? [True, True] Translation: X:13.64, Y:0.17, Z:1.04 [[ 9.48716013e-01 -9.55079496e-02 -3.01357193e-01 1.36440928e+01] [ 9.80942271e-02 9.95155405e-01 -6.57587815e-03 1.67077221e-01] [ 3.00525288e-01 -2.33227601e-02 9.53488647e-01 1.04418766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944839172999998 meters 0.087514126437516 Centerline is valid? [True, True] Translation: X:13.70, Y:0.17, Z:1.10 [[ 9.55386700e-01 -7.42943086e-02 -2.85861170e-01 1.36981989e+01] [ 7.56670525e-02 9.97113509e-01 -6.25675440e-03 1.74819637e-01] [ 2.85500875e-01 -1.56526522e-02 9.58250617e-01 1.10351924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004839172999999 meters 0.07713060151921303 Centerline is valid? [True, True] Translation: X:13.75, Y:0.18, Z:1.15 [[ 9.96471704e-01 -1.86337347e-02 -8.18347588e-02 1.37526545e+01] [ 1.85492814e-02 9.99826341e-01 -1.79220576e-03 1.82818440e-01] [ 8.18539429e-02 2.67906358e-04 9.96644300e-01 1.14979131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064839172999998 meters 0.08441819283968363 Centerline is valid? [True, True] Translation: X:13.82, Y:0.18, Z:1.08 [[ 9.78110228e-01 -6.45521559e-02 -1.97821639e-01 1.38194368e+01] [ 6.49765068e-02 9.97877303e-01 -4.35212964e-03 1.82549776e-01] [ 1.97682663e-01 -8.59689654e-03 9.80228370e-01 1.08462891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124839172999998 meters 0.07910399638263811 Centerline is valid? [True, True] Translation: X:13.88, Y:0.21, Z:1.08 [[ 9.90012598e-01 -4.10311950e-02 -1.34875858e-01 1.38793603e+01] [ 4.10054283e-02 9.99154509e-01 -2.97023450e-03 2.13906849e-01] [ 1.34883694e-01 -2.59007273e-03 9.90858053e-01 1.07894312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184839172999999 meters 0.10058685619151932 Centerline is valid? [True, False] Translation: X:13.96, Y:0.23, Z:1.07 [[ 9.93584579e-01 -1.09232651e-02 -1.12562720e-01 1.39593380e+01] [ 8.25540541e-03 9.99674501e-01 -2.41400182e-02 2.27145085e-01] [ 1.12789769e-01 2.30558989e-02 9.93351344e-01 1.06602002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244839172999997 meters 0.08423330879087389 Centerline is valid? [False, True] Translation: X:13.81, Y:0.31, Z:1.20 [[ 9.97178899e-01 -7.42541777e-02 -1.09800247e-02 1.38138912e+01] [ 7.13148613e-02 9.82851514e-01 -1.70050264e-01 3.07076743e-01] [ 2.34186764e-02 1.68787496e-01 9.85374217e-01 1.20325569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304839172999998 meters 0.08832067413058244 Centerline is valid? [True, True] Translation: X:13.89, Y:0.22, Z:1.11 [[ 9.97601091e-01 -6.64529265e-02 -1.93925578e-02 1.38854675e+01] [ 6.64394211e-02 9.97789560e-01 -1.34058019e-03 2.20975816e-01] [ 1.94387771e-02 4.89339533e-05 9.99811048e-01 1.11303092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364839172999998 meters 0.08040598908282653 Centerline is valid? [True, True] Translation: X:13.94, Y:0.25, Z:1.14 [[ 9.96789756e-01 -7.23430244e-02 -3.43026223e-02 1.39432865e+01] [ 7.23042975e-02 9.97379804e-01 -2.36974592e-03 2.48416415e-01] [ 3.43841772e-02 -1.18088551e-04 9.99408682e-01 1.14051680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424839172999999 meters 0.08224934224920463 Centerline is valid? [True, True] Translation: X:14.00, Y:0.26, Z:1.15 [[ 9.97228414e-01 -6.94548998e-02 -2.66740881e-02 1.40039331e+01] [ 6.94304370e-02 9.97585092e-01 -1.84329011e-03 2.57100694e-01] [ 2.67376981e-02 -1.38123152e-05 9.99642484e-01 1.15078094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484839172999997 meters 0.08832425261635002 Centerline is valid? [True, True] Translation: X:14.07, Y:0.27, Z:1.14 [[ 9.97428521e-01 -6.93918440e-02 -1.79197529e-02 1.40650203e+01] [ 6.93808150e-02 9.97589481e-01 -1.23717426e-03 2.66912441e-01] [ 1.79624068e-02 -9.29417370e-06 9.99838663e-01 1.13976829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544839172999998 meters 0.08696638711646433 Centerline is valid? [True, True] Translation: X:14.12, Y:0.29, Z:1.15 [[ 9.97446294e-01 -6.82596034e-02 -2.10123081e-02 1.41243677e+01] [ 6.82441671e-02 9.97667593e-01 -1.45165840e-03 2.85751583e-01] [ 2.10623884e-02 1.39838319e-05 9.99778163e-01 1.14846359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604839172999998 meters 0.09213461289058536 Centerline is valid? [True, True] Translation: X:14.18, Y:0.29, Z:1.14 [[ 9.97659531e-01 -6.69847211e-02 -1.37298052e-02 1.41837852e+01] [ 6.69780363e-02 9.97754001e-01 -9.46647184e-04 2.92289552e-01] [ 1.37623790e-02 2.48361933e-05 9.99905294e-01 1.14257433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664839172999997 meters 0.08642606097265904 Centerline is valid? [True, True] Translation: X:14.24, Y:0.31, Z:1.16 [[ 9.97048134e-01 -7.24721379e-02 -2.53536476e-02 1.42420854e+01] [ 7.24510792e-02 9.97370433e-01 -1.74942089e-03 3.08590316e-01] [ 2.54137627e-02 -9.26422952e-05 9.99677014e-01 1.16437780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724839172999998 meters 0.08527091924119606 Centerline is valid? [True, True] Translation: X:14.30, Y:0.32, Z:1.18 [[ 9.96721245e-01 -7.49998542e-02 -3.03608727e-02 1.43010305e+01] [ 7.49708111e-02 9.97183527e-01 -2.09542561e-03 3.23978442e-01] [ 3.04325187e-02 -1.87624031e-04 9.99536806e-01 1.17640783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784839172999998 meters 0.08407777894445399 Centerline is valid? [True, True] Translation: X:14.36, Y:0.33, Z:1.19 [[ 9.95918532e-01 -8.53361145e-02 -2.93943176e-02 1.43607050e+01] [ 8.53134030e-02 9.96352101e-01 -2.02821109e-03 3.29177745e-01] [ 2.94601697e-02 -4.87796251e-04 9.99565836e-01 1.19415006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844839172999999 meters 0.08455845874434008 Centerline is valid? [True, True] Translation: X:14.42, Y:0.34, Z:1.20 [[ 9.96240431e-01 -8.40651060e-02 -2.09299271e-02 1.44205800e+01] [ 8.40533133e-02 9.96460213e-01 -1.44407584e-03 3.40493408e-01] [ 2.09772360e-02 -3.20582986e-04 9.99779902e-01 1.20406124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904839172999997 meters 0.08382919833366599 Centerline is valid? [True, True] Translation: X:14.48, Y:0.36, Z:1.21 [[ 9.96929988e-01 -7.47656661e-02 -2.32528227e-02 1.44789608e+01] [ 7.47486050e-02 9.97201121e-01 -1.60325550e-03 3.56775720e-01] [ 2.33076094e-02 -1.39782579e-04 9.99728331e-01 1.21358097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964839172999998 meters 0.08350567944694937 Centerline is valid? [True, True] Translation: X:14.54, Y:0.37, Z:1.20 [[ 9.97458415e-01 -6.31034461e-02 -3.30857265e-02 1.45393834e+01] [ 6.30624743e-02 9.98006974e-01 -2.28145447e-03 3.71007519e-01] [ 3.31637534e-02 1.89188189e-04 9.99449914e-01 1.19887457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024839172999998 meters 0.08429871202174813 Centerline is valid? [True, True] Translation: X:14.60, Y:0.37, Z:1.20 [[ 9.97350424e-01 -6.74525727e-02 -2.72448452e-02 1.46011091e+01] [ 6.74263891e-02 9.97722481e-01 -1.87963496e-03 3.71295903e-01] [ 2.73095808e-02 3.76331859e-05 9.99627023e-01 1.20389499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084839172999997 meters 0.08470456164297553 Centerline is valid? [True, True] Translation: X:14.66, Y:0.36, Z:1.21 [[ 9.96793998e-01 -7.60405241e-02 -2.48910554e-02 1.46622976e+01] [ 7.60213733e-02 9.97104712e-01 -1.71612657e-03 3.63990575e-01] [ 2.49494838e-02 -1.81627549e-04 9.99688697e-01 1.21375433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144839172999998 meters 0.08318255757897806 Centerline is valid? [True, True] Translation: X:14.72, Y:0.37, Z:1.22 [[ 9.96865572e-01 -7.40176812e-02 -2.79358837e-02 1.47231201e+01] [ 7.39928299e-02 9.97256918e-01 -1.92368679e-03 3.74509833e-01] [ 2.80016401e-02 -1.49397952e-04 9.99607866e-01 1.21888068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204839172999998 meters 0.08368181842566931 Centerline is valid? [True, True] Translation: X:14.79, Y:0.37, Z:1.21 [[ 9.96982929e-01 -6.99337600e-02 -3.36794918e-02 1.47859063e+01] [ 6.98953496e-02 9.97551636e-01 -2.31792174e-03 3.66270780e-01] [ 3.37591331e-02 -4.31114440e-05 9.99429997e-01 1.21256681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264839172999999 meters 0.08367980978773543 Centerline is valid? [True, True] Translation: X:14.85, Y:0.36, Z:1.21 [[ 9.97122351e-01 -6.83358443e-02 -3.28211813e-02 1.48488130e+01] [ 6.82985453e-02 9.97662374e-01 -2.25752444e-03 3.61792490e-01] [ 3.28987274e-02 9.38914178e-06 9.99458690e-01 1.21431938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324839172999997 meters 0.08384616267440528 Centerline is valid? [True, True] Translation: X:14.91, Y:0.35, Z:1.22 [[ 9.96824541e-01 -7.33040931e-02 -3.11021446e-02 1.49121657e+01] [ 7.32730820e-02 9.97309625e-01 -2.13718974e-03 3.47381043e-01] [ 3.11751329e-02 -1.48546814e-04 9.99513926e-01 1.22076556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384839172999998 meters 0.08404959801472629 Centerline is valid? [True, True] Translation: X:14.98, Y:0.34, Z:1.22 [[ 9.96554911e-01 -7.55120760e-02 -3.42962977e-02 1.49750356e+01] [ 7.54757758e-02 9.97144858e-01 -2.35370209e-03 3.38751450e-01] [ 3.43761098e-02 -2.42946297e-04 9.99408937e-01 1.22063576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444839172999998 meters 0.08419230266979183 Centerline is valid? [True, True] Translation: X:15.04, Y:0.32, Z:1.22 [[ 9.96601153e-01 -7.48936003e-02 -3.43087468e-02 1.50371188e+01] [ 7.48570072e-02 9.97191505e-01 -2.35165504e-03 3.22779000e-01] [ 3.43885147e-02 -2.24587977e-04 9.99408515e-01 1.22020846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504839172999997 meters 0.0832243851515109 Centerline is valid? [True, True] Translation: X:15.10, Y:0.32, Z:1.23 [[ 9.96815848e-01 -7.14913388e-02 -3.53150564e-02 1.50994127e+01] [ 7.14504914e-02 9.97441214e-01 -2.41895727e-03 3.18268823e-01] [ 3.53976273e-02 -1.12023194e-04 9.99373301e-01 1.22511221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564839172999998 meters 0.08272405733998142 Centerline is valid? [True, True] Translation: X:15.16, Y:0.32, Z:1.24 [[ 9.97506542e-01 -6.46744290e-02 -2.82474181e-02 1.51596512e+01] [ 6.46456396e-02 9.97906412e-01 -1.93217488e-03 3.16781521e-01] [ 2.83132419e-02 1.01284679e-04 9.99599095e-01 1.23702938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624839172999998 meters 0.08215676925259108 Centerline is valid? [True, True] Translation: X:15.22, Y:0.31, Z:1.24 [[ 9.97908940e-01 -5.85543304e-02 -2.73703710e-02 1.52216072e+01] [ 5.85249849e-02 9.98284188e-01 -1.87270131e-03 3.13735841e-01] [ 2.74330634e-02 2.66934828e-04 9.99623607e-01 1.23874642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684839172999999 meters 0.08207882618244891 Centerline is valid? [True, True] Translation: X:15.28, Y:0.29, Z:1.24 [[ 9.97657149e-01 -6.14841876e-02 -2.99984659e-02 1.52835126e+01] [ 6.14503432e-02 9.98108037e-01 -2.04969240e-03 2.94980417e-01] [ 3.00677336e-02 2.01474247e-04 9.99547843e-01 1.24024235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744839172999997 meters 0.08137877937841374 Centerline is valid? [True, True] Translation: X:15.35, Y:0.28, Z:1.25 [[ 9.97795237e-01 -6.32059621e-02 -2.02403213e-02 1.53452450e+01] [ 6.31909218e-02 9.98000499e-01 -1.38243036e-03 2.76943225e-01] [ 2.02872286e-02 1.00377866e-04 9.99794188e-01 1.24789294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804839172999998 meters 0.08000059019686534 Centerline is valid? [True, True] Translation: X:15.41, Y:0.28, Z:1.26 [[ 9.97719419e-01 -6.33821962e-02 -2.32090074e-02 1.54067418e+01] [ 6.33624457e-02 9.97989321e-01 -1.58612434e-03 2.75065296e-01] [ 2.32628736e-02 1.11927583e-04 9.99729376e-01 1.25509826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864839172999998 meters 0.08017303129468974 Centerline is valid? [True, True] Translation: X:15.47, Y:0.25, Z:1.24 [[ 9.96822250e-01 -6.72679268e-02 -4.26664732e-02 1.54694182e+01] [ 6.72048751e-02 9.97734947e-01 -2.91204082e-03 2.51403587e-01] [ 4.27657184e-02 3.53920801e-05 9.99085128e-01 1.24130152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924839172999997 meters 0.07957916350347198 Centerline is valid? [True, True] Translation: X:15.53, Y:0.23, Z:1.23 [[ 9.95572870e-01 -7.90352338e-02 -5.08732921e-02 1.55295022e+01] [ 7.89609525e-02 9.96871665e-01 -3.47142865e-03 2.31196710e-01] [ 5.09885086e-02 -5.60943415e-04 9.98699082e-01 1.23129983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984839172999997 meters 0.08215028174852876 Centerline is valid? [True, True] Translation: X:15.59, Y:0.22, Z:1.24 [[ 9.95661310e-01 -8.15907203e-02 -4.47382500e-02 1.55889445e+01] [ 8.15352949e-02 9.96665741e-01 -3.06532376e-03 2.17055059e-01] [ 4.48391831e-02 -5.95722133e-04 9.98994040e-01 1.24429236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044839172999996 meters 0.0818444763023368 Centerline is valid? [True, True] Translation: X:15.65, Y:0.21, Z:1.25 [[ 9.95860882e-01 -7.80132649e-02 -4.66372683e-02 1.56480162e+01] [ 7.79484747e-02 9.96952224e-01 -3.20904719e-03 2.07941996e-01] [ 4.67454766e-02 -4.39539366e-04 9.98906736e-01 1.24715587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104839173 meters 0.0830599356665744 Centerline is valid? [True, True] Translation: X:15.71, Y:0.22, Z:1.24 [[ 9.95906751e-01 -7.13514810e-02 -5.54861228e-02 1.57066670e+01] [ 7.12484032e-02 9.97451226e-01 -3.83621159e-03 2.15276228e-01] [ 5.56184206e-02 -1.32788626e-04 9.98452089e-01 1.24462290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164839172999997 meters 0.081473454794086 Centerline is valid? [True, True] Translation: X:15.76, Y:0.22, Z:1.25 [[ 9.96602872e-01 -6.41454724e-02 -5.16533983e-02 1.57643325e+01] [ 6.40457551e-02 9.97940523e-01 -3.58510371e-03 2.15808237e-01] [ 5.17769875e-02 2.64743757e-04 9.98658637e-01 1.24986840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224839173 meters 0.08197972315471184 Centerline is valid? [True, True] Translation: X:15.82, Y:0.22, Z:1.26 [[ 9.97175221e-01 -5.66101276e-02 -4.93646840e-02 1.58222852e+01] [ 5.65096332e-02 9.98396162e-01 -3.43014687e-03 2.20539700e-01] [ 4.94796920e-02 6.30877279e-04 9.98774931e-01 1.25597686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284839172999998 meters 0.08116258444747285 Centerline is valid? [True, True] Translation: X:15.88, Y:0.22, Z:1.26 [[ 9.97152898e-01 -5.86436082e-02 -4.74028078e-02 1.58804872e+01] [ 5.85525578e-02 9.98278846e-01 -3.30826100e-03 2.16973695e-01] [ 4.75152287e-02 5.23286401e-04 9.98870377e-01 1.26002662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344839172999997 meters 0.07946568771504521 Centerline is valid? [True, True] Translation: X:15.94, Y:0.20, Z:1.26 [[ 9.97021083e-01 -6.25446997e-02 -4.51344762e-02 1.59402741e+01] [ 6.24660283e-02 9.98042111e-01 -3.15273297e-03 2.03104895e-01] [ 4.52432947e-02 3.23969774e-04 9.98975945e-01 1.26424278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404839173 meters 0.07884942765105822 Centerline is valid? [True, True] Translation: X:16.00, Y:0.19, Z:1.26 [[ 9.96773291e-01 -6.69067818e-02 -4.43451226e-02 1.59995961e+01] [ 6.68345730e-02 9.97759221e-01 -3.11062968e-03 1.94650380e-01] [ 4.44538772e-02 1.36805251e-04 9.99011428e-01 1.26163765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464839172999998 meters 0.09756228814198538 Centerline is valid? [True, True] Translation: X:16.06, Y:0.25, Z:1.20 [[ 9.95085973e-01 2.19910313e-02 -9.65417061e-02 1.60583682e+01] [-2.27538553e-02 9.99717920e-01 -6.80756691e-03 2.51784984e-01] [ 9.63647682e-02 8.97081035e-03 9.95305660e-01 1.20091532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524839172999997 meters 0.06449055606047821 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.04, Z:1.24 [[ 9.52928895e-01 -2.32349448e-01 -1.94782584e-01 1.61370070e+01] [ 2.34212388e-01 9.72088346e-01 -1.37406433e-02 -3.55153899e-02] [ 1.92538511e-01 -3.25266383e-02 9.80750192e-01 1.23764968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584839173 meters 0.07641469594035165 Centerline is valid? [True, True] Translation: X:16.18, Y:0.17, Z:1.25 [[ 9.96536489e-01 -6.39093427e-02 -5.32035914e-02 1.61809804e+01] [ 6.37999547e-02 9.97955648e-01 -3.75363225e-03 1.71819135e-01] [ 5.33347168e-02 3.46244776e-04 9.98576631e-01 1.25037706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644839172999998 meters 0.08577200412216987 Centerline is valid? [True, True] Translation: X:16.25, Y:0.16, Z:1.19 [[ 9.97565082e-01 -6.91475196e-02 9.08448330e-03 1.62460971e+01] [ 6.91445417e-02 9.97606446e-01 6.41842289e-04 1.56166413e-01] [-9.10712089e-03 -1.21370218e-05 9.99958529e-01 1.19240933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704839172999996 meters 0.08215332510146778 Centerline is valid? [True, True] Translation: X:16.30, Y:0.15, Z:1.25 [[ 9.94321624e-01 -8.71207924e-02 -6.11103540e-02 1.63029179e+01] [ 8.70199493e-02 9.96197225e-01 -4.31472439e-03 1.50118843e-01] [ 6.12538673e-02 -1.02759614e-03 9.98121690e-01 1.25265687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764839173 meters 0.05206263157361772 Centerline is valid? [True, True] Translation: X:16.37, Y:0.11, Z:1.09 [[ 9.97186337e-01 -6.81580088e-02 3.12073053e-02 1.63746263e+01] [ 6.81223836e-02 9.97674536e-01 2.20460429e-03 1.13808014e-01] [-3.12849953e-02 -7.24852573e-05 9.99510502e-01 1.08793931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824839172999997 meters 0.0666311679636882 Centerline is valid? [True, True] Translation: X:16.42, Y:0.22, Z:1.24 [[ 9.73365701e-01 -1.84902572e-01 -1.35536897e-01 1.64204999e+01] [ 1.85329982e-01 9.82629756e-01 -9.56877377e-03 2.18782527e-01] [ 1.34951879e-01 -1.58051345e-02 9.90726091e-01 1.23694277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884839172999996 meters 0.03497011553011566 Centerline is valid? [True, True] Translation: X:16.45, Y:0.66, Z:1.30 [[ 9.65449323e-01 -1.63241393e-01 -2.03125212e-01 1.64467341e+01] [ 1.63770655e-01 9.86394543e-01 -1.43170375e-02 6.64975233e-01] [ 2.02698734e-01 -1.94435749e-02 9.79048094e-01 1.30338891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944839173 meters 0.08036468073182805 Centerline is valid? [True, True] Translation: X:16.55, Y:0.14, Z:1.15 [[ 9.96937028e-01 -7.77895736e-02 -8.08360249e-03 1.65510571e+01] [ 7.77875656e-02 9.96969798e-01 -5.62993948e-04 1.37513460e-01] [ 8.10290260e-03 -6.75342456e-05 9.99967169e-01 1.14998629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004839172999997 meters 0.08467803620134025 Centerline is valid? [True, True] Translation: X:16.60, Y:0.16, Z:1.27 [[ 9.96505416e-01 -8.20553577e-02 1.56164876e-02 1.66043353e+01] [ 8.20481595e-02 9.96627756e-01 1.10214964e-03 1.58267814e-01] [-1.56542623e-02 1.83005983e-04 9.99877448e-01 1.26821947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064839173 meters 0.08233831330042111 Centerline is valid? [True, True] Translation: X:16.67, Y:0.16, Z:1.27 [[ 9.94722197e-01 -7.15919422e-02 -7.35006416e-02 1.66653313e+01] [ 7.14037609e-02 9.97434001e-01 -5.18813645e-03 1.63098731e-01] [ 7.36834678e-02 -8.74677496e-05 9.97281675e-01 1.26714239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124839172999998 meters 0.07461314152054137 Centerline is valid? [True, True] Translation: X:16.73, Y:0.16, Z:1.25 [[ 9.95571295e-01 -7.99886889e-02 -4.93923666e-02 1.67261575e+01] [ 7.99141166e-02 9.96795657e-01 -3.48590627e-03 1.56677300e-01] [ 4.95129296e-02 -4.76679125e-04 9.98773369e-01 1.24662166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184839172999997 meters 0.07955740582806346 Centerline is valid? [True, True] Translation: X:16.78, Y:0.15, Z:1.30 [[ 9.94855351e-01 -8.79754276e-02 -5.02310140e-02 1.67826454e+01] [ 8.79082289e-02 9.96122253e-01 -3.54978221e-03 1.51705244e-01] [ 5.03485244e-02 -8.84199651e-04 9.98731317e-01 1.29889295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244839173 meters 0.08137996547658988 Centerline is valid? [True, True] Translation: X:16.84, Y:0.17, Z:1.30 [[ 9.94574047e-01 -8.26242976e-02 -6.32114710e-02 1.68398496e+01] [ 8.25065938e-02 9.96580473e-01 -4.47457916e-03 1.74307236e-01] [ 6.33650267e-02 -7.65062858e-04 9.97990124e-01 1.30116106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304839172999998 meters 0.09008299256766038 Centerline is valid? [True, True] Translation: X:16.90, Y:0.18, Z:1.27 [[ 9.95864831e-01 -8.28370032e-02 -3.72997220e-02 1.68997511e+01] [ 8.27960631e-02 9.96563005e-01 -2.64359744e-03 1.81409611e-01] [ 3.73905107e-02 -4.55604418e-04 9.99300627e-01 1.27107810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364839172999996 meters 0.08604329740830259 Centerline is valid? [True, True] Translation: X:16.96, Y:0.23, Z:1.27 [[ 9.90462539e-01 -6.79130791e-02 -1.19882326e-01 1.69561850e+01] [ 6.73721098e-02 9.97691159e-01 -8.56446188e-03 2.25935767e-01] [ 1.20187176e-01 4.06053424e-04 9.92751166e-01 1.27257903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424839173 meters 0.08189199409035655 Centerline is valid? [True, True] Translation: X:17.01, Y:0.23, Z:1.31 [[ 9.94583198e-01 -8.01862143e-02 -6.61394974e-02 1.70130756e+01] [ 8.00490767e-02 9.96779724e-01 -4.72525306e-03 2.28505782e-01] [ 6.63054101e-02 -5.94748400e-04 9.97799198e-01 1.31448090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484839172999997 meters 0.08078728224507509 Centerline is valid? [True, True] Translation: X:17.07, Y:0.25, Z:1.32 [[ 9.95178252e-01 -8.21887764e-02 -5.35280504e-02 1.70702790e+01] [ 8.21018044e-02 9.96616606e-01 -3.82545666e-03 2.46983804e-01] [ 5.36613535e-02 -5.87738245e-04 9.98559019e-01 1.31909507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544839172999996 meters 0.0825516059662316 Centerline is valid? [True, True] Translation: X:17.13, Y:0.25, Z:1.32 [[ 9.93982218e-01 -8.99910810e-02 -6.24576347e-02 1.71292892e+01] [ 8.98868025e-02 9.95941898e-01 -4.48311435e-03 2.45399602e-01] [ 6.26076155e-02 -1.15798112e-03 9.98037547e-01 1.31591279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604839173 meters 0.08405920540860108 Centerline is valid? [True, True] Translation: X:17.19, Y:0.26, Z:1.31 [[ 9.92074090e-01 -1.00439205e-01 -7.55047448e-02 1.71896456e+01] [ 1.00316648e-01 9.94940779e-01 -5.42368317e-03 2.58160746e-01] [ 7.56675000e-02 -2.19368737e-03 9.97130692e-01 1.30666264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664839172999997 meters 0.08713375551872123 Centerline is valid? [True, True] Translation: X:17.25, Y:0.29, Z:1.26 [[ 9.88324457e-01 -1.00414702e-01 -1.14593437e-01 1.72507839e+01] [ 1.00132374e-01 9.94940069e-01 -8.23202943e-03 2.88285273e-01] [ 1.14840219e-01 -3.33859691e-03 9.93378366e-01 1.25925764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724839172999996 meters 0.08151178901281479 Centerline is valid? [True, True] Translation: X:17.31, Y:0.28, Z:1.32 [[ 9.92844121e-01 -9.79177360e-02 -6.83569254e-02 1.73086860e+01] [ 9.78112439e-02 9.95192866e-01 -4.91119106e-03 2.78238621e-01] [ 6.85092172e-02 -1.81002873e-03 9.97648842e-01 1.31634306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784839172999998 meters 0.0814183478752646 Centerline is valid? [True, True] Translation: X:17.37, Y:0.29, Z:1.32 [[ 9.92951512e-01 -9.83269192e-02 -6.61748534e-02 1.73670552e+01] [ 9.82277095e-02 9.95152585e-01 -4.75913620e-03 2.85655684e-01] [ 6.63220277e-02 -1.77461280e-03 9.97796692e-01 1.31589413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844839172999997 meters 0.08249587433678422 Centerline is valid? [True, True] Translation: X:17.42, Y:0.30, Z:1.33 [[ 9.93023090e-01 -9.72978427e-02 -6.66203562e-02 1.74246808e+01] [ 9.71936967e-02 9.95253860e-01 -4.81036726e-03 2.97709965e-01] [ 6.67722050e-02 -1.69827294e-03 9.97766801e-01 1.32741520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904839173 meters 0.08256357247815176 Centerline is valid? [True, True] Translation: X:17.48, Y:0.30, Z:1.32 [[ 9.92716462e-01 -9.99474917e-02 -6.72645905e-02 1.74830495e+01] [ 9.98462174e-02 9.94990942e-01 -4.87426222e-03 3.02942938e-01] [ 6.74148285e-02 -1.87735458e-03 9.97723266e-01 1.32338174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964839172999998 meters 0.08460947558443944 Centerline is valid? [True, True] Translation: X:17.54, Y:0.31, Z:1.33 [[ 9.92526169e-01 -9.95470689e-02 -7.05845948e-02 1.75400488e+01] [ 9.94340064e-02 9.95030974e-01 -5.12241273e-03 3.09000061e-01] [ 7.07437793e-02 -1.93438038e-03 9.97492645e-01 1.32796658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024839172999997 meters 0.08470810247388898 Centerline is valid? [True, True] Translation: X:17.60, Y:0.31, Z:1.32 [[ 9.91359891e-01 -1.01022453e-01 -8.36661808e-02 1.76009361e+01] [ 1.00868316e-01 9.94881218e-01 -6.07818873e-03 3.13715424e-01] [ 8.38519454e-02 -2.41359421e-03 9.96475301e-01 1.31844622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084839173 meters 0.08538055703502472 Centerline is valid? [True, True] Translation: X:17.66, Y:0.33, Z:1.27 [[ 9.91907835e-01 -9.66028286e-02 -8.23816804e-02 1.76613213e+01] [ 9.64380729e-02 9.95320986e-01 -5.98607067e-03 3.32070230e-01] [ 8.25744867e-02 -2.00710010e-03 9.96582874e-01 1.27076435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144839172999998 meters 0.08537244411397606 Centerline is valid? [True, True] Translation: X:17.72, Y:0.35, Z:1.35 [[ 9.93002345e-01 -9.00605070e-02 -7.63901003e-02 1.77169974e+01] [ 8.98993455e-02 9.95935376e-01 -5.55286570e-03 3.46236829e-01] [ 7.65796971e-02 -1.35341135e-03 9.97062545e-01 1.34798741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204839172999996 meters 0.08546966746180226 Centerline is valid? [True, True] Translation: X:17.78, Y:0.35, Z:1.35 [[ 9.92511887e-01 -9.66105196e-02 -7.47433083e-02 1.77755247e+01] [ 9.64742591e-02 9.95320614e-01 -5.43985515e-03 3.49847847e-01] [ 7.49191028e-02 -1.81168440e-03 9.97187969e-01 1.35175462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264839173 meters 0.08896665296048435 Centerline is valid? [True, True] Translation: X:17.84, Y:0.35, Z:1.36 [[ 9.91315537e-01 -1.09807007e-01 -7.23597107e-02 1.78352731e+01] [ 1.09713215e-01 9.93949252e-01 -5.28163876e-03 3.50327505e-01] [ 7.25018412e-02 -2.70304592e-03 9.97364616e-01 1.35831602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324839172999997 meters 0.08908962056159346 Centerline is valid? [True, True] Translation: X:17.90, Y:0.36, Z:1.36 [[ 9.90557626e-01 -1.18019998e-01 -6.97629543e-02 1.78950972e+01] [ 1.17953090e-01 9.93006112e-01 -5.09220423e-03 3.56934943e-01] [ 6.98760219e-02 -3.18463426e-03 9.97550600e-01 1.36098329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384839172999996 meters 0.08933626736867951 Centerline is valid? [True, True] Translation: X:17.95, Y:0.37, Z:1.36 [[ 9.90989249e-01 -1.14148462e-01 -7.00745093e-02 1.79540923e+01] [ 1.14071259e-01 9.93459400e-01 -5.11557883e-03 3.74079219e-01] [ 7.02001154e-02 -2.92400387e-03 9.97528643e-01 1.36208482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444839173 meters 0.09107946249257028 Centerline is valid? [True, True] Translation: X:18.01, Y:0.39, Z:1.35 [[ 9.89237375e-01 -1.20679438e-01 -8.27398891e-02 1.80139635e+01] [ 1.20594517e-01 9.92683465e-01 -6.04157058e-03 3.87466914e-01] [ 8.28636131e-02 -4.00142953e-03 9.96552864e-01 1.35381242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504839172999997 meters 0.08802712449253028 Centerline is valid? [True, True] Translation: X:18.07, Y:0.42, Z:1.36 [[ 9.92320029e-01 -1.01536355e-01 -7.06493337e-02 1.80709049e+01] [ 1.01425846e-01 9.94829725e-01 -5.15908204e-03 4.22164718e-01] [ 7.08078916e-02 -2.04620799e-03 9.97487872e-01 1.36488671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564839172999996 meters 0.0902246902348093 Centerline is valid? [True, True] Translation: X:18.13, Y:0.41, Z:1.36 [[ 9.90544106e-01 -1.16541892e-01 -7.23903340e-02 1.81325184e+01] [ 1.16465724e-01 9.93180640e-01 -5.28681875e-03 4.10603764e-01] [ 7.25128142e-02 -3.19416554e-03 9.97362366e-01 1.36363951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624839172999998 meters 0.0926061801126001 Centerline is valid? [True, True] Translation: X:18.19, Y:0.40, Z:1.37 [[ 9.90281511e-01 -1.23643481e-01 -6.36774506e-02 1.81923667e+01] [ 1.23599082e-01 9.92321336e-01 -4.65122539e-03 3.99477313e-01] [ 6.37635865e-02 -3.26445194e-03 9.97959693e-01 1.36925948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684839172999997 meters 0.09230818848955236 Centerline is valid? [True, True] Translation: X:18.25, Y:0.41, Z:1.38 [[ 9.90831272e-01 -1.23533421e-01 -5.47072564e-02 1.82497845e+01] [ 1.23500332e-01 9.92336477e-01 -3.99816860e-03 4.14325413e-01] [ 5.47819135e-02 -2.79485382e-03 9.98494432e-01 1.38282900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744839173 meters 0.09046642477026468 Centerline is valid? [True, True] Translation: X:18.31, Y:0.44, Z:1.38 [[ 9.91477421e-01 -1.16821817e-01 -5.76644380e-02 1.83085840e+01] [ 1.16772849e-01 9.93149642e-01 -4.22969381e-03 4.35507627e-01] [ 5.77635365e-02 -2.53999480e-03 9.98327062e-01 1.38282955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804839172999998 meters 0.09115799375355939 Centerline is valid? [True, True] Translation: X:18.37, Y:0.44, Z:1.37 [[ 9.90955056e-01 -1.16679281e-01 -6.62874271e-02 1.83678038e+01] [ 1.16614047e-01 9.93165388e-01 -4.86583867e-03 4.44478515e-01] [ 6.64021208e-02 -2.90821774e-03 9.97788705e-01 1.37134338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864839172999996 meters 0.09430668747860113 Centerline is valid? [True, True] Translation: X:18.43, Y:0.46, Z:1.36 [[ 9.88757923e-01 -1.26774758e-01 -7.92838642e-02 1.84274095e+01] [ 1.26712424e-01 9.91922320e-01 -5.83724978e-03 4.58495611e-01] [ 7.93834505e-02 -4.27462363e-03 9.96834989e-01 1.35708217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924839173 meters 0.09290092113813593 Centerline is valid? [True, True] Translation: X:18.49, Y:0.48, Z:1.38 [[ 9.90969074e-01 -1.18658149e-01 -6.24542942e-02 1.84851060e+01] [ 1.18603240e-01 9.92931076e-01 -4.59890204e-03 4.82616309e-01] [ 6.25585068e-02 -2.84991192e-03 9.98037229e-01 1.37726167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984839172999997 meters 0.09250396461637032 Centerline is valid? [True, True] Translation: X:18.54, Y:0.50, Z:1.38 [[ 9.91272632e-01 -1.16678243e-01 -6.13576126e-02 1.85433520e+01] [ 1.16621400e-01 9.93166163e-01 -4.51908596e-03 5.04790994e-01] [ 6.14655837e-02 -2.67596448e-03 9.98105616e-01 1.38113440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044839172999996 meters 0.08947053782842043 Centerline is valid? [True, True] Translation: X:18.60, Y:0.53, Z:1.37 [[ 9.91890515e-01 -1.05596829e-01 -7.07284624e-02 1.86023216e+01] [ 1.05493050e-01 9.94406384e-01 -5.21155177e-03 5.32952120e-01] [ 7.08831579e-02 -2.29207245e-03 9.97481992e-01 1.37151237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104839173 meters 0.0875039562715842 Centerline is valid? [True, True] Translation: X:18.66, Y:0.57, Z:1.37 [[ 9.93371871e-01 -8.67949529e-02 -7.53588929e-02 1.86592247e+01] [ 8.66230138e-02 9.96225684e-01 -5.55337320e-03 5.69024435e-01] [ 7.55564694e-02 -1.01124970e-03 9.97141012e-01 1.36740587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164839172999997 meters 0.08713535636191111 Centerline is valid? [True, True] Translation: X:18.72, Y:0.59, Z:1.37 [[ 9.93798009e-01 -8.12284489e-02 -7.59437743e-02 1.87169391e+01] [ 8.10370636e-02 9.96695338e-01 -5.60340790e-03 5.85643024e-01] [ 7.61479619e-02 -5.85604852e-04 9.97096357e-01 1.36911798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224839172999996 meters 0.08728208768245639 Centerline is valid? [True, True] Translation: X:18.77, Y:0.61, Z:1.37 [[ 9.93744563e-01 -7.98789312e-02 -7.80455017e-02 1.87729468e+01] [ 7.96713168e-02 9.96804458e-01 -5.77530891e-03 6.05979429e-01] [ 7.82574295e-02 -4.78806063e-04 9.96933070e-01 1.37008571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284839172999998 meters 0.08721525621300064 Centerline is valid? [True, True] Translation: X:18.83, Y:0.63, Z:1.37 [[ 9.94361542e-01 -7.49330473e-02 -7.50344019e-02 1.88295524e+01] [ 7.47265600e-02 9.97188564e-01 -5.55958883e-03 6.31949398e-01] [ 7.52400444e-02 -7.88214141e-05 9.97165447e-01 1.37225644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344839172999997 meters 0.08630847710194915 Centerline is valid? [True, True] Translation: X:18.89, Y:0.65, Z:1.37 [[ 9.93749457e-01 -7.81864459e-02 -7.96799660e-02 1.88878480e+01] [ 7.79635668e-02 9.96938696e-01 -5.90915541e-03 6.46178636e-01] [ 7.98980573e-02 -3.39914366e-04 9.96802982e-01 1.36979403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404839172999996 meters 0.08810370457692367 Centerline is valid? [True, True] Translation: X:18.95, Y:0.65, Z:1.37 [[ 9.92917213e-01 -8.55812733e-02 -8.24090640e-02 1.89472133e+01] [ 8.53679317e-02 9.96330727e-01 -6.11538905e-03 6.53593377e-01] [ 8.26300455e-02 -9.63016299e-04 9.96579825e-01 1.36721781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464839172999998 meters 0.09029233224958035 Centerline is valid? [True, True] Translation: X:19.01, Y:0.66, Z:1.36 [[ 9.91439268e-01 -9.52331508e-02 -8.93242638e-02 1.90081938e+01] [ 9.50213297e-02 9.95453155e-01 -6.63048105e-03 6.59908759e-01] [ 8.95495618e-02 -1.91399104e-03 9.95980528e-01 1.35906328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524839172999997 meters 0.09180378775854474 Centerline is valid? [True, True] Translation: X:19.07, Y:0.66, Z:1.37 [[ 9.92495941e-01 -9.53340837e-02 -7.65716590e-02 1.90680694e+01] [ 9.51786843e-02 9.95443973e-01 -5.68462451e-03 6.58721573e-01] [ 7.67647349e-02 -1.64602300e-03 9.97047876e-01 1.37221637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584839173 meters 0.08948826250460237 Centerline is valid? [True, True] Translation: X:19.13, Y:0.68, Z:1.38 [[ 9.93541109e-01 -8.56685488e-02 -7.44107832e-02 1.91251806e+01] [ 8.54945239e-02 9.96323312e-01 -5.52672826e-03 6.79989819e-01] [ 7.46106647e-02 -8.70682754e-04 9.97212360e-01 1.37860275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644839172999998 meters 0.08873816411462701 Centerline is valid? [True, True] Translation: X:19.18, Y:0.70, Z:1.39 [[ 9.94408228e-01 -7.59361346e-02 -7.33892343e-02 1.91822954e+01] [ 7.57401425e-02 9.97112674e-01 -5.45395204e-03 6.99919660e-01] [ 7.35914877e-02 -1.35056284e-04 9.97288461e-01 1.38572670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704839172999996 meters 0.08925169871780632 Centerline is valid? [True, True] Translation: X:19.24, Y:0.71, Z:1.38 [[ 9.94467620e-01 -7.23400217e-02 -7.61647800e-02 1.92403230e+01] [ 7.21176690e-02 9.97380018e-01 -5.66935930e-03 7.10280414e-01] [ 7.63753512e-02 1.45167860e-04 9.97079127e-01 1.38376707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764839173 meters 0.08844332707806053 Centerline is valid? [True, True] Translation: X:19.30, Y:0.71, Z:1.40 [[ 9.94276893e-01 -8.05506992e-02 -7.01786603e-02 1.92985400e+01] [ 8.03814816e-02 9.96750418e-01 -5.23653973e-03 7.11203138e-01] [ 7.03724159e-02 -4.34494238e-04 9.97520694e-01 1.39700204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824839172999997 meters 0.09025476251676712 Centerline is valid? [True, True] Translation: X:19.36, Y:0.73, Z:1.38 [[ 9.94003550e-01 -7.14873784e-02 -8.27435624e-02 1.93586677e+01] [ 7.12203161e-02 9.97441473e-01 -6.17847451e-03 7.26074901e-01] [ 8.29735437e-02 2.48402927e-04 9.96551719e-01 1.38262243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884839172999996 meters 0.08999628180047191 Centerline is valid? [True, True] Translation: X:19.42, Y:0.74, Z:1.39 [[ 9.94649651e-01 -6.75965242e-02 -7.81203080e-02 1.94160311e+01] [ 6.73463976e-02 9.97712592e-01 -5.83500557e-03 7.40328541e-01] [ 7.83360411e-02 5.42664922e-04 9.96926863e-01 1.38899997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944839173 meters 0.08943499447245644 Centerline is valid? [True, True] Translation: X:19.47, Y:0.75, Z:1.39 [[ 9.94287433e-01 -7.16209918e-02 -7.91387004e-02 1.94729070e+01] [ 7.13761546e-02 9.97431891e-01 -5.92185217e-03 7.51674857e-01] [ 7.93595925e-02 2.39407074e-04 9.96846025e-01 1.39365090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004839172999997 meters 0.08920595658618452 Centerline is valid? [True, True] Translation: X:19.53, Y:0.76, Z:1.40 [[ 9.94333720e-01 -7.07767595e-02 -7.93164800e-02 1.95312725e+01] [ 7.05264408e-02 9.97492126e-01 -5.95641753e-03 7.59748959e-01] [ 7.95391403e-02 3.28757763e-04 9.96831689e-01 1.39969837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064839172999996 meters 0.09012644812011811 Centerline is valid? [True, True] Translation: X:19.59, Y:0.78, Z:1.40 [[ 9.94975373e-01 -6.14568513e-02 -7.90383596e-02 1.95882598e+01] [ 6.11776656e-02 9.98109150e-01 -5.95122374e-03 7.80036990e-01] [ 7.92546534e-02 1.08593872e-03 9.96853811e-01 1.40001243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124839172999998 meters 0.0912405593386082 Centerline is valid? [True, True] Translation: X:19.65, Y:0.78, Z:1.39 [[ 9.94841774e-01 -6.12416191e-02 -8.08659900e-02 1.96464077e+01] [ 6.09480020e-02 9.98122323e-01 -6.09661345e-03 7.78161501e-01] [ 8.10875163e-02 1.13654521e-03 9.96706337e-01 1.39286109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184839172999997 meters 0.08980625201156135 Centerline is valid? [True, True] Translation: X:19.71, Y:0.78, Z:1.41 [[ 9.95146280e-01 -6.45624678e-02 -7.42668777e-02 1.97059108e+01] [ 6.43237201e-02 9.97913347e-01 -5.60461808e-03 7.84502697e-01] [ 7.44737565e-02 8.00292982e-04 9.97222653e-01 1.40533579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244839172999995 meters 0.08745470343018025 Centerline is valid? [True, True] Translation: X:19.77, Y:0.77, Z:1.41 [[ 9.94442542e-01 -7.59089658e-02 -7.29510799e-02 1.97655975e+01] [ 7.57089162e-02 9.97114751e-01 -5.50755969e-03 7.68604027e-01] [ 7.31586710e-02 -4.60955407e-05 9.97320313e-01 1.40964904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304839172999998 meters 0.08731026632879282 Centerline is valid? [True, True] Translation: X:19.83, Y:0.76, Z:1.42 [[ 9.94998042e-01 -7.58970654e-02 -6.49502205e-02 1.98252994e+01] [ 7.57382668e-02 9.97115657e-01 -4.90722148e-03 7.62521462e-01] [ 6.51353255e-02 -3.65413565e-05 9.97876439e-01 1.42400737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364839172999996 meters 0.08773160577663645 Centerline is valid? [True, True] Translation: X:19.88, Y:0.76, Z:1.43 [[ 9.95431332e-01 -7.13647493e-02 -6.34313405e-02 1.98832087e+01] [ 7.12039299e-02 9.97450253e-01 -4.79517659e-03 7.56031211e-01] [ 6.36118132e-02 2.56708302e-04 9.97974685e-01 1.42688894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424839173 meters 0.08943856565921289 Centerline is valid? [True, True] Translation: X:19.94, Y:0.76, Z:1.41 [[ 9.94965394e-01 -6.27000225e-02 -7.81829353e-02 1.99432478e+01] [ 6.24283811e-02 9.98031911e-01 -5.91618221e-03 7.58417503e-01] [ 7.84000091e-02 1.00556249e-03 9.96921475e-01 1.41351093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484839172999997 meters 0.08870196350641844 Centerline is valid? [True, True] Translation: X:20.00, Y:0.76, Z:1.42 [[ 9.95356505e-01 -5.71320333e-02 -7.74684307e-02 2.00015164e+01] [ 5.68480211e-02 9.98365597e-01 -5.86831270e-03 7.59263905e-01] [ 7.76770847e-02 1.43713624e-03 9.96977535e-01 1.42241585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544839172999996 meters 0.08903133114445516 Centerline is valid? [True, True] Translation: X:20.06, Y:0.77, Z:1.43 [[ 9.95872396e-01 -5.05600546e-02 -7.53780584e-02 2.00588085e+01] [ 5.02713060e-02 9.98719194e-01 -5.72435929e-03 7.67858036e-01] [ 7.55709376e-02 1.91137796e-03 9.97138596e-01 1.42749534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604839173 meters 0.08654712738917235 Centerline is valid? [True, True] Translation: X:20.12, Y:0.75, Z:1.43 [[ 9.95549009e-01 -5.60633135e-02 -7.57566849e-02 2.01190682e+01] [ 5.57871405e-02 9.98426079e-01 -5.75845974e-03 7.51528153e-01] [ 7.59602882e-02 1.50658006e-03 9.97109706e-01 1.43078094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664839172999997 meters 0.08696233131630533 Centerline is valid? [True, True] Translation: X:20.18, Y:0.75, Z:1.44 [[ 9.95432487e-01 -5.94309753e-02 -7.47136123e-02 2.01779413e+01] [ 5.91713593e-02 9.98231649e-01 -5.68553888e-03 7.54501678e-01] [ 7.49193895e-02 1.23866411e-03 9.97188824e-01 1.43849489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724839172999996 meters 0.08534390344787864 Centerline is valid? [True, True] Translation: X:20.24, Y:0.74, Z:1.45 [[ 9.95529585e-01 -6.45151606e-02 -6.89828856e-02 2.02385307e+01] [ 6.43056607e-02 9.97916409e-01 -5.25564688e-03 7.44100727e-01] [ 6.91782224e-02 7.96161925e-04 9.97603999e-01 1.44831945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784839172999998 meters 0.08398060859632409 Centerline is valid? [True, True] Translation: X:20.30, Y:0.73, Z:1.46 [[ 9.95729900e-01 -7.15408805e-02 -5.83426907e-02 2.02993198e+01] [ 7.14030710e-02 9.97437634e-01 -4.44603917e-03 7.30745444e-01] [ 5.85112689e-02 2.61206849e-04 9.98286714e-01 1.45882037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844839172999997 meters 0.08471763566304456 Centerline is valid? [True, True] Translation: X:20.36, Y:0.71, Z:1.45 [[ 9.94358482e-01 -8.25708360e-02 -6.65827792e-02 2.03594719e+01] [ 8.24157223e-02 9.96585102e-01 -5.07777712e-03 7.10879542e-01] [ 6.67746821e-02 -4.38337090e-04 9.97767984e-01 1.45495417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904839172999996 meters 0.08521299132343726 Centerline is valid? [True, True] Translation: X:20.42, Y:0.70, Z:1.46 [[ 9.93924823e-01 -8.67792286e-02 -6.76964709e-02 2.04186775e+01] [ 8.66281113e-02 9.96227303e-01 -5.17023508e-03 7.04068214e-01] [ 6.78897417e-02 -7.25592434e-04 9.97692566e-01 1.45555697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964839172999998 meters 0.08599946021380599 Centerline is valid? [True, True] Translation: X:20.48, Y:0.69, Z:1.47 [[ 9.93380018e-01 -9.57107388e-02 -6.35263351e-02 2.04781430e+01] [ 9.55949361e-02 9.95408419e-01 -4.86689458e-03 6.94507908e-01] [ 6.37004629e-02 -1.23812012e-03 9.97968295e-01 1.46517961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024839172999997 meters 0.08634776070080231 Centerline is valid? [True, True] Translation: X:20.54, Y:0.69, Z:1.47 [[ 9.92844582e-01 -9.91590198e-02 -6.65366443e-02 2.05376680e+01] [ 9.90387099e-02 9.95070448e-01 -5.11242623e-03 6.91858929e-01] [ 6.67155917e-02 -1.51385874e-03 9.97770885e-01 1.46874721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084839172999995 meters 0.08818281868808711 Centerline is valid? [True, True] Translation: X:20.60, Y:0.69, Z:1.46 [[ 9.92166275e-01 -1.03299696e-01 -7.02513669e-02 2.05970586e+01] [ 1.03175646e-01 9.94648483e-01 -5.40189033e-03 6.87598554e-01] [ 7.04334292e-02 -1.88865675e-03 9.97514694e-01 1.46270006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144839172999998 meters 0.08936857831161207 Centerline is valid? [True, True] Translation: X:20.66, Y:0.69, Z:1.46 [[ 9.92082587e-01 -1.06733765e-01 -6.61818930e-02 2.06564844e+01] [ 1.06630886e-01 9.94285620e-01 -5.09508607e-03 6.86664939e-01] [ 6.63475222e-02 -2.00228773e-03 9.97794567e-01 1.46197205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204839172999996 meters 0.08724346639863913 Centerline is valid? [True, True] Translation: X:20.71, Y:0.71, Z:1.47 [[ 9.92542840e-01 -1.02258420e-01 -6.63470084e-02 2.07127551e+01] [ 1.02144051e-01 9.94756428e-01 -5.12267456e-03 7.09664944e-01] [ 6.65229497e-02 -1.69247827e-03 9.97783460e-01 1.47434680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264839173 meters 0.08620176756440795 Centerline is valid? [True, True] Translation: X:20.77, Y:0.73, Z:1.48 [[ 9.93248474e-01 -9.45513224e-02 -6.72124779e-02 2.07705616e+01] [ 9.44160819e-02 9.95519280e-01 -5.19301132e-03 7.28660056e-01] [ 6.74023237e-02 -1.18798825e-03 9.97725170e-01 1.47575842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324839172999997 meters 0.08598935221329666 Centerline is valid? [True, True] Translation: X:20.83, Y:0.75, Z:1.49 [[ 9.93375442e-01 -9.77758325e-02 -6.03748046e-02 2.08275401e+01] [ 9.76724520e-02 9.95207667e-01 -4.66822068e-03 7.46474041e-01] [ 6.05419076e-02 -1.25965942e-03 9.98164861e-01 1.48917133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384839172999996 meters 0.08580001784084433 Centerline is valid? [True, True] Translation: X:20.89, Y:0.76, Z:1.49 [[ 9.93773071e-01 -9.24177143e-02 -6.22418563e-02 2.08875530e+01] [ 9.22964767e-02 9.95719874e-01 -4.82635985e-03 7.60260473e-01] [ 6.24214944e-02 -9.48397591e-04 9.98049426e-01 1.48990979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444839173 meters 0.0853945193223697 Centerline is valid? [True, True] Translation: X:20.95, Y:0.78, Z:1.49 [[ 9.94375106e-01 -8.31398055e-02 -6.56195126e-02 2.09455626e+01] [ 8.29849051e-02 9.96537818e-01 -5.08745828e-03 7.84733711e-01] [ 6.58152962e-02 -3.86587149e-04 9.97831748e-01 1.48785699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504839172999997 meters 0.08446691318769228 Centerline is valid? [True, True] Translation: X:21.00, Y:0.81, Z:1.50 [[ 9.95546024e-01 -7.40739380e-02 -5.83195129e-02 2.10021608e+01] [ 7.39359394e-02 9.97252734e-01 -4.52347112e-03 8.14599188e-01] [ 5.84943650e-02 1.91415712e-04 9.98287720e-01 1.49985175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564839172999996 meters 0.08504110100387757 Centerline is valid? [True, True] Translation: X:21.06, Y:0.83, Z:1.50 [[ 9.95135968e-01 -7.37617125e-02 -6.52963649e-02 2.10601993e+01] [ 7.35869126e-02 9.97275863e-01 -5.08132263e-03 8.27667893e-01] [ 6.54932957e-02 2.51649019e-04 9.97852978e-01 1.49743051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624839172999998 meters 0.08544540413579721 Centerline is valid? [True, True] Translation: X:21.12, Y:0.83, Z:1.50 [[ 9.94345747e-01 -8.35304297e-02 -6.55682990e-02 2.11177167e+01] [ 8.33744055e-02 9.96505155e-01 -5.11708015e-03 8.26755151e-01] [ 6.57665799e-02 -3.78571068e-04 9.97834963e-01 1.49912056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684839172999997 meters 0.08582922160538489 Centerline is valid? [True, True] Translation: X:21.18, Y:0.84, Z:1.50 [[ 9.93974398e-01 -8.93399438e-02 -6.35080343e-02 2.11753895e+01] [ 8.92049081e-02 9.96000924e-01 -4.96428072e-03 8.36881222e-01] [ 6.36975694e-02 -7.30860423e-04 9.97968980e-01 1.50474775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744839172999995 meters 0.08668078434027889 Centerline is valid? [True, True] Translation: X:21.24, Y:0.85, Z:1.51 [[ 9.93845363e-01 -9.30703527e-02 -6.00774877e-02 2.12355952e+01] [ 9.29555631e-02 9.95659124e-01 -4.70876095e-03 8.46618583e-01] [ 6.02549448e-02 -9.04756468e-04 9.98182610e-01 1.51054277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804839172999998 meters 0.08717996547792525 Centerline is valid? [True, True] Translation: X:21.30, Y:0.86, Z:1.52 [[ 9.93854252e-01 -9.62482443e-02 -5.46808969e-02 2.12965057e+01] [ 9.61580638e-02 9.95356858e-01 -4.28393531e-03 8.58002479e-01] [ 5.48393270e-02 -1.00040185e-03 9.98494691e-01 1.51879050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864839172999996 meters 0.08678468426039063 Centerline is valid? [True, True] Translation: X:21.36, Y:0.88, Z:1.53 [[ 9.94206594e-01 -9.30787192e-02 -5.37550058e-02 2.13573683e+01] [ 9.29871446e-02 9.95658419e-01 -4.20757244e-03 8.75831156e-01] [ 5.39132595e-02 -8.15328228e-04 9.98545290e-01 1.52663447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924839172999995 meters 0.08633669605933192 Centerline is valid? [True, True] Translation: X:21.42, Y:0.90, Z:1.52 [[ 9.94791122e-01 -8.35159455e-02 -5.84440731e-02 2.14176899e+01] [ 8.33914427e-02 9.96506387e-01 -4.57028909e-03 8.96443489e-01] [ 5.86215841e-02 -3.27252553e-04 9.98280223e-01 1.52368671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839172999997 meters 0.08608541356443236 Centerline is valid? [True, True] Translation: X:21.48, Y:0.92, Z:1.53 [[ 9.95549694e-01 -7.61700231e-02 -5.54881489e-02 2.14776029e+01] [ 7.60465019e-02 9.97094839e-01 -4.33723536e-03 9.17789423e-01] [ 5.56573142e-02 9.82537111e-05 9.98449925e-01 1.52993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839172999996 meters 0.08566214807217441 Centerline is valid? [True, True] Translation: X:21.54, Y:0.93, Z:1.54 [[ 9.95814757e-01 -7.84489039e-02 -4.68907085e-02 2.15383270e+01] [ 7.83633297e-02 9.96918135e-01 -3.66330265e-03 9.28004679e-01] [ 4.70335798e-02 -2.65412091e-05 9.98893308e-01 1.54397542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104839173 meters 0.08594503126617078 Centerline is valid? [True, True] Translation: X:21.60, Y:0.94, Z:1.54 [[ 9.95411465e-01 -8.14076399e-02 -5.02872940e-02 2.16001745e+01] [ 8.13131719e-02 9.96680873e-01 -3.92492918e-03 9.35060265e-01] [ 5.04399034e-02 -1.82099881e-04 9.98727081e-01 1.54382341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839172999997 meters 0.08635239122903687 Centerline is valid? [True, True] Translation: X:21.66, Y:0.95, Z:1.55 [[ 9.95779806e-01 -7.82797241e-02 -4.79047356e-02 2.16610621e+01] [ 7.81905340e-02 9.96931434e-01 -3.73580836e-03 9.46654807e-01] [ 4.80501748e-02 -2.56543304e-05 9.98844923e-01 1.54751777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839172999996 meters 0.08632979053034082 Centerline is valid? [True, True] Translation: X:21.72, Y:0.95, Z:1.56 [[ 9.95854024e-01 -8.12608962e-02 -4.08831264e-02 2.17222316e+01] [ 8.11985873e-02 9.96692854e-01 -3.18504712e-03 9.54201258e-01] [ 4.10067397e-02 -1.47810114e-04 9.99158859e-01 1.56047925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters 0.08666307735682414 Centerline is valid? [True, True] Translation: X:21.78, Y:0.96, Z:1.55 [[ 9.95253768e-01 -8.21906817e-02 -5.21020937e-02 2.17846843e+01] [ 8.20909752e-02 9.96616593e-01 -4.05443864e-03 9.60018609e-01] [ 5.22590482e-02 -2.41916352e-04 9.98633533e-01 1.55092001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839172999997 meters 0.0868674059486143 Centerline is valid? [True, True] Translation: X:21.85, Y:0.96, Z:1.55 [[ 9.94891619e-01 -8.54722464e-02 -5.37136938e-02 2.18469197e+01] [ 8.53712542e-02 9.96340459e-01 -4.17606375e-03 9.62218584e-01] [ 5.38740638e-02 -4.30874578e-04 9.98547645e-01 1.55267311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839172999996 meters 0.08632347105955475 Centerline is valid? [True, True] Translation: X:21.91, Y:0.97, Z:1.57 [[ 9.95578521e-01 -8.29764759e-02 -4.40262734e-02 2.19084442e+01] [ 8.29063025e-02 9.96551476e-01 -3.42058324e-03 9.67524280e-01] [ 4.41582757e-02 -2.44596338e-04 9.99024518e-01 1.56860311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464839172999998 meters 0.08625614929629723 Centerline is valid? [True, True] Translation: X:21.97, Y:0.97, Z:1.56 [[ 9.95288668e-01 -8.00572375e-02 -5.46928334e-02 2.19700693e+01] [ 7.99447924e-02 9.96790257e-01 -4.24422073e-03 9.73531771e-01] [ 5.48570640e-02 -1.48182412e-04 9.98494207e-01 1.56490582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524839172999997 meters 0.086959934731951 Centerline is valid? [True, True] Translation: X:22.03, Y:0.98, Z:1.56 [[ 9.95736170e-01 -7.12685766e-02 -5.85685062e-02 2.20314708e+01] [ 7.11252274e-02 9.97457102e-01 -4.53121190e-03 9.84046315e-01] [ 5.87425055e-02 3.46193258e-04 9.98273108e-01 1.56149307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584839172999995 meters 0.08655161872102994 Centerline is valid? [True, True] Translation: X:22.09, Y:0.99, Z:1.57 [[ 9.96203113e-01 -6.91572058e-02 -5.28832578e-02 2.20931132e+01] [ 6.90376781e-02 9.97605686e-01 -4.08582833e-03 9.93368047e-01] [ 5.30392031e-02 4.19377571e-04 9.98592343e-01 1.57307782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters 0.08691973805333068 Centerline is valid? [True, True] Translation: X:22.15, Y:0.99, Z:1.57 [[ 9.96073631e-01 -6.98169876e-02 -5.44326214e-02 2.21548049e+01] [ 6.96915563e-02 9.97559740e-01 -4.20142244e-03 9.92422617e-01] [ 5.45931223e-02 3.91432009e-04 9.98508607e-01 1.57279540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839172999996 meters 0.08685544310944648 Centerline is valid? [True, True] Translation: X:22.22, Y:1.01, Z:1.58 [[ 9.96332222e-01 -6.58693534e-02 -5.46198785e-02 2.22151042e+01] [ 6.57372918e-02 9.97828071e-01 -4.21289456e-03 1.00743716e+00] [ 5.47787487e-02 6.06879711e-04 9.98498333e-01 1.57753361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839172999995 meters 0.08674199003725641 Centerline is valid? [True, True] Translation: X:22.28, Y:1.01, Z:1.59 [[ 9.96687178e-01 -6.40174073e-02 -5.01641373e-02 2.22764209e+01] [ 6.39038035e-02 9.97948571e-01 -3.86687910e-03 1.01240678e+00] [ 5.03087767e-02 6.48389649e-04 9.98733501e-01 1.58636490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824839172999997 meters 0.08790182118008204 Centerline is valid? [True, True] Translation: X:22.34, Y:1.01, Z:1.57 [[ 9.96015959e-01 -6.25325053e-02 -6.35759087e-02 2.23401564e+01] [ 6.23472759e-02 9.98042511e-01 -4.89520221e-03 1.00789893e+00] [ 6.37575688e-02 9.11914804e-04 9.97965000e-01 1.57434909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884839172999996 meters 0.08875917634791375 Centerline is valid? [True, True] Translation: X:22.40, Y:1.02, Z:1.57 [[ 9.96326994e-01 -5.40693844e-02 -6.64004750e-02 2.23995222e+01] [ 5.38487760e-02 9.98536032e-01 -5.10899236e-03 1.02010890e+00] [ 6.65795070e-02 1.51464270e-03 9.97779973e-01 1.57447266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944839173 meters 0.08751147434926589 Centerline is valid? [True, True] Translation: X:22.46, Y:1.01, Z:1.58 [[ 9.96363249e-01 -6.08267516e-02 -5.96689476e-02 2.24588154e+01] [ 6.06606830e-02 9.98147881e-01 -4.59230551e-03 1.01270244e+00] [ 5.98377687e-02 9.56045321e-04 9.98207657e-01 1.58259512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004839172999997 meters 0.08729053546800658 Centerline is valid? [True, True] Translation: X:22.52, Y:1.00, Z:1.58 [[ 9.95222540e-01 -7.30646635e-02 -6.47583962e-02 2.25185111e+01] [ 7.28946687e-02 9.97327176e-01 -4.98710907e-03 9.95401378e-01] [ 6.49496899e-02 2.42741521e-04 9.97888510e-01 1.57950859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064839172999996 meters 0.08710514588971296 Centerline is valid? [True, True] Translation: X:22.58, Y:0.98, Z:1.58 [[ 9.94823824e-01 -8.16875200e-02 -6.04376314e-02 2.25781198e+01] [ 8.15549851e-02 9.96657947e-01 -4.66057048e-03 9.80707003e-01] [ 6.06163561e-02 -2.92543577e-04 9.98161095e-01 1.58494488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124839172999998 meters 0.08676682383853854 Centerline is valid? [True, True] Translation: X:22.64, Y:0.98, Z:1.59 [[ 9.94306883e-01 -8.70721117e-02 -6.14188014e-02 2.26397432e+01] [ 8.69446599e-02 9.96201820e-01 -4.74972382e-03 9.78927026e-01] [ 6.15990903e-02 -6.17353716e-04 9.98100782e-01 1.59114228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184839172999997 meters 0.08642136921112575 Centerline is valid? [True, True] Translation: X:22.70, Y:0.98, Z:1.60 [[ 9.94469631e-01 -8.79480331e-02 -5.74046803e-02 2.27013097e+01] [ 8.78382790e-02 9.96124865e-01 -4.43729851e-03 9.76312217e-01] [ 5.75724811e-02 -6.29569715e-04 9.98341131e-01 1.59857189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244839172999995 meters 0.08684335580078179 Centerline is valid? [True, True] Translation: X:22.76, Y:0.98, Z:1.59 [[ 9.94409415e-01 -8.38154266e-02 -6.42253096e-02 2.27641290e+01] [ 8.36696645e-02 9.96481199e-01 -4.96057887e-03 9.77568316e-01] [ 6.44150865e-02 -4.40863770e-04 9.97923094e-01 1.59262315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304839172999998 meters 0.08595090140733531 Centerline is valid? [True, True] Translation: X:22.82, Y:0.99, Z:1.60 [[ 9.94873739e-01 -7.99938498e-02 -6.18645967e-02 2.28237525e+01] [ 7.98514581e-02 9.96795339e-01 -4.77458869e-03 9.88688329e-01] [ 6.20482793e-02 -1.89865350e-04 9.98073131e-01 1.60055026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839172999996 meters 0.08556166721524161 Centerline is valid? [True, True] Translation: X:22.88, Y:1.00, Z:1.61 [[ 9.94942858e-01 -7.81902651e-02 -6.30475316e-02 2.28844944e+01] [ 7.80387752e-02 9.96938452e-01 -4.86553238e-03 1.00034155e+00] [ 6.32349458e-02 -7.92254520e-05 9.97998665e-01 1.60715922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839172999995 meters 0.08619069888646524 Centerline is valid? [True, True] Translation: X:22.94, Y:1.00, Z:1.60 [[ 9.94640114e-01 -8.07921757e-02 -6.45264964e-02 2.29437874e+01] [ 8.06390473e-02 9.96730937e-01 -4.97826229e-03 9.97346952e-01] [ 6.47177599e-02 -2.51775821e-04 9.97903577e-01 1.60447773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484839172999997 meters 0.0865557889759555 Centerline is valid? [True, True] Translation: X:23.00, Y:0.99, Z:1.60 [[ 9.93693632e-01 -8.72496454e-02 -7.04305744e-02 2.30031543e+01] [ 8.70830821e-02 9.96186211e-01 -5.43783176e-03 9.92406489e-01] [ 7.06364160e-02 -7.29772703e-04 9.97501862e-01 1.59873239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544839172999996 meters 0.08746755206542445 Centerline is valid? [True, True] Translation: X:23.06, Y:0.99, Z:1.61 [[ 9.93458633e-01 -9.34173849e-02 -6.56744705e-02 2.30615280e+01] [ 9.32857786e-02 9.95626443e-01 -5.07437045e-03 9.88982751e-01] [ 6.58612739e-02 -1.08531698e-03 9.97828199e-01 1.60708236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604839172999995 meters 0.08855286763529124 Centerline is valid? [True, True] Translation: X:23.12, Y:0.98, Z:1.60 [[ 9.92720940e-01 -9.66862496e-02 -7.18115958e-02 2.31218941e+01] [ 9.65369935e-02 9.95313899e-01 -5.55443855e-03 9.84433781e-01] [ 7.20121173e-02 -1.41846811e-03 9.97402749e-01 1.60283515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839172999997 meters 0.08579392284308697 Centerline is valid? [True, True] Translation: X:23.18, Y:1.01, Z:1.61 [[ 9.94424902e-01 -8.07652141e-02 -6.77945089e-02 2.31804360e+01] [ 8.05950682e-02 9.96733123e-01 -5.24557766e-03 1.00826667e+00] [ 6.79966928e-02 -2.47570020e-04 9.97685516e-01 1.61421924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839172999996 meters 0.0852177916470897 Centerline is valid? [True, True] Translation: X:23.24, Y:1.02, Z:1.62 [[ 9.94843099e-01 -7.83318576e-02 -6.44308047e-02 2.32389007e+01] [ 7.81729112e-02 9.96927337e-01 -4.98812598e-03 1.01514674e+00] [ 6.46235597e-02 -7.43408651e-05 9.97909710e-01 1.62376166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters 0.08728663560044181 Centerline is valid? [True, True] Translation: X:23.30, Y:0.99, Z:1.62 [[ 9.93126857e-01 -9.12190032e-02 -7.33357938e-02 2.33001700e+01] [ 9.10469488e-02 9.95830330e-01 -5.69271733e-03 9.90798097e-01] [ 7.35492917e-02 -1.02340979e-03 9.97291058e-01 1.61552881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844839172999997 meters 0.08813026491062219 Centerline is valid? [True, True] Translation: X:23.36, Y:0.99, Z:1.61 [[ 9.92618401e-01 -9.54862573e-02 -7.47735624e-02 2.33602548e+01] [ 9.53192363e-02 9.95429815e-01 -5.80739404e-03 9.85394360e-01] [ 7.49863597e-02 -1.36283269e-03 9.97183628e-01 1.61398415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904839172999996 meters 0.08867717978215872 Centerline is valid? [True, True] Translation: X:23.42, Y:0.98, Z:1.61 [[ 9.92118366e-01 -9.64692048e-02 -7.99677435e-02 2.34197925e+01] [ 9.62809894e-02 9.95334789e-01 -6.21522726e-03 9.83940900e-01] [ 8.01942551e-02 -1.53313235e-03 9.96778075e-01 1.61195036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964839172999998 meters 0.08721412796633046 Centerline is valid? [True, True] Translation: X:23.48, Y:0.99, Z:1.62 [[ 9.92991364e-01 -9.29427008e-02 -7.30055201e-02 2.34780837e+01] [ 9.27760826e-02 9.95670812e-01 -5.67745463e-03 9.91368558e-01] [ 7.32171434e-02 -1.13550274e-03 9.97315377e-01 1.62172665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839172999997 meters 0.08708990554660083 Centerline is valid? [True, True] Translation: X:23.54, Y:0.99, Z:1.64 [[ 9.92967744e-01 -1.02248835e-01 -5.96677113e-02 2.35356616e+01] [ 1.02154124e-01 9.94757746e-01 -4.64355633e-03 9.86844821e-01] [ 5.98297162e-02 -1.48440114e-03 9.98207494e-01 1.64165034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839172999995 meters 0.08683107565298097 Centerline is valid? [True, True] Translation: X:23.60, Y:0.99, Z:1.65 [[ 9.92754817e-01 -1.04064935e-01 -6.00696430e-02 2.35972062e+01] [ 1.03971349e-01 9.94569235e-01 -4.68997230e-03 9.90053975e-01] [ 6.02314806e-02 -1.58952923e-03 9.98183171e-01 1.65007553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters 0.08521913936746385 Centerline is valid? [True, True] Translation: X:23.66, Y:1.01, Z:1.65 [[ 9.93842562e-01 -9.09347700e-02 -6.33074144e-02 2.36573386e+01] [ 9.08044600e-02 9.95856496e-01 -4.93850950e-03 1.00503760e+00] [ 6.34941821e-02 -8.40494641e-04 9.97981855e-01 1.64856143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839172999996 meters 0.08540246784891203 Centerline is valid? [True, True] Translation: X:23.72, Y:1.01, Z:1.65 [[ 9.93887017e-01 -8.80997921e-02 -6.65358929e-02 2.37175415e+01] [ 8.79495341e-02 9.96111412e-01 -5.18980418e-03 1.00816550e+00] [ 6.67343829e-02 -6.93721787e-04 9.97770535e-01 1.64615249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839172999995 meters 0.08518230357528356 Centerline is valid? [True, True] Translation: X:23.78, Y:1.01, Z:1.65 [[ 9.93805166e-01 -9.07846952e-02 -6.41048460e-02 2.37756126e+01] [ 9.06505107e-02 9.95870191e-01 -5.00470711e-03 1.01158948e+00] [ 6.42944561e-02 -8.37433249e-04 9.97930620e-01 1.65297569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839172999997 meters 0.08539506858884603 Centerline is valid? [True, True] Translation: X:23.84, Y:1.02, Z:1.66 [[ 9.93457804e-01 -9.31462115e-02 -6.60709871e-02 2.38351105e+01] [ 9.30079361e-02 9.95651932e-01 -5.17239920e-03 1.01864227e+00] [ 6.62654954e-02 -1.00656580e-03 9.97801519e-01 1.65622787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839172999996 meters 0.08598738883223735 Centerline is valid? [True, True] Translation: X:23.89, Y:1.02, Z:1.66 [[ 9.93143158e-01 -9.51539921e-02 -6.79145390e-02 2.38942782e+01] [ 9.50124058e-02 9.95461877e-01 -5.31919624e-03 1.02308116e+00] [ 6.81124772e-02 -1.17000038e-03 9.97676963e-01 1.65704440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839172999995 meters 0.08555936587695284 Centerline is valid? [True, True] Translation: X:23.95, Y:1.03, Z:1.66 [[ 9.93256897e-01 -9.57408400e-02 -6.53791179e-02 2.39532205e+01] [ 9.56107526e-02 9.95405616e-01 -5.12289629e-03 1.03288588e+00] [ 6.55692115e-02 -1.16259460e-03 9.97847346e-01 1.66125173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839172999997 meters 0.08638560167716135 Centerline is valid? [True, True] Translation: X:24.01, Y:1.04, Z:1.65 [[ 9.93274652e-01 -8.92968495e-02 -7.36989704e-02 2.40129687e+01] [ 8.91136174e-02 9.96004711e-01 -5.77735985e-03 1.04166901e+00] [ 7.39204218e-02 -8.29076761e-04 9.97263799e-01 1.65232847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839172999996 meters 0.0852838637197445 Centerline is valid? [True, True] Translation: X:24.07, Y:1.06, Z:1.66 [[ 9.93582613e-01 -8.58555942e-02 -7.36370011e-02 2.40708811e+01] [ 8.56629571e-02 9.96307429e-01 -5.77619350e-03 1.05973222e+00] [ 7.38610098e-02 -5.68837843e-04 9.97268383e-01 1.65659056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624839172999998 meters 0.08514173162480508 Centerline is valid? [True, True] Translation: X:24.13, Y:1.07, Z:1.67 [[ 9.93792229e-01 -9.14295433e-02 -6.33848864e-02 2.41290259e+01] [ 9.12976249e-02 9.95811196e-01 -4.98056707e-03 1.06529099e+00] [ 6.35747505e-02 -8.37240734e-04 9.97976728e-01 1.67169686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684839172999997 meters 0.08731002399185439 Centerline is valid? [True, True] Translation: X:24.19, Y:1.05, Z:1.67 [[ 9.92706590e-01 -1.00453999e-01 -6.66529865e-02 2.41906107e+01] [ 1.00327512e-01 9.94940611e-01 -5.25077960e-03 1.05283277e+00] [ 6.68432249e-02 -1.47464481e-03 9.97762401e-01 1.66737180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744839172999995 meters 0.08765701411934324 Centerline is valid? [True, True] Translation: X:24.25, Y:1.06, Z:1.67 [[ 9.92233103e-01 -1.05852159e-01 -6.53359734e-02 2.42511764e+01] [ 1.05742266e-01 9.94380247e-01 -5.14753292e-03 1.06188723e+00] [ 6.55136789e-02 -1.80122130e-03 9.97850046e-01 1.67421379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804839172999998 meters 0.08772892324695379 Centerline is valid? [True, True] Translation: X:24.31, Y:1.07, Z:1.68 [[ 9.92079855e-01 -1.08126700e-01 -6.39232199e-02 2.43111874e+01] [ 1.08026376e-01 9.94135284e-01 -5.03378595e-03 1.07237743e+00] [ 6.40926150e-02 -1.91147616e-03 9.97942124e-01 1.68250156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864839172999996 meters 0.0886721876304594 Centerline is valid? [True, True] Translation: X:24.37, Y:1.07, Z:1.69 [[ 9.91494282e-01 -1.14239142e-01 -6.23578915e-02 2.43719929e+01] [ 1.14155910e-01 9.93450725e-01 -4.90757485e-03 1.07414148e+00] [ 6.25101297e-02 -2.25268945e-03 9.98041787e-01 1.68903616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924839172999995 meters 0.08923922829374965 Centerline is valid? [True, True] Translation: X:24.43, Y:1.08, Z:1.69 [[ 9.91559147e-01 -1.13681113e-01 -6.23463115e-02 2.44328269e+01] [ 1.13596903e-01 9.93514812e-01 -4.90521335e-03 1.07759575e+00] [ 6.24996140e-02 -2.21853872e-03 9.98042522e-01 1.68916528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984839172999997 meters 0.08680435008870777 Centerline is valid? [True, True] Translation: X:24.49, Y:1.10, Z:1.69 [[ 9.92230148e-01 -1.06875285e-01 -6.36946392e-02 2.44926447e+01] [ 1.06773590e-01 9.94270747e-01 -5.00818403e-03 1.09505732e+00] [ 6.38649676e-02 -1.83163409e-03 9.97956868e-01 1.69456156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044839172999996 meters 0.08585157222218183 Centerline is valid? [True, True] Translation: X:24.55, Y:1.11, Z:1.70 [[ 9.93041230e-01 -9.98925272e-02 -6.23746658e-02 2.45518269e+01] [ 9.97812992e-02 9.94997311e-01 -4.90346269e-03 1.10513133e+00] [ 6.25524440e-02 -1.35448457e-03 9.98040759e-01 1.69672252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104839172999995 meters 0.08471732822325831 Centerline is valid? [True, True] Translation: X:24.61, Y:1.12, Z:1.70 [[ 9.93767947e-01 -9.02608140e-02 -6.54083555e-02 2.46120043e+01] [ 9.01176748e-02 9.95917853e-01 -5.14153512e-03 1.12203539e+00] [ 6.56054281e-02 -7.84956112e-04 9.97845335e-01 1.69636449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839172999997 meters 0.08489309960854564 Centerline is valid? [True, True] Translation: X:24.67, Y:1.14, Z:1.69 [[ 9.94447081e-01 -8.03339536e-02 -6.79813133e-02 2.46722276e+01] [ 8.01562604e-02 9.96767996e-01 -5.34197881e-03 1.13786254e+00] [ 6.81907397e-02 -1.36812613e-04 9.97672293e-01 1.69285875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224839172999996 meters 0.0843767949865873 Centerline is valid? [True, True] Translation: X:24.73, Y:1.15, Z:1.70 [[ 9.95023133e-01 -7.52502369e-02 -6.53174225e-02 2.47293682e+01] [ 7.50750362e-02 9.97164660e-01 -5.13613517e-03 1.15359541e+00] [ 6.55187208e-02 2.06865450e-04 9.97851319e-01 1.70081843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999995 meters 0.084854556260807 Centerline is valid? [True, True] Translation: X:24.79, Y:1.15, Z:1.70 [[ 9.95121427e-01 -7.39328251e-02 -6.53244497e-02 2.47880149e+01] [ 7.37536428e-02 9.97263175e-01 -5.15356385e-03 1.15423642e+00] [ 6.55266857e-02 3.10505676e-04 9.97850769e-01 1.70308231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344839172999997 meters 0.08594393346008723 Centerline is valid? [True, True] Translation: X:24.85, Y:1.16, Z:1.70 [[ 9.95565879e-01 -6.81100489e-02 -6.48814461e-02 2.48459278e+01] [ 6.79198612e-02 9.97677565e-01 -5.13508156e-03 1.16356539e+00] [ 6.50805138e-02 7.05573178e-04 9.97879767e-01 1.70208824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404839172999996 meters 0.08608068741988383 Centerline is valid? [True, True] Translation: X:24.91, Y:1.15, Z:1.70 [[ 9.95471275e-01 -7.28160746e-02 -6.11126811e-02 2.49053786e+01] [ 7.26553243e-02 9.97345310e-01 -4.85140196e-03 1.15382712e+00] [ 6.13037059e-02 3.89269635e-04 9.98119083e-01 1.70470983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464839172999998 meters 0.08569759913474223 Centerline is valid? [True, True] Translation: X:24.96, Y:1.15, Z:1.71 [[ 9.95146863e-01 -7.99489380e-02 -5.73662739e-02 2.49647639e+01] [ 7.98183612e-02 9.96798960e-01 -4.56760452e-03 1.14650809e+00] [ 5.75478172e-02 -3.34446628e-05 9.98342751e-01 1.71191417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839172999997 meters 0.08567812681262989 Centerline is valid? [True, True] Translation: X:25.03, Y:1.15, Z:1.71 [[ 9.94636238e-01 -8.28073192e-02 -6.19814652e-02 2.50259820e+01] [ 8.26595208e-02 9.96565556e-01 -4.94934027e-03 1.15057326e+00] [ 6.21784350e-02 -2.00565028e-04 9.98065029e-01 1.71270650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839172999995 meters 0.08502161746489689 Centerline is valid? [True, True] Translation: X:25.09, Y:1.15, Z:1.71 [[ 9.93686572e-01 -8.91991472e-02 -6.80478426e-02 2.50869503e+01] [ 8.90360551e-02 9.96013592e-01 -5.43192210e-03 1.14639703e+00] [ 6.82610989e-02 -6.61083410e-04 9.97667272e-01 1.70843591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters 0.08575903140253961 Centerline is valid? [True, True] Translation: X:25.14, Y:1.15, Z:1.72 [[ 9.94547341e-01 -8.84504494e-02 -5.52458512e-02 2.51445047e+01] [ 8.83417790e-02 9.96080456e-01 -4.41087478e-03 1.14963817e+00] [ 5.54194565e-02 -4.93692994e-04 9.98463039e-01 1.72414527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704839172999996 meters 0.0856698873655086 Centerline is valid? [True, True] Translation: X:25.21, Y:1.15, Z:1.73 [[ 9.94662541e-01 -8.76116845e-02 -5.45034203e-02 2.52063303e+01] [ 8.75045102e-02 9.96154607e-01 -4.35430803e-03 1.15388068e+00] [ 5.46753215e-02 -4.38228001e-04 9.98504090e-01 1.72843936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764839172999995 meters 0.08435349022351889 Centerline is valid? [True, True] Translation: X:25.27, Y:1.17, Z:1.74 [[ 9.95149377e-01 -8.37191166e-02 -5.16606840e-02 2.52656060e+01] [ 8.36177734e-02 9.96489369e-01 -4.12372752e-03 1.17171115e+00] [ 5.18245572e-02 -2.16026495e-04 9.98656181e-01 1.73976881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824839172999997 meters 0.08454536832249832 Centerline is valid? [True, True] Translation: X:25.33, Y:1.19, Z:1.74 [[ 9.95755765e-01 -7.44259966e-02 -5.41408206e-02 2.53264347e+01] [ 7.43011076e-02 9.97226501e-01 -4.31873638e-03 1.18777343e+00] [ 5.43120873e-02 2.77683708e-04 9.98523971e-01 1.74007624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839172999996 meters 0.08430414888130679 Centerline is valid? [True, True] Translation: X:25.39, Y:1.20, Z:1.75 [[ 9.96084625e-01 -7.08784328e-02 -5.28362427e-02 2.53875374e+01] [ 7.07546990e-02 9.97484857e-01 -4.21104180e-03 1.19786900e+00] [ 5.30018240e-02 4.56141540e-04 9.98594311e-01 1.74585146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839172999995 meters 0.08440837904329926 Centerline is valid? [True, True] Translation: X:25.45, Y:1.20, Z:1.75 [[ 9.95913489e-01 -7.33686566e-02 -5.26627232e-02 2.54484601e+01] [ 7.32494159e-02 9.97304837e-01 -4.19337902e-03 1.19921816e+00] [ 5.28284512e-02 3.18729017e-04 9.98603552e-01 1.74725034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839172999997 meters 0.08413438776377892 Centerline is valid? [True, True] Translation: X:25.51, Y:1.20, Z:1.75 [[ 9.95784808e-01 -7.70899612e-02 -4.96966287e-02 2.55106126e+01] [ 7.69885356e-02 9.97024135e-01 -3.95474953e-03 1.19665513e+00] [ 4.98536097e-02 1.12008830e-04 9.98756529e-01 1.75347241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064839172999996 meters 0.0836003273558916 Centerline is valid? [True, True] Translation: X:25.57, Y:1.20, Z:1.76 [[ 9.95451054e-01 -8.13299979e-02 -4.96248920e-02 2.55729955e+01] [ 8.12343029e-02 9.96687223e-01 -3.94554651e-03 1.19911610e+00] [ 4.97813871e-02 -1.03645072e-04 9.98760133e-01 1.75737233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124839172999994 meters 0.08349290547586194 Centerline is valid? [True, True] Translation: X:25.64, Y:1.20, Z:1.76 [[ 9.95817501e-01 -8.05986902e-02 -4.30273920e-02 2.56356033e+01] [ 8.05261886e-02 9.96746632e-01 -3.41840428e-03 1.19842761e+00] [ 4.31629269e-02 -6.07250742e-05 9.99068045e-01 1.76341550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184839172999997 meters 0.08311381274671849 Centerline is valid? [True, True] Translation: X:25.70, Y:1.20, Z:1.77 [[ 9.95717874e-01 -8.15403452e-02 -4.35555642e-02 2.56969221e+01] [ 8.14670994e-02 9.96670036e-01 -3.45700332e-03 1.19929487e+00] [ 4.36924110e-02 -1.06145489e-04 9.99045025e-01 1.76863732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244839172999995 meters 0.08278319096472074 Centerline is valid? [True, True] Translation: X:25.76, Y:1.20, Z:1.77 [[ 9.95020956e-01 -8.82832651e-02 -4.62532421e-02 2.57595242e+01] [ 8.82080528e-02 9.96095317e-01 -3.66862744e-03 1.19678495e+00] [ 4.63965163e-02 -4.29547240e-04 9.98923009e-01 1.77071379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304839172999998 meters 0.0847387259791586 Centerline is valid? [True, True] Translation: X:25.82, Y:1.18, Z:1.78 [[ 9.94131846e-01 -9.99362212e-02 -4.14080218e-02 2.58206702e+01] [ 9.98861797e-02 9.94993461e-01 -3.28086869e-03 1.18185395e+00] [ 4.15285885e-02 -8.74473058e-04 9.99136933e-01 1.77998031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364839172999996 meters 0.0846482718794839 Centerline is valid? [True, True] Translation: X:25.88, Y:1.18, Z:1.78 [[ 9.93682558e-01 -1.04510119e-01 -4.08975443e-02 2.58826052e+01] [ 1.04465134e-01 9.94523267e-01 -3.24136076e-03 1.18432973e+00] [ 4.10123144e-02 -1.05148379e-03 9.99158088e-01 1.78258737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424839172999995 meters 0.08507461306468732 Centerline is valid? [True, True] Translation: X:25.94, Y:1.19, Z:1.79 [[ 9.93579308e-01 -1.06600516e-01 -3.79010262e-02 2.59423368e+01] [ 1.06563463e-01 9.94301370e-01 -3.00223135e-03 1.19483452e+00] [ 3.80050817e-02 -1.05590966e-03 9.99276988e-01 1.79351709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484839172999997 meters 0.086810092328537 Centerline is valid? [True, True] Translation: X:26.00, Y:1.19, Z:1.80 [[ 9.93191544e-01 -1.11320258e-01 -3.43271961e-02 2.60034648e+01] [ 1.11292872e-01 9.93783947e-01 -2.71347041e-03 1.19332234e+00] [ 3.44158806e-02 -1.12537637e-03 9.99406964e-01 1.79782343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544839172999996 meters 0.08560150158862667 Centerline is valid? [True, True] Translation: X:26.06, Y:1.21, Z:1.81 [[ 9.92887966e-01 -1.14385167e-01 -3.30078748e-02 2.60632502e+01] [ 1.14361541e-01 9.93435771e-01 -2.60902830e-03 1.21092796e+00] [ 3.30896376e-02 -1.18435862e-03 9.99451686e-01 1.80740171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604839172999995 meters 0.0849308226722575 Centerline is valid? [True, True] Translation: X:26.12, Y:1.22, Z:1.81 [[ 9.93553448e-01 -1.08523085e-01 -3.27763164e-02 2.61232462e+01] [ 1.08496653e-01 9.94093443e-01 -2.58914738e-03 1.22247343e+00] [ 3.28637035e-02 -9.83664341e-04 9.99459359e-01 1.80939802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664839172999997 meters 0.0853419205543484 Centerline is valid? [True, True] Translation: X:26.19, Y:1.23, Z:1.81 [[ 9.93518137e-01 -1.07789983e-01 -3.60975094e-02 2.61860116e+01] [ 1.07757423e-01 9.94173126e-01 -2.85199125e-03 1.22719004e+00] [ 3.61945899e-02 -1.05626956e-03 9.99344203e-01 1.80667076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724839172999996 meters 0.0854598251593135 Centerline is valid? [True, True] Translation: X:26.25, Y:1.24, Z:1.82 [[ 9.93393166e-01 -1.09817734e-01 -3.33179017e-02 2.62469604e+01] [ 1.09791235e-01 9.93951192e-01 -2.62938767e-03 1.24365116e+00] [ 3.34051214e-02 -1.04599781e-03 9.99441346e-01 1.81580234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784839172999995 meters 0.08528916334325565 Centerline is valid? [True, True] Translation: X:26.31, Y:1.25, Z:1.83 [[ 9.93197400e-01 -1.12900797e-01 -2.85014977e-02 2.63066351e+01] [ 1.12882750e-01 9.93605776e-01 -2.24652950e-03 1.25348353e+00] [ 2.85728877e-02 -9.86080188e-04 9.99591225e-01 1.82528918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844839172999997 meters 0.0879289782647152 Centerline is valid? [True, True] Translation: X:26.37, Y:1.25, Z:1.83 [[ 9.92285234e-01 -1.20501673e-01 -2.91437958e-02 2.63665241e+01] [ 1.20486086e-01 9.92712359e-01 -2.29676657e-03 1.24993543e+00] [ 2.92081705e-02 -1.23237433e-03 9.99572591e-01 1.83384102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904839172999996 meters 0.08913036306591282 Centerline is valid? [True, True] Translation: X:26.43, Y:1.25, Z:1.83 [[ 9.91943119e-01 -1.22415354e-01 -3.26087309e-02 2.64299563e+01] [ 1.22396754e-01 9.92477915e-01 -2.57345900e-03 1.24580948e+00] [ 3.26784762e-02 -1.43847789e-03 9.99464881e-01 1.82975708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964839172999994 meters 0.09106585959095842 Centerline is valid? [True, True] Translation: X:26.49, Y:1.24, Z:1.84 [[ 9.91508578e-01 -1.27132367e-01 -2.73514431e-02 2.64912813e+01] [ 1.27121353e-01 9.91884846e-01 -2.14818732e-03 1.24060291e+00] [ 2.74025860e-02 -1.34700630e-03 9.99623571e-01 1.83632290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024839172999997 meters 0.09249980421182685 Centerline is valid? [True, True] Translation: X:26.55, Y:1.24, Z:1.84 [[ 9.90805255e-01 -1.32216016e-01 -2.87031689e-02 2.65522342e+01] [ 1.32206039e-01 9.91219696e-01 -2.25346109e-03 1.23913215e+00] [ 2.87490900e-02 -1.56199117e-03 9.99585439e-01 1.83948403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084839172999995 meters 0.09172947774412743 Centerline is valid? [True, True] Translation: X:26.61, Y:1.25, Z:1.83 [[ 9.90834306e-01 -1.31258325e-01 -3.19159978e-02 2.66142906e+01] [ 1.31245500e-01 9.91346731e-01 -2.50555924e-03 1.24548399e+00] [ 3.19686956e-02 -1.70623702e-03 9.99487414e-01 1.83493536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144839172999998 meters 0.09511287127798684 Centerline is valid? [True, True] Translation: X:26.67, Y:1.24, Z:1.84 [[ 9.90816225e-01 -1.32679685e-01 -2.60635780e-02 2.66749231e+01] [ 1.32671682e-01 9.91157933e-01 -2.04372370e-03 1.23510609e+00] [ 2.61042827e-02 -1.43294414e-03 9.99658198e-01 1.84309072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204839172999996 meters 0.09328450583681253 Centerline is valid? [True, True] Translation: X:26.74, Y:1.25, Z:1.85 [[ 9.91247633e-01 -1.29959762e-01 -2.32075415e-02 2.67365748e+01] [ 1.29952500e-01 9.91518537e-01 -1.82719986e-03 1.24585868e+00] [ 2.32481701e-02 -1.20467051e-03 9.99728999e-01 1.85069966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264839172999995 meters 0.09105823662898432 Centerline is valid? [True, True] Translation: X:26.80, Y:1.26, Z:1.85 [[ 9.91809984e-01 -1.23840261e-01 -3.12497404e-02 2.67962347e+01] [ 1.23824609e-01 9.92301112e-01 -2.44307880e-03 1.26054144e+00] [ 3.13117037e-02 -1.44641693e-03 9.99508622e-01 1.84622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324839172999997 meters 0.08946457106590311 Centerline is valid? [True, True] Translation: X:26.86, Y:1.27, Z:1.85 [[ 9.92100872e-01 -1.22991284e-01 -2.46779841e-02 2.68566132e+01] [ 1.22981239e-01 9.92407119e-01 -1.93012247e-03 1.26833235e+00] [ 2.47279953e-02 -1.12005287e-03 9.99693589e-01 1.85144177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384839172999996 meters 0.08985327518236343 Centerline is valid? [True, True] Translation: X:26.92, Y:1.28, Z:1.86 [[ 9.92373487e-01 -1.21549618e-01 -2.05073574e-02 2.69165662e+01] [ 1.21542262e-01 9.92584953e-01 -1.60938738e-03 1.27986808e+00] [ 2.05509148e-02 -8.95397233e-04 9.99788407e-01 1.86182788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444839172999995 meters 0.08984771063495166 Centerline is valid? [True, True] Translation: X:26.98, Y:1.28, Z:1.86 [[ 9.92836673e-01 -1.17959285e-01 -1.89986483e-02 2.69775070e+01] [ 1.17952513e-01 9.93018133e-01 -1.48057350e-03 1.27818893e+00] [ 1.90406497e-02 -7.70970636e-04 9.99818413e-01 1.86499961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504839172999997 meters 0.08766551682954651 Centerline is valid? [True, True] Translation: X:27.04, Y:1.29, Z:1.87 [[ 9.93454259e-01 -1.11845615e-01 -2.32205544e-02 2.70370838e+01] [ 1.11833884e-01 9.93725272e-01 -1.80726552e-03 1.28908935e+00] [ 2.32769865e-02 -8.01409162e-04 9.99728733e-01 1.86537394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839172999996 meters 0.08433698768611092 Centerline is valid? [True, True] Translation: X:27.10, Y:1.31, Z:1.86 [[ 9.95022242e-01 -9.62790900e-02 -2.57113657e-02 2.70969869e+01] [ 9.62594976e-02 9.95354260e-01 -2.00149783e-03 1.30775576e+00] [ 2.57846198e-02 -4.83428289e-04 9.99667405e-01 1.86195236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999994 meters 0.08346884180705551 Centerline is valid? [True, True] Translation: X:27.16, Y:1.33, Z:1.87 [[ 9.96021094e-01 -8.59297842e-02 -2.36231351e-02 2.71563148e+01] [ 8.59102499e-02 9.96301177e-01 -1.84243259e-03 1.32787260e+00] [ 2.36940771e-02 -1.94367719e-04 9.99719237e-01 1.86857440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839172999997 meters 0.08226089191716043 Centerline is valid? [True, True] Translation: X:27.22, Y:1.35, Z:1.87 [[ 9.96605125e-01 -7.84958809e-02 -2.48318505e-02 2.72176087e+01] [ 7.84719995e-02 9.96914438e-01 -1.93622631e-03 1.34878151e+00] [ 2.49072161e-02 -1.89519004e-05 9.99689767e-01 1.86877511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839172999995 meters 0.08237409544552769 Centerline is valid? [True, True] Translation: X:27.28, Y:1.35, Z:1.87 [[ 9.96855461e-01 -7.60143943e-02 -2.23830550e-02 2.72790034e+01] [ 7.59944771e-02 9.97106720e-01 -1.74032399e-03 1.35478817e+00] [ 2.24505842e-02 3.38629099e-05 9.99747953e-01 1.87298943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999994 meters 0.08245908679367273 Centerline is valid? [True, True] Translation: X:27.34, Y:1.37, Z:1.87 [[ 9.97074446e-01 -7.15068765e-02 -2.70058371e-02 2.73392906e+01] [ 7.14766207e-02 9.97440096e-01 -2.08524231e-03 1.36590763e+00] [ 2.70858139e-02 1.48855844e-04 9.99633101e-01 1.87474500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839172999996 meters 0.08291951192885612 Centerline is valid? [True, True] Translation: X:27.40, Y:1.37, Z:1.87 [[ 9.97009187e-01 -7.10457898e-02 -3.04167120e-02 2.74021083e+01] [ 7.10070823e-02 9.97473038e-01 -2.35220675e-03 1.36704844e+00] [ 3.05069645e-02 1.85369774e-04 9.99534537e-01 1.87121341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839172999995 meters 0.08349587405570108 Centerline is valid? [True, True] Translation: X:27.46, Y:1.36, Z:1.87 [[ 9.96811865e-01 -7.45419496e-02 -2.84535315e-02 2.74644409e+01] [ 7.45098106e-02 9.97217877e-01 -2.18958472e-03 1.36472747e+00] [ 2.85375862e-02 6.25367879e-05 9.99592718e-01 1.87251875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters 0.08394135581433983 Centerline is valid? [True, True] Translation: X:27.53, Y:1.36, Z:1.87 [[ 9.96108606e-01 -8.27120589e-02 -3.04361804e-02 2.75273062e+01] [ 8.26791688e-02 9.96573470e-01 -2.33971481e-03 1.36063116e+00] [ 3.05254125e-02 -1.85828036e-04 9.99533974e-01 1.87475327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044839172999996 meters 0.08465724023522435 Centerline is valid? [True, True] Translation: X:27.59, Y:1.36, Z:1.88 [[ 9.94885752e-01 -9.57777302e-02 -3.20775239e-02 2.75883020e+01] [ 9.57480963e-02 9.95402552e-01 -2.46216715e-03 1.35862903e+00] [ 3.21658699e-02 -6.21786828e-04 9.99482351e-01 1.88045404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104839172999995 meters 0.08538220347660588 Centerline is valid? [True, True] Translation: X:27.65, Y:1.37, Z:1.88 [[ 9.95257103e-01 -9.21819711e-02 -3.10770480e-02 2.76487136e+01] [ 9.21523342e-02 9.95742058e-01 -2.38762972e-03 1.36789417e+00] [ 3.11648202e-02 -4.87517083e-04 9.99514140e-01 1.88351346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839172999997 meters 0.08558294253353876 Centerline is valid? [True, True] Translation: X:27.71, Y:1.38, Z:1.89 [[ 9.95172609e-01 -9.27443541e-02 -3.20930349e-02 2.77090877e+01] [ 9.27131986e-02 9.95689815e-01 -2.46075239e-03 1.37644402e+00] [ 3.21829289e-02 -5.26574546e-04 9.99481857e-01 1.89043250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839172999996 meters 0.08570768571391138 Centerline is valid? [True, True] Translation: X:27.77, Y:1.38, Z:1.89 [[ 9.94927474e-01 -9.57684106e-02 -3.07852689e-02 2.77712221e+01] [ 9.57413576e-02 9.95403459e-01 -2.35502595e-03 1.37844712e+00] [ 3.08693002e-02 -6.04343418e-04 9.99523247e-01 1.89129164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999995 meters 0.08606949992886855 Centerline is valid? [True, True] Translation: X:27.83, Y:1.39, Z:1.90 [[ 9.94859243e-01 -9.62444726e-02 -3.14974148e-02 2.78326618e+01] [ 9.62163331e-02 9.95357525e-01 -2.41136264e-03 1.38558235e+00] [ 3.15832692e-02 -6.31599341e-04 9.99500925e-01 1.89898251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839172999997 meters 0.08770259700131253 Centerline is valid? [True, True] Translation: X:27.89, Y:1.38, Z:1.90 [[ 9.94221131e-01 -1.02741897e-01 -3.11198622e-02 2.78937748e+01] [ 1.02718027e-01 9.94707693e-01 -2.36898150e-03 1.38060867e+00] [ 3.11985599e-02 -8.41279384e-04 9.99512852e-01 1.90337021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404839172999996 meters 0.0882522017261985 Centerline is valid? [True, True] Translation: X:27.96, Y:1.37, Z:1.90 [[ 9.93464615e-01 -1.08372888e-01 -3.58242399e-02 2.79575486e+01] [ 1.08344902e-01 9.94109624e-01 -2.72733646e-03 1.37124807e+00] [ 3.59087909e-02 -1.17186149e-03 9.99354384e-01 1.89635517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999994 meters 0.0872376396119111 Centerline is valid? [True, True] Translation: X:28.02, Y:1.38, Z:1.89 [[ 9.93812538e-01 -1.01895927e-01 -4.42024820e-02 2.80179423e+01] [ 1.01847132e-01 9.94794385e-01 -3.36042703e-03 1.37614706e+00] [ 4.43147947e-02 -1.16226150e-03 9.99016941e-01 1.88924825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839172999997 meters 0.08527636699649016 Centerline is valid? [True, True] Translation: X:28.08, Y:1.40, Z:1.89 [[ 9.94703157e-01 -8.96993183e-02 -5.01962326e-02 2.80768869e+01] [ 8.96208689e-02 9.95968643e-01 -3.81596592e-03 1.39986593e+00] [ 5.03361632e-02 -7.02876640e-04 9.98732085e-01 1.88794092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839172999995 meters 0.08479564629033624 Centerline is valid? [True, True] Translation: X:28.14, Y:1.41, Z:1.89 [[ 9.95113839e-01 -8.45624650e-02 -5.09670231e-02 2.81382030e+01] [ 8.44748491e-02 9.96418079e-01 -3.87461384e-03 1.41495296e+00] [ 5.11121102e-02 -4.49749740e-04 9.98692821e-01 1.89116811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999994 meters 0.0856335821966994 Centerline is valid? [True, True] Translation: X:28.20, Y:1.41, Z:1.89 [[ 9.94464762e-01 -8.80192731e-02 -5.73798243e-02 2.82012865e+01] [ 8.79142181e-02 9.96118518e-01 -4.35755877e-03 1.41073980e+00] [ 5.75406547e-02 -7.11063737e-04 9.98342911e-01 1.88676080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704839172999996 meters 0.0855913523987472 Centerline is valid? [True, True] Translation: X:28.26, Y:1.42, Z:1.88 [[ 9.94686892e-01 -8.28661558e-02 -6.10834419e-02 2.82626360e+01] [ 8.27376566e-02 9.96560587e-01 -4.63435492e-03 1.41977778e+00] [ 6.12573818e-02 -4.44168741e-04 9.98121904e-01 1.88355958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764839172999995 meters 0.08598341856362178 Centerline is valid? [True, True] Translation: X:28.32, Y:1.42, Z:1.88 [[ 9.94538605e-01 -8.07865631e-02 -6.60794622e-02 2.83235000e+01] [ 8.06318263e-02 9.96731364e-01 -5.00968373e-03 1.42499936e+00] [ 6.62681876e-02 -3.45783850e-04 9.97801788e-01 1.88132344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824839172999997 meters 0.0855549158849024 Centerline is valid? [True, True] Translation: X:28.38, Y:1.44, Z:1.89 [[ 9.94787599e-01 -7.81001784e-02 -6.55590996e-02 2.83810477e+01] [ 7.79421726e-02 9.96945502e-01 -4.96826332e-03 1.43867572e+00] [ 6.57468717e-02 -1.67451912e-04 9.97836320e-01 1.88588907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839172999996 meters 0.08589115044740783 Centerline is valid? [True, True] Translation: X:28.44, Y:1.44, Z:1.89 [[ 9.95069971e-01 -7.56696898e-02 -6.41081191e-02 2.84406812e+01] [ 7.55133171e-02 9.97132939e-01 -4.86219019e-03 1.44399385e+00] [ 6.42922376e-02 -2.79727968e-06 9.97931114e-01 1.89079870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839172999995 meters 0.08619622168641364 Centerline is valid? [True, True] Translation: X:28.50, Y:1.45, Z:1.89 [[ 9.94892676e-01 -7.37235481e-02 -6.89449171e-02 2.84983260e+01] [ 7.35377557e-02 9.97278707e-01 -5.23244054e-03 1.44889962e+00] [ 6.91430519e-02 1.35662294e-04 9.97606746e-01 1.88893420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839172999997 meters 0.08579570102670377 Centerline is valid? [True, True] Translation: X:28.56, Y:1.45, Z:1.90 [[ 9.94806239e-01 -7.31774025e-02 -7.07503692e-02 2.85567825e+01] [ 7.29797195e-02 9.97318922e-01 -5.37845902e-03 1.45439983e+00] [ 7.09542636e-02 1.87182489e-04 9.97479552e-01 1.89684405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839172999996 meters 0.08568255960068513 Centerline is valid? [True, True] Translation: X:28.62, Y:1.46, Z:1.90 [[ 9.94788165e-01 -7.42617016e-02 -6.98692159e-02 2.86156285e+01] [ 7.40704053e-02 9.97238780e-01 -5.32832879e-03 1.45690970e+00] [ 7.00719824e-02 1.25317279e-04 9.97541930e-01 1.90317939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999994 meters 0.08849479471638565 Centerline is valid? [True, True] Translation: X:28.68, Y:1.43, Z:1.89 [[ 9.92956758e-01 -8.96087984e-02 -7.75057377e-02 2.86778643e+01] [ 8.94187445e-02 9.95976490e-01 -5.92614104e-03 1.43035488e+00] [ 7.77249270e-02 -1.04606396e-03 9.96974293e-01 1.89387019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184839172999997 meters 0.08822283107064526 Centerline is valid? [True, True] Translation: X:28.74, Y:1.43, Z:1.90 [[ 9.93037015e-01 -9.22611348e-02 -7.32486881e-02 2.87363046e+01] [ 9.20981521e-02 9.95734149e-01 -5.60676924e-03 1.43403153e+00] [ 7.34535069e-02 -1.17833943e-03 9.97297946e-01 1.90405462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839172999995 meters 0.08798827952975383 Centerline is valid? [True, True] Translation: X:28.79, Y:1.43, Z:1.92 [[ 9.92995112e-01 -9.63339334e-02 -6.84140359e-02 2.87941011e+01] [ 9.62003480e-02 9.95348134e-01 -5.25221742e-03 1.43487773e+00] [ 6.86017497e-02 -1.36602784e-03 9.97643190e-01 1.91695955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304839172999994 meters 0.08731220638717778 Centerline is valid? [True, True] Translation: X:28.85, Y:1.44, Z:1.93 [[ 9.93081779e-01 -9.61351900e-02 -6.74285261e-02 2.88540637e+01] [ 9.60041211e-02 9.95367411e-01 -5.18907652e-03 1.44085097e+00] [ 6.76150103e-02 -1.32023905e-03 9.97710613e-01 1.92761752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364839172999996 meters 0.08614094478087568 Centerline is valid? [True, True] Translation: X:28.91, Y:1.44, Z:1.94 [[ 9.93651736e-01 -9.29490748e-02 -6.33774135e-02 2.89146246e+01] [ 9.28268125e-02 9.95670324e-01 -4.87732112e-03 1.44450006e+00] [ 6.35563523e-02 -1.03676468e-03 9.97977713e-01 1.93733694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424839172999995 meters 0.08533872578152685 Centerline is valid? [True, True] Translation: X:28.97, Y:1.46, Z:1.94 [[ 9.94574056e-01 -8.18748948e-02 -6.41790375e-02 2.89749151e+01] [ 8.17264902e-02 9.96642559e-01 -4.93865113e-03 1.45759150e+00] [ 6.43679117e-02 -3.33273191e-04 9.97926180e-01 1.94007761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484839172999994 meters 0.0853028978785179 Centerline is valid? [True, True] Translation: X:29.03, Y:1.46, Z:1.94 [[ 9.95039015e-01 -7.78187608e-02 -6.19806378e-02 2.90342605e+01] [ 7.76725902e-02 9.96967520e-01 -4.76792948e-03 1.45740766e+00] [ 6.21637171e-02 -6.99208251e-05 9.98065963e-01 1.94487101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839172999996 meters 0.08500096963149616 Centerline is valid? [True, True] Translation: X:29.09, Y:1.46, Z:1.95 [[ 9.95146677e-01 -7.71875324e-02 -6.10342256e-02 2.90934255e+01] [ 7.70444780e-02 9.97016592e-01 -4.69727067e-03 1.45929844e+00] [ 6.12147064e-02 -2.78767586e-05 9.98124621e-01 1.94823140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839172999995 meters 0.08555849308853747 Centerline is valid? [True, True] Translation: X:29.15, Y:1.46, Z:1.94 [[ 9.94755374e-01 -7.50137160e-02 -6.95319221e-02 2.91536247e+01] [ 7.48225057e-02 9.97182494e-01 -5.35401281e-03 1.45873401e+00] [ 6.97376399e-02 1.23380379e-04 9.97565359e-01 1.94480211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839172999997 meters 0.08660703498006798 Centerline is valid? [True, True] Translation: X:29.21, Y:1.46, Z:1.94 [[ 9.94747336e-01 -6.93812603e-02 -7.52594041e-02 2.92137979e+01] [ 6.91408834e-02 9.97590057e-01 -5.79789192e-03 1.45821440e+00] [ 7.54802983e-02 5.63935862e-04 9.97147134e-01 1.93901031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839172999996 meters 0.08632864216367094 Centerline is valid? [True, True] Translation: X:29.27, Y:1.48, Z:1.95 [[ 9.95828229e-01 -6.02896327e-02 -6.84930516e-02 2.92705534e+01] [ 6.00687255e-02 9.98180268e-01 -5.28213026e-03 1.47523374e+00] [ 6.86868703e-02 1.14580411e-03 9.97637610e-01 1.94847979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999995 meters 0.08632359456903589 Centerline is valid? [True, True] Translation: X:29.33, Y:1.48, Z:1.95 [[ 9.95583255e-01 -5.89547740e-02 -7.30637932e-02 2.93299269e+01] [ 5.86986577e-02 9.98259761e-01 -5.64955466e-03 1.47979555e+00] [ 7.32697129e-02 1.33585542e-03 9.97311268e-01 1.95082508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844839172999997 meters 0.08537623605487275 Centerline is valid? [True, True] Translation: X:29.39, Y:1.48, Z:1.96 [[ 9.95251871e-01 -6.66679068e-02 -7.09161770e-02 2.93897729e+01] [ 6.64460178e-02 9.97774940e-01 -5.48595825e-03 1.47636639e+00] [ 7.11241216e-02 7.47812654e-04 9.97467192e-01 1.95608768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839172999996 meters 0.0851655521786838 Centerline is valid? [True, True] Translation: X:29.45, Y:1.48, Z:1.96 [[ 9.94937851e-01 -6.98357284e-02 -7.22609388e-02 2.94472636e+01] [ 6.96133569e-02 9.97558361e-01 -5.59432358e-03 1.47773138e+00] [ 7.24751874e-02 5.35677764e-04 9.97370072e-01 1.95703486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999994 meters 0.08459337672946717 Centerline is valid? [True, True] Translation: X:29.51, Y:1.47, Z:1.96 [[ 9.94436385e-01 -7.92431988e-02 -6.94031074e-02 2.95063991e+01] [ 7.90602407e-02 9.96855304e-01 -5.38337720e-03 1.47097661e+00] [ 6.96114518e-02 -1.33600219e-04 9.97574172e-01 1.96348132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839172999997 meters 0.0849975279412834 Centerline is valid? [True, True] Translation: X:29.56, Y:1.47, Z:1.97 [[ 9.93901736e-01 -8.54377040e-02 -6.97118243e-02 2.95649907e+01] [ 8.52671239e-02 9.96343361e-01 -5.42442704e-03 1.46938377e+00] [ 6.99203639e-02 -5.52779308e-04 9.97552423e-01 1.96662845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839172999995 meters 0.0838895964447416 Centerline is valid? [True, True] Translation: X:29.62, Y:1.49, Z:1.98 [[ 9.94400171e-01 -8.42027877e-02 -6.38607124e-02 2.96218286e+01] [ 8.40562817e-02 9.96448553e-01 -4.98217281e-03 1.48611894e+00] [ 6.40534273e-02 -4.13620531e-04 9.97946385e-01 1.97814282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144839172999994 meters 0.08326651326391307 Centerline is valid? [True, True] Translation: X:29.68, Y:1.50, Z:1.98 [[ 9.94878789e-01 -7.74506597e-02 -6.49429787e-02 2.96797061e+01] [ 7.72844943e-02 9.96996186e-01 -5.07072812e-03 1.50346656e+00] [ 6.51406333e-02 2.56745844e-05 9.97876093e-01 1.98179248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839172999996 meters 0.08379644255866774 Centerline is valid? [True, True] Translation: X:29.74, Y:1.53, Z:1.99 [[ 9.95559015e-01 -6.89988735e-02 -6.40422036e-02 2.97364409e+01] [ 6.88195832e-02 9.97616572e-01 -5.00393825e-03 1.52531250e+00] [ 6.42348298e-02 5.74358069e-04 9.97934646e-01 1.98630871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839172999995 meters 0.0839300604574019 Centerline is valid? [True, True] Translation: X:29.79, Y:1.54, Z:1.99 [[ 9.95826174e-01 -6.64644024e-02 -6.25516881e-02 2.97934720e+01] [ 6.62874298e-02 9.97788526e-01 -4.90251221e-03 1.54350995e+00] [ 6.27391992e-02 7.35659343e-04 9.98029685e-01 1.99159712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999994 meters 0.08414121230185356 Centerline is valid? [True, True] Translation: X:29.85, Y:1.56, Z:1.99 [[ 9.95373714e-01 -6.80261579e-02 -6.78499197e-02 2.98509649e+01] [ 6.78204684e-02 9.97683288e-01 -5.33308399e-03 1.55839115e+00] [ 6.80555201e-02 7.06798286e-04 9.97681285e-01 1.98974939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839172999996 meters 0.08358643630488541 Centerline is valid? [True, True] Translation: X:29.91, Y:1.55, Z:2.00 [[ 9.94656929e-01 -8.29087915e-02 -6.15119977e-02 2.99106587e+01] [ 8.27678983e-02 9.96557101e-01 -4.83940280e-03 1.55372361e+00] [ 6.17014471e-02 -2.77673247e-04 9.98094612e-01 2.00372414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444839172999995 meters 0.08323640753068128 Centerline is valid? [True, True] Translation: X:29.97, Y:1.56, Z:2.01 [[ 9.94511257e-01 -8.41258970e-02 -6.22108807e-02 2.99713200e+01] [ 8.39840696e-02 9.96455070e-01 -4.89583087e-03 1.55705600e+00] [ 6.24022136e-02 -3.55764018e-04 9.98051019e-01 2.00749764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504839172999997 meters 0.08385300294168135 Centerline is valid? [True, True] Translation: X:30.03, Y:1.57, Z:2.00 [[ 9.94997341e-01 -7.40476063e-02 -6.70614844e-02 3.00321352e+01] [ 7.38601153e-02 9.97254664e-01 -5.27429948e-03 1.56556929e+00] [ 6.72679274e-02 2.94744985e-04 9.97734904e-01 2.00100962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564839172999996 meters 0.08557943551451418 Centerline is valid? [True, True] Translation: X:30.09, Y:1.57, Z:1.99 [[ 9.94947593e-01 -6.78160502e-02 -7.40288504e-02 3.00920253e+01] [ 6.75703066e-02 9.97697529e-01 -5.82194403e-03 1.56839576e+00] [ 7.42532223e-02 7.90377081e-04 9.97239106e-01 1.99105217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624839172999994 meters 0.08458270458420644 Centerline is valid? [True, True] Translation: X:30.15, Y:1.57, Z:2.00 [[ 9.95464335e-01 -6.71889532e-02 -6.73528179e-02 3.01506571e+01] [ 6.69839351e-02 9.97739976e-01 -5.30024049e-03 1.57178395e+00] [ 6.75567165e-02 7.64643588e-04 9.97715142e-01 2.00265617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684839172999997 meters 0.08496804859540522 Centerline is valid? [True, True] Translation: X:30.21, Y:1.57, Z:2.00 [[ 9.94835638e-01 -6.91472527e-02 -7.43014843e-02 3.02102145e+01] [ 6.89025577e-02 9.97606215e-01 -5.85464956e-03 1.57442254e+00] [ 7.45284554e-02 7.04851729e-04 9.97218638e-01 2.00186866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744839172999995 meters 0.08412596257067534 Centerline is valid? [True, True] Translation: X:30.27, Y:1.58, Z:2.01 [[ 9.95315243e-01 -6.80303446e-02 -6.86981699e-02 3.02689935e+01] [ 6.78183086e-02 9.97682984e-01 -5.41675035e-03 1.57888428e+00] [ 6.89074985e-02 7.32380508e-04 9.97622785e-01 2.01058997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804839172999994 meters 0.08367176665722068 Centerline is valid? [True, True] Translation: X:30.33, Y:1.58, Z:2.02 [[ 9.95761737e-01 -6.50216985e-02 -6.50441561e-02 3.03260690e+01] [ 6.48247625e-02 9.97883447e-01 -5.13587190e-03 1.58397041e+00] [ 6.52404298e-02 8.97632754e-04 9.97869170e-01 2.02088909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864839172999996 meters 0.08495459544371609 Centerline is valid? [True, True] Translation: X:30.39, Y:1.59, Z:2.02 [[ 9.95774463e-01 -5.73774785e-02 -7.17010753e-02 3.03867055e+01] [ 5.71179265e-02 9.98351356e-01 -5.66673425e-03 1.58805174e+00] [ 7.19080087e-02 1.54737250e-03 9.97410068e-01 2.01830974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839172999995 meters 0.08606747239185616 Centerline is valid? [True, True] Translation: X:30.45, Y:1.59, Z:2.01 [[ 9.95645491e-01 -5.46982072e-02 -7.54861693e-02 3.04457639e+01] [ 5.44026937e-02 9.98501247e-01 -5.96707167e-03 1.59075830e+00] [ 7.56994223e-02 1.83443705e-03 9.97128995e-01 2.01412051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999994 meters 0.08522919372958562 Centerline is valid? [True, True] Translation: X:30.50, Y:1.59, Z:2.02 [[ 9.95670725e-01 -5.51599008e-02 -7.48143907e-02 3.05049850e+01] [ 5.48703270e-02 9.98475927e-01 -5.92205321e-03 1.58720400e+00] [ 7.50270279e-02 1.79132493e-03 9.97179892e-01 2.02033173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839172999996 meters 0.08378900900049034 Centerline is valid? [True, True] Translation: X:30.57, Y:1.56, Z:2.02 [[ 9.94697781e-01 -6.72429890e-02 -7.78119894e-02 3.05666821e+01] [ 6.69654349e-02 9.97736195e-01 -6.17378560e-03 1.56369035e+00] [ 7.80509821e-02 9.30337118e-04 9.96948935e-01 2.02109737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104839172999995 meters 0.08442573789724986 Centerline is valid? [True, True] Translation: X:30.63, Y:1.54, Z:2.02 [[ 9.93869079e-01 -7.47964348e-02 -8.14232538e-02 3.06282766e+01] [ 7.45170039e-02 9.97198758e-01 -6.46947615e-03 1.53916726e+00] [ 8.16790613e-02 3.62395388e-04 9.96658617e-01 2.01551870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164839172999997 meters 0.08445635898419433 Centerline is valid? [True, True] Translation: X:30.69, Y:1.55, Z:2.01 [[ 9.93909982e-01 -6.88837405e-02 -8.60115024e-02 3.06873560e+01] [ 6.85484598e-02 9.97624278e-01 -6.84900769e-03 1.54804275e+00] [ 8.62789482e-02 9.11341094e-04 9.96270602e-01 2.01374743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224839172999996 meters 0.0857031016229699 Centerline is valid? [True, True] Translation: X:30.75, Y:1.55, Z:2.01 [[ 9.94109302e-01 -6.47642634e-02 -8.69038837e-02 3.07462096e+01] [ 6.44060209e-02 9.97899764e-01 -6.92280521e-03 1.55080635e+00] [ 8.71697154e-02 1.28489171e-03 9.96192647e-01 2.00834703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284839172999995 meters 0.08392170986904669 Centerline is valid? [True, True] Translation: X:30.81, Y:1.55, Z:2.03 [[ 9.94374836e-01 -7.31819104e-02 -7.65708430e-02 3.08058263e+01] [ 7.29286418e-02 9.97318492e-01 -6.10240551e-03 1.55178189e+00] [ 7.68121033e-02 4.83870896e-04 9.97045469e-01 2.02641768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839172999997 meters 0.08487636065043204 Centerline is valid? [True, True] Translation: X:30.86, Y:1.55, Z:2.05 [[ 9.93945191e-01 -7.97867985e-02 -7.55448503e-02 3.08639952e+01] [ 7.95588566e-02 9.96811951e-01 -6.02676925e-03 1.55036707e+00] [ 7.57848663e-02 -1.99836061e-05 9.97124192e-01 2.04644434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404839172999996 meters 0.08600308404600665 Centerline is valid? [True, True] Translation: X:30.92, Y:1.55, Z:2.05 [[ 9.94142670e-01 -7.33049718e-02 -7.94149353e-02 3.09238901e+01] [ 7.30311787e-02 9.97309439e-01 -6.35056030e-03 1.55283169e+00] [ 7.96667922e-02 5.13596644e-04 9.96821418e-01 2.04551598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999994 meters 0.08637835671384683 Centerline is valid? [True, True] Translation: X:30.98, Y:1.55, Z:2.05 [[ 9.94207671e-01 -7.14606745e-02 -8.02775108e-02 3.09822964e+01] [ 7.11744384e-02 9.97443190e-01 -6.42509338e-03 1.55254566e+00] [ 8.05313980e-02 6.74170379e-04 9.96751844e-01 2.04838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839172999997 meters 0.08614276990936376 Centerline is valid? [True, True] Translation: X:31.04, Y:1.54, Z:2.06 [[ 9.94334323e-01 -7.30322464e-02 -7.72369360e-02 3.10415183e+01] [ 7.27713763e-02 9.97329437e-01 -6.19045699e-03 1.54462854e+00] [ 7.74827728e-02 5.34745731e-04 9.96993548e-01 2.05651656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839172999995 meters 0.08652720569165766 Centerline is valid? [True, True] Translation: X:31.10, Y:1.53, Z:2.06 [[ 9.94217179e-01 -7.47752275e-02 -7.70770132e-02 3.11012361e+01] [ 7.45201029e-02 9.97200331e-01 -6.18491905e-03 1.52606024e+00] [ 7.73237018e-02 4.05365815e-04 9.97005958e-01 2.05676044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999994 meters 0.08763695694824808 Centerline is valid? [True, True] Translation: X:31.16, Y:1.51, Z:2.05 [[ 9.93352145e-01 -7.65463948e-02 -8.59776999e-02 3.11624319e+01] [ 7.62346708e-02 9.97065973e-01 -6.90797527e-03 1.51428939e+00] [ 8.62542196e-02 3.07570403e-04 9.96273113e-01 2.05349141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704839172999996 meters 0.0889743407304097 Centerline is valid? [True, True] Translation: X:31.22, Y:1.51, Z:2.05 [[ 9.92524931e-01 -7.72330881e-02 -9.44950354e-02 3.12239838e+01] [ 7.68593802e-02 9.97013027e-01 -7.59345547e-03 1.50695057e+00] [ 9.47992472e-02 2.73864015e-04 9.95496373e-01 2.05428526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764839172999995 meters 0.08875520248909508 Centerline is valid? [True, True] Translation: X:31.28, Y:1.50, Z:2.06 [[ 9.93006926e-01 -8.05855537e-02 -8.62740634e-02 3.12831827e+01] [ 8.02867596e-02 9.96747695e-01 -6.93321347e-03 1.50317289e+00] [ 8.65521906e-02 -4.19359917e-05 9.96247317e-01 2.06023167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824839172999994 meters 0.08850783412452078 Centerline is valid? [True, True] Translation: X:31.34, Y:1.50, Z:2.07 [[ 9.92151542e-01 -8.74863936e-02 -8.93389487e-02 3.13429026e+01] [ 8.71935408e-02 9.96165494e-01 -7.18298731e-03 1.49533782e+00] [ 8.96247916e-02 -6.63167323e-04 9.95975380e-01 2.06941020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884839172999996 meters 0.08829859515113789 Centerline is valid? [True, True] Translation: X:31.40, Y:1.52, Z:2.08 [[ 9.93471253e-01 -7.85346947e-02 -8.27476321e-02 3.13996313e+01] [ 7.82520527e-02 9.96911371e-01 -6.65838105e-03 1.51876543e+00] [ 8.30149693e-02 1.39738101e-04 9.96548291e-01 2.08117119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944839172999995 meters 0.08891351563310852 Centerline is valid? [True, True] Translation: X:31.46, Y:1.52, Z:2.08 [[ 9.94176756e-01 -6.93069142e-02 -8.25174533e-02 3.14586675e+01] [ 6.89933165e-02 9.97594963e-01 -6.64922267e-03 1.52367360e+00] [ 8.27798328e-02 9.17349850e-04 9.96567438e-01 2.07917947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00483917299999 meters 0.08775046874816772 Centerline is valid? [True, True] Translation: X:31.52, Y:1.53, Z:2.09 [[ 9.94578506e-01 -7.00081587e-02 -7.68924747e-02 3.15175786e+01] [ 6.97369877e-02 9.97546087e-01 -6.20939510e-03 1.52690266e+00] [ 7.71384956e-02 8.13481339e-04 9.97020055e-01 2.09205339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06483917299999 meters 0.08740858915782691 Centerline is valid? [True, True] Translation: X:31.57, Y:1.53, Z:2.11 [[ 9.95693679e-01 -6.61502915e-02 -6.49479584e-02 3.15749264e+01] [ 6.59485624e-02 9.97809226e-01 -5.24734752e-03 1.53098512e+00] [ 6.51527857e-02 9.41526267e-04 9.97874856e-01 2.11227678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12483917299999 meters 0.08782008850040893 Centerline is valid? [True, True] Translation: X:31.63, Y:1.52, Z:2.12 [[ 9.95332459e-01 -6.82270348e-02 -6.82522402e-02 3.16346168e+01] [ 6.80085872e-02 9.97669455e-01 -5.52178662e-03 1.52318592e+00] [ 6.84699104e-02 8.54275024e-04 9.97652816e-01 2.11625123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18483917299999 meters 0.0888427362290545 Centerline is valid? [True, True] Translation: X:31.69, Y:1.52, Z:2.12 [[ 9.94449812e-01 -7.26088718e-02 -7.61414635e-02 3.16948280e+01] [ 7.23483923e-02 9.97360291e-01 -6.17745390e-03 1.51797327e+00] [ 7.63890101e-02 6.34455408e-04 9.97077889e-01 2.12029907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24483917299999 meters 0.08847028387037977 Centerline is valid? [True, True] Translation: X:31.75, Y:1.51, Z:2.13 [[ 9.94351457e-01 -7.86527983e-02 -7.12665182e-02 3.17543253e+01] [ 7.84396776e-02 9.96902056e-01 -5.78853346e-03 1.51333614e+00] [ 7.15010229e-02 1.65713975e-04 9.97440513e-01 2.12620543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30483917299999 meters 0.08755514824548176 Centerline is valid? [True, True] Translation: X:31.81, Y:1.50, Z:2.13 [[ 9.93587273e-01 -9.45096181e-02 -6.20665975e-02 3.18142231e+01] [ 9.43779840e-02 9.95523599e-01 -5.05571983e-03 1.49694166e+00] [ 6.22665767e-02 -8.34421465e-04 9.98059205e-01 2.13372926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36483917299999 meters 0.08954714104898098 Centerline is valid? [True, True] Translation: X:31.88, Y:1.49, Z:2.14 [[ 9.91693556e-01 -1.14008299e-01 -5.95482969e-02 3.18752150e+01] [ 1.13921296e-01 9.93477866e-01 -4.86506979e-03 1.48578840e+00] [ 5.97145732e-02 -1.95916080e-03 9.98213570e-01 2.14244538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424839172999995 meters 0.090373493160287 Centerline is valid? [True, True] Translation: X:31.93, Y:1.49, Z:2.15 [[ 9.91796681e-01 -1.15864211e-01 -5.39891505e-02 3.19316183e+01] [ 1.15795384e-01 9.93263291e-01 -4.41181244e-03 1.49480492e+00] [ 5.41366125e-02 -1.87607350e-03 9.98531776e-01 2.15445810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48483917299999 meters 0.08819569515778222 Centerline is valid? [True, True] Translation: X:31.99, Y:1.52, Z:2.17 [[ 9.93165898e-01 -1.07094506e-01 -4.63925234e-02 3.19899498e+01] [ 1.07033906e-01 9.94248126e-01 -3.79556793e-03 1.52363155e+00] [ 4.65321639e-02 -1.19594437e-03 9.98916076e-01 2.16595719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54483917299999 meters 0.08801035419747379 Centerline is valid? [True, True] Translation: X:32.05, Y:1.54, Z:2.17 [[ 9.93462682e-01 -1.07329544e-01 -3.88879034e-02 3.20502975e+01] [ 1.07287156e-01 9.94222986e-01 -3.18128042e-03 1.53878874e+00] [ 3.90046928e-02 -1.01168920e-03 9.99238515e-01 2.17220993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604839172999995 meters 0.08897524291448265 Centerline is valid? [True, True] Translation: X:32.11, Y:1.54, Z:2.18 [[ 9.92967163e-01 -1.13591498e-01 -3.33644142e-02 3.21105113e+01] [ 1.13563911e-01 9.93526951e-01 -2.72686093e-03 1.54230825e+00] [ 3.34581929e-02 -1.08131001e-03 9.99439533e-01 2.18017679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66483917299999 meters 0.0892105171924859 Centerline is valid? [True, True] Translation: X:32.17, Y:1.56, Z:2.18 [[ 9.92562121e-01 -1.16839425e-01 -3.41904048e-02 3.21716784e+01] [ 1.16812345e-01 9.93150070e-01 -2.79537150e-03 1.56253569e+00] [ 3.42828125e-02 -1.21928148e-03 9.99411428e-01 2.17874875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72483917299999 meters 0.08940562824544557 Centerline is valid? [True, True] Translation: X:32.23, Y:1.57, Z:2.18 [[ 9.92432822e-01 -1.18544613e-01 -3.20042006e-02 3.22333794e+01] [ 1.18521842e-01 9.92948004e-01 -2.61436865e-03 1.57393254e+00] [ 3.20884265e-02 -1.19861156e-03 9.99484315e-01 2.17749454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784839172999995 meters 0.08982161773615614 Centerline is valid? [True, True] Translation: X:32.29, Y:1.59, Z:2.17 [[ 9.91864776e-01 -1.21888353e-01 -3.67082482e-02 3.22942357e+01] [ 1.21860706e-01 9.92542684e-01 -2.99800476e-03 1.59035712e+00] [ 3.67999251e-02 -1.49967771e-03 9.99321528e-01 2.17496969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84483917299999 meters 0.09080032847535492 Centerline is valid? [True, True] Translation: X:32.36, Y:1.60, Z:2.17 [[ 9.91274039e-01 -1.24895618e-01 -4.21528757e-02 3.23567171e+01] [ 1.24862491e-01 9.92168134e-01 -3.42817018e-03 1.59801379e+00] [ 4.22509034e-02 -1.86505694e-03 9.99105291e-01 2.16839930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90483917299999 meters 0.0920159185539783 Centerline is valid? [True, True] Translation: X:32.42, Y:1.61, Z:2.16 [[ 9.91345466e-01 -1.22634401e-01 -4.68505036e-02 3.24170012e+01] [ 1.22591167e-01 9.92449959e-01 -3.80590855e-03 1.61180125e+00] [ 4.69635157e-02 -1.97048773e-03 9.98894662e-01 2.16444849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964839172999994 meters 0.08861622620030155 Centerline is valid? [True, True] Translation: X:32.48, Y:1.64, Z:2.17 [[ 9.92513716e-01 -1.15896172e-01 -3.85305144e-02 3.24769377e+01] [ 1.15861883e-01 9.93260405e-01 -3.12923845e-03 1.63676145e+00] [ 3.86335011e-02 -1.35840586e-03 9.99252524e-01 2.17083905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02483917299999 meters 0.09096916970835339 Centerline is valid? [True, True] Translation: X:32.54, Y:1.64, Z:2.17 [[ 9.91762804e-01 -1.19584437e-01 -4.58923026e-02 3.25375712e+01] [ 1.19539895e-01 9.92822415e-01 -3.72369176e-03 1.64135125e+00] [ 4.60082023e-02 -1.79294203e-03 9.98939453e-01 2.16876074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08483917299999 meters 0.09142047543431332 Centerline is valid? [True, True] Translation: X:32.60, Y:1.64, Z:2.16 [[ 9.91083560e-01 -1.23982175e-01 -4.88036665e-02 3.25990736e+01] [ 1.23937224e-01 9.92282168e-01 -3.95782915e-03 1.64123992e+00] [ 4.89177083e-02 -2.12605153e-03 9.98800550e-01 2.16273326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144839172999994 meters 0.0924031275534372 Centerline is valid? [True, True] Translation: X:32.66, Y:1.65, Z:2.17 [[ 9.91188792e-01 -1.22801880e-01 -4.96434970e-02 3.26590980e+01] [ 1.22753934e-01 9.92428975e-01 -4.02510762e-03 1.65326609e+00] [ 4.97619356e-02 -2.10429299e-03 9.98758891e-01 2.16763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20483917299999 meters 0.09093355872443327 Centerline is valid? [True, True] Translation: X:32.72, Y:1.67, Z:2.16 [[ 9.91266480e-01 -1.16447810e-01 -6.18924354e-02 3.27197719e+01] [ 1.16361196e-01 9.93194306e-01 -5.01431353e-03 1.66954959e+00] [ 6.20551202e-02 -2.23135689e-03 9.98070230e-01 2.15702141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26483917299999 meters 0.09110565597336781 Centerline is valid? [True, True] Translation: X:32.78, Y:1.68, Z:2.16 [[ 9.91309806e-01 -1.16451625e-01 -6.11873154e-02 3.27814630e+01] [ 1.16367079e-01 9.93193911e-01 -4.95557807e-03 1.67793583e+00] [ 6.13479542e-02 -2.20767604e-03 9.98113999e-01 2.15968773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324839172999994 meters 0.09124975693029948 Centerline is valid? [True, True] Translation: X:32.84, Y:1.69, Z:2.16 [[ 9.91222697e-01 -1.16378271e-01 -6.27189227e-02 3.28422122e+01] [ 1.16289595e-01 9.93202384e-01 -5.07487443e-03 1.68801463e+00] [ 6.28831887e-02 -2.26322737e-03 9.98018328e-01 2.16276266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38483917299999 meters 0.08952283517479306 Centerline is valid? [True, True] Translation: X:32.90, Y:1.71, Z:2.16 [[ 9.92687058e-01 -1.06233132e-01 -5.73317265e-02 3.29016445e+01] [ 1.06142279e-01 9.94340144e-01 -4.63619295e-03 1.70706028e+00] [ 5.74997545e-02 -1.48303139e-03 9.98344419e-01 2.16488555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44483917299999 meters 0.08869420730093737 Centerline is valid? [True, True] Translation: X:32.96, Y:1.73, Z:2.17 [[ 9.93141049e-01 -1.02134695e-01 -5.69153767e-02 3.29610935e+01] [ 1.02038439e-01 9.94769810e-01 -4.60242311e-03 1.72596255e+00] [ 5.70877655e-02 -1.23670087e-03 9.98368398e-01 2.16703664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50483917299999 meters 0.08850328718807712 Centerline is valid? [True, True] Translation: X:33.02, Y:1.74, Z:2.18 [[ 9.93740710e-01 -9.75504604e-02 -5.44362800e-02 3.30208894e+01] [ 9.74556422e-02 9.95230143e-01 -4.39999815e-03 1.74112526e+00] [ 5.46058486e-02 -9.32665349e-04 9.98507552e-01 2.17667343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56483917299999 meters 0.08790751478002258 Centerline is valid? [True, True] Translation: X:33.08, Y:1.76, Z:2.18 [[ 9.94792352e-01 -8.48277209e-02 -5.65016329e-02 3.30811597e+01] [ 8.47051656e-02 9.96395603e-01 -4.56477480e-03 1.75774804e+00] [ 5.66851980e-02 -2.44977113e-04 9.98392071e-01 2.17743732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62483917299999 meters 0.08807515423778849 Centerline is valid? [True, True] Translation: X:33.14, Y:1.78, Z:2.18 [[ 9.95516036e-01 -7.49453217e-02 -5.77149908e-02 3.31409269e+01] [ 7.48009704e-02 9.97187593e-01 -4.66047721e-03 1.77749481e+00] [ 5.79019537e-02 3.22442484e-04 9.98322222e-01 2.18017842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68483917299999 meters 0.08701964920234985 Centerline is valid? [True, True] Translation: X:33.20, Y:1.77, Z:2.18 [[ 9.95676720e-01 -7.64879088e-02 -5.27017011e-02 3.32022928e+01] [ 7.63698687e-02 9.97070487e-01 -4.25291992e-03 1.77290209e+00] [ 5.28726077e-02 2.09711362e-04 9.98601243e-01 2.18339538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74483917299999 meters 0.08574064665080057 Centerline is valid? [True, True] Translation: X:33.26, Y:1.78, Z:2.20 [[ 9.95973165e-01 -7.65357602e-02 -4.66876052e-02 3.32637588e+01] [ 7.64431674e-02 9.97066820e-01 -3.76810223e-03 1.77872530e+00] [ 4.68390566e-02 1.83980288e-04 9.98902432e-01 2.19795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80483917299999 meters 0.08598092428648584 Centerline is valid? [True, True] Translation: X:33.33, Y:1.78, Z:2.20 [[ 9.96076868e-01 -7.46050464e-02 -4.75915875e-02 3.33252082e+01] [ 7.45068092e-02 9.97213122e-01 -3.83727636e-03 1.77985501e+00] [ 4.77452357e-02 2.76324894e-04 9.98859508e-01 2.20211103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86483917299999 meters 0.08572919106228938 Centerline is valid? [True, True] Translation: X:33.39, Y:1.76, Z:2.21 [[ 9.95640485e-01 -8.23503356e-02 -4.38000892e-02 3.33892787e+01] [ 8.22747097e-02 9.96603439e-01 -3.52957683e-03 1.75638998e+00] [ 4.39419813e-02 -8.94500320e-05 9.99034081e-01 2.20737158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92483917299999 meters 0.08582968567120149 Centerline is valid? [True, True] Translation: X:33.45, Y:1.75, Z:2.22 [[ 9.95074296e-01 -9.07517972e-02 -3.98905525e-02 3.34515314e+01] [ 9.06959329e-02 9.95873452e-01 -3.21163618e-03 1.74682849e+00] [ 4.00174040e-02 -4.22094259e-04 9.99198894e-01 2.21567466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98483917299999 meters 0.08558552548008252 Centerline is valid? [True, True] Translation: X:33.51, Y:1.74, Z:2.21 [[ 9.94850040e-01 -9.16728686e-02 -4.32375297e-02 3.35141716e+01] [ 9.16082136e-02 9.95789051e-01 -3.47855146e-03 1.74367260e+00] [ 4.33743475e-02 -5.00275793e-04 9.99058765e-01 2.21485966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04483917299999 meters 0.08582705089203736 Centerline is valid? [True, True] Translation: X:33.58, Y:1.74, Z:2.23 [[ 9.94771288e-01 -9.54885199e-02 -3.62219256e-02 3.35752373e+01] [ 9.54457744e-02 9.95430373e-01 -2.91141641e-03 1.74209871e+00] [ 3.63344117e-02 -5.61036284e-04 9.99339530e-01 2.22528681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters 0.08728599073350513 Centerline is valid? [True, True] Translation: X:33.64, Y:1.73, Z:2.22 [[ 9.93836830e-01 -1.03450312e-01 -3.98294891e-02 3.36382653e+01] [ 1.03405069e-01 9.94634180e-01 -3.19990183e-03 1.73102980e+00] [ 3.99468020e-02 -9.38390781e-04 9.99201367e-01 2.22388388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16483917299999 meters 0.08867648399945963 Centerline is valid? [True, True] Translation: X:33.70, Y:1.73, Z:2.22 [[ 9.92995623e-01 -1.10680831e-01 -4.13454582e-02 3.36999192e+01] [ 1.10638446e-01 9.93855180e-01 -3.31897608e-03 1.73003576e+00] [ 4.14587449e-02 -1.27866854e-03 9.99139398e-01 2.22481035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22483917299999 meters 0.09094884650545536 Centerline is valid? [True, True] Translation: X:33.76, Y:1.72, Z:2.23 [[ 9.92444202e-01 -1.16325276e-01 -3.90248008e-02 3.37608677e+01] [ 1.16291944e-01 9.93210140e-01 -3.13079361e-03 1.72149755e+00] [ 3.91240183e-02 -1.43113197e-03 9.99233338e-01 2.23015732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284839172999995 meters 0.09003357122660775 Centerline is valid? [True, True] Translation: X:33.82, Y:1.73, Z:2.24 [[ 9.92042166e-01 -1.20845811e-01 -3.53359649e-02 3.38210496e+01] [ 1.20821330e-01 9.92670221e-01 -2.83520248e-03 1.73273080e+00] [ 3.54195824e-02 -1.45669786e-03 9.99371468e-01 2.23517552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34483917299999 meters 0.09143970532469847 Centerline is valid? [True, True] Translation: X:33.88, Y:1.73, Z:2.24 [[ 9.91373949e-01 -1.26454564e-01 -3.44519309e-02 3.38816568e+01] [ 1.26434698e-01 9.91971084e-01 -2.76341958e-03 1.73052246e+00] [ 3.45247662e-02 -1.61633729e-03 9.99402536e-01 2.23841811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40483917299999 meters 0.09266606304165266 Centerline is valid? [True, True] Translation: X:33.94, Y:1.72, Z:2.24 [[ 9.90978015e-01 -1.27906431e-01 -4.00314650e-02 3.39448851e+01] [ 1.27880662e-01 9.91784354e-01 -3.21426850e-03 1.71998284e+00] [ 4.01137062e-02 -1.93398083e-03 9.99193250e-01 2.23834705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters 0.08988579097555278 Centerline is valid? [True, True] Translation: X:34.00, Y:1.74, Z:2.24 [[ 9.91403023e-01 -1.21726529e-01 -4.79864295e-02 3.40037810e+01] [ 1.21683163e-01 9.92561586e-01 -3.83485031e-03 1.73969487e+00] [ 4.80962896e-02 -2.03725835e-03 9.98840626e-01 2.23986654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52483917299999 meters 0.09154452940318944 Centerline is valid? [True, True] Translation: X:34.06, Y:1.74, Z:2.24 [[ 9.91264577e-01 -1.22704961e-01 -4.83531852e-02 3.40646366e+01] [ 1.22662057e-01 9.92440972e-01 -3.86486505e-03 1.73980623e+00] [ 4.84619202e-02 -2.09999735e-03 9.98822823e-01 2.24279106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58483917299999 meters 0.09361847022671205 Centerline is valid? [True, True] Translation: X:34.13, Y:1.73, Z:2.24 [[ 9.90523008e-01 -1.25451710e-01 -5.59109884e-02 3.41263563e+01] [ 1.25399194e-01 9.92096339e-01 -4.46057940e-03 1.73234784e+00] [ 5.60286742e-02 -2.59288636e-03 9.98425793e-01 2.23840457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644839172999994 meters 0.09097537976952327 Centerline is valid? [True, True] Translation: X:34.19, Y:1.76, Z:2.24 [[ 9.90900635e-01 -1.21366314e-01 -5.81906271e-02 3.41855351e+01] [ 1.21302535e-01 9.92604737e-01 -4.64025780e-03 1.76006397e+00] [ 5.83234630e-02 -2.46063618e-03 9.98294705e-01 2.24053332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70483917299999 meters 0.08951224977719008 Centerline is valid? [True, True] Translation: X:34.25, Y:1.78, Z:2.24 [[ 9.91745507e-01 -1.15291891e-01 -5.61126452e-02 3.42453487e+01] [ 1.15222986e-01 9.93329583e-01 -4.47254974e-03 1.77672659e+00] [ 5.62539992e-02 -2.02983544e-03 9.98414427e-01 2.24277956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76483917299999 meters 0.08814673624460968 Centerline is valid? [True, True] Translation: X:34.30, Y:1.80, Z:2.25 [[ 9.92756836e-01 -1.06361978e-01 -5.58658590e-02 3.43036338e+01] [ 1.06279608e-01 9.94326318e-01 -4.45185008e-03 1.80359821e+00] [ 5.60224014e-02 -1.51779700e-03 9.98428358e-01 2.24972671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824839172999994 meters 0.0871343434029492 Centerline is valid? [True, True] Translation: X:34.36, Y:1.83, Z:2.25 [[ 9.93303510e-01 -9.90353427e-02 -5.94990600e-02 3.43638643e+01] [ 9.89288171e-02 9.95083220e-01 -4.74068729e-03 1.82871965e+00] [ 5.96760118e-02 -1.17723030e-03 9.98217105e-01 2.25221213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88483917299999 meters 0.08761015362212658 Centerline is valid? [True, True] Translation: X:34.42, Y:1.84, Z:2.25 [[ 9.93201940e-01 -9.62116718e-02 -6.55226715e-02 3.44241807e+01] [ 9.60766950e-02 9.95360271e-01 -5.21523126e-03 1.84390505e+00] [ 6.57204303e-02 -1.11542392e-03 9.97837452e-01 2.24973991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94483917299999 meters 0.08933758020627897 Centerline is valid? [True, True] Translation: X:34.48, Y:1.85, Z:2.24 [[ 9.92299668e-01 -1.01983410e-01 -7.02904961e-02 3.44835912e+01] [ 1.01842718e-01 9.94784797e-01 -5.59181131e-03 1.84757594e+00] [ 7.04941889e-02 -1.60982265e-03 9.97510891e-01 2.24038972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00483917299999 meters 0.09047261178774404 Centerline is valid? [True, True] Translation: X:34.54, Y:1.85, Z:2.23 [[ 9.91316367e-01 -1.05147823e-01 -7.89670531e-02 3.45442717e+01] [ 1.04980161e-01 9.94454467e-01 -6.28324853e-03 1.85472196e+00] [ 7.91898086e-02 -2.06128686e-03 9.96857425e-01 2.23356223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06483917299999 meters 0.0896800524859843 Centerline is valid? [True, True] Translation: X:34.60, Y:1.88, Z:2.25 [[ 9.91848974e-01 -1.04129628e-01 -7.34345531e-02 3.46012419e+01] [ 1.03981783e-01 9.94562033e-01 -5.84397804e-03 1.88047995e+00] [ 7.36437497e-02 -1.83951212e-03 9.97282916e-01 2.24721991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12483917299999 meters 0.09090058828106082 Centerline is valid? [True, True] Translation: X:34.66, Y:1.89, Z:2.24 [[ 9.91479783e-01 -1.05028086e-01 -7.70515437e-02 3.46610988e+01] [ 1.04867830e-01 9.94467249e-01 -6.13430343e-03 1.88942019e+00] [ 7.72695108e-02 -1.99819038e-03 9.97008240e-01 2.24263421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18483917299999 meters 0.09139267816110777 Centerline is valid? [True, True] Translation: X:34.72, Y:1.91, Z:2.25 [[ 9.91508821e-01 -1.04865824e-01 -7.68987384e-02 3.47202358e+01] [ 1.04705642e-01 9.94484407e-01 -6.12310833e-03 1.90824051e+00] [ 7.71167011e-02 -1.98061585e-03 9.97020106e-01 2.24566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24483917299999 meters 0.09198237371374501 Centerline is valid? [True, True] Translation: X:34.78, Y:1.92, Z:2.25 [[ 9.91861658e-01 -1.06860621e-01 -6.92189220e-02 3.47793915e+01] [ 1.06735684e-01 9.94272154e-01 -5.51159832e-03 1.91521088e+00] [ 6.94114195e-02 -1.92138595e-03 9.97586269e-01 2.25375621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30483917299999 meters 0.09177363600911281 Centerline is valid? [True, True] Translation: X:34.84, Y:1.92, Z:2.26 [[ 9.91674657e-01 -1.10657766e-01 -6.58500819e-02 3.48404055e+01] [ 1.10553089e-01 9.93856392e-01 -5.24267619e-03 1.92218674e+00] [ 6.60256677e-02 -2.08090087e-03 9.97815755e-01 2.26322452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters 0.09266534621873022 Centerline is valid? [True, True] Translation: X:34.90, Y:1.93, Z:2.26 [[ 9.91251956e-01 -1.10095156e-01 -7.27915967e-02 3.49022825e+01] [ 1.09966055e-01 9.93918473e-01 -5.79107791e-03 1.92505615e+00] [ 7.29864823e-02 -2.26418745e-03 9.97330360e-01 2.25555170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42483917299999 meters 0.09227601305294982 Centerline is valid? [True, True] Translation: X:34.96, Y:1.92, Z:2.26 [[ 9.91503603e-01 -1.11125048e-01 -6.76153006e-02 3.49643084e+01] [ 1.11016270e-01 9.93804049e-01 -5.37586054e-03 1.92261599e+00] [ 6.77937523e-02 -2.17621337e-03 9.97696984e-01 2.26079977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48483917299999 meters 0.09208013615538256 Centerline is valid? [True, True] Translation: X:35.03, Y:1.93, Z:2.27 [[ 9.91575647e-01 -1.10396142e-01 -6.77526977e-02 3.50262208e+01] [ 1.10285484e-01 9.93885374e-01 -5.38295527e-03 1.92939351e+00] [ 6.79326728e-02 -2.13453174e-03 9.97687624e-01 2.26818416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54483917299999 meters 0.09187303037504761 Centerline is valid? [True, True] Translation: X:35.09, Y:1.94, Z:2.26 [[ 9.91349050e-01 -1.00944656e-01 -8.38882480e-02 3.50876940e+01] [ 1.00741740e-01 9.94890324e-01 -6.65924973e-03 1.93988715e+00] [ 8.41318219e-02 -1.84940720e-03 9.96452917e-01 2.25552530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60483917299999 meters 0.0919668854255708 Centerline is valid? [True, True] Translation: X:35.15, Y:1.95, Z:2.26 [[ 9.91171600e-01 -1.01465909e-01 -8.53435940e-02 3.51456933e+01] [ 1.01257731e-01 9.94837153e-01 -6.77576704e-03 1.94544311e+00] [ 8.55904874e-02 -1.92575086e-03 9.96328540e-01 2.25616676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66483917299999 meters 0.09411018274370249 Centerline is valid? [True, True] Translation: X:35.20, Y:1.94, Z:2.26 [[ 9.90616848e-01 -1.09554336e-01 -8.17074573e-02 3.52045916e+01] [ 1.09390401e-01 9.93977651e-01 -6.49374517e-03 1.93766805e+00] [ 8.19268044e-02 -2.50519818e-03 9.96635200e-01 2.25968519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72483917299999 meters 0.0952237909760998 Centerline is valid? [True, True] Translation: X:35.27, Y:1.93, Z:2.26 [[ 9.89902949e-01 -1.15230365e-01 -8.25476451e-02 3.52656153e+01] [ 1.15082346e-01 9.93334262e-01 -6.56488706e-03 1.93155873e+00] [ 8.27538785e-02 -3.00117559e-03 9.96565496e-01 2.26035290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784839172999995 meters 0.09229719080175623 Centerline is valid? [True, True] Translation: X:35.32, Y:1.94, Z:2.27 [[ 9.90464827e-01 -1.09254068e-01 -8.39224321e-02 3.53245487e+01] [ 1.09079553e-01 9.94010607e-01 -6.67571009e-03 1.94481338e+00] [ 8.41491361e-02 -2.54216531e-03 9.96449929e-01 2.26844855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84483917299999 meters 0.09267995531040633 Centerline is valid? [True, True] Translation: X:35.38, Y:1.94, Z:2.27 [[ 9.90526442e-01 -1.09542915e-01 -8.28113365e-02 3.53832590e+01] [ 1.09373300e-01 9.93978862e-01 -6.59567642e-03 1.94449955e+00] [ 8.30352276e-02 -2.52415725e-03 9.96543416e-01 2.27433133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90483917299999 meters 0.09778914063127139 Centerline is valid? [True, True] Translation: X:35.44, Y:1.91, Z:2.27 [[ 9.88471211e-01 -1.23997408e-01 -8.68867571e-02 3.54449623e+01] [ 1.23865048e-01 9.92274846e-01 -6.93403280e-03 1.91349860e+00] [ 8.70753456e-02 -3.90814051e-03 9.96194063e-01 2.27299747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964839172999994 meters 0.0998819347577851 Centerline is valid? [True, True] Translation: X:35.51, Y:1.89, Z:2.27 [[ 9.86912608e-01 -1.31714578e-01 -9.30310358e-02 3.55073239e+01] [ 1.31597052e-01 9.91275493e-01 -7.42380090e-03 1.89245112e+00] [ 9.31972087e-02 -4.91596732e-03 9.95635532e-01 2.26859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02483917299999 meters 0.09985082581847024 Centerline is valid? [True, True] Translation: X:35.57, Y:1.88, Z:2.27 [[ 9.86856738e-01 -1.29904608e-01 -9.61174892e-02 3.55663470e+01] [ 1.29770299e-01 9.91514388e-01 -7.67387448e-03 1.88375566e+00] [ 9.62987451e-02 -4.90018060e-03 9.95340414e-01 2.26698961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08483917299999 meters 0.09658672242801175 Centerline is valid? [True, True] Translation: X:35.63, Y:1.88, Z:2.28 [[ 9.88639254e-01 -1.17915279e-01 -9.32116494e-02 3.56264873e+01] [ 1.17735291e-01 9.93017090e-01 -7.44709547e-03 1.87949503e+00] [ 9.34388873e-02 -3.61180979e-03 9.95618466e-01 2.27875828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144839172999994 meters 0.0927020287479267 Centerline is valid? [True, True] Translation: X:35.69, Y:1.88, Z:2.30 [[ 9.90038655e-01 -1.09920654e-01 -8.79824475e-02 3.56856589e+01] [ 1.09728623e-01 9.93936716e-01 -7.03090057e-03 1.88178308e+00] [ 8.82218261e-02 -2.69332943e-03 9.96097212e-01 2.29546263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20483917299999 meters 0.09248923100798896 Centerline is valid? [True, True] Translation: X:35.75, Y:1.87, Z:2.31 [[ 9.90085268e-01 -1.10954013e-01 -8.61415603e-02 3.57451833e+01] [ 1.10772993e-01 9.93821827e-01 -6.89343812e-03 1.87206759e+00] [ 8.63742175e-02 -2.71706693e-03 9.96259059e-01 2.30663542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26483917299999 meters 0.09135876388189902 Centerline is valid? [True, True] Translation: X:35.80, Y:1.87, Z:2.32 [[ 9.90894905e-01 -1.03904146e-01 -8.56225144e-02 3.58049262e+01] [ 1.03697750e-01 9.94585152e-01 -6.86675154e-03 1.86647048e+00] [ 8.58723654e-02 -2.07463300e-03 9.96303986e-01 2.31514297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324839172999994 meters 0.0907076914967024 Centerline is valid? [True, True] Translation: X:35.87, Y:1.87, Z:2.32 [[ 9.92080523e-01 -9.20510354e-02 -8.54566706e-02 3.58650021e+01] [ 9.18011533e-02 9.95753745e-01 -6.85759294e-03 1.86669191e+00] [ 8.57250484e-02 -1.04173653e-03 9.96318288e-01 2.31944737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38483917299999 meters 0.0908400810484005 Centerline is valid? [True, True] Translation: X:35.92, Y:1.86, Z:2.33 [[ 9.92254504e-01 -8.76456301e-02 -8.80297882e-02 3.59235366e+01] [ 8.73619992e-02 9.96151493e-01 -7.07701524e-03 1.86491787e+00] [ 8.83112744e-02 -6.68258032e-04 9.96092703e-01 2.33001789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44483917299999 meters 0.09133963816083317 Centerline is valid? [True, True] Translation: X:35.98, Y:1.87, Z:2.34 [[ 9.92521595e-01 -8.26461754e-02 -8.98359258e-02 3.59814837e+01] [ 8.23280953e-02 9.96578932e-01 -7.24682047e-03 1.87213014e+00] [ 9.01275130e-02 -2.03394844e-04 9.95930213e-01 2.34325830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50483917299999 meters 0.09145484439010183 Centerline is valid? [True, True] Translation: X:36.04, Y:1.87, Z:2.35 [[ 9.92042051e-01 -8.56942198e-02 -9.22446205e-02 3.60406449e+01] [ 8.53703502e-02 9.96321371e-01 -7.45848599e-03 1.87343941e+00] [ 9.25444359e-02 -4.75823820e-04 9.95708442e-01 2.34608955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56483917299999 meters 0.09303152434121996 Centerline is valid? [True, True] Translation: X:36.10, Y:1.85, Z:2.34 [[ 9.89639626e-01 -1.02247693e-01 -1.00790971e-01 3.61035967e+01] [ 1.01945991e-01 9.94756523e-01 -8.15318330e-03 1.85053123e+00] [ 1.01096120e-01 -2.20652206e-03 9.94874216e-01 2.34051521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62483917299999 meters 0.0944707388769624 Centerline is valid? [True, True] Translation: X:36.16, Y:1.85, Z:2.34 [[ 9.88433252e-01 -1.09791235e-01 -1.04621183e-01 3.61647191e+01] [ 1.09508190e-01 9.93949862e-01 -8.46335866e-03 1.84763647e+00] [ 1.04917413e-01 -3.09141123e-03 9.94476133e-01 2.33986424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68483917299999 meters 0.09286467279923767 Centerline is valid? [True, True] Translation: X:36.22, Y:1.85, Z:2.35 [[ 9.89095754e-01 -1.08922016e-01 -9.91240868e-02 3.62241455e+01] [ 1.08663536e-01 9.94046242e-01 -8.01902257e-03 1.85404015e+00] [ 9.94073741e-02 -2.83959261e-03 9.95042768e-01 2.34641777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74483917299999 meters 0.09185330564208136 Centerline is valid? [True, True] Translation: X:36.28, Y:1.87, Z:2.35 [[ 9.89421488e-01 -1.07389435e-01 -9.75326998e-02 3.62813889e+01] [ 1.07130619e-01 9.94213554e-01 -7.90191741e-03 1.87426554e+00] [ 9.78169145e-02 -2.63041162e-03 9.95200951e-01 2.35292907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80483917299999 meters 0.09090921284929697 Centerline is valid? [True, True] Translation: X:36.34, Y:1.89, Z:2.36 [[ 9.89969791e-01 -1.06116665e-01 -9.32687869e-02 3.63400485e+01] [ 1.05873058e-01 9.94350837e-01 -7.57021409e-03 1.89138680e+00] [ 9.35452222e-02 -2.38036847e-03 9.95612186e-01 2.35917045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86483917299999 meters 0.08936594157248157 Centerline is valid? [True, True] Translation: X:36.40, Y:1.91, Z:2.37 [[ 9.91063424e-01 -1.03051212e-01 -8.46979196e-02 3.63979174e+01] [ 1.02838982e-01 9.94674246e-01 -6.87658423e-03 1.90909891e+00] [ 8.49554797e-02 -1.89511675e-03 9.96382946e-01 2.37399884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92483917299999 meters 0.0880141083731419 Centerline is valid? [True, True] Translation: X:36.45, Y:1.94, Z:2.39 [[ 9.92478344e-01 -9.64594951e-02 -7.53810505e-02 3.64539163e+01] [ 9.62722098e-02 9.95336211e-01 -6.12282575e-03 1.93738948e+00] [ 7.56200938e-02 -1.18032834e-03 9.97136003e-01 2.38570099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98483917299999 meters 0.08715813810162493 Centerline is valid? [True, True] Translation: X:36.51, Y:1.95, Z:2.39 [[ 9.92655871e-01 -1.01985143e-01 -6.50642146e-02 3.65115055e+01] [ 1.01857135e-01 9.94784971e-01 -5.29022429e-03 1.94690114e+00] [ 6.52644271e-02 -1.37588227e-03 9.97867056e-01 2.38997112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04483917299999 meters 0.08765520027104252 Centerline is valid? [True, True] Translation: X:36.57, Y:1.96, Z:2.39 [[ 9.92538649e-01 -1.07468310e-01 -5.75985500e-02 3.65702740e+01] [ 1.07376455e-01 9.94207343e-01 -4.69631205e-03 1.95728904e+00] [ 5.77696061e-02 -1.52345690e-03 9.98328779e-01 2.39145639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10483917299999 meters 0.08723681448102463 Centerline is valid? [True, True] Translation: X:36.63, Y:1.97, Z:2.39 [[ 9.92579708e-01 -1.06364709e-01 -5.89242864e-02 3.66316857e+01] [ 1.06266599e-01 9.94326064e-01 -4.80502813e-03 1.97427129e+00] [ 5.91010392e-02 -1.49231008e-03 9.98250890e-01 2.38914600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16483917299999 meters 0.08811056287532601 Centerline is valid? [True, True] Translation: X:36.69, Y:1.98, Z:2.40 [[ 9.92546630e-01 -1.08553092e-01 -5.53842358e-02 3.66924197e+01] [ 1.08470048e-01 9.94089477e-01 -4.51222895e-03 1.98455592e+00] [ 5.55467024e-02 -1.52893305e-03 9.98454919e-01 2.39538094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22483917299999 meters 0.08846715718138937 Centerline is valid? [True, True] Translation: X:36.75, Y:2.00, Z:2.40 [[ 9.92171611e-01 -1.14477433e-01 -4.99040333e-02 3.67515957e+01] [ 1.14417625e-01 9.93424431e-01 -4.06299857e-03 2.00322279e+00] [ 5.00410075e-02 -1.67870911e-03 9.98745753e-01 2.40340775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28483917299999 meters 0.0911119037629507 Centerline is valid? [True, True] Translation: X:36.81, Y:2.01, Z:2.40 [[ 9.90744344e-01 -1.25336317e-01 -5.21195998e-02 3.68121539e+01] [ 1.25286108e-01 9.92111583e-01 -4.24234896e-03 2.01325404e+00] [ 5.22401791e-02 -2.32677857e-03 9.98631839e-01 2.40488717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34483917299999 meters 0.09195074517752708 Centerline is valid? [True, True] Translation: X:36.87, Y:2.03, Z:2.40 [[ 9.90875780e-01 -1.23330380e-01 -5.43581211e-02 3.68721278e+01] [ 1.23272871e-01 9.92362958e-01 -4.42249289e-03 2.03213056e+00] [ 5.44884136e-02 -2.31874057e-03 9.98511711e-01 2.40069400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40483917299999 meters 0.09124172998127567 Centerline is valid? [True, True] Translation: X:36.93, Y:2.06, Z:2.40 [[ 9.91396865e-01 -1.18643563e-01 -5.52807483e-02 3.69298818e+01] [ 1.18577271e-01 9.92934679e-01 -4.48932771e-03 2.05988867e+00] [ 5.54228019e-02 -2.10433484e-03 9.98460758e-01 2.39887043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464839172999994 meters 0.08991318473882402 Centerline is valid? [True, True] Translation: X:36.99, Y:2.08, Z:2.41 [[ 9.91906316e-01 -1.17012487e-01 -4.92944093e-02 3.69901900e+01] [ 1.16957739e-01 9.93128823e-01 -4.00355312e-03 2.08487319e+00] [ 4.94241644e-02 -1.79421305e-03 9.98776268e-01 2.40972008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52483917299999 meters 0.0912158781464954 Centerline is valid? [True, True] Translation: X:37.05, Y:2.09, Z:2.41 [[ 9.91525475e-01 -1.19151242e-01 -5.17707810e-02 3.70506102e+01] [ 1.19094028e-01 9.92874099e-01 -4.19964969e-03 2.09208188e+00] [ 5.19022610e-02 -2.00153117e-03 9.98650164e-01 2.41213766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58483917299999 meters 0.09023545687018816 Centerline is valid? [True, True] Translation: X:37.11, Y:2.11, Z:2.41 [[ 9.91757517e-01 -1.12484582e-01 -6.13534584e-02 3.71101440e+01] [ 1.12391647e-01 9.93651533e-01 -4.97472453e-03 2.10913311e+00] [ 6.15235378e-02 -1.96189580e-03 9.98103705e-01 2.40724192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters 0.08979321783536151 Centerline is valid? [True, True] Translation: X:37.17, Y:2.13, Z:2.39 [[ 9.92458892e-01 -9.81857783e-02 -7.33818847e-02 3.71699563e+01] [ 9.80137814e-02 9.95167270e-01 -5.95002583e-03 2.12912950e+00] [ 7.36114578e-02 -1.28727997e-03 9.97286166e-01 2.39253145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70483917299999 meters 0.08932432076059621 Centerline is valid? [True, True] Translation: X:37.23, Y:2.14, Z:2.40 [[ 9.92767841e-01 -9.49949726e-02 -7.34027803e-02 3.72305172e+01] [ 9.48142211e-02 9.95477197e-01 -5.95099268e-03 2.13696466e+00] [ 7.36361084e-02 -1.05167328e-03 9.97284622e-01 2.39620607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76483917299999 meters 0.08931808358876782 Centerline is valid? [True, True] Translation: X:37.29, Y:2.14, Z:2.40 [[ 9.92716961e-01 -9.38974019e-02 -7.54739227e-02 3.72920422e+01] [ 9.37033429e-02 9.95581376e-01 -6.11610954e-03 2.14130927e+00] [ 7.57147186e-02 -1.00059318e-03 9.97129019e-01 2.39679588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824839172999994 meters 0.08908395570451806 Centerline is valid? [True, True] Translation: X:37.35, Y:2.13, Z:2.40 [[ 9.92493078e-01 -9.81400018e-02 -7.29796502e-02 3.73508349e+01] [ 9.79700236e-02 9.95171795e-01 -5.91385981e-03 2.12958312e+00] [ 7.32076756e-02 -1.28035313e-03 9.97315896e-01 2.39911927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88483917299999 meters 0.09024446992555026 Centerline is valid? [True, True] Translation: X:37.41, Y:2.11, Z:2.40 [[ 9.91915765e-01 -1.02685760e-01 -7.45570307e-02 3.74125731e+01] [ 1.02520739e-01 9.94712485e-01 -6.04731609e-03 2.10852263e+00] [ 7.47837825e-02 -1.64521375e-03 9.97198415e-01 2.39998500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94483917299999 meters 0.09002607473964801 Centerline is valid? [True, True] Translation: X:37.47, Y:2.12, Z:2.40 [[ 9.92165332e-01 -9.37929476e-02 -8.25277912e-02 3.74716183e+01] [ 9.35597473e-02 9.95591143e-01 -6.69701876e-03 2.11784586e+00] [ 8.27920711e-02 -1.07672945e-03 9.96566262e-01 2.40083834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00483917299999 meters 0.08980135439727577 Centerline is valid? [True, True] Translation: X:37.53, Y:2.12, Z:2.40 [[ 9.93168213e-01 -8.48973925e-02 -8.00583144e-02 3.75307846e+01] [ 8.46488475e-02 9.96389647e-01 -6.49949201e-03 2.12266655e+00] [ 8.03210656e-02 -3.21755186e-04 9.96768992e-01 2.40462782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06483917299999 meters 0.08995472068976677 Centerline is valid? [True, True] Translation: X:37.59, Y:2.12, Z:2.41 [[ 9.93420867e-01 -8.57279011e-02 -7.59322576e-02 3.75905492e+01] [ 8.55064177e-02 9.96318521e-01 -6.16913037e-03 2.11794737e+00] [ 7.61815812e-02 -3.64152496e-04 9.97093894e-01 2.40667979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12483917299999 meters 0.09009477557872422 Centerline is valid? [True, True] Translation: X:37.65, Y:2.11, Z:2.41 [[ 9.93462791e-01 -8.58001860e-02 -7.52994807e-02 3.76499520e+01] [ 8.55816723e-02 9.96312302e-01 -6.12984054e-03 2.11307462e+00] [ 7.55477404e-02 -3.54486995e-04 9.97142123e-01 2.41370082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18483917299999 meters 0.09044669508859472 Centerline is valid? [True, True] Translation: X:37.71, Y:2.09, Z:2.42 [[ 9.93423064e-01 -9.20947329e-02 -6.80380467e-02 3.77103944e+01] [ 9.19301776e-02 9.95749976e-01 -5.55232359e-03 2.09287261e+00] [ 6.82602231e-02 -7.38943411e-04 9.97667277e-01 2.42362240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24483917299999 meters 0.09034668564051208 Centerline is valid? [True, True] Translation: X:37.77, Y:2.08, Z:2.43 [[ 9.93179683e-01 -9.24613065e-02 -7.10283326e-02 3.77698752e+01] [ 9.22822545e-02 9.95715966e-01 -5.80527319e-03 2.08002495e+00] [ 7.12608079e-02 -7.88975272e-04 9.97457405e-01 2.42721522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30483917299999 meters 0.0917703569140961 Centerline is valid? [True, True] Translation: X:37.83, Y:2.07, Z:2.42 [[ 9.93070285e-01 -8.78265998e-02 -7.80890356e-02 3.78294681e+01] [ 8.75944318e-02 9.96135660e-01 -6.40013776e-03 2.07172805e+00] [ 7.83493753e-02 -4.84378075e-04 9.96925845e-01 2.41822338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36483917299999 meters 0.0919497181637284 Centerline is valid? [True, True] Translation: X:37.89, Y:2.05, Z:2.43 [[ 9.92601480e-01 -9.83594186e-02 -7.11879712e-02 3.78904658e+01] [ 9.81929532e-02 9.95150243e-01 -5.84268291e-03 2.04647343e+00] [ 7.14174098e-02 -1.19070142e-03 9.97445806e-01 2.42806490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42483917299999 meters 0.0939518123459199 Centerline is valid? [True, True] Translation: X:37.95, Y:2.02, Z:2.43 [[ 9.91329367e-01 -1.09999339e-01 -7.18765044e-02 3.79521218e+01] [ 1.09859158e-01 9.93929577e-01 -5.91275041e-03 2.02494010e+00] [ 7.20905822e-02 -2.03480910e-03 9.97396013e-01 2.43430325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48483917299999 meters 0.09484155661960904 Centerline is valid? [True, True] Translation: X:38.01, Y:2.01, Z:2.43 [[ 9.90774607e-01 -1.12206272e-01 -7.59962513e-02 3.80131729e+01] [ 1.12055942e-01 9.93682226e-01 -6.25289791e-03 2.01378407e+00] [ 7.62177386e-02 -2.32061906e-03 9.97088497e-01 2.43444876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters 0.09263086698565706 Centerline is valid? [True, True] Translation: X:38.07, Y:2.02, Z:2.44 [[ 9.91719117e-01 -1.05016398e-01 -7.39239485e-02 3.80735745e+01] [ 1.04854029e-01 9.94469008e-01 -6.08473493e-03 2.01709700e+00] [ 7.41540727e-02 -1.71687589e-03 9.97245319e-01 2.43538466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60483917299999 meters 0.09161979050786033 Centerline is valid? [True, True] Translation: X:38.13, Y:2.01, Z:2.43 [[ 9.92017511e-01 -9.86130846e-02 -7.85920941e-02 3.81338062e+01] [ 9.84088630e-02 9.95124990e-01 -6.47685251e-03 2.00923135e+00] [ 7.88476593e-02 -1.30900752e-03 9.96885817e-01 2.43030909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66483917299999 meters 0.0909628922629641 Centerline is valid? [True, True] Translation: X:38.20, Y:2.00, Z:2.42 [[ 9.89851987e-01 -1.03230444e-01 -9.76551018e-02 3.81958412e+01] [ 1.02935557e-01 9.94655318e-01 -8.06660281e-03 1.99893332e+00] [ 9.79658853e-02 -2.06743943e-03 9.95187626e-01 2.41559643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72483917299999 meters 0.09102760735662556 Centerline is valid? [True, True] Translation: X:38.25, Y:2.00, Z:2.41 [[ 9.90441280e-01 -9.35651165e-02 -1.01349100e-01 3.82549350e+01] [ 9.31956164e-02 9.95612509e-01 -8.38502654e-03 1.99933805e+00] [ 1.01688978e-01 -1.14041547e-03 9.94815587e-01 2.40993469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78483917299999 meters 0.09243297749295284 Centerline is valid? [True, True] Translation: X:38.32, Y:1.99, Z:2.41 [[ 9.90263759e-01 -9.18836374e-02 -1.04570951e-01 3.83153653e+01] [ 9.14791633e-02 9.95769266e-01 -8.66781842e-03 1.99381627e+00] [ 1.04924970e-01 -9.82636660e-04 9.94479655e-01 2.41144091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84483917299999 meters 0.09357929487651914 Centerline is valid? [True, True] Translation: X:38.38, Y:1.99, Z:2.41 [[ 9.88777766e-01 -1.00416693e-01 -1.10612016e-01 3.83759608e+01] [ 1.00016821e-01 9.94943471e-01 -9.17191613e-03 1.98720186e+00] [ 1.10973717e-01 -1.99407552e-03 9.93821341e-01 2.40953903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90483917299999 meters 0.09334636323866964 Centerline is valid? [True, True] Translation: X:38.44, Y:1.98, Z:2.42 [[ 9.88087997e-01 -1.06947815e-01 -1.10653851e-01 3.84360454e+01] [ 1.06588052e-01 9.94260901e-01 -9.17867829e-03 1.97894264e+00] [ 1.11000438e-01 -2.72503659e-03 9.93816621e-01 2.41743578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96483917299999 meters 0.09341112741423459 Centerline is valid? [True, True] Translation: X:38.50, Y:1.97, Z:2.42 [[ 9.87726969e-01 -1.17780272e-01 -1.02582852e-01 3.84952863e+01] [ 1.17528637e-01 9.93032988e-01 -8.51498479e-03 1.97063953e+00] [ 1.02871053e-01 -3.64594264e-03 9.94688018e-01 2.42430070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02483917299999 meters 0.09521558692685417 Centerline is valid? [True, True] Translation: X:38.55, Y:1.97, Z:2.43 [[ 9.87294899e-01 -1.24680218e-01 -9.85069798e-02 3.85524475e+01] [ 1.24481186e-01 9.92188181e-01 -8.18824163e-03 1.97228433e+00] [ 9.87583729e-02 -4.17805649e-03 9.95102672e-01 2.42995647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08483917299999 meters 0.09885567348009659 Centerline is valid? [True, True] Translation: X:38.61, Y:1.95, Z:2.43 [[ 9.86030598e-01 -1.35923522e-01 -9.62728160e-02 3.86137785e+01] [ 1.35785739e-01 9.90705830e-01 -8.01194631e-03 1.95441298e+00] [ 9.64670521e-02 -5.17245121e-03 9.95322738e-01 2.43020994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144839172999994 meters 0.10270982910081189 Centerline is valid? [True, False] Translation: X:38.58, Y:1.94, Z:2.41 [[ 9.90230161e-01 -1.29332820e-01 -5.21272422e-02 3.85785100e+01] [ 1.28920233e-01 9.91591543e-01 -1.12153882e-02 1.94349486e+00] [ 5.31394503e-02 4.38555946e-03 9.98577471e-01 2.41023276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20483917299999 meters 0.09620680972119475 Centerline is valid? [False, True] Translation: X:38.56, Y:1.94, Z:2.40 [[ 9.92920035e-01 -1.14563811e-01 -3.13837123e-02 3.85625355e+01] [ 1.14460643e-01 9.93414844e-01 -5.07030099e-03 1.94481812e+00] [ 3.17579186e-02 1.44220354e-03 9.99494550e-01 2.40383494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26483917299999 meters 0.09684812777814718 Centerline is valid? [True, True] Translation: X:38.62, Y:1.94, Z:2.40 [[ 9.92841169e-01 -1.16039066e-01 -2.83080885e-02 3.86230806e+01] [ 1.16038080e-01 9.93243339e-01 -1.68313220e-03 1.94445628e+00] [ 2.83121294e-02 -1.61373330e-03 9.99597829e-01 2.39523235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324839172999994 meters 0.09717156399889663 Centerline is valid? [True, True] Translation: X:38.69, Y:1.94, Z:2.40 [[ 9.92765068e-01 -1.16995774e-01 -2.70094275e-02 3.86857542e+01] [ 1.16995282e-01 9.93131175e-01 -1.60396960e-03 1.94355891e+00] [ 2.70115622e-02 -1.56761059e-03 9.99633892e-01 2.39599857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38483917299999 meters 0.09514940809757559 Centerline is valid? [True, True] Translation: X:38.75, Y:1.96, Z:2.40 [[ 9.93269164e-01 -1.13289765e-01 -2.41204498e-02 3.87453172e+01] [ 1.13288283e-01 9.93561127e-01 -1.43234394e-03 1.96179189e+00] [ 2.41274112e-02 -1.30986127e-03 9.99708034e-01 2.40171250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44483917299999 meters 0.09172306694061992 Centerline is valid? [True, True] Translation: X:38.80, Y:1.99, Z:2.41 [[ 9.93456053e-01 -1.13794998e-01 -9.78618162e-03 3.88048357e+01] [ 1.13794779e-01 9.93504107e-01 -5.80949434e-04 1.99097383e+00] [ 9.78872077e-03 -5.36468647e-04 9.99951945e-01 2.41439715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50483917299999 meters 0.09169310355102 Centerline is valid? [True, True] Translation: X:38.87, Y:2.00, Z:2.42 [[ 9.93381331e-01 -1.14806642e-01 3.60083699e-03 3.88668262e+01] [ 1.14806623e-01 9.93387837e-01 2.12721854e-04 2.00267023e+00] [-3.60144955e-03 2.02086016e-04 9.99993494e-01 2.42387608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56483917299999 meters 0.09522825155910773 Centerline is valid? [True, True] Translation: X:38.93, Y:2.00, Z:2.43 [[ 9.93044721e-01 -1.17294860e-01 1.02028236e-02 3.89270612e+01] [ 1.17294836e-01 9.93096953e-01 6.02860528e-04 2.00279418e+00] [-1.02031055e-02 5.98071052e-04 9.99947768e-01 2.43043162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62483917299999 meters 0.09538593712267618 Centerline is valid? [True, True] Translation: X:38.99, Y:2.01, Z:2.44 [[ 9.92142790e-01 -1.24278464e-01 1.44065359e-02 3.89874591e+01] [ 1.24279150e-01 9.92246929e-01 8.51110950e-04 2.01214175e+00] [-1.44006157e-02 9.46008436e-04 9.99895858e-01 2.43539523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68483917299999 meters 0.09569991266498416 Centerline is valid? [True, True] Translation: X:39.05, Y:2.03, Z:2.44 [[ 9.92132156e-01 -1.24720434e-01 1.08902717e-02 3.90496020e+01] [ 1.24720889e-01 9.92191660e-01 6.40044718e-04 2.02970601e+00] [-1.08850634e-02 7.23235414e-04 9.99940494e-01 2.43673207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74483917299999 meters 0.0942845356513979 Centerline is valid? [True, True] Translation: X:39.11, Y:2.04, Z:2.44 [[ 9.92669332e-01 -1.20647110e-01 7.20228574e-03 3.91096420e+01] [ 1.20647203e-01 9.92695358e-01 4.23231509e-04 2.04225463e+00] [-7.20073728e-03 4.48806687e-04 9.99973974e-01 2.43585112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80483917299999 meters 0.09569201041485302 Centerline is valid? [True, True] Translation: X:39.17, Y:2.05, Z:2.43 [[ 9.92699208e-01 -1.20579419e-01 2.98090738e-03 3.91706097e+01] [ 1.20579436e-01 9.92703666e-01 1.74416874e-04 2.04981016e+00] [-2.98018877e-03 1.86292639e-04 9.99995542e-01 2.43224552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86483917299999 meters 0.09541593197708689 Centerline is valid? [True, True] Translation: X:39.23, Y:2.07, Z:2.43 [[ 9.92901852e-01 -1.18919896e-01 1.99250707e-03 3.92318433e+01] [ 1.18919902e-01 9.92903844e-01 1.16062845e-04 2.06739024e+00] [-1.99217011e-03 1.21709731e-04 9.99998008e-01 2.42692448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92483917299999 meters 0.09569640623203375 Centerline is valid? [True, True] Translation: X:39.29, Y:2.08, Z:2.42 [[ 9.93105665e-01 -1.17079396e-01 -5.79253521e-03 3.92931252e+01] [ 1.17079421e-01 9.93122498e-01 -3.36092672e-04 2.08309485e+00] [ 5.79204657e-03 -3.44411129e-04 9.99983167e-01 2.42043968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98483917299999 meters 0.09671476398175742 Centerline is valid? [True, True] Translation: X:39.35, Y:2.09, Z:2.41 [[ 9.93228571e-01 -1.15813007e-01 -9.18441443e-03 3.93537661e+01] [ 1.15813034e-01 9.93270889e-01 -5.30728126e-04 2.09347604e+00] [ 9.18407671e-03 -5.36540564e-04 9.99957682e-01 2.41484055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04483917299999 meters 0.09473504287187531 Centerline is valid? [True, True] Translation: X:39.41, Y:2.12, Z:2.42 [[ 9.93472435e-01 -1.13804717e-01 -7.81069813e-03 3.94146103e+01] [ 1.13804679e-01 9.93503041e-01 -4.50718103e-04 2.11559374e+00] [ 7.81124619e-03 -4.41117985e-04 9.99969394e-01 2.41707653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10483917299999 meters 0.09325666355230512 Centerline is valid? [True, True] Translation: X:39.47, Y:2.14, Z:2.42 [[ 9.93943767e-01 -1.09412360e-01 -1.02334114e-02 3.94748454e+01] [ 1.09412065e-01 9.93996304e-01 -5.90324114e-04 2.13576765e+00] [ 1.02365618e-02 -5.32909695e-04 9.99947463e-01 2.41664975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16483917299999 meters 0.08977541900061661 Centerline is valid? [True, True] Translation: X:39.53, Y:2.16, Z:2.42 [[ 9.94773521e-01 -1.01762947e-01 -8.36326399e-03 3.95340074e+01] [ 1.01762481e-01 9.94808607e-01 -4.82448114e-04 2.15845392e+00] [ 8.36894234e-03 -3.71139880e-04 9.99964911e-01 2.41715195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22483917299999 meters 0.09169960042366221 Centerline is valid? [True, True] Translation: X:39.59, Y:2.17, Z:2.41 [[ 9.94457320e-01 -1.04598905e-01 -1.06633444e-02 3.95932033e+01] [ 1.04598309e-01 9.94514362e-01 -6.15132077e-04 2.17385136e+00] [ 1.06691913e-02 -5.03645197e-04 9.99942956e-01 2.41190226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28483917299999 meters 0.09497180284831475 Centerline is valid? [True, True] Translation: X:39.65, Y:2.18, Z:2.41 [[ 9.93887029e-01 -1.10244255e-01 -5.89727094e-03 3.96539328e+01] [ 1.10244172e-01 9.93904476e-01 -3.40144574e-04 2.17583014e+00] [ 5.89882297e-03 -3.12074470e-04 9.99982553e-01 2.41026852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34483917299999 meters 0.09240480949317852 Centerline is valid? [True, True] Translation: X:39.71, Y:2.20, Z:2.41 [[ 9.94072060e-01 -1.08275207e-01 -9.85999031e-03 3.97147452e+01] [ 1.08274903e-01 9.94120830e-01 -5.66206812e-04 2.20059961e+00] [ 9.86332791e-03 -5.04739126e-04 9.99951229e-01 2.40795360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40483917299999 meters 0.08976609044370057 Centerline is valid? [True, True] Translation: X:39.77, Y:2.23, Z:2.41 [[ 9.94775544e-01 -1.01963491e-01 -5.00641082e-03 3.97741455e+01] [ 1.01963333e-01 9.94788116e-01 -2.87373075e-04 2.23283513e+00] [ 5.00961955e-03 -2.24598629e-04 9.99987427e-01 2.41409379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46483917299999 meters 0.08999152109517757 Centerline is valid? [True, True] Translation: X:39.84, Y:2.24, Z:2.41 [[ 9.94807686e-01 -1.01721922e-01 -3.21234010e-03 3.98363481e+01] [ 1.01721859e-01 9.94812862e-01 -1.83507924e-04 2.24300210e+00] [ 3.21434402e-03 -1.44210114e-04 9.99994824e-01 2.41337033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52483917299999 meters 0.08966822312811411 Centerline is valid? [True, True] Translation: X:39.90, Y:2.27, Z:2.41 [[ 9.95088886e-01 -9.87090046e-02 -7.39202024e-03 3.98971116e+01] [ 9.87085901e-02 9.95116293e-01 -4.21783678e-04 2.26558298e+00] [ 7.39755362e-03 -3.09943646e-04 9.99972590e-01 2.40889967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58483917299999 meters 0.08923633031092647 Centerline is valid? [True, True] Translation: X:39.96, Y:2.27, Z:2.41 [[ 9.95547142e-01 -9.40899102e-02 -5.74262096e-03 3.99563863e+01] [ 9.40895833e-02 9.95563681e-01 -3.27663567e-04 2.27484265e+00] [ 5.74797470e-03 -2.14116286e-04 9.99983457e-01 2.40680250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64483917299999 meters 0.08836601576680159 Centerline is valid? [True, True] Translation: X:40.02, Y:2.29, Z:2.41 [[ 9.95650610e-01 -9.29734846e-02 -5.98282305e-03 4.00182576e+01] [ 9.29731182e-02 9.95668561e-01 -3.39940600e-04 2.29015297e+00] [ 5.98851428e-03 -2.17779649e-04 9.99982045e-01 2.41055121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70483917299999 meters 0.08560089968878615 Centerline is valid? [True, True] Translation: X:40.08, Y:2.32, Z:2.41 [[ 9.96599527e-01 -8.19556097e-02 -8.52409975e-03 4.00770083e+01] [ 8.19544642e-02 9.96635957e-01 -4.84189645e-04 2.32008508e+00] [ 8.53510637e-03 -2.16044856e-04 9.99963552e-01 2.40900508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76483917299999 meters 0.08433038764469511 Centerline is valid? [True, True] Translation: X:40.14, Y:2.34, Z:2.41 [[ 9.97124877e-01 -7.56092886e-02 -5.02147504e-03 4.01360429e+01] [ 7.56088106e-02 9.97137516e-01 -2.85231031e-04 2.33848224e+00] [ 5.02866726e-03 -9.52567978e-05 9.99987352e-01 2.41075436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824839172999994 meters 0.08429779792275269 Centerline is valid? [True, True] Translation: X:40.20, Y:2.34, Z:2.42 [[ 9.96749923e-01 -8.05461780e-02 1.37966452e-03 4.01967247e+01] [ 8.05461467e-02 9.96750878e-01 7.83157109e-05 2.34103153e+00] [-1.38148986e-03 3.30654822e-05 9.99999045e-01 2.42311552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88483917299999 meters 0.08318241728393504 Centerline is valid? [True, True] Translation: X:40.26, Y:2.35, Z:2.41 [[ 9.97336007e-01 -7.27434790e-02 -5.41073567e-03 4.02582559e+01] [ 7.27428850e-02 9.97350680e-01 -3.06762940e-04 2.35296158e+00] [ 5.41871591e-03 -8.76467968e-05 9.99985315e-01 2.41445384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94483917299999 meters 0.0831629440809409 Centerline is valid? [True, True] Translation: X:40.32, Y:2.36, Z:2.41 [[ 9.97620844e-01 -6.84400783e-02 -8.28290294e-03 4.03191617e+01] [ 6.84385473e-02 9.97655224e-01 -4.68474229e-04 2.36185562e+00] [ 8.29554380e-03 -9.95101884e-05 9.99965586e-01 2.40978351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00483917299999 meters 0.08351400713887688 Centerline is valid? [True, True] Translation: X:40.38, Y:2.35, Z:2.41 [[ 9.97321231e-01 -7.29494849e-02 -5.36045650e-03 4.03822377e+01] [ 7.29489156e-02 9.97335633e-01 -3.01909709e-04 2.35083570e+00] [ 5.36819843e-03 -8.99385260e-05 9.99985587e-01 2.41198145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06483917299999 meters 0.08355588468247326 Centerline is valid? [True, True] Translation: X:40.45, Y:2.35, Z:2.41 [[ 9.97386070e-01 -7.13923088e-02 -1.11429339e-02 4.04453050e+01] [ 7.13897820e-02 9.97448299e-01 -6.24861547e-04 2.34625472e+00] [ 1.11591108e-02 -1.72263421e-04 9.99937720e-01 2.40726383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12483917299999 meters 0.08301982358916186 Centerline is valid? [True, True] Translation: X:40.51, Y:2.35, Z:2.40 [[ 9.97824649e-01 -6.45017259e-02 -1.36197618e-02 4.05076594e+01] [ 6.44973552e-02 9.97917588e-01 -7.60361506e-04 2.35334825e+00] [ 1.36404445e-02 -1.19731161e-04 9.99906958e-01 2.40438022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18483917299999 meters 0.0825738964678047 Centerline is valid? [True, True] Translation: X:40.57, Y:2.36, Z:2.41 [[ 9.98043019e-01 -6.06652872e-02 -1.51609992e-02 4.05709617e+01] [ 6.06594947e-02 9.98158162e-01 -8.42057586e-04 2.36087375e+00] [ 1.51841588e-02 -7.92488571e-05 9.99884711e-01 2.40561569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24483917299999 meters 0.08254428989712366 Centerline is valid? [True, True] Translation: X:40.63, Y:2.37, Z:2.40 [[ 9.98140511e-01 -5.87089737e-02 -1.63944226e-02 4.06337312e+01] [ 5.87020137e-02 9.98275139e-01 -9.05855052e-04 2.36517624e+00] [ 1.64193263e-02 -5.82149955e-05 9.99865192e-01 2.40438586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30483917299999 meters 0.08203155210423488 Centerline is valid? [True, True] Translation: X:40.70, Y:2.36, Z:2.41 [[ 9.97870520e-01 -6.42159604e-02 -1.14339430e-02 4.06967413e+01] [ 6.42129542e-02 9.97936020e-01 -6.30220439e-04 2.36111037e+00] [ 1.14508138e-02 -1.05328863e-04 9.99934432e-01 2.41080183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36483917299999 meters 0.08227688151318001 Centerline is valid? [True, True] Translation: X:40.76, Y:2.35, Z:2.41 [[ 9.97593922e-01 -6.84606068e-02 -1.09321427e-02 4.07592189e+01] [ 6.84581433e-02 9.97653809e-01 -5.99840163e-04 2.35384792e+00] [ 1.09475592e-02 -1.49997289e-04 9.99940062e-01 2.41240796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42483917299999 meters 0.0836060884223071 Centerline is valid? [True, True] Translation: X:40.82, Y:2.34, Z:2.41 [[ 9.97066302e-01 -7.55437326e-02 -1.23261738e-02 4.08211737e+01] [ 7.55411473e-02 9.97142456e-01 -6.75855379e-04 2.34451651e+00] [ 1.23420079e-02 -2.57260691e-04 9.99923801e-01 2.40868508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48483917299999 meters 0.08468991657916461 Centerline is valid? [True, True] Translation: X:40.88, Y:2.34, Z:2.41 [[ 9.96772261e-01 -7.89821435e-02 -1.43833153e-02 4.08832404e+01] [ 7.89790282e-02 9.96875968e-01 -7.85373837e-04 2.33935197e+00] [ 1.44004118e-02 -3.53141407e-04 9.99896246e-01 2.40633411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54483917299999 meters 0.0840057036632198 Centerline is valid? [True, True] Translation: X:40.94, Y:2.35, Z:2.41 [[ 9.97091685e-01 -7.57262433e-02 -8.58537070e-03 4.09441697e+01] [ 7.57250154e-02 9.97128629e-01 -4.68467210e-04 2.34600014e+00] [ 8.59619418e-03 -1.83022569e-04 9.99963035e-01 2.41019575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60483917299999 meters 0.08482539806246203 Centerline is valid? [True, True] Translation: X:41.01, Y:2.34, Z:2.41 [[ 9.96701766e-01 -8.03272554e-02 -1.15378375e-02 4.10056139e+01] [ 8.03253506e-02 9.96768500e-01 -6.29157324e-04 2.34499287e+00] [ 1.15510914e-02 -2.99698624e-04 9.99933239e-01 2.41032044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66483917299999 meters 0.08551975603923659 Centerline is valid? [True, True] Translation: X:41.07, Y:2.34, Z:2.41 [[ 9.96621482e-01 -8.09448780e-02 -1.39121912e-02 4.10679964e+01] [ 8.09422160e-02 9.96718510e-01 -7.55229983e-04 2.34454254e+00] [ 1.39276704e-02 -3.73405156e-04 9.99902936e-01 2.40736259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72483917299999 meters 0.0856329365050633 Centerline is valid? [True, True] Translation: X:41.13, Y:2.34, Z:2.41 [[ 9.96475615e-01 -8.34744537e-02 -8.26830221e-03 4.11304856e+01] [ 8.34736171e-02 9.96509887e-01 -4.46827156e-04 2.34082432e+00] [ 8.27674356e-03 -2.44932729e-04 9.99965717e-01 2.41364027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78483917299999 meters 0.08554838470041527 Centerline is valid? [True, True] Translation: X:41.19, Y:2.35, Z:2.41 [[ 9.96728833e-01 -7.96500146e-02 -1.36933752e-02 4.11920948e+01] [ 7.96474053e-02 9.96822827e-01 -7.36655936e-04 2.34623755e+00] [ 1.37085437e-02 -3.56395597e-04 9.99905970e-01 2.40942958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84483917299999 meters 0.08733402604883225 Centerline is valid? [True, True] Translation: X:41.25, Y:2.34, Z:2.41 [[ 9.96352864e-01 -8.46491138e-02 -1.07470184e-02 4.12533443e+01] [ 8.46478012e-02 9.96410767e-01 -5.77765361e-04 2.33736013e+00] [ 1.07573522e-02 -3.34053308e-04 9.99942082e-01 2.41093939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90483917299999 meters 0.0880200422690232 Centerline is valid? [True, True] Translation: X:41.32, Y:2.34, Z:2.41 [[ 9.96198393e-01 -8.60469676e-02 -1.35897166e-02 4.13156024e+01] [ 8.60450111e-02 9.96290983e-01 -7.29686197e-04 2.33631357e+00] [ 1.36020994e-02 -4.42415096e-04 9.99907389e-01 2.40976409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96483917299999 meters 0.08748724119654644 Centerline is valid? [True, True] Translation: X:41.38, Y:2.35, Z:2.40 [[ 9.96477572e-01 -8.12468688e-02 -2.07700374e-02 4.13769992e+01] [ 8.12413574e-02 9.96693839e-01 -1.11039639e-03 2.34928353e+00] [ 2.07915846e-02 -5.80900934e-04 9.99783663e-01 2.40200513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02483917299999 meters 0.08786134170275159 Centerline is valid? [True, True] Translation: X:41.44, Y:2.34, Z:2.41 [[ 9.95953111e-01 -8.86713675e-02 -1.46557225e-02 4.14381084e+01] [ 8.86694299e-02 9.96060801e-01 -7.83230033e-04 2.34254750e+00] [ 1.46674408e-02 -5.19454175e-04 9.99892292e-01 2.41123154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08483917299999 meters 0.0862694548765365 Centerline is valid? [True, True] Translation: X:41.50, Y:2.35, Z:2.41 [[ 9.96487633e-01 -8.16592115e-02 -1.85518201e-02 4.14995360e+01] [ 8.16549106e-02 9.96660170e-01 -9.90466177e-04 2.35397731e+00] [ 1.85707408e-02 -5.27859912e-04 9.99827410e-01 2.41303095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14483917299999 meters 0.08591023862214385 Centerline is valid? [True, True] Translation: X:41.56, Y:2.39, Z:2.39 [[ 9.97898726e-01 -5.68415052e-02 -3.10994384e-02 4.15595575e+01] [ 5.68175926e-02 9.98383208e-01 -1.65279448e-03 2.38783359e+00] [ 3.11431044e-02 -1.17673721e-04 9.99514929e-01 2.39211613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20483917299999 meters 0.08426920199570781 Centerline is valid? [True, True] Translation: X:41.62, Y:2.41, Z:2.41 [[ 9.98700337e-01 -4.72636040e-02 -1.90732566e-02 4.16189922e+01] [ 4.72528655e-02 9.98882445e-01 -1.01354879e-03 2.40572297e+00] [ 1.90998452e-02 1.10965490e-04 9.99817575e-01 2.40571639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26483917299999 meters 0.08445185564930775 Centerline is valid? [True, True] Translation: X:41.68, Y:2.42, Z:2.40 [[ 9.98522320e-01 -4.95721631e-02 -2.22660375e-02 4.16795155e+01] [ 4.95581270e-02 9.98770542e-01 -1.18207776e-03 2.41632259e+00] [ 2.22972605e-02 7.68679082e-05 9.99751382e-01 2.40263098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32483917299999 meters 0.08583012023393473 Centerline is valid? [True, True] Translation: X:41.74, Y:2.42, Z:2.40 [[ 9.98471019e-01 -4.90904755e-02 -2.54115876e-02 4.17413511e+01] [ 4.90720809e-02 9.98794331e-01 -1.34733915e-03 2.42165822e+00] [ 2.54470912e-02 9.82796165e-05 9.99676166e-01 2.39569073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38483917299999 meters 0.08507412497285068 Centerline is valid? [True, True] Translation: X:41.80, Y:2.43, Z:2.40 [[ 9.98564225e-01 -5.08592723e-02 -1.68173676e-02 4.18021524e+01] [ 5.08514724e-02 9.98705829e-01 -8.91378867e-04 2.42889816e+00] [ 1.68409380e-02 3.49111416e-05 9.99858181e-01 2.40342245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44483917299999 meters 0.0843426301693499 Centerline is valid? [True, True] Translation: X:41.86, Y:2.43, Z:2.41 [[ 9.98152052e-01 -5.92162521e-02 -1.36351338e-02 4.18644329e+01] [ 5.92119172e-02 9.98245174e-01 -7.21757591e-04 2.42582670e+00] [ 1.36539463e-02 -8.69385909e-05 9.99906777e-01 2.41009769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50483917299999 meters 0.08522549341114606 Centerline is valid? [True, True] Translation: X:41.93, Y:2.43, Z:2.41 [[ 9.98078619e-01 -5.88594595e-02 -1.93554902e-02 4.19258299e+01] [ 5.88507410e-02 9.98266272e-01 -1.02022077e-03 2.42663616e+00] [ 1.93819826e-02 -1.20824397e-04 9.99812144e-01 2.40570140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56483917299999 meters 0.08655357245877708 Centerline is valid? [True, True] Translation: X:41.99, Y:2.43, Z:2.40 [[ 9.98312586e-01 -5.33121922e-02 -2.30171960e-02 4.19881412e+01] [ 5.32984259e-02 9.98577894e-01 -1.21158569e-03 2.42977880e+00] [ 2.30490554e-02 -1.72390722e-05 9.99734335e-01 2.39559415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62483917299999 meters 0.08653595868886464 Centerline is valid? [True, True] Translation: X:42.05, Y:2.44, Z:2.39 [[ 9.98331137e-01 -5.27547576e-02 -2.34920680e-02 4.20491473e+01] [ 5.27402916e-02 9.98607498e-01 -1.23536340e-03 2.43798487e+00] [ 2.35245265e-02 -5.67676818e-06 9.99723260e-01 2.39428581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68483917299999 meters 0.08592119950361646 Centerline is valid? [True, True] Translation: X:42.11, Y:2.42, Z:2.41 [[ 9.97583984e-01 -6.79418359e-02 -1.44948815e-02 4.21123027e+01] [ 6.79379455e-02 9.97689258e-01 -7.61197871e-04 2.42366578e+00] [ 1.45131047e-02 -2.25393664e-04 9.99894654e-01 2.40743933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74483917299999 meters 0.08787895068585161 Centerline is valid? [True, True] Translation: X:42.17, Y:2.41, Z:2.41 [[ 9.96858409e-01 -7.76661420e-02 -1.55333116e-02 4.21738120e+01] [ 7.76628624e-02 9.96979345e-01 -8.15156510e-04 2.40780818e+00] [ 1.55497009e-02 -3.93765820e-04 9.99879019e-01 2.40571989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80483917299999 meters 0.08991572495147675 Centerline is valid? [True, True] Translation: X:42.24, Y:2.40, Z:2.40 [[ 9.96601369e-01 -7.97765555e-02 -2.05283102e-02 4.22354916e+01] [ 7.97712954e-02 9.96812611e-01 -1.07628376e-03 2.39559960e+00] [ 2.05487407e-02 -5.64944027e-04 9.99788693e-01 2.39573370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86483917299999 meters 0.08944512840025658 Centerline is valid? [True, True] Translation: X:42.30, Y:2.40, Z:2.40 [[ 9.96748167e-01 -7.84632442e-02 -1.83469845e-02 4.22975461e+01] [ 7.84589051e-02 9.96916889e-01 -9.57297688e-04 2.39899908e+00] [ 1.83655314e-02 -4.85299604e-04 9.99831222e-01 2.39772265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92483917299999 meters 0.0887163895030415 Centerline is valid? [True, True] Translation: X:42.36, Y:2.41, Z:2.40 [[ 9.97252765e-01 -7.20662705e-02 -1.71282104e-02 4.23570015e+01] [ 7.20615459e-02 9.97399787e-01 -8.93668365e-04 2.40912965e+00] [ 1.71480767e-02 -3.43072070e-04 9.99852902e-01 2.39572322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98483917299999 meters 0.08569775244528999 Centerline is valid? [True, True] Translation: X:42.42, Y:2.44, Z:2.40 [[ 9.98336172e-01 -5.49705108e-02 -1.74106244e-02 4.24164135e+01] [ 5.49630327e-02 9.98487977e-01 -9.08092906e-04 2.44220972e+00] [ 1.74342175e-02 -5.03587209e-05 9.99848011e-01 2.40400255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters 0.08491427181727758 Centerline is valid? [True, True] Translation: X:42.48, Y:2.44, Z:2.42 [[ 9.98410932e-01 -5.59350497e-02 -6.84699997e-03 4.24779509e+01] [ 5.59339175e-02 9.98434409e-01 -3.56876425e-04 2.44366824e+00] [ 6.85624227e-03 -2.66702078e-05 9.99976495e-01 2.41684578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10483917299999 meters 0.08555079921047362 Centerline is valid? [True, True] Translation: X:42.54, Y:2.43, Z:2.42 [[ 9.98021108e-01 -6.28073465e-02 -3.01751214e-03 4.25412767e+01] [ 6.28071603e-02 9.98025669e-01 -1.56536226e-04 2.42939697e+00] [ 3.02138620e-03 -3.32949106e-05 9.99995435e-01 2.41865243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16483917299999 meters 0.08780552994656489 Centerline is valid? [True, True] Translation: X:42.60, Y:2.41, Z:2.41 [[ 9.97074284e-01 -7.56482222e-02 -1.09644134e-02 4.26034310e+01] [ 7.56465410e-02 9.97134533e-01 -5.68571185e-04 2.40737568e+00] [ 1.09760066e-02 -2.62512238e-04 9.99939727e-01 2.41197102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters 0.0896068267161541 Centerline is valid? [True, True] Translation: X:42.66, Y:2.40, Z:2.40 [[ 9.96558576e-01 -8.07280335e-02 -1.88146103e-02 4.26633922e+01] [ 8.07239841e-02 9.96736016e-01 -9.75828570e-04 2.39513876e+00] [ 1.88319765e-02 -5.46319974e-04 9.99822513e-01 2.40351936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28483917299999 meters 0.0889278353390304 Centerline is valid? [True, True] Translation: X:42.72, Y:2.39, Z:2.40 [[ 9.97118699e-01 -7.36640305e-02 -1.81082838e-02 4.27239855e+01] [ 7.36591147e-02 9.97283035e-01 -9.39196051e-04 2.39351585e+00] [ 1.81282692e-02 -3.97350207e-04 9.99835590e-01 2.40259737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34483917299999 meters 0.0873357805982133 Centerline is valid? [True, True] Translation: X:42.78, Y:2.40, Z:2.41 [[ 9.97649335e-01 -6.68651236e-02 -1.49953271e-02 4.27846273e+01] [ 6.68609886e-02 9.97761998e-01 -7.77474825e-04 2.40080903e+00] [ 1.50137535e-02 -2.26955155e-04 9.99887261e-01 2.40735613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40483917299999 meters 0.0880525445020852 Centerline is valid? [True, True] Translation: X:42.85, Y:2.40, Z:2.40 [[ 9.97744704e-01 -6.33152473e-02 -2.22864250e-02 4.28466120e+01] [ 6.33053434e-02 9.97993542e-01 -1.15033457e-03 2.40067748e+00] [ 2.23145420e-02 -2.63109560e-04 9.99750965e-01 2.39752150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46483917299999 meters 0.08843258498846127 Centerline is valid? [True, True] Translation: X:42.91, Y:2.38, Z:2.40 [[ 9.97284439e-01 -7.21738151e-02 -1.46522178e-02 4.29100520e+01] [ 7.21705054e-02 9.97392023e-01 -7.55201990e-04 2.38005286e+00] [ 1.46685109e-02 -3.04306769e-04 9.99892365e-01 2.40264993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52483917299999 meters 0.08915852586277728 Centerline is valid? [True, True] Translation: X:42.97, Y:2.37, Z:2.41 [[ 9.96653444e-01 -7.98376547e-02 -1.75459883e-02 4.29722923e+01] [ 7.98341064e-02 9.96807754e-01 -9.03697682e-04 2.36645182e+00] [ 1.75621263e-02 -5.00094887e-04 9.99845649e-01 2.40748856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters 0.08824903026030353 Centerline is valid? [True, True] Translation: X:43.03, Y:2.38, Z:2.40 [[ 9.97277059e-01 -7.00244795e-02 -2.31309228e-02 4.30335472e+01] [ 7.00157033e-02 9.97545179e-01 -1.19006687e-03 2.37677131e+00] [ 2.31574744e-02 -4.32701445e-04 9.99731736e-01 2.40322680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64483917299999 meters 0.0900653577566324 Centerline is valid? [True, True] Translation: X:43.09, Y:2.36, Z:2.40 [[ 9.96853033e-01 -7.56409115e-02 -2.37167146e-02 4.30942209e+01] [ 7.56332732e-02 9.97134955e-01 -1.22019653e-03 2.35834360e+00] [ 2.37410620e-02 -5.77416148e-04 9.99717975e-01 2.39835477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70483917299999 meters 0.0935957381614418 Centerline is valid? [True, True] Translation: X:43.16, Y:2.33, Z:2.40 [[ 9.95530356e-01 -9.02725766e-02 -2.77519760e-02 4.31565378e+01] [ 9.02677928e-02 9.95916506e-01 -1.42768940e-03 2.32848408e+00] [ 2.77675322e-02 -1.08380148e-03 9.99613820e-01 2.39529601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76483917299999 meters 0.09379590043143826 Centerline is valid? [True, True] Translation: X:43.22, Y:2.33, Z:2.40 [[ 9.94769397e-01 -9.72935547e-02 -3.11096643e-02 4.32172149e+01] [ 9.72909977e-02 9.95254693e-01 -1.59949476e-03 2.33476723e+00] [ 3.11176599e-02 -1.43556184e-03 9.99514697e-01 2.40075973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82483917299999 meters 0.09369560146854546 Centerline is valid? [True, True] Translation: X:43.28, Y:2.33, Z:2.40 [[ 9.95243164e-01 -9.27431155e-02 -2.98288334e-02 4.32770910e+01] [ 9.27387238e-02 9.95689297e-01 -1.53363672e-03 2.32960893e+00] [ 2.98424845e-02 -1.23994648e-03 9.99553845e-01 2.39754893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88483917299999 meters 0.09242628238766017 Centerline is valid? [True, True] Translation: X:43.34, Y:2.33, Z:2.40 [[ 9.95346278e-01 -9.25432117e-02 -2.68615248e-02 4.33396457e+01] [ 9.25396320e-02 9.95708047e-01 -1.37901305e-03 2.32971727e+00] [ 2.68738547e-02 -1.11316011e-03 9.99638213e-01 2.40152799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94483917299999 meters 0.09056144704534135 Centerline is valid? [True, True] Translation: X:43.40, Y:2.35, Z:2.40 [[ 9.96139655e-01 -8.27792333e-02 -2.92127862e-02 4.33987579e+01] [ 8.27707914e-02 9.96567482e-01 -1.50017978e-03 2.34808162e+00] [ 2.92366965e-02 -9.23576868e-04 9.99572090e-01 2.40086937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004839172999986 meters 0.08979409092909515 Centerline is valid? [True, True] Translation: X:43.46, Y:2.36, Z:2.40 [[ 9.96746520e-01 -7.64138814e-02 -2.56377489e-02 4.34577154e+01] [ 7.64052646e-02 9.97075976e-01 -1.31695670e-03 2.35771380e+00] [ 2.56634173e-02 -6.46186985e-04 9.99670431e-01 2.39610130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06483917299999 meters 0.09109773075218622 Centerline is valid? [True, True] Translation: X:43.52, Y:2.36, Z:2.40 [[ 9.96060928e-01 -8.45536571e-02 -2.67078110e-02 4.35179521e+01] [ 8.45472302e-02 9.96418529e-01 -1.37180713e-03 2.35730584e+00] [ 2.67281490e-02 -8.91667967e-04 9.99642342e-01 2.39685723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12483917299999 meters 0.09496525446604137 Centerline is valid? [True, True] Translation: X:43.58, Y:2.35, Z:2.39 [[ 9.95310137e-01 -9.27089907e-02 -2.76183723e-02 4.35779678e+01] [ 9.27052568e-02 9.95692585e-01 -1.41835863e-03 2.34757963e+00] [ 2.76309031e-02 -1.14866158e-03 9.99617534e-01 2.39225555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18483917299999 meters 0.09418187819461019 Centerline is valid? [True, True] Translation: X:43.64, Y:2.35, Z:2.40 [[ 9.95653958e-01 -9.05098338e-02 -2.19354834e-02 4.36391361e+01] [ 9.05069530e-02 9.95895187e-01 -1.12611371e-03 2.35012578e+00] [ 2.19473668e-02 -8.64094193e-04 9.99758754e-01 2.39547159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24483917299999 meters 0.0914765237970777 Centerline is valid? [True, True] Translation: X:43.70, Y:2.37, Z:2.40 [[ 9.96283479e-01 -8.27412018e-02 -2.39400055e-02 4.36993433e+01] [ 8.27355406e-02 9.96570781e-01 -1.22856510e-03 2.37252725e+00] [ 2.39595629e-02 -7.56690186e-04 9.99712642e-01 2.39870458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30483917299999 meters 0.09137385007845286 Centerline is valid? [True, True] Translation: X:43.76, Y:2.36, Z:2.39 [[ 9.96299095e-01 -8.27136057e-02 -2.33789099e-02 4.37607752e+01] [ 8.27082298e-02 9.96573084e-01 -1.19845872e-03 2.36474480e+00] [ 2.33979212e-02 -7.39604911e-04 9.99725958e-01 2.39356956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters 0.08907553898287064 Centerline is valid? [True, True] Translation: X:43.82, Y:2.39, Z:2.40 [[ 9.97375615e-01 -7.06913873e-02 -1.56400284e-02 4.38203872e+01] [ 7.06875067e-02 9.97498187e-01 -8.01485507e-04 2.39122122e+00] [ 1.56575581e-02 -3.06172510e-04 9.99877366e-01 2.40251933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42483917299999 meters 0.08821348263947584 Centerline is valid? [True, True] Translation: X:43.88, Y:2.39, Z:2.41 [[ 9.97629979e-01 -6.75150816e-02 -1.32717433e-02 4.38820543e+01] [ 6.75120129e-02 9.97718230e-01 -6.79617757e-04 2.39163342e+00] [ 1.32873446e-02 -2.17995053e-04 9.99911696e-01 2.40587744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48483917299999 meters 0.08837769412490082 Centerline is valid? [True, True] Translation: X:43.94, Y:2.39, Z:2.41 [[ 9.97450876e-01 -7.04446994e-02 -1.13707594e-02 4.39436427e+01] [ 7.04426681e-02 9.97515661e-01 -5.79550491e-04 2.38567476e+00] [ 1.13833369e-02 -2.22913487e-04 9.99935183e-01 2.40718348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters 0.08769514324862852 Centerline is valid? [True, True] Translation: X:44.01, Y:2.39, Z:2.40 [[ 9.97440217e-01 -7.01343117e-02 -1.39352536e-02 4.40051735e+01] [ 7.01312457e-02 9.97537521e-01 -7.09175774e-04 2.39254229e+00] [ 1.39506758e-02 -2.69936253e-04 9.99902648e-01 2.40498833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60483917299999 meters 0.08694550549721262 Centerline is valid? [True, True] Translation: X:44.07, Y:2.40, Z:2.40 [[ 9.98032377e-01 -6.11966362e-02 -1.36508419e-02 4.40668612e+01] [ 6.11928728e-02 9.98125719e-01 -6.93596328e-04 2.39505740e+00] [ 1.36677022e-02 -1.43102642e-04 9.99906582e-01 2.40040107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66483917299999 meters 0.08710941704450376 Centerline is valid? [True, True] Translation: X:44.13, Y:2.41, Z:2.40 [[ 9.98236141e-01 -5.63297810e-02 -1.87500244e-02 4.41284563e+01] [ 5.63218491e-02 9.98412212e-01 -9.51246562e-04 2.40726706e+00] [ 1.87738368e-02 -1.06467348e-04 9.99823750e-01 2.39502078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72483917299999 meters 0.08675439227406591 Centerline is valid? [True, True] Translation: X:44.19, Y:2.40, Z:2.40 [[ 9.98107429e-01 -6.02662638e-02 -1.22285549e-02 4.41899296e+01] [ 6.02631939e-02 9.98182330e-01 -6.19704139e-04 2.40494535e+00] [ 1.22436747e-02 -1.18400472e-04 9.99925036e-01 2.39823692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78483917299999 meters 0.08662824605337241 Centerline is valid? [True, True] Translation: X:44.25, Y:2.41, Z:2.40 [[ 9.98013294e-01 -6.23275372e-02 -9.20563399e-03 4.42522442e+01] [ 6.23258915e-02 9.98055743e-01 -4.65816983e-04 2.40654835e+00] [ 9.21676910e-03 -1.08857804e-04 9.99957519e-01 2.40059428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84483917299999 meters 0.08668889216640946 Centerline is valid? [True, True] Translation: X:44.31, Y:2.41, Z:2.40 [[ 9.97826756e-01 -6.52224897e-02 -9.36969556e-03 4.43146195e+01] [ 6.52209191e-02 9.97870737e-01 -4.73400808e-04 2.40910533e+00] [ 9.38062139e-03 -1.38728164e-04 9.99955991e-01 2.39949956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90483917299999 meters 0.08756969352358583 Centerline is valid? [True, True] Translation: X:44.38, Y:2.40, Z:2.40 [[ 9.97582110e-01 -6.88473396e-02 -9.48562453e-03 4.43766939e+01] [ 6.88459155e-02 9.97627191e-01 -4.76968100e-04 2.40301152e+00] [ 9.49595494e-03 -1.77231662e-04 9.99954897e-01 2.39627490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96483917299999 meters 0.08784919012410614 Centerline is valid? [True, True] Translation: X:44.44, Y:2.41, Z:2.39 [[ 9.97410849e-01 -7.02364268e-02 -1.54415983e-02 4.44380765e+01] [ 7.02328781e-02 9.97530323e-01 -7.72648440e-04 2.41031783e+00] [ 1.54577306e-02 -3.13859957e-04 9.99880473e-01 2.39364414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02483917299999 meters 0.08786550079767903 Centerline is valid? [True, True] Translation: X:44.50, Y:2.41, Z:2.39 [[ 9.97532295e-01 -6.92390364e-02 -1.16308200e-02 4.45005964e+01] [ 6.92369747e-02 9.97600072e-01 -5.80306558e-04 2.41378432e+00] [ 1.16430867e-02 -2.26408257e-04 9.99932191e-01 2.39391132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08483917299999 meters 0.08723309362142093 Centerline is valid? [True, True] Translation: X:44.56, Y:2.42, Z:2.39 [[ 9.97509170e-01 -6.94287800e-02 -1.24539265e-02 4.45625725e+01] [ 6.94264430e-02 9.97586880e-01 -6.20407043e-04 2.42254355e+00] [ 1.24669478e-02 -2.45770106e-04 9.99922254e-01 2.39277147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14483917299999 meters 0.08780397526473921 Centerline is valid? [True, True] Translation: X:44.62, Y:2.43, Z:2.38 [[ 9.98115869e-01 -5.86469040e-02 -1.80347529e-02 4.46235311e+01] [ 5.86403218e-02 9.98278775e-01 -8.94037404e-04 2.43392808e+00] [ 1.80561436e-02 -1.65210795e-04 9.99836961e-01 2.37925560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20483917299999 meters 0.08915643931810628 Centerline is valid? [True, True] Translation: X:44.68, Y:2.44, Z:2.38 [[ 9.98221168e-01 -5.73256237e-02 -1.63790407e-02 4.46841969e+01] [ 5.73200315e-02 9.98355526e-01 -8.11066793e-04 2.44316788e+00] [ 1.63986007e-02 -1.29223085e-04 9.99865526e-01 2.37952530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26483917299999 meters 0.0880539515241523 Centerline is valid? [True, True] Translation: X:44.75, Y:2.45, Z:2.39 [[ 9.98113474e-01 -6.09549886e-02 -7.34726638e-03 4.47464261e+01] [ 6.09539656e-02 9.98140512e-01 -3.63281654e-04 2.44962489e+00] [ 7.35574805e-03 -8.52487084e-05 9.99972942e-01 2.39128345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32483917299999 meters 0.08716374888744745 Centerline is valid? [True, True] Translation: X:44.81, Y:2.46, Z:2.40 [[ 9.98115727e-01 -6.12991403e-02 -2.72245023e-03 4.48068856e+01] [ 6.12990028e-02 9.98119439e-01 -1.33990473e-04 2.45945377e+00] [ 2.72554400e-03 -3.31454858e-05 9.99996285e-01 2.39774076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38483917299999 meters 0.08715774643042497 Centerline is valid? [True, True] Translation: X:44.87, Y:2.46, Z:2.40 [[ 9.98156088e-01 -6.05664757e-02 -4.01566588e-03 4.48688607e+01] [ 6.05661751e-02 9.98164165e-01 -1.96537278e-04 2.45789625e+00] [ 4.02019735e-03 -4.70386428e-05 9.99991918e-01 2.39630502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44483917299999 meters 0.08738679151753617 Centerline is valid? [True, True] Translation: X:44.93, Y:2.47, Z:2.39 [[ 9.98295151e-01 -5.78699062e-02 -7.60693924e-03 4.49321896e+01] [ 5.78687663e-02 9.98324130e-01 -3.70056145e-04 2.46592129e+00] [ 7.61560611e-03 -7.07789340e-05 9.99970998e-01 2.39222928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504839172999986 meters 0.08994334557855191 Centerline is valid? [True, True] Translation: X:44.99, Y:2.45, Z:2.39 [[ 9.97274981e-01 -7.32964250e-02 -8.38133007e-03 4.49936657e+01] [ 7.32955859e-02 9.97310178e-01 -4.07642872e-04 2.44618456e+00] [ 8.38866455e-03 -2.07782462e-04 9.99964793e-01 2.38998695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56483917299999 meters 0.09254513047567764 Centerline is valid? [True, True] Translation: X:45.06, Y:2.43, Z:2.38 [[ 9.96409754e-01 -8.31631430e-02 -1.58585812e-02 4.50555250e+01] [ 8.31613947e-02 9.96535794e-01 -7.70810429e-04 2.43064605e+00] [ 1.58677468e-02 -5.50778697e-04 9.99873948e-01 2.38479753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62483917299999 meters 0.0904969288744559 Centerline is valid? [True, True] Translation: X:45.12, Y:2.44, Z:2.39 [[ 9.96890004e-01 -7.77957146e-02 -1.25756591e-02 4.51159250e+01] [ 7.77941911e-02 9.96969253e-01 -6.11017840e-04 2.44484716e+00] [ 1.25850801e-02 -3.69195654e-04 9.99920737e-01 2.38842496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684839172999986 meters 0.09259413137304942 Centerline is valid? [True, True] Translation: X:45.18, Y:2.43, Z:2.38 [[ 9.95991857e-01 -8.69654934e-02 -2.09098805e-02 4.51769361e+01] [ 8.69633082e-02 9.96210998e-01 -1.01550164e-03 2.43443806e+00] [ 2.09189665e-02 -8.06961015e-04 9.99780849e-01 2.37862418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74483917299999 meters 0.0945393157570627 Centerline is valid? [True, True] Translation: X:45.24, Y:2.42, Z:2.39 [[ 9.95383840e-01 -9.54026544e-02 -1.04567921e-02 4.52388405e+01] [ 9.54025740e-02 9.95438643e-01 -5.07646614e-04 2.42052966e+00] [ 1.04575258e-02 -4.92301645e-04 9.99945197e-01 2.39068781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80483917299999 meters 0.09255973345286139 Centerline is valid? [True, True] Translation: X:45.30, Y:2.42, Z:2.39 [[ 9.95688661e-01 -9.16017728e-02 -1.46015385e-02 4.53004043e+01] [ 9.16012164e-02 9.95795519e-01 -7.08306311e-04 2.41946809e+00] [ 1.46050287e-02 -6.32266122e-04 9.99893141e-01 2.38903729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86483917299999 meters 0.08943041538058649 Centerline is valid? [True, True] Translation: X:45.36, Y:2.42, Z:2.39 [[ 9.96434422e-01 -8.27363932e-02 -1.65266908e-02 4.53610851e+01] [ 8.27344627e-02 9.96571305e-01 -8.01658050e-04 2.42271199e+00] [ 1.65363521e-02 -5.68527207e-04 9.99863104e-01 2.38861142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92483917299999 meters 0.0904581199543044 Centerline is valid? [True, True] Translation: X:45.42, Y:2.41, Z:2.38 [[ 9.96195439e-01 -8.44982210e-02 -2.13236388e-02 4.54232553e+01] [ 8.44954277e-02 9.96423331e-01 -1.03355102e-03 2.40956033e+00] [ 2.13347044e-02 -7.72131166e-04 9.99772091e-01 2.38185576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98483917299999 meters 0.09157616051881937 Centerline is valid? [True, True] Translation: X:45.48, Y:2.40, Z:2.38 [[ 9.95519294e-01 -9.13136971e-02 -2.45589911e-02 4.54842059e+01] [ 9.13120638e-02 9.95821616e-01 -1.19028162e-03 2.40170694e+00] [ 2.45650632e-02 -1.05758384e-03 9.99697674e-01 2.38198494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04483917299999 meters 0.09322814674003531 Centerline is valid? [True, True] Translation: X:45.54, Y:2.40, Z:2.38 [[ 9.94906797e-01 -9.71894233e-02 -2.67335418e-02 4.55436852e+01] [ 9.71896108e-02 9.95265041e-01 -1.29541453e-03 2.39904140e+00] [ 2.67328602e-02 -1.30940580e-03 9.99641756e-01 2.38279516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10483917299999 meters 0.09561817161749292 Centerline is valid? [True, True] Translation: X:45.60, Y:2.40, Z:2.37 [[ 9.93978379e-01 -1.03601749e-01 -3.56883573e-02 4.56049009e+01] [ 1.03606215e-01 9.94616892e-01 -1.72918235e-03 2.39626560e+00] [ 3.56753894e-02 -1.97876576e-03 9.99361472e-01 2.37264099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16483917299999 meters 0.09525944285108252 Centerline is valid? [True, True] Translation: X:45.67, Y:2.40, Z:2.38 [[ 9.94077462e-01 -1.05654245e-01 -2.54397336e-02 4.56651224e+01] [ 1.05657178e-01 9.94401851e-01 -1.23261267e-03 2.40495013e+00] [ 2.54275489e-02 -1.46257799e-03 9.99675598e-01 2.38301348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22483917299999 meters 0.09614751766226982 Centerline is valid? [True, True] Translation: X:45.73, Y:2.42, Z:2.39 [[ 9.94174374e-01 -1.05644833e-01 -2.13654636e-02 4.57263463e+01] [ 1.05646932e-01 9.94403166e-01 -1.03361698e-03 2.42018104e+00] [ 2.13550809e-02 -1.22960017e-03 9.99771198e-01 2.38822130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28483917299999 meters 0.09596584807374849 Centerline is valid? [True, True] Translation: X:45.79, Y:2.43, Z:2.40 [[ 9.94231407e-01 -1.06740545e-01 -1.05054761e-02 4.57869169e+01] [ 1.06741117e-01 9.94286717e-01 -5.07834762e-04 2.43201310e+00] [ 1.04996619e-02 -6.16460984e-04 9.99944687e-01 2.39891591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34483917299999 meters 0.09613378956953343 Centerline is valid? [True, True] Translation: X:45.85, Y:2.44, Z:2.40 [[ 9.94188740e-01 -1.07361852e-01 -7.88558740e-03 4.58490427e+01] [ 1.07362210e-01 9.94219901e-01 -3.79146798e-04 2.44301381e+00] [ 7.88071382e-03 -4.69670615e-04 9.99968836e-01 2.40352117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40483917299999 meters 0.09482437502026894 Centerline is valid? [True, True] Translation: X:45.91, Y:2.48, Z:2.41 [[ 9.94613535e-01 -1.03622045e-01 -2.52739067e-03 4.59077501e+01] [ 1.03622070e-01 9.94616736e-01 -1.21506859e-04 2.48047110e+00] [ 2.52637585e-03 -1.41041087e-04 9.99996799e-01 2.41228276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46483917299999 meters 0.09532130888246641 Centerline is valid? [True, True] Translation: X:45.97, Y:2.49, Z:2.41 [[ 9.94589899e-01 -1.03820669e-01 -3.49300578e-03 4.59697668e+01] [ 1.03820720e-01 9.94596014e-01 -1.67064637e-04 2.49251165e+00] [ 3.49147438e-03 -1.96485576e-04 9.99993885e-01 2.40821839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52483917299999 meters 0.09500872195324035 Centerline is valid? [True, True] Translation: X:46.03, Y:2.51, Z:2.40 [[ 9.94904363e-01 -1.00396271e-01 -9.26811129e-03 4.60293569e+01] [ 1.00396488e-01 9.94947410e-01 -4.43003146e-04 2.51246564e+00] [ 9.26575919e-03 -4.89740062e-04 9.99956952e-01 2.40401284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58483917299999 meters 0.09125857104572523 Centerline is valid? [True, True] Translation: X:46.09, Y:2.55, Z:2.40 [[ 9.96234315e-01 -8.53013765e-02 -1.55197976e-02 4.60877375e+01] [ 8.53001560e-02 9.96355024e-01 -7.41796288e-04 2.54669407e+00] [ 1.55265045e-02 -5.84838238e-04 9.99879286e-01 2.39707049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64483917299999 meters 0.08817866927850325 Centerline is valid? [True, True] Translation: X:46.15, Y:2.60, Z:2.40 [[ 9.97265906e-01 -7.29119284e-02 -1.20234732e-02 4.61455965e+01] [ 7.29102952e-02 9.97338337e-01 -5.74702904e-04 2.59756995e+00] [ 1.20333735e-02 -3.03503367e-04 9.99927550e-01 2.40293403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70483917299999 meters 0.08909004132347531 Centerline is valid? [True, True] Translation: X:46.21, Y:2.60, Z:2.40 [[ 9.96961155e-01 -7.70807679e-02 -1.12699421e-02 4.62076505e+01] [ 7.70796079e-02 9.97024796e-01 -5.37896562e-04 2.59858110e+00] [ 1.12778732e-02 -3.32420738e-04 9.99936348e-01 2.40221174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76483917299999 meters 0.09283378929439447 Centerline is valid? [True, True] Translation: X:46.27, Y:2.60, Z:2.40 [[ 9.95877969e-01 -8.95009115e-02 -1.47193037e-02 4.62681285e+01] [ 8.95002878e-02 9.95986549e-01 -7.02420383e-04 2.59753601e+00] [ 1.47230958e-02 -6.17856936e-04 9.99891418e-01 2.40036285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82483917299999 meters 0.09402406484835481 Centerline is valid? [True, True] Translation: X:46.33, Y:2.60, Z:2.40 [[ 9.95572603e-01 -9.26320011e-02 -1.59532112e-02 4.63289258e+01] [ 9.26316740e-02 9.95700153e-01 -7.61030020e-04 2.60214297e+00] [ 1.59551106e-02 -7.20112021e-04 9.99872450e-01 2.39927660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88483917299999 meters 0.09524328526010103 Centerline is valid? [True, True] Translation: X:46.39, Y:2.59, Z:2.41 [[ 9.94929479e-01 -1.00388823e-01 -6.11679065e-03 4.63901193e+01] [ 1.00388922e-01 9.94948229e-01 -2.91728913e-04 2.59419393e+00] [ 6.11517635e-03 -3.23808321e-04 9.99981250e-01 2.40771281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94483917299999 meters 0.09668824633937623 Centerline is valid? [True, True] Translation: X:46.45, Y:2.59, Z:2.40 [[ 9.95129627e-01 -9.80272676e-02 -1.03769273e-02 4.64515633e+01] [ 9.80274468e-02 9.95183590e-01 -4.92588518e-04 2.59193300e+00] [ 1.03752349e-02 -5.27034263e-04 9.99946037e-01 2.40321891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004839172999986 meters 0.09523890317566852 Centerline is valid? [True, True] Translation: X:46.51, Y:2.60, Z:2.40 [[ 9.95327073e-01 -9.49765395e-02 -1.74205476e-02 4.65137073e+01] [ 9.49766538e-02 9.95479160e-01 -8.22653303e-04 2.60303399e+00] [ 1.74199248e-02 -8.35736209e-04 9.99847912e-01 2.39689205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06483917299999 meters 0.09822751766603963 Centerline is valid? [True, True] Translation: X:46.57, Y:2.59, Z:2.39 [[ 9.94908171e-01 -9.93224907e-02 -1.71106557e-02 4.65737650e+01] [ 9.93232423e-02 9.95054893e-01 -8.07984205e-04 2.59440979e+00] [ 1.71062926e-02 -8.95615710e-04 9.99853276e-01 2.39402931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12483917299999 meters 0.09961417646570274 Centerline is valid? [True, True] Translation: X:46.64, Y:2.59, Z:2.40 [[ 9.94490001e-01 -1.03817658e-01 -1.45441208e-02 4.66356423e+01] [ 1.03818687e-01 9.94596003e-01 -6.86284056e-04 2.58692027e+00] [ 1.45367728e-02 -8.27448899e-04 9.99893993e-01 2.39693426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184839172999986 meters 0.09706834798480002 Centerline is valid? [True, True] Translation: X:46.70, Y:2.60, Z:2.39 [[ 9.95158155e-01 -9.66980482e-02 -1.75992813e-02 4.66955985e+01] [ 9.66984475e-02 9.95313378e-01 -8.30289118e-04 2.59620737e+00] [ 1.75970875e-02 -8.75554195e-04 9.99844776e-01 2.39395024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24483917299999 meters 0.09223419816414659 Centerline is valid? [True, True] Translation: X:46.75, Y:2.61, Z:2.39 [[ 9.96945102e-01 -7.68173656e-02 -1.41264528e-02 4.67548072e+01] [ 7.68156285e-02 9.97045092e-01 -6.66326050e-04 2.61355650e+00] [ 1.41358958e-02 -4.20841855e-04 9.99899995e-01 2.39199064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30483917299999 meters 0.08902658042356557 Centerline is valid? [True, True] Translation: X:46.81, Y:2.63, Z:2.39 [[ 9.97893057e-01 -6.28863692e-02 -1.59609090e-02 4.68147659e+01] [ 6.28823709e-02 9.98020662e-01 -7.52742148e-04 2.63061899e+00] [ 1.59766542e-02 -2.52503638e-04 9.99872333e-01 2.39203587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36483917299999 meters 0.08777249992397501 Centerline is valid? [True, True] Translation: X:46.88, Y:2.64, Z:2.39 [[ 9.97991712e-01 -6.05777473e-02 -1.85170080e-02 4.68768646e+01] [ 6.05719930e-02 9.98163450e-01 -8.71969499e-04 2.63943117e+00] [ 1.85358226e-02 -2.51393748e-04 9.99828165e-01 2.39318648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42483917299999 meters 0.08780746114409425 Centerline is valid? [True, True] Translation: X:46.94, Y:2.63, Z:2.39 [[ 9.98012038e-01 -6.15684763e-02 -1.34645545e-02 4.69383184e+01] [ 6.15655652e-02 9.98102842e-01 -6.30988599e-04 2.63181108e+00] [ 1.34778591e-02 -1.99218687e-04 9.99909150e-01 2.39462397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48483917299999 meters 0.0884595455851258 Centerline is valid? [True, True] Translation: X:47.00, Y:2.63, Z:2.40 [[ 9.97960322e-01 -6.22277446e-02 -1.42444549e-02 4.70009099e+01] [ 6.22246040e-02 9.98061951e-01 -6.64000192e-04 2.62925729e+00] [ 1.42581677e-02 -2.23709720e-04 9.99898322e-01 2.39536115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54483917299999 meters 0.0888520591346936 Centerline is valid? [True, True] Translation: X:47.06, Y:2.63, Z:2.40 [[ 9.97834965e-01 -6.50386179e-02 -9.76526084e-03 4.70628969e+01] [ 6.50372833e-02 9.97882731e-01 -4.54497727e-04 2.62516262e+00] [ 9.77414506e-03 -1.81592312e-04 9.99952215e-01 2.40259648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60483917299999 meters 0.09337345960655395 Centerline is valid? [True, True] Translation: X:47.12, Y:2.60, Z:2.42 [[ 9.96577555e-01 -8.26380896e-02 -2.03055496e-03 4.71244262e+01] [ 8.26380684e-02 9.96579621e-01 -9.44665997e-05 2.59536486e+00] [ 2.03141624e-03 -7.36578470e-05 9.99997934e-01 2.41713310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66483917299999 meters 0.09103390189459348 Centerline is valid? [True, True] Translation: X:47.19, Y:2.61, Z:2.42 [[ 9.96940197e-01 -7.75388874e-02 -9.89769720e-03 4.71851166e+01] [ 7.75381371e-02 9.96989281e-01 -4.60094958e-04 2.61167114e+00] [ 9.90357326e-03 -3.08761844e-04 9.99950911e-01 2.41586939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72483917299999 meters 0.09108748911994638 Centerline is valid? [True, True] Translation: X:47.25, Y:2.62, Z:2.41 [[ 9.97150492e-01 -7.48105418e-02 -9.70970402e-03 4.72474192e+01] [ 7.48097142e-02 9.97197726e-01 -4.48923625e-04 2.61595685e+00] [ 9.71607900e-03 -2.78735769e-04 9.99952759e-01 2.41463568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78483917299999 meters 0.09226994103794002 Centerline is valid? [True, True] Translation: X:47.31, Y:2.61, Z:2.41 [[ 9.97011766e-01 -7.69702612e-02 -6.56636007e-03 4.73093557e+01] [ 7.69699353e-02 9.97033368e-01 -3.02712439e-04 2.61370883e+00] [ 6.57017996e-03 -2.03604446e-04 9.99978395e-01 2.41492716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84483917299999 meters 0.09334917117475992 Centerline is valid? [True, True] Translation: X:47.37, Y:2.62, Z:2.42 [[ 9.96602161e-01 -8.17310985e-02 -1.02058532e-02 4.73706579e+01] [ 8.17305644e-02 9.96654350e-01 -4.70097174e-04 2.62058751e+00] [ 1.02101295e-02 -3.65630281e-04 9.99947808e-01 2.41548506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90483917299999 meters 0.0931937029377331 Centerline is valid? [True, True] Translation: X:47.43, Y:2.63, Z:2.42 [[ 9.96814648e-01 -7.95242746e-02 -6.03712628e-03 4.74312431e+01] [ 7.95240485e-02 9.96832909e-01 -2.77864801e-04 2.62918375e+00] [ 6.04010315e-03 -2.03117020e-04 9.99981738e-01 2.42130769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96483917299999 meters 0.09299072024321894 Centerline is valid? [True, True] Translation: X:47.49, Y:2.65, Z:2.42 [[ 9.96955050e-01 -7.77418150e-02 -6.06949780e-03 4.74932904e+01] [ 7.77415568e-02 9.96973506e-01 -2.78828023e-04 2.64562097e+00] [ 6.07280510e-03 -1.93873202e-04 9.99981542e-01 2.42203899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02483917299999 meters 0.09238880585926418 Centerline is valid? [True, True] Translation: X:47.55, Y:2.66, Z:2.42 [[ 9.97392164e-01 -7.20074389e-02 -4.87856058e-03 4.75530809e+01] [ 7.20072035e-02 9.97404087e-01 -2.24106256e-04 2.65718023e+00] [ 4.88203358e-03 -1.27769681e-04 9.99988075e-01 2.41951786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08483917299999 meters 0.09115920618634532 Centerline is valid? [True, True] Translation: X:47.61, Y:2.67, Z:2.42 [[ 9.97761000e-01 -6.68084832e-02 -3.10049784e-03 4.76127550e+01] [ 6.68083632e-02 9.97765815e-01 -1.42376759e-04 2.67348497e+00] [ 3.10308273e-03 -6.50812083e-05 9.99995183e-01 2.42077425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14483917299999 meters 0.09171693627027236 Centerline is valid? [True, True] Translation: X:47.67, Y:2.68, Z:2.42 [[ 9.98061053e-01 -6.21470968e-02 -3.44557006e-03 4.76740102e+01] [ 6.21469233e-02 9.98066999e-01 -1.57508108e-04 2.67574765e+00] [ 3.44869844e-03 -5.69288700e-05 9.99994052e-01 2.41662610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20483917299999 meters 0.09057642000139 Centerline is valid? [True, True] Translation: X:47.74, Y:2.70, Z:2.42 [[ 9.98120870e-01 -6.09827367e-02 -5.98620461e-03 4.77364623e+01] [ 6.09822019e-02 9.98138817e-01 -2.71997896e-04 2.69766007e+00] [ 5.99165036e-03 -9.35651613e-05 9.99982046e-01 2.41938455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26483917299999 meters 0.09105366640521347 Centerline is valid? [True, True] Translation: X:47.80, Y:2.71, Z:2.41 [[ 9.98424046e-01 -5.46172420e-02 -1.28988577e-02 4.77985337e+01] [ 5.46142694e-02 9.98507357e-01 -5.82853566e-04 2.71009844e+00] [ 1.29114382e-02 -1.22526673e-04 9.99916636e-01 2.41321244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32483917299999 meters 0.0919726800679496 Centerline is valid? [True, True] Translation: X:47.86, Y:2.71, Z:2.41 [[ 9.98084956e-01 -5.95533969e-02 -1.67276416e-02 4.78604059e+01] [ 5.95491557e-02 9.98225091e-01 -7.51970924e-04 2.70655470e+00] [ 1.67427340e-02 -2.45586070e-04 9.99859800e-01 2.40852726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38483917299999 meters 0.09132053708140139 Centerline is valid? [True, True] Translation: X:47.92, Y:2.72, Z:2.42 [[ 9.98216440e-01 -5.89054675e-02 -9.69968738e-03 4.79203154e+01] [ 5.89040209e-02 9.98263556e-01 -4.35010773e-04 2.71616710e+00] [ 9.70846893e-03 -1.37115683e-04 9.99952862e-01 2.41674158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44483917299999 meters 0.09198810139216543 Centerline is valid? [True, True] Translation: X:47.98, Y:2.72, Z:2.41 [[ 9.98139511e-01 -5.83201725e-02 -1.77841197e-02 4.79822384e+01] [ 5.83152390e-02 9.98297901e-01 -7.96306894e-04 2.72077353e+00] [ 1.78002901e-02 -2.42259817e-04 9.99841533e-01 2.40797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504839172999986 meters 0.09150472213388439 Centerline is valid? [True, True] Translation: X:48.04, Y:2.72, Z:2.41 [[ 9.98201851e-01 -5.89632011e-02 -1.07891066e-02 4.80438897e+01] [ 5.89614289e-02 9.98260145e-01 -4.82534236e-04 2.72458977e+00] [ 1.07987869e-02 -1.54474573e-04 9.99941679e-01 2.41442892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56483917299999 meters 0.09168901053097149 Centerline is valid? [True, True] Translation: X:48.11, Y:2.72, Z:2.41 [[ 9.98069109e-01 -6.10195925e-02 -1.16044579e-02 4.81058114e+01] [ 6.10177122e-02 9.98136550e-01 -5.16340739e-04 2.72357155e+00] [ 1.16143405e-02 -1.92733731e-04 9.99932533e-01 2.41483420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62483917299999 meters 0.09416398282403708 Centerline is valid? [True, True] Translation: X:48.17, Y:2.71, Z:2.41 [[ 9.97329690e-01 -7.01864275e-02 -2.01830505e-02 4.81667689e+01] [ 7.01826233e-02 9.97533756e-01 -8.97617986e-04 2.70720865e+00] [ 2.01962747e-02 -5.21278361e-04 9.99795899e-01 2.40905567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684839172999986 meters 0.09492914884514646 Centerline is valid? [True, True] Translation: X:48.23, Y:2.70, Z:2.41 [[ 9.97245322e-01 -7.23958749e-02 -1.61432461e-02 4.82308501e+01] [ 7.23938044e-02 9.97375871e-01 -7.13360793e-04 2.69818691e+00] [ 1.61525285e-02 -4.57275287e-04 9.99869435e-01 2.40775555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74483917299999 meters 0.09363323984529404 Centerline is valid? [True, True] Translation: X:48.29, Y:2.71, Z:2.40 [[ 9.97847174e-01 -6.14522218e-02 -2.29050523e-02 4.82918406e+01] [ 6.14451911e-02 9.98109947e-01 -1.01128394e-03 2.70971438e+00] [ 2.29239062e-02 -3.98298493e-04 9.99737133e-01 2.39903967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80483917299999 meters 0.09291050775574802 Centerline is valid? [True, True] Translation: X:48.35, Y:2.73, Z:2.39 [[ 9.98384970e-01 -4.87667458e-02 -2.91419843e-02 4.83531572e+01] [ 4.87500195e-02 9.98810185e-01 -1.28459487e-03 2.72621386e+00] [ 2.91699562e-02 -1.38152094e-04 9.99574457e-01 2.39328336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864839172999986 meters 0.09366679084049791 Centerline is valid? [True, True] Translation: X:48.41, Y:2.74, Z:2.40 [[ 9.99211258e-01 -3.08564550e-02 -2.49948145e-02 4.84148402e+01] [ 3.08385894e-02 9.99523772e-01 -1.10001021e-03 2.74379558e+00] [ 2.50168537e-02 3.28337768e-04 9.99686976e-01 2.39669017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92483917299999 meters 0.0936246952503431 Centerline is valid? [True, True] Translation: X:48.48, Y:2.75, Z:2.40 [[ 9.99473953e-01 -2.31460677e-02 -2.27173166e-02 4.84762165e+01] [ 2.31293373e-02 9.99731982e-01 -9.98967388e-04 2.75097972e+00] [ 2.27343501e-02 4.73005406e-04 9.99741429e-01 2.39951225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98483917299999 meters 0.09358388732565787 Centerline is valid? [True, True] Translation: X:48.54, Y:2.74, Z:2.40 [[ 9.99432596e-01 -2.51423679e-02 -2.24131098e-02 4.85368301e+01] [ 2.51265757e-02 9.99683792e-01 -9.85978560e-04 2.74257448e+00] [ 2.24308124e-02 4.22254411e-04 9.99748309e-01 2.39944146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04483917299999 meters 0.09314896796869497 Centerline is valid? [True, True] Translation: X:48.60, Y:2.71, Z:2.39 [[ 9.98668366e-01 -4.17339452e-02 -3.03277669e-02 4.85983541e+01] [ 4.17126368e-02 9.99128757e-01 -1.33521169e-03 2.70669444e+00] [ 3.03570677e-02 6.83825550e-05 9.99539116e-01 2.39114877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10483917299999 meters 0.09373079103030078 Centerline is valid? [True, True] Translation: X:48.66, Y:2.70, Z:2.39 [[ 9.98272025e-01 -4.33475031e-02 -3.96731379e-02 4.86594652e+01] [ 4.33123106e-02 9.99060055e-01 -1.74654301e-03 2.70283789e+00] [ 3.97115556e-02 2.51897586e-05 9.99211185e-01 2.38603520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16483917299999 meters 0.0931740827708445 Centerline is valid? [True, True] Translation: X:48.72, Y:2.69, Z:2.39 [[ 9.98056925e-01 -4.55167278e-02 -4.25511737e-02 4.87198766e+01] [ 4.54781461e-02 9.98963575e-01 -1.87478892e-03 2.69177157e+00] [ 4.25924069e-02 -6.40024295e-05 9.99092530e-01 2.38644417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22483917299999 meters 0.09253624568200104 Centerline is valid? [True, True] Translation: X:48.78, Y:2.69, Z:2.39 [[ 9.97875587e-01 -5.01679258e-02 -4.15631168e-02 4.87789303e+01] [ 5.01347030e-02 9.98740767e-01 -1.84193324e-03 2.68626468e+00] [ 4.16031851e-02 -2.45734301e-04 9.99134182e-01 2.38662650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28483917299999 meters 0.0926916606603441 Centerline is valid? [True, True] Translation: X:48.84, Y:2.67, Z:2.38 [[ 9.97214537e-01 -6.29928082e-02 -3.99383612e-02 4.88379718e+01] [ 6.29723169e-02 9.98013701e-01 -1.77212393e-03 2.67441868e+00] [ 3.99706627e-02 -7.47823396e-04 9.99200574e-01 2.38493768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34483917299999 meters 0.09299160509634583 Centerline is valid? [True, True] Translation: X:48.90, Y:2.68, Z:2.39 [[ 9.96995903e-01 -6.68536443e-02 -3.91121314e-02 4.88995736e+01] [ 6.68370136e-02 9.97762400e-01 -1.73408782e-03 2.67504110e+00] [ 3.91405442e-02 -8.85259608e-04 9.99233323e-01 2.38560721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40483917299999 meters 0.09139088523061573 Centerline is valid? [True, True] Translation: X:48.96, Y:2.67, Z:2.38 [[ 9.96997040e-01 -6.84739942e-02 -3.61692530e-02 4.89611412e+01] [ 6.84608823e-02 9.97652515e-01 -1.60234014e-03 2.67358537e+00] [ 3.61940649e-02 -8.78650599e-04 9.99344394e-01 2.38345163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46483917299999 meters 0.08924843036564425 Centerline is valid? [True, True] Translation: X:49.02, Y:2.69, Z:2.40 [[ 9.97673641e-01 -6.30226860e-02 -2.59893752e-02 4.90211341e+01] [ 6.30140647e-02 9.98011975e-01 -1.15139399e-03 2.68752711e+00] [ 2.60102716e-02 -4.88980737e-04 9.99661556e-01 2.39623704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52483917299999 meters 0.08807686663626947 Centerline is valid? [True, True] Translation: X:49.08, Y:2.69, Z:2.40 [[ 9.97953015e-01 -5.98122716e-02 -2.26334230e-02 4.90825163e+01] [ 5.98049254e-02 9.98209581e-01 -1.00191881e-03 2.68619653e+00] [ 2.26528268e-02 -3.53722282e-04 9.99743329e-01 2.39934346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58483917299999 meters 0.0862700887546692 Centerline is valid? [True, True] Translation: X:49.14, Y:2.69, Z:2.41 [[ 9.98253713e-01 -5.65972845e-02 -1.69195585e-02 4.91442569e+01] [ 5.65927332e-02 9.98397067e-01 -7.48057207e-04 2.69051015e+00] [ 1.69347756e-02 -2.10773176e-04 9.99856574e-01 2.40592875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64483917299999 meters 0.08678973268619927 Centerline is valid? [True, True] Translation: X:49.20, Y:2.70, Z:2.39 [[ 9.97871151e-01 -5.63218907e-02 -3.28787227e-02 4.92038717e+01] [ 5.63045667e-02 9.98412582e-01 -1.45326521e-03 2.69939725e+00] [ 3.29083811e-02 -4.01050805e-04 9.99458292e-01 2.38740180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70483917299999 meters 0.08620287810854033 Centerline is valid? [True, True] Translation: X:49.27, Y:2.70, Z:2.40 [[ 9.97964702e-01 -5.89472186e-02 -2.43244561e-02 4.92650122e+01] [ 5.89385270e-02 9.98261036e-01 -1.07471970e-03 2.69760926e+00] [ 2.43455085e-02 -3.61115286e-04 9.99703539e-01 2.39600215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76483917299999 meters 0.08661851042868432 Centerline is valid? [True, True] Translation: X:49.33, Y:2.69, Z:2.40 [[ 9.97604250e-01 -6.59358022e-02 -2.09339383e-02 4.93266134e+01] [ 6.59309255e-02 9.97823762e-01 -9.23795120e-04 2.69120892e+00] [ 2.09492922e-02 -4.58611985e-04 9.99780434e-01 2.40211077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82483917299999 meters 0.08702404914879441 Centerline is valid? [True, True] Translation: X:49.39, Y:2.69, Z:2.39 [[ 9.97556050e-01 -6.27139410e-02 -3.08040242e-02 4.93878979e+01] [ 6.27018647e-02 9.98031377e-01 -1.35879665e-03 2.69108399e+00] [ 3.08285982e-02 -5.75993942e-04 9.99524520e-01 2.39281702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88483917299999 meters 0.08552489614880196 Centerline is valid? [True, True] Translation: X:49.45, Y:2.70, Z:2.40 [[ 9.97928045e-01 -5.74613387e-02 -2.89449904e-02 4.94495863e+01] [ 5.74485251e-02 9.98347656e-01 -1.27477873e-03 2.69851103e+00] [ 2.89704138e-02 -3.90709558e-04 9.99580193e-01 2.39544478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94483917299999 meters 0.08323843172879974 Centerline is valid? [True, True] Translation: X:49.51, Y:2.71, Z:2.41 [[ 9.98355705e-01 -5.38361278e-02 -1.96865070e-02 4.95097257e+01] [ 5.38294970e-02 9.98549765e-01 -8.66954699e-04 2.71010414e+00] [ 1.97046304e-02 -1.94185601e-04 9.99805826e-01 2.40882199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004839172999986 meters 0.08229366065837287 Centerline is valid? [True, True] Translation: X:49.57, Y:2.71, Z:2.41 [[ 9.98671568e-01 -4.86357729e-02 -1.70194269e-02 4.95713244e+01] [ 4.86300722e-02 9.98816577e-01 -7.48895690e-04 2.70970758e+00] [ 1.70357089e-02 -7.97551278e-05 9.99854879e-01 2.41301817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06483917299999 meters 0.08189519463775057 Centerline is valid? [True, True] Translation: X:49.63, Y:2.71, Z:2.41 [[ 9.98866563e-01 -4.36131454e-02 -1.90652386e-02 4.96331661e+01] [ 4.36050962e-02 9.99048494e-01 -8.37894992e-04 2.70771984e+00] [ 1.90836412e-02 5.60372534e-06 9.99817891e-01 2.41379588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12483917299999 meters 0.08157195067286849 Centerline is valid? [True, True] Translation: X:49.70, Y:2.71, Z:2.41 [[ 9.99017473e-01 -3.96319747e-02 -1.98341747e-02 4.96958205e+01] [ 3.96225072e-02 9.99214341e-01 -8.70237575e-04 2.70767351e+00] [ 1.98530810e-02 8.35028129e-05 9.99802905e-01 2.41457345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184839172999986 meters 0.08003836972127076 Centerline is valid? [True, True] Translation: X:49.76, Y:2.70, Z:2.42 [[ 9.99337933e-01 -3.39902456e-02 -1.29753184e-02 4.97576512e+01] [ 3.39857306e-02 9.99422157e-01 -5.68368980e-04 2.70303937e+00] [ 1.29871397e-02 1.27017005e-04 9.99915655e-01 2.42037026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24483917299999 meters 0.07920502080953434 Centerline is valid? [True, True] Translation: X:49.82, Y:2.70, Z:2.42 [[ 9.99086419e-01 -3.99590334e-02 -1.51526695e-02 4.98200313e+01] [ 3.99535784e-02 9.99201317e-01 -6.62670978e-04 2.69949052e+00] [ 1.51670470e-02 5.66622075e-05 9.99884972e-01 2.42431329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30483917299999 meters 0.07931506997394985 Centerline is valid? [True, True] Translation: X:49.88, Y:2.68, Z:2.42 [[ 9.98577389e-01 -4.84578427e-02 -2.22493848e-02 4.98817087e+01] [ 4.84481986e-02 9.98825223e-01 -9.72607686e-04 2.67742606e+00] [ 2.22703772e-02 -1.06718567e-04 9.99751979e-01 2.41717280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364839172999986 meters 0.07957603371831104 Centerline is valid? [True, True] Translation: X:49.94, Y:2.67, Z:2.42 [[ 9.98405886e-01 -5.30454163e-02 -1.92839633e-02 4.99445734e+01] [ 5.30390544e-02 9.98592084e-01 -8.41566152e-04 2.66989212e+00] [ 1.93014543e-02 -1.82578578e-04 9.99813693e-01 2.42016403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42483917299999 meters 0.07916798115010457 Centerline is valid? [True, True] Translation: X:50.01, Y:2.66, Z:2.43 [[ 9.98079917e-01 -6.04034445e-02 -1.37078017e-02 5.00069909e+01] [ 6.04009371e-02 9.98174018e-01 -5.97221398e-04 2.66013413e+00] [ 1.37188457e-02 -2.31889383e-04 9.99905865e-01 2.42561307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48483917299999 meters 0.07933534291106563 Centerline is valid? [True, True] Translation: X:50.07, Y:2.66, Z:2.43 [[ 9.97953947e-01 -6.27271206e-02 -1.23785514e-02 5.00678293e+01] [ 6.27252602e-02 9.98030687e-01 -5.38857790e-04 2.65828972e+00] [ 1.23879752e-02 -2.38692599e-04 9.99923238e-01 2.42760490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.544839172999986 meters 0.07995212170074499 Centerline is valid? [True, True] Translation: X:50.13, Y:2.65, Z:2.43 [[ 9.97529405e-01 -6.86208234e-02 -1.50422617e-02 5.01297773e+01] [ 6.86187543e-02 9.97642741e-01 -6.54238741e-04 2.64892708e+00] [ 1.50516976e-02 -3.79558876e-04 9.99886645e-01 2.42860100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60483917299999 meters 0.07971423772893081 Centerline is valid? [True, True] Translation: X:50.19, Y:2.65, Z:2.44 [[ 9.97477862e-01 -7.03396382e-02 -9.50001994e-03 5.01917111e+01] [ 7.03388976e-02 9.97523067e-01 -4.12471007e-04 2.65474565e+00] [ 9.50550209e-03 -2.56790232e-04 9.99954789e-01 2.43621889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66483917299999 meters 0.07920297241245412 Centerline is valid? [True, True] Translation: X:50.25, Y:2.66, Z:2.44 [[ 9.97612582e-01 -6.88751456e-02 -5.03502648e-03 5.02537603e+01] [ 6.88749208e-02 9.97625279e-01 -2.18234481e-04 2.66035004e+00] [ 5.03810063e-03 -1.29073586e-04 9.99987300e-01 2.44050973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72483917299999 meters 0.0817603766690007 Centerline is valid? [True, True] Translation: X:50.31, Y:2.66, Z:2.44 [[ 9.96917851e-01 -7.81327932e-02 -7.07573115e-03 5.03143834e+01] [ 7.81325825e-02 9.96942930e-01 -3.06634118e-04 2.65532794e+00] [ 7.07805832e-03 -2.47156122e-04 9.99974920e-01 2.44010064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78483917299999 meters 0.08175906767265638 Centerline is valid? [True, True] Translation: X:50.38, Y:2.66, Z:2.43 [[ 9.96908311e-01 -7.73488253e-02 -1.38194739e-02 5.03759558e+01] [ 7.73479736e-02 9.97003979e-01 -5.96903221e-04 2.66031243e+00] [ 1.38242402e-02 -4.73850518e-04 9.99904328e-01 2.43365279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84483917299999 meters 0.08303581419428777 Centerline is valid? [True, True] Translation: X:50.44, Y:2.66, Z:2.44 [[ 9.96805961e-01 -7.93660584e-02 -8.88286712e-03 5.04370295e+01] [ 7.93658058e-02 9.96845486e-01 -3.81495873e-04 2.66451663e+00] [ 8.88512382e-03 -3.24718546e-04 9.99960474e-01 2.43893036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90483917299999 meters 0.08251866391460881 Centerline is valid? [True, True] Translation: X:50.50, Y:2.67, Z:2.44 [[ 9.96860430e-01 -7.90071174e-02 -5.21140392e-03 5.04989697e+01] [ 7.90070326e-02 9.96874034e-01 -2.22455992e-04 2.67137053e+00] [ 5.21268885e-03 -1.89979983e-04 9.99986396e-01 2.44466070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96483917299999 meters 0.08299361302100187 Centerline is valid? [True, True] Translation: X:50.56, Y:2.67, Z:2.44 [[ 9.96904891e-01 -7.80133555e-02 -9.72396556e-03 5.05624777e+01] [ 7.80130417e-02 9.96952253e-01 -4.12155115e-04 2.67400026e+00] [ 9.72648298e-03 -3.47716681e-04 9.99952636e-01 2.44126597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02483917299999 meters 0.0804014245608139 Centerline is valid? [True, True] Translation: X:50.62, Y:2.69, Z:2.44 [[ 9.97647956e-01 -6.76414693e-02 -1.10989996e-02 5.06222240e+01] [ 6.76404197e-02 9.97709653e-01 -4.70348548e-04 2.69122700e+00] [ 1.11053942e-02 -2.81498727e-04 9.99938294e-01 2.43842370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08483917299999 meters 0.0797143449574086 Centerline is valid? [True, True] Translation: X:50.68, Y:2.70, Z:2.44 [[ 9.97791891e-01 -6.54889491e-02 -1.10697897e-02 5.06846354e+01] [ 6.54877899e-02 9.97853261e-01 -4.67554066e-04 2.70141384e+00] [ 1.10766454e-02 -2.58414407e-04 9.99938619e-01 2.43837110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14483917299999 meters 0.08054164816516954 Centerline is valid? [True, True] Translation: X:50.75, Y:2.71, Z:2.43 [[ 9.97792549e-01 -6.52062917e-02 -1.25765018e-02 5.07461073e+01] [ 6.52048108e-02 9.97871762e-01 -5.28192228e-04 2.70681045e+00] [ 1.25841775e-02 -2.93022152e-04 9.99920773e-01 2.43344339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20483917299999 meters 0.07975133711396841 Centerline is valid? [True, True] Translation: X:50.81, Y:2.73, Z:2.44 [[ 9.97947585e-01 -6.33758623e-02 -9.17161477e-03 5.08071854e+01] [ 6.33750040e-02 9.97989710e-01 -3.84478983e-04 2.72654604e+00] [ 9.17754385e-03 -1.97561251e-04 9.99957866e-01 2.43828257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26483917299999 meters 0.08048497215871808 Centerline is valid? [True, True] Translation: X:50.87, Y:2.74, Z:2.44 [[ 9.98002184e-01 -6.24190799e-02 -9.77237047e-03 5.08677360e+01] [ 6.24180736e-02 9.98050007e-01 -4.08229489e-04 2.73975388e+00] [ 9.77879573e-03 -2.02558618e-04 9.99952166e-01 2.43502222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32483917299999 meters 0.08074030503390445 Centerline is valid? [True, True] Translation: X:50.93, Y:2.75, Z:2.44 [[ 9.98009208e-01 -6.26116565e-02 -7.57633750e-03 5.09303378e+01] [ 6.26110744e-02 9.98037952e-01 -3.14226749e-04 2.75205960e+00] [ 7.58114662e-03 -1.60761441e-04 9.99971250e-01 2.43593660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38483917299999 meters 0.0826651634546481 Centerline is valid? [True, True] Translation: X:50.99, Y:2.76, Z:2.43 [[ 9.97726936e-01 -6.67046450e-02 -9.56297774e-03 5.09916536e+01] [ 6.67039278e-02 9.97772735e-01 -3.94288980e-04 2.75839813e+00] [ 9.56797936e-03 -2.44495440e-04 9.99954196e-01 2.43174464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44483917299999 meters 0.08363751447989282 Centerline is valid? [True, True] Translation: X:51.05, Y:2.77, Z:2.43 [[ 9.97498213e-01 -7.03611364e-02 -6.82833036e-03 5.10535470e+01] [ 7.03608598e-02 9.97521564e-01 -2.81024358e-04 2.76862689e+00] [ 6.83117997e-03 -2.00125900e-04 9.99976647e-01 2.43454200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504839172999986 meters 0.0838855529389512 Centerline is valid? [True, True] Translation: X:51.12, Y:2.78, Z:2.44 [[ 9.97447887e-01 -7.13907566e-02 1.03567401e-03 5.11152610e+01] [ 7.13907511e-02 9.97448424e-01 4.23120865e-05 2.77519067e+00] [-1.03605211e-03 3.17334445e-05 9.99999463e-01 2.44114925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56483917299999 meters 0.08328982650139666 Centerline is valid? [True, True] Translation: X:51.18, Y:2.79, Z:2.44 [[ 9.97866938e-01 -6.52771884e-02 6.80497140e-04 5.11760506e+01] [ 6.52771846e-02 9.97867170e-01 2.77979844e-05 2.78825275e+00] [-6.80860330e-04 1.66822479e-05 9.99999768e-01 2.43848958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62483917299999 meters 0.08298831878927852 Centerline is valid? [True, True] Translation: X:51.24, Y:2.80, Z:2.43 [[ 9.98480382e-01 -5.50275135e-02 -2.98317660e-03 5.12359618e+01] [ 5.50273949e-02 9.98484838e-01 -1.21885947e-04 2.80266142e+00] [ 2.98536368e-03 -4.24557096e-05 9.99995543e-01 2.43176408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684839172999986 meters 0.08369877190887415 Centerline is valid? [True, True] Translation: X:51.30, Y:2.81, Z:2.43 [[ 9.98749753e-01 -4.97597597e-02 -4.78502603e-03 5.12977873e+01] [ 4.97594000e-02 9.98761215e-01 -1.94268575e-04 2.81102831e+00] [ 4.78876517e-03 -4.40743326e-05 9.99988533e-01 2.42804313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74483917299999 meters 0.08393390263246212 Centerline is valid? [True, True] Translation: X:51.36, Y:2.81, Z:2.43 [[ 9.98698857e-01 -5.08944523e-02 -3.21689521e-03 5.13596616e+01] [ 5.08942985e-02 9.98704037e-01 -1.29712348e-04 2.81406893e+00] [ 3.21932787e-03 -3.41780512e-05 9.99994817e-01 2.42941575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80483917299999 meters 0.0843987159367205 Centerline is valid? [True, True] Translation: X:51.42, Y:2.82, Z:2.43 [[ 9.98657569e-01 -5.17968130e-02 -3.86384308e-04 5.14215939e+01] [ 5.17968109e-02 9.98657644e-01 -1.55322427e-05 2.82012991e+00] [ 3.86670163e-04 -4.50208315e-06 9.99999925e-01 2.43471641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864839172999986 meters 0.08568947518560553 Centerline is valid? [True, True] Translation: X:51.48, Y:2.82, Z:2.42 [[ 9.98992138e-01 -4.45018325e-02 -5.85620600e-03 5.14837121e+01] [ 4.45012280e-02 9.99009302e-01 -2.33551031e-04 2.82071801e+00] [ 5.86079772e-03 -2.72927144e-05 9.99982825e-01 2.42302662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92483917299999 meters 0.0864535315029025 Centerline is valid? [True, True] Translation: X:51.55, Y:2.82, Z:2.42 [[ 9.99177758e-01 -3.96839071e-02 -8.30629981e-03 5.15459633e+01] [ 3.96825298e-02 9.99212284e-01 -3.30621325e-04 2.81991961e+00] [ 8.31287714e-03 7.34484293e-07 9.99965447e-01 2.41598580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98483917299999 meters 0.08639379106543985 Centerline is valid? [True, True] Translation: X:51.61, Y:2.81, Z:2.41 [[ 9.99188784e-01 -3.90104848e-02 -9.99780631e-03 5.16079944e+01] [ 3.90084629e-02 9.99238801e-01 -3.97233732e-04 2.81469048e+00] [ 1.00056923e-02 6.91243403e-06 9.99949942e-01 2.41106909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044839172999986 meters 0.08733658863006552 Centerline is valid? [True, True] Translation: X:51.67, Y:2.79, Z:2.40 [[ 9.98797337e-01 -4.68578326e-02 -1.44299706e-02 5.16704590e+01] [ 4.68544503e-02 9.98901563e-01 -5.72563825e-04 2.79110866e+00] [ 1.44409493e-02 -1.04233118e-04 9.99895719e-01 2.40165652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10483917299999 meters 0.08738228694184312 Centerline is valid? [True, True] Translation: X:51.73, Y:2.78, Z:2.40 [[ 9.98647505e-01 -4.94755803e-02 -1.59789692e-02 5.17315616e+01] [ 4.94717811e-02 9.98775321e-01 -6.33196705e-04 2.78490833e+00] [ 1.59907279e-02 -1.58167756e-04 9.99872128e-01 2.39735444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16483917299999 meters 0.08802874577102938 Centerline is valid? [True, True] Translation: X:51.79, Y:2.78, Z:2.39 [[ 9.98427298e-01 -5.26854272e-02 -1.91618399e-02 5.17924927e+01] [ 5.26805671e-02 9.98611127e-01 -7.58667092e-04 2.78136484e+00] [ 1.91751972e-02 -2.51982656e-04 9.99816107e-01 2.39144180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224839172999985 meters 0.09458089663986108 Centerline is valid? [True, True] Translation: X:51.85, Y:2.74, Z:2.35 [[ 9.95933722e-01 -8.05877331e-02 -4.02695812e-02 5.18533921e+01] [ 8.05890193e-02 9.96746141e-01 -1.59400834e-03 2.73971847e+00] [ 4.02670072e-02 -1.65775939e-03 9.99187580e-01 2.35448097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28483917299999 meters 0.0977624174494514 Centerline is valid? [True, True] Translation: X:51.91, Y:2.73, Z:2.36 [[ 9.96082849e-01 -8.32690185e-02 -2.97527979e-02 5.19145737e+01] [ 8.32709100e-02 9.96526251e-01 -1.17762469e-03 2.72780576e+00] [ 2.97475038e-02 -1.30453079e-03 9.99556594e-01 2.36445549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34483917299999 meters 0.09393878851354251 Centerline is valid? [True, True] Translation: X:51.97, Y:2.75, Z:2.37 [[ 9.96744092e-01 -7.62090821e-02 -2.63323310e-02 5.19735594e+01] [ 7.62081006e-02 9.97091390e-01 -1.04227561e-03 2.75102515e+00] [ 2.63351713e-02 -9.67854874e-04 9.99652701e-01 2.36811612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40483917299999 meters 0.09211560326059946 Centerline is valid? [True, True] Translation: X:52.03, Y:2.76, Z:2.37 [[ 9.97221273e-01 -7.04833746e-02 -2.41210747e-02 5.20338555e+01] [ 7.04808784e-02 9.97512674e-01 -9.54688721e-04 2.76268511e+00] [ 2.41283674e-02 -7.48038631e-04 9.99708589e-01 2.37015089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46483917299999 meters 0.09062069070727498 Centerline is valid? [True, True] Translation: X:52.09, Y:2.76, Z:2.35 [[ 9.97375222e-01 -6.55367201e-02 -3.07831903e-02 5.20948252e+01] [ 6.55303481e-02 9.97849835e-01 -1.21689002e-03 2.76167638e+00] [ 3.07967524e-02 -8.03537224e-04 9.99525345e-01 2.35328486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52483917299999 meters 0.09024875826931021 Centerline is valid? [True, True] Translation: X:52.16, Y:2.77, Z:2.37 [[ 9.97538870e-01 -6.54683784e-02 -2.51016828e-02 5.21561098e+01] [ 6.54641418e-02 9.97854430e-01 -9.91381585e-04 2.76768454e+00] [ 2.51127296e-02 -6.54318460e-04 9.99684412e-01 2.37253272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58483917299999 meters 0.08854241690710589 Centerline is valid? [True, True] Translation: X:52.22, Y:2.80, Z:2.38 [[ 9.97873555e-01 -5.94914162e-02 -2.66296936e-02 5.22166068e+01] [ 5.94845469e-02 9.98228673e-01 -1.05075148e-03 2.79634699e+00] [ 2.66450344e-02 -5.35538143e-04 9.99644815e-01 2.37773563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64483917299999 meters 0.0904775291912575 Centerline is valid? [True, True] Translation: X:52.28, Y:2.77, Z:2.36 [[ 9.97087094e-01 -6.49841693e-02 -3.99297555e-02 5.22779990e+01] [ 6.49731335e-02 9.97885770e-01 -1.57539164e-03 2.77059354e+00] [ 3.99477103e-02 -1.02355866e-03 9.99201247e-01 2.35610734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70483917299999 meters 0.09186314684208095 Centerline is valid? [True, True] Translation: X:52.34, Y:2.77, Z:2.35 [[ 9.96920919e-01 -6.45216902e-02 -4.45604435e-02 5.23382559e+01] [ 6.45074523e-02 9.97915675e-01 -1.75890048e-03 2.77284678e+00] [ 4.45810523e-02 -1.12099600e-03 9.99005142e-01 2.35282331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76483917299999 meters 0.09017271085972813 Centerline is valid? [True, True] Translation: X:52.40, Y:2.80, Z:2.36 [[ 9.97832941e-01 -5.71765074e-02 -3.25617767e-02 5.23969877e+01] [ 5.71649902e-02 9.98363918e-01 -1.28529803e-03 2.80139991e+00] [ 3.25819918e-02 -5.78880933e-04 9.99468898e-01 2.36069557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82483917299999 meters 0.08927570374285199 Centerline is valid? [True, True] Translation: X:52.46, Y:2.80, Z:2.37 [[ 9.97568264e-01 -6.11088527e-02 -3.35151872e-02 5.24580146e+01] [ 6.10989087e-02 9.98130841e-01 -1.32173799e-03 2.80494081e+00] [ 3.35333119e-02 -7.29217490e-04 9.99437334e-01 2.36698626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88483917299999 meters 0.09123275554798786 Centerline is valid? [True, True] Translation: X:52.52, Y:2.79, Z:2.38 [[ 9.96969593e-01 -7.33094326e-02 -2.60260870e-02 5.25202378e+01] [ 7.33076092e-02 9.97308850e-01 -1.02545573e-03 2.79203647e+00] [ 2.60312225e-02 -8.85562031e-04 9.99660738e-01 2.37565735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94483917299999 meters 0.08877187991024975 Centerline is valid? [True, True] Translation: X:52.58, Y:2.82, Z:2.38 [[ 9.97623828e-01 -6.45856922e-02 -2.39871949e-02 5.25785706e+01] [ 6.45816121e-02 9.97911981e-01 -9.45540713e-04 2.81693814e+00] [ 2.39981776e-02 -6.05837771e-04 9.99711819e-01 2.37986543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004839172999986 meters 0.08673454112569473 Centerline is valid? [True, True] Translation: X:52.64, Y:2.83, Z:2.38 [[ 9.98219092e-01 -5.53374096e-02 -2.22803870e-02 5.26390249e+01] [ 5.53315979e-02 9.98467648e-01 -8.77714087e-04 2.83095562e+00] [ 2.22948160e-02 -3.56658454e-04 9.99751376e-01 2.38131546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06483917299999 meters 0.08755299060336723 Centerline is valid? [True, True] Translation: X:52.70, Y:2.83, Z:2.38 [[ 9.97578389e-01 -6.57141408e-02 -2.27817662e-02 5.26999061e+01] [ 6.57107763e-02 9.97838308e-01 -8.97065787e-04 2.82832956e+00] [ 2.27914689e-02 -6.02114097e-04 9.99740059e-01 2.38462347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12483917299999 meters 0.09151096029539109 Centerline is valid? [True, True] Translation: X:52.76, Y:2.81, Z:2.39 [[ 9.96356854e-01 -8.30428509e-02 -1.94140453e-02 5.27610443e+01] [ 8.30436892e-02 9.96545614e-01 -7.64397107e-04 2.80863998e+00] [ 1.94104595e-02 -8.50601651e-04 9.99811237e-01 2.38547107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184839172999986 meters 0.09313810098497143 Centerline is valid? [True, True] Translation: X:52.82, Y:2.81, Z:2.38 [[ 9.96012522e-01 -8.53406070e-02 -2.60006896e-02 5.28216057e+01] [ 8.53428975e-02 9.96351114e-01 -1.02359664e-03 2.80631505e+00] [ 2.59931704e-02 -1.19945912e-03 9.99661401e-01 2.37885467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24483917299999 meters 0.09248709890410783 Centerline is valid? [True, True] Translation: X:52.88, Y:2.82, Z:2.39 [[ 9.96273704e-01 -8.40850068e-02 -1.91942335e-02 5.28815722e+01] [ 8.40860211e-02 9.96458213e-01 -7.55639071e-04 2.81646343e+00] [ 1.91897895e-02 -8.61143388e-04 9.99815488e-01 2.38706763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30483917299999 meters 0.09270105249904839 Centerline is valid? [True, True] Translation: X:52.94, Y:2.82, Z:2.39 [[ 9.95905586e-01 -8.87618959e-02 -1.71286169e-02 5.29423788e+01] [ 8.87634057e-02 9.96052511e-01 -6.73589736e-04 2.81717501e+00] [ 1.71207909e-02 -8.49562586e-04 9.99853068e-01 2.39047079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364839172999986 meters 0.09302346934889671 Centerline is valid? [True, True] Translation: X:53.01, Y:2.82, Z:2.40 [[ 9.95842800e-01 -9.04601478e-02 -1.06807722e-02 5.30050700e+01] [ 9.04608629e-02 9.95899924e-01 -4.17128271e-04 2.81779321e+00] [ 1.06747137e-02 -5.50797687e-04 9.99942872e-01 2.39837461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42483917299999 meters 0.09347740332601562 Centerline is valid? [True, True] Translation: X:53.07, Y:2.82, Z:2.39 [[ 9.96117716e-01 -8.62556271e-02 -1.75915594e-02 5.30652250e+01] [ 8.62569205e-02 9.96272690e-01 -6.86635888e-04 2.81779291e+00] [ 1.75852164e-02 -8.33423566e-04 9.99845021e-01 2.38763383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48483917299999 meters 0.08967386623762236 Centerline is valid? [True, True] Translation: X:53.12, Y:2.84, Z:2.39 [[ 9.97152743e-01 -7.37803345e-02 -1.55842951e-02 5.31249842e+01] [ 7.37798288e-02 9.97274369e-01 -6.08170190e-04 2.83593984e+00] [ 1.55866891e-02 -5.43368054e-04 9.99878373e-01 2.38923922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544839172999986 meters 0.08943817068829224 Centerline is valid? [True, True] Translation: X:53.19, Y:2.84, Z:2.39 [[ 9.97242038e-01 -7.32587178e-02 -1.18944079e-02 5.31872404e+01] [ 7.32583958e-02 9.97312886e-01 -4.63353702e-04 2.84236499e+00] [ 1.18963909e-02 -4.09289449e-04 9.99929152e-01 2.39357049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60483917299999 meters 0.08960105589906002 Centerline is valid? [True, True] Translation: X:53.25, Y:2.85, Z:2.39 [[ 9.97141450e-01 -7.45024543e-02 -1.25822519e-02 5.32490234e+01] [ 7.45022319e-02 9.97220728e-01 -4.87042269e-04 2.84825238e+00] [ 1.25835682e-02 -4.51755812e-04 9.99920722e-01 2.39286956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66483917299999 meters 0.09045574817781304 Centerline is valid? [True, True] Translation: X:53.31, Y:2.85, Z:2.39 [[ 9.96947510e-01 -7.61677091e-02 -1.71506044e-02 5.33101968e+01] [ 7.61675484e-02 9.97094812e-01 -6.63523516e-04 2.84695056e+00] [ 1.71513178e-02 -6.44821376e-04 9.99852697e-01 2.38796046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724839172999985 meters 0.09113419694594611 Centerline is valid? [True, True] Translation: X:53.37, Y:2.85, Z:2.38 [[ 9.96824429e-01 -7.70527135e-02 -2.00981906e-02 5.33722650e+01] [ 7.70527014e-02 9.97026719e-01 -7.76142213e-04 2.84929795e+00] [ 2.00982369e-02 -7.74942364e-04 9.99797710e-01 2.38447244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78483917299999 meters 0.09303883331687988 Centerline is valid? [True, True] Translation: X:53.43, Y:2.84, Z:2.38 [[ 9.96073603e-01 -8.54920863e-02 -2.29886980e-02 5.34341217e+01] [ 8.54943294e-02 9.96338262e-01 -8.87042306e-04 2.84073258e+00] [ 2.29803545e-02 -1.08184389e-03 9.99735331e-01 2.38378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84483917299999 meters 0.0926614910658094 Centerline is valid? [True, True] Translation: X:53.50, Y:2.85, Z:2.38 [[ 9.96257419e-01 -8.28796994e-02 -2.45379253e-02 5.34951932e+01] [ 8.28816043e-02 9.96558957e-01 -9.41137192e-04 2.84626020e+00] [ 2.45314904e-02 -1.09612770e-03 9.99698457e-01 2.38432923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904839172999985 meters 0.09031864618021898 Centerline is valid? [True, True] Translation: X:53.55, Y:2.86, Z:2.38 [[ 9.97126635e-01 -7.20281064e-02 -2.34611699e-02 5.35541905e+01] [ 7.20268365e-02 9.97402288e-01 -9.00257153e-04 2.85952890e+00] [ 2.34650683e-02 -7.92163460e-04 9.99724344e-01 2.38383263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96483917299999 meters 0.09056978855461793 Centerline is valid? [True, True] Translation: X:53.62, Y:2.86, Z:2.38 [[ 9.96955137e-01 -7.40984162e-02 -2.42874230e-02 5.36165081e+01] [ 7.40977104e-02 9.97250552e-01 -9.30250704e-04 2.85929956e+00] [ 2.42895761e-02 -8.72224218e-04 9.99704584e-01 2.38444203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02483917299999 meters 0.08755602861383088 Centerline is valid? [True, True] Translation: X:53.68, Y:2.89, Z:2.39 [[ 9.97658872e-01 -6.50216374e-02 -2.11887019e-02 5.36760770e+01] [ 6.50190534e-02 9.97883693e-01 -8.11573489e-04 2.88588819e+00] [ 2.11966299e-02 -5.67995849e-04 9.99775165e-01 2.39149794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters 0.08469933659803844 Centerline is valid? [True, True] Translation: X:53.74, Y:2.91, Z:2.40 [[ 9.98436990e-01 -5.32034747e-02 -1.71163094e-02 5.37358395e+01] [ 5.32000513e-02 9.98583659e-01 -6.55591755e-04 2.91025275e+00] [ 1.71269466e-02 -2.56021479e-04 9.99853290e-01 2.39927620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14483917299999 meters 0.08525171974726745 Centerline is valid? [True, True] Translation: X:53.80, Y:2.92, Z:2.39 [[ 9.98356663e-01 -5.19103283e-02 -2.42753361e-02 5.37952392e+01] [ 5.19030605e-02 9.98651695e-01 -9.29797996e-04 2.92168767e+00] [ 2.42908717e-02 -3.31694215e-04 9.99704878e-01 2.38878757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20483917299999 meters 0.08637004442981504 Centerline is valid? [True, True] Translation: X:53.86, Y:2.93, Z:2.38 [[ 9.98487120e-01 -4.90063861e-02 -2.49368303e-02 5.38570554e+01] [ 4.89978542e-02 9.98798429e-01 -9.53411844e-04 2.92646012e+00] [ 2.49535902e-02 -2.69881732e-04 9.99688574e-01 2.38406389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters 0.08611662706720663 Centerline is valid? [True, True] Translation: X:53.92, Y:2.93, Z:2.39 [[ 9.98529095e-01 -4.97230703e-02 -2.16162624e-02 5.39193551e+01] [ 4.97168603e-02 9.98763012e-01 -8.24926902e-04 2.93366617e+00] [ 2.16305412e-02 -2.50979185e-04 9.99766001e-01 2.38843388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32483917299999 meters 0.08525496637555324 Centerline is valid? [True, True] Translation: X:53.98, Y:2.95, Z:2.39 [[ 9.98586212e-01 -4.86744664e-02 -2.13629035e-02 5.39808266e+01] [ 4.86681936e-02 9.98814670e-01 -8.13746420e-04 2.95055366e+00] [ 2.13771901e-02 -2.27097971e-04 9.99771456e-01 2.39428205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38483917299999 meters 0.08347515163098242 Centerline is valid? [True, True] Translation: X:54.04, Y:2.97, Z:2.41 [[ 9.98812176e-01 -4.63214863e-02 -1.51181000e-02 5.40421625e+01] [ 4.63180876e-02 9.98926576e-01 -5.75065375e-04 2.96817780e+00] [ 1.51285097e-02 -1.25859179e-04 9.99885550e-01 2.40811562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44483917299999 meters 0.0830059490301993 Centerline is valid? [True, True] Translation: X:54.10, Y:2.97, Z:2.41 [[ 9.98947356e-01 -4.44816224e-02 -1.12056178e-02 5.41043024e+01] [ 4.44796483e-02 9.99010200e-01 -4.25447791e-04 2.97383154e+00] [ 1.12134511e-02 -7.34219920e-05 9.99937125e-01 2.41354889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504839172999986 meters 0.0823331277421135 Centerline is valid? [True, True] Translation: X:54.17, Y:2.99, Z:2.42 [[ 9.99167731e-01 -3.81473228e-02 -1.44439018e-02 5.41663947e+01] [ 3.81433958e-02 9.99272126e-01 -5.47364575e-04 2.98967581e+00] [ 1.44542690e-02 -4.03044330e-06 9.99895532e-01 2.41534425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56483917299999 meters 0.08277701431717199 Centerline is valid? [True, True] Translation: X:54.23, Y:2.99, Z:2.41 [[ 9.99241157e-01 -3.64313042e-02 -1.37793431e-02 5.42275847e+01] [ 3.64275771e-02 9.99336160e-01 -5.21452689e-04 2.99055461e+00] [ 1.37891930e-02 1.91089058e-05 9.99904924e-01 2.41170180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62483917299999 meters 0.08201480101414522 Centerline is valid? [True, True] Translation: X:54.29, Y:2.99, Z:2.42 [[ 9.99157192e-01 -3.91569209e-02 -1.23142781e-02 5.42894182e+01] [ 3.91541619e-02 9.99233074e-01 -4.65152002e-04 2.99386424e+00] [ 1.23230479e-02 -1.73952705e-05 9.99924068e-01 2.41739837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684839172999986 meters 0.08187916867016723 Centerline is valid? [True, True] Translation: X:54.35, Y:2.99, Z:2.42 [[ 9.98972043e-01 -4.36233509e-02 -1.23231734e-02 5.43515999e+01] [ 4.36209616e-02 9.99048046e-01 -4.62733563e-04 2.98511434e+00] [ 1.23316283e-02 -7.52907833e-05 9.99923960e-01 2.41926920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74483917299999 meters 0.08357283124681412 Centerline is valid? [True, True] Translation: X:54.41, Y:2.98, Z:2.41 [[ 9.98691905e-01 -4.67059644e-02 -2.08094377e-02 5.44130844e+01] [ 4.66998396e-02 9.98908662e-01 -7.80448790e-04 2.97585671e+00] [ 2.08231792e-02 -1.92369516e-04 9.99783156e-01 2.40631217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80483917299999 meters 0.08483362880260607 Centerline is valid? [True, True] Translation: X:54.47, Y:2.97, Z:2.40 [[ 9.98486146e-01 -5.02401342e-02 -2.23907195e-02 5.44748735e+01] [ 5.02339569e-02 9.98737126e-01 -8.38614102e-04 2.96540099e+00] [ 2.24045749e-02 -2.87429873e-04 9.99748945e-01 2.39864074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864839172999986 meters 0.08477510333661063 Centerline is valid? [True, True] Translation: X:54.54, Y:2.96, Z:2.40 [[ 9.98317269e-01 -5.45516224e-02 -1.96659680e-02 5.45369411e+01] [ 5.45477137e-02 9.98510894e-01 -7.35520231e-04 2.95710022e+00] [ 1.96768071e-02 -3.38451043e-04 9.99806336e-01 2.40493293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92483917299999 meters 0.08355951725830342 Centerline is valid? [True, True] Translation: X:54.60, Y:2.97, Z:2.41 [[ 9.98499193e-01 -5.17547022e-02 -1.79112626e-02 5.45991510e+01] [ 5.17510326e-02 9.98659794e-01 -6.68630915e-04 2.96547892e+00] [ 1.79218626e-02 -2.59298903e-04 9.99839357e-01 2.41222301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98483917299999 meters 0.08400041575531016 Centerline is valid? [True, True] Translation: X:54.66, Y:2.97, Z:2.40 [[ 9.98851003e-01 -4.05433233e-02 -2.55521393e-02 5.46608547e+01] [ 4.05322208e-02 9.99177778e-01 -9.52492921e-04 2.96938178e+00] [ 2.55697470e-02 -8.42864430e-05 9.99673037e-01 2.39979375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044839172999986 meters 0.0843648637799884 Centerline is valid? [True, True] Translation: X:54.72, Y:2.98, Z:2.40 [[ 9.99027797e-01 -2.99253273e-02 -3.23718442e-02 5.47217034e+01] [ 2.99019698e-02 9.99552109e-01 -1.20552446e-03 2.98416152e+00] [ 3.23934209e-02 2.36370538e-04 9.99475167e-01 2.39632159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10483917299999 meters 0.0838399907848601 Centerline is valid? [True, True] Translation: X:54.78, Y:2.98, Z:2.40 [[ 9.98823969e-01 -3.64829644e-02 -3.19323077e-02 5.47794487e+01] [ 3.64634510e-02 9.99334275e-01 -1.19339493e-03 2.98108952e+00] [ 3.19545881e-02 2.76293194e-05 9.99489321e-01 2.39687489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16483917299999 meters 0.08423947348357531 Centerline is valid? [True, True] Translation: X:54.84, Y:2.96, Z:2.40 [[ 9.98337758e-01 -5.04202602e-02 -2.79198542e-02 5.48403509e+01] [ 5.04107605e-02 9.98728023e-01 -1.04445812e-03 2.95809927e+00] [ 2.79370026e-02 -3.64739106e-04 9.99609619e-01 2.40286427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224839172999985 meters 0.08676789931852065 Centerline is valid? [True, True] Translation: X:54.90, Y:2.93, Z:2.41 [[ 9.97234997e-01 -7.03263729e-02 -2.40117227e-02 5.49029180e+01] [ 7.03251207e-02 9.97523720e-01 -8.97625323e-04 2.92878569e+00] [ 2.40153897e-02 -7.93483911e-04 9.99711274e-01 2.41045520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28483917299999 meters 0.0867342899423451 Centerline is valid? [True, True] Translation: X:54.97, Y:2.92, Z:2.41 [[ 9.97221415e-01 -7.13819678e-02 -2.13087910e-02 5.49659924e+01] [ 7.13812634e-02 9.97448788e-01 -7.94639365e-04 2.92075124e+00] [ 2.13111506e-02 -7.28617029e-04 9.99772626e-01 2.41377124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34483917299999 meters 0.08674316775709272 Centerline is valid? [True, True] Translation: X:55.03, Y:2.91, Z:2.42 [[ 9.97125372e-01 -7.32070831e-02 -1.95375357e-02 5.50288713e+01] [ 7.32068685e-02 9.97316512e-01 -7.27151254e-04 2.91214520e+00] [ 1.95383396e-02 -7.05220842e-04 9.99808860e-01 2.41748129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404839172999985 meters 0.08750977401598728 Centerline is valid? [True, True] Translation: X:55.09, Y:2.89, Z:2.42 [[ 9.96653561e-01 -7.82837497e-02 -2.35230658e-02 5.50901536e+01] [ 7.82848535e-02 9.96930647e-01 -8.75368021e-04 2.89222785e+00] [ 2.35193923e-02 -9.69061102e-04 9.99722911e-01 2.41501600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46483917299999 meters 0.08647631878940656 Centerline is valid? [True, True] Translation: X:55.15, Y:2.89, Z:2.41 [[ 9.97074716e-01 -7.19993998e-02 -2.56533859e-02 5.51494333e+01] [ 7.19986234e-02 9.97404274e-01 -9.55121560e-04 2.89342364e+00] [ 2.56555649e-02 -8.94680912e-04 9.99670441e-01 2.41119095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52483917299999 meters 0.08500046518900667 Centerline is valid? [True, True] Translation: X:55.21, Y:2.90, Z:2.41 [[ 9.97509510e-01 -6.44274205e-02 -2.87034014e-02 5.52111632e+01] [ 6.44233637e-02 9.97922087e-01 -1.06704937e-03 2.89812536e+00] [ 2.87125055e-02 -7.84777782e-04 9.99587403e-01 2.40949932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584839172999985 meters 0.08784271658711403 Centerline is valid? [True, True] Translation: X:55.27, Y:2.88, Z:2.40 [[ 9.96871540e-01 -6.86436065e-02 -3.91814842e-02 5.52726047e+01] [ 6.86393197e-02 9.97640478e-01 -1.45619912e-03 2.87858206e+00] [ 3.91889934e-02 -1.23774697e-03 9.99231050e-01 2.39513578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64483917299999 meters 0.08687390813340497 Centerline is valid? [True, True] Translation: X:55.33, Y:2.89, Z:2.39 [[ 9.97189873e-01 -6.00827148e-02 -4.47484671e-02 5.53338445e+01] [ 6.00685910e-02 9.98192869e-01 -1.66144001e-03 2.88969879e+00] [ 4.47674246e-02 -1.03120621e-03 9.98996904e-01 2.39087391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70483917299999 meters 0.0846981355407502 Centerline is valid? [True, True] Translation: X:55.39, Y:2.92, Z:2.39 [[ 9.98463781e-01 -3.64295603e-02 -4.17488437e-02 5.53915832e+01] [ 3.63964960e-02 9.99336223e-01 -1.55204836e-03 2.91697857e+00] [ 4.17776722e-02 3.01524503e-05 9.99126931e-01 2.39267283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76483917299999 meters 0.0840649365125897 Centerline is valid? [True, True] Translation: X:55.45, Y:2.94, Z:2.40 [[ 9.99240998e-01 -2.07767681e-02 -3.29507740e-02 5.54508775e+01] [ 2.07476209e-02 9.99783993e-01 -1.22627460e-03 2.93916057e+00] [ 3.29691344e-02 5.41693682e-04 9.99456224e-01 2.40318794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82483917299999 meters 0.08448943141751439 Centerline is valid? [True, True] Translation: X:55.51, Y:2.94, Z:2.40 [[ 9.99118575e-01 -1.99405774e-02 -3.69384179e-02 5.55104186e+01] [ 1.99033220e-02 9.99800962e-01 -1.37606814e-03 2.93871706e+00] [ 3.69585053e-02 6.39658008e-04 9.99316596e-01 2.40378032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88483917299999 meters 0.08521031245867038 Centerline is valid? [True, True] Translation: X:55.57, Y:2.92, Z:2.39 [[ 9.98578414e-01 -3.16606550e-02 -4.28806882e-02 5.55697333e+01] [ 3.16210990e-02 9.99498646e-01 -1.60060038e-03 2.92477617e+00] [ 4.29098659e-02 2.42390504e-04 9.99078918e-01 2.39459270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94483917299999 meters 0.08517101280757783 Centerline is valid? [True, True] Translation: X:55.63, Y:2.91, Z:2.40 [[ 9.97888803e-01 -4.74428219e-02 -4.43521787e-02 5.56300235e+01] [ 4.74159992e-02 9.98873854e-01 -1.65718300e-03 2.91125512e+00] [ 4.43808531e-02 -4.49318506e-04 9.99014583e-01 2.39803662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004839172999986 meters 0.08648919637783638 Centerline is valid? [True, True] Translation: X:55.69, Y:2.91, Z:2.39 [[ 9.97662626e-01 -5.03721122e-02 -4.61728812e-02 5.56880343e+01] [ 5.03460199e-02 9.98730339e-01 -1.72859685e-03 2.91183415e+00] [ 4.62013304e-02 -6.00064323e-04 9.98931968e-01 2.39292895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06483917299999 meters 0.0859172008321087 Centerline is valid? [True, True] Translation: X:55.75, Y:2.91, Z:2.40 [[ 9.97683390e-01 -5.39502386e-02 -4.14394067e-02 5.57485148e+01] [ 5.39322733e-02 9.98543389e-01 -1.55216561e-03 2.90670908e+00] [ 4.14627853e-02 -6.86351560e-04 9.99139813e-01 2.40129425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12483917299999 meters 0.08422582554615009 Centerline is valid? [True, True] Translation: X:55.81, Y:2.93, Z:2.41 [[ 9.98349155e-01 -4.30993989e-02 -3.79658473e-02 5.58068024e+01] [ 4.30764395e-02 9.99070766e-01 -1.42292296e-03 2.92728740e+00] [ 3.79918952e-02 -2.14859587e-04 9.99278024e-01 2.40827885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184839172999986 meters 0.0841246119500046 Centerline is valid? [True, True] Translation: X:55.87, Y:2.94, Z:2.41 [[ 9.98594066e-01 -3.72730116e-02 -3.76910254e-02 5.58654339e+01] [ 3.72458726e-02 9.99305120e-01 -1.42219253e-03 2.93972073e+00] [ 3.77178440e-02 1.63578935e-05 9.99288429e-01 2.41002683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24483917299999 meters 0.08390700211283063 Centerline is valid? [True, True] Translation: X:55.93, Y:2.94, Z:2.41 [[ 9.98903671e-01 -3.38945037e-02 -3.22896117e-02 5.59256535e+01] [ 3.38728031e-02 9.99425409e-01 -1.21899352e-03 2.94323776e+00] [ 3.23123756e-02 1.23917438e-04 9.99477811e-01 2.41295338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30483917299999 meters 0.08347166829635537 Centerline is valid? [True, True] Translation: X:55.99, Y:2.93, Z:2.42 [[ 9.98425780e-01 -4.82888776e-02 -2.85332400e-02 5.59852092e+01] [ 4.82776124e-02 9.98833368e-01 -1.08397790e-03 2.93244467e+00] [ 2.85522963e-02 -2.95245224e-04 9.99592256e-01 2.41857516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364839172999986 meters 0.08457191393304578 Centerline is valid? [True, True] Translation: X:56.05, Y:2.93, Z:2.41 [[ 9.98056966e-01 -5.25259185e-02 -3.35159820e-02 5.60458421e+01] [ 5.25127813e-02 9.98619441e-01 -1.27271139e-03 2.92866399e+00] [ 3.35365616e-02 -4.89778964e-04 9.99437371e-01 2.41270077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42483917299999 meters 0.08477089919167562 Centerline is valid? [True, True] Translation: X:56.11, Y:2.94, Z:2.41 [[ 9.98173917e-01 -4.69615677e-02 -3.79926670e-02 5.61068940e+01] [ 4.69407087e-02 9.98896637e-01 -1.44135785e-03 2.93704802e+00] [ 3.80184357e-02 -3.44676897e-04 9.99276978e-01 2.40884226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48483917299999 meters 0.08464230860956215 Centerline is valid? [True, True] Translation: X:56.17, Y:2.95, Z:2.41 [[ 9.98209583e-01 -4.69445077e-02 -3.70653824e-02 5.61652950e+01] [ 4.69242933e-02 9.98897446e-01 -1.41559774e-03 2.94724337e+00] [ 3.70909704e-02 -3.26203649e-04 9.99311840e-01 2.41111741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544839172999986 meters 0.08610620753631626 Centerline is valid? [True, True] Translation: X:56.23, Y:2.94, Z:2.41 [[ 9.97544220e-01 -5.53882957e-02 -4.28680109e-02 5.62251636e+01] [ 5.53690363e-02 9.98464616e-01 -1.63738272e-03 2.94071399e+00] [ 4.28928839e-02 -7.40198789e-04 9.99079403e-01 2.40633152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60483917299999 meters 0.08574749853102215 Centerline is valid? [True, True] Translation: X:56.28, Y:2.95, Z:2.41 [[ 9.97680785e-01 -5.09567039e-02 -4.51272074e-02 5.62832026e+01] [ 5.09303212e-02 9.98700702e-01 -1.73494408e-03 2.95317395e+00] [ 4.51569808e-02 -5.67422796e-04 9.98979742e-01 2.40664657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66483917299999 meters 0.08665644820182317 Centerline is valid? [True, True] Translation: X:56.34, Y:2.97, Z:2.40 [[ 9.97706660e-01 -4.20248927e-02 -5.30596651e-02 5.63430497e+01] [ 4.19757912e-02 9.99116546e-01 -2.03995159e-03 2.97078328e+00] [ 5.30985180e-02 -1.91948129e-04 9.98589260e-01 2.39730318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724839172999985 meters 0.0870230224977637 Centerline is valid? [True, True] Translation: X:56.40, Y:2.98, Z:2.40 [[ 9.97849853e-01 -3.96144385e-02 -5.22146187e-02 5.64009410e+01] [ 3.95629031e-02 9.99215039e-01 -2.02061538e-03 2.98236176e+00] [ 5.22536777e-02 -4.94911336e-05 9.98633842e-01 2.39612026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78483917299999 meters 0.08717405791298331 Centerline is valid? [True, True] Translation: X:56.46, Y:2.98, Z:2.40 [[ 9.97632022e-01 -4.58946459e-02 -5.12252967e-02 5.64598386e+01] [ 4.58526597e-02 9.98946221e-01 -1.99513729e-03 2.98103175e+00] [ 5.12628827e-02 -3.58403255e-04 9.98685130e-01 2.39690375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84483917299999 meters 0.08633671765859684 Centerline is valid? [True, True] Translation: X:56.52, Y:2.99, Z:2.40 [[ 9.97611990e-01 -4.75350455e-02 -5.01072467e-02 5.65181203e+01] [ 4.74963047e-02 9.98869482e-01 -1.96425006e-03 2.98614017e+00] [ 5.01439703e-02 -4.20349650e-04 9.98741911e-01 2.40287773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904839172999985 meters 0.0859562370008064 Centerline is valid? [True, True] Translation: X:56.58, Y:3.00, Z:2.41 [[ 9.98230220e-01 -3.59371473e-02 -4.73809020e-02 5.65774035e+01] [ 3.58894039e-02 9.99354040e-01 -1.85825550e-03 3.00096890e+00] [ 4.74170762e-02 1.54494463e-04 9.98875166e-01 2.40618145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96483917299999 meters 0.08462961044177036 Centerline is valid? [True, True] Translation: X:56.64, Y:3.01, Z:2.42 [[ 9.98909003e-01 -2.97672589e-02 -3.59821466e-02 5.66375286e+01] [ 2.97357276e-02 9.99556799e-01 -1.41125614e-03 3.00872278e+00] [ 3.60082085e-02 3.39761152e-04 9.99351436e-01 2.41771269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02483917299999 meters 0.0853203616456426 Centerline is valid? [True, True] Translation: X:56.70, Y:3.00, Z:2.41 [[ 9.98578616e-01 -3.06028269e-02 -4.36373048e-02 5.66985666e+01] [ 3.05572368e-02 9.99531553e-01 -1.71156026e-03 3.00176290e+00] [ 4.36692416e-02 3.75692018e-04 9.99045973e-01 2.41381753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084839172999985 meters 0.08502730654853612 Centerline is valid? [True, True] Translation: X:56.76, Y:2.99, Z:2.42 [[ 9.98957096e-01 -2.88177156e-02 -3.54155245e-02 5.67589675e+01] [ 2.87865678e-02 9.99584616e-01 -1.38919155e-03 2.99390262e+00] [ 3.54408468e-02 3.68251362e-04 9.99371708e-01 2.41679953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14483917299999 meters 0.08461475221441997 Centerline is valid? [True, True] Translation: X:56.82, Y:2.98, Z:2.42 [[ 9.99044195e-01 -2.79955921e-02 -3.35699670e-02 5.68178902e+01] [ 2.79668601e-02 9.99607972e-01 -1.32522824e-03 2.98213302e+00] [ 3.35939072e-02 3.85115005e-04 9.99435491e-01 2.41923404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20483917299999 meters 0.08503801931530222 Centerline is valid? [True, True] Translation: X:56.88, Y:2.97, Z:2.41 [[ 9.98857671e-01 -3.05310022e-02 -3.67588137e-02 5.68765895e+01] [ 3.04981685e-02 9.99533765e-01 -1.45374746e-03 2.96959584e+00] [ 3.67860598e-02 3.31010306e-04 9.99323109e-01 2.41267934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.264839172999984 meters 0.08453975554208217 Centerline is valid? [True, True] Translation: X:56.94, Y:2.95, Z:2.41 [[ 9.98653184e-01 -3.81483883e-02 -3.51641795e-02 5.69366763e+01] [ 3.81227685e-02 9.99272084e-01 -1.39901839e-03 2.94632650e+00] [ 3.51919533e-02 5.65782900e-05 9.99380570e-01 2.41327028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32483917299999 meters 0.08437600319067262 Centerline is valid? [True, True] Translation: X:57.00, Y:2.93, Z:2.42 [[ 9.98435435e-01 -4.68334939e-02 -3.05500552e-02 5.69963434e+01] [ 4.68181866e-02 9.98902687e-01 -1.21657055e-03 2.93118733e+00] [ 3.05735084e-02 -2.15631036e-04 9.99532498e-01 2.41554115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38483917299999 meters 0.08355299268282268 Centerline is valid? [True, True] Translation: X:57.06, Y:2.93, Z:2.42 [[ 9.98441281e-01 -5.02997827e-02 -2.41855478e-02 5.70574617e+01] [ 5.02912165e-02 9.98734132e-01 -9.62693202e-04 2.92633330e+00] [ 2.42033554e-02 -2.55127988e-04 9.99707023e-01 2.42466737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44483917299999 meters 0.08427083112352987 Centerline is valid? [True, True] Translation: X:57.12, Y:2.92, Z:2.42 [[ 9.98403873e-01 -4.73529458e-02 -3.07799499e-02 5.71188539e+01] [ 4.73376879e-02 9.98878193e-01 -1.22463056e-03 2.92072948e+00] [ 3.08034106e-02 -2.34375769e-04 9.99525435e-01 2.41665072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504839172999986 meters 0.08432029065676772 Centerline is valid? [True, True] Translation: X:57.18, Y:2.92, Z:2.42 [[ 9.98326196e-01 -5.08826902e-02 -2.74910552e-02 5.71792687e+01] [ 5.08718432e-02 9.98704590e-01 -1.09426766e-03 2.91655825e+00] [ 2.75111223e-02 -3.06084580e-04 9.99621451e-01 2.42090964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56483917299999 meters 0.08735904399988978 Centerline is valid? [True, True] Translation: X:57.24, Y:2.89, Z:2.42 [[ 9.97359634e-01 -6.84780287e-02 -2.41768669e-02 5.72402198e+01] [ 6.84747918e-02 9.97652382e-01 -9.62704459e-04 2.88982948e+00] [ 2.41860329e-02 -6.95343360e-04 9.99707233e-01 2.42130314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62483917299999 meters 0.09072034410817496 Centerline is valid? [True, True] Translation: X:57.30, Y:2.87, Z:2.42 [[ 9.95889264e-01 -8.56950903e-02 -2.93415406e-02 5.73015180e+01] [ 8.56977777e-02 9.96320494e-01 -1.16824063e-03 2.87082771e+00] [ 2.93336907e-02 -1.35106652e-03 9.99568762e-01 2.42163489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684839172999986 meters 0.09330300999406312 Centerline is valid? [True, True] Translation: X:57.36, Y:2.87, Z:2.42 [[ 9.95524709e-01 -9.03639846e-02 -2.76568984e-02 5.73618317e+01] [ 9.03682020e-02 9.95907816e-01 -1.09992857e-03 2.87352861e+00] [ 2.76431152e-02 -1.40429810e-03 9.99616870e-01 2.42147880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74483917299999 meters 0.09336495457787097 Centerline is valid? [True, True] Translation: X:57.42, Y:2.88, Z:2.43 [[ 9.95548573e-01 -9.17194536e-02 -2.16928787e-02 5.74237065e+01] [ 9.17224028e-02 9.95784243e-01 -8.61087597e-04 2.87568013e+00] [ 2.16804053e-02 -1.13246843e-03 9.99764311e-01 2.42557144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80483917299999 meters 0.0934429571383743 Centerline is valid? [True, True] Translation: X:57.49, Y:2.88, Z:2.42 [[ 9.95550231e-01 -9.03796752e-02 -2.66692980e-02 5.74855056e+01] [ 9.03837098e-02 9.95906456e-01 -1.05660393e-03 2.88385412e+00] [ 2.66556216e-02 -1.35856781e-03 9.99643753e-01 2.42020477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864839172999986 meters 0.09162181201388264 Centerline is valid? [True, True] Translation: X:57.54, Y:2.90, Z:2.42 [[ 9.96234432e-01 -8.21030675e-02 -2.78575491e-02 5.75445784e+01] [ 8.21042255e-02 9.96623137e-01 -1.10419748e-03 2.89859917e+00] [ 2.78541360e-02 -1.18718294e-03 9.99611293e-01 2.41732191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92483917299999 meters 0.08929373225850436 Centerline is valid? [True, True] Translation: X:57.60, Y:2.93, Z:2.43 [[ 9.96871990e-01 -7.71556605e-02 -1.71242463e-02 5.76037957e+01] [ 7.71553670e-02 9.97018851e-01 -6.78791795e-04 2.93005469e+00] [ 1.71255690e-02 -6.44558978e-04 9.99853139e-01 2.43026245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98483917299999 meters 0.09023504149198754 Centerline is valid? [True, True] Translation: X:57.66, Y:2.93, Z:2.44 [[ 9.96499303e-01 -8.24711676e-02 -1.36984017e-02 5.76645585e+01] [ 8.24714842e-02 9.96593277e-01 -5.42738224e-04 2.93179835e+00] [ 1.36964953e-02 -5.88889260e-04 9.99906025e-01 2.43540303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044839172999986 meters 0.09005132822520087 Centerline is valid? [True, True] Translation: X:57.73, Y:2.95, Z:2.43 [[ 9.96761860e-01 -7.74478471e-02 -2.16246332e-02 5.77255502e+01] [ 7.74475695e-02 9.96996063e-01 -8.51583292e-04 2.94734358e+00] [ 2.16256274e-02 -8.25949536e-04 9.99765798e-01 2.42798079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10483917299999 meters 0.08606465903161876 Centerline is valid? [True, True] Translation: X:57.79, Y:2.98, Z:2.43 [[ 9.97739417e-01 -6.45113221e-02 -1.88240474e-02 5.77853460e+01] [ 6.45088161e-02 9.97916862e-01 -7.40941254e-04 2.98319426e+00] [ 1.88326334e-02 -4.75050714e-04 9.99822537e-01 2.43362132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16483917299999 meters 0.08425824984096478 Centerline is valid? [True, True] Translation: X:57.84, Y:3.01, Z:2.44 [[ 9.98350437e-01 -5.63383164e-02 -1.10634272e-02 5.78441720e+01] [ 5.63369469e-02 9.98411718e-01 -4.35650843e-04 3.01258842e+00] [ 1.10703992e-02 -1.88347503e-04 9.99938704e-01 2.44224517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224839172999985 meters 0.08562488343074717 Centerline is valid? [True, True] Translation: X:57.91, Y:3.02, Z:2.44 [[ 9.98074221e-01 -6.12928332e-02 -9.54142964e-03 5.79066752e+01] [ 6.12920472e-02 9.98119805e-01 -3.75050802e-04 3.01523457e+00] [ 9.54647782e-03 -2.10485218e-04 9.99954409e-01 2.44430764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28483917299999 meters 0.08460455982405843 Centerline is valid? [True, True] Translation: X:57.97, Y:3.04, Z:2.45 [[ 9.98092007e-01 -6.15672003e-02 -4.67166248e-03 5.79677401e+01] [ 6.15670202e-02 9.98102935e-01 -1.82484259e-04 3.04013431e+00] [ 4.67403508e-03 -1.05484258e-04 9.99989071e-01 2.45333139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34483917299999 meters 0.0842713354057617 Centerline is valid? [True, True] Translation: X:58.03, Y:3.06, Z:2.46 [[ 9.98353841e-01 -5.73516860e-02 6.26009972e-04 5.80284253e+01] [ 5.73516819e-02 9.98354037e-01 2.44197788e-05 3.06156328e+00] [-6.26380099e-04 1.15231449e-05 9.99999804e-01 2.45861244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404839172999985 meters 0.0856150214517239 Centerline is valid? [True, True] Translation: X:58.09, Y:3.06, Z:2.46 [[ 9.98105912e-01 -6.12798886e-02 5.41876377e-03 5.80896682e+01] [ 6.12796503e-02 9.98120614e-01 2.10153900e-04 3.06463464e+00] [-5.42145803e-03 1.22304099e-04 9.99985296e-01 2.46339529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46483917299999 meters 0.08674907446384626 Centerline is valid? [True, True] Translation: X:58.15, Y:3.07, Z:2.45 [[ 9.98145877e-01 -6.07195998e-02 -4.23542305e-03 5.81516727e+01] [ 6.07194534e-02 9.98154858e-01 -1.63273860e-04 3.07165418e+00] [ 4.23752201e-03 -9.42014420e-05 9.99991017e-01 2.45171779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52483917299999 meters 0.08554471523563026 Centerline is valid? [True, True] Translation: X:58.21, Y:3.09, Z:2.45 [[ 9.98494676e-01 -5.44506684e-02 -6.59603092e-03 5.82121044e+01] [ 5.44501783e-02 9.98516456e-01 -2.53985560e-04 3.09387139e+00] [ 6.60007511e-03 -1.05551830e-04 9.99978214e-01 2.45027272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584839172999985 meters 0.08504441697934435 Centerline is valid? [True, True] Translation: X:58.27, Y:3.10, Z:2.46 [[ 9.98410619e-01 -5.63578092e-02 1.79485897e-04 5.82744579e+01] [ 5.63578088e-02 9.98410636e-01 6.82558437e-06 3.10145779e+00] [-1.79585304e-04 3.30069597e-06 9.99999984e-01 2.46001562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64483917299999 meters 0.08645594803230673 Centerline is valid? [True, True] Translation: X:58.34, Y:3.09, Z:2.46 [[ 9.98210486e-01 -5.97969134e-02 3.92857082e-04 5.83371901e+01] [ 5.97969122e-02 9.98210563e-01 1.48890381e-05 3.08733478e+00] [-3.93044408e-04 8.62924643e-06 9.99999923e-01 2.45542755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70483917299999 meters 0.08532911123225488 Centerline is valid? [True, True] Translation: X:58.40, Y:3.09, Z:2.45 [[ 9.98494404e-01 -5.48519048e-02 4.39766851e-04 5.83986879e+01] [ 5.48519027e-02 9.98494501e-01 1.66889969e-05 3.09041424e+00] [-4.40020205e-04 7.45817851e-06 9.99999903e-01 2.45326105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.764839172999984 meters 0.08368845291432735 Centerline is valid? [True, True] Translation: X:58.46, Y:3.10, Z:2.45 [[ 9.99205929e-01 -3.98175496e-02 1.44034969e-03 5.84593165e+01] [ 3.98175122e-02 9.99206967e-01 5.46213272e-05 3.10321042e+00] [-1.44138233e-03 2.77318752e-06 9.99998961e-01 2.44955525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82483917299999 meters 0.08320583868781567 Centerline is valid? [True, True] Translation: X:58.52, Y:3.12, Z:2.45 [[ 9.99686752e-01 -2.49140450e-02 2.38503177e-03 5.85210635e+01] [ 2.49139006e-02 9.99689597e-01 9.02710798e-05 3.12227303e+00] [-2.38654046e-03 -3.08223582e-05 9.99997152e-01 2.45193346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88483917299999 meters 0.08355180271093428 Centerline is valid? [True, True] Translation: X:58.58, Y:3.12, Z:2.45 [[ 9.99769880e-01 -2.07919470e-02 5.28032041e-03 5.85832179e+01] [ 2.07911833e-02 9.99783820e-01 1.99492719e-04 3.11930937e+00] [-5.28332675e-03 -8.96627022e-05 9.99986039e-01 2.45187324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.944839172999984 meters 0.08358787360978472 Centerline is valid? [True, True] Translation: X:58.65, Y:3.11, Z:2.44 [[ 9.99855571e-01 -1.64579102e-02 -4.23965632e-03 5.86456533e+01] [ 1.64573801e-02 9.99864555e-01 -1.59892904e-04 3.11463381e+00] [ 4.24171359e-03 9.00961747e-05 9.99991000e-01 2.44232734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004839172999986 meters 0.08481711444610636 Centerline is valid? [True, True] Translation: X:58.71, Y:3.11, Z:2.43 [[ 9.99856670e-01 -1.18063654e-02 -1.21346543e-02 5.87073850e+01] [ 1.18016857e-02 9.99930253e-01 -4.57186017e-04 3.10673503e+00] [ 1.21392057e-02 3.13911112e-04 9.99926268e-01 2.43128118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06483917299999 meters 0.08418503451574925 Centerline is valid? [True, True] Translation: X:58.77, Y:3.10, Z:2.42 [[ 9.99777222e-01 -1.17985915e-02 -1.75014094e-02 5.87676270e+01] [ 1.17888520e-02 9.99930292e-01 -6.59566240e-04 3.09896315e+00] [ 1.75079714e-02 4.53097777e-04 9.99846621e-01 2.42486703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12483917299999 meters 0.08555731940188316 Centerline is valid? [True, True] Translation: X:58.83, Y:3.10, Z:2.42 [[ 9.99700563e-01 -6.56270235e-03 -2.35736049e-02 5.88275454e+01] [ 6.54357668e-03 9.99978196e-01 -8.88364997e-04 3.09774870e+00] [ 2.35789209e-02 7.33843297e-04 9.99721709e-01 2.41554604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184839172999986 meters 0.08413899383752417 Centerline is valid? [True, True] Translation: X:58.89, Y:3.09, Z:2.42 [[ 9.99640647e-01 -9.11300302e-03 -2.52097049e-02 5.88868767e+01] [ 9.09178158e-03 9.99958212e-01 -9.56289806e-04 3.09272785e+00] [ 2.52173661e-02 7.26745030e-04 9.99681727e-01 2.41713492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24483917299999 meters 0.08238080832386008 Centerline is valid? [True, True] Translation: X:58.95, Y:3.07, Z:2.42 [[ 9.99465956e-01 -1.83228725e-02 -2.70568767e-02 5.89482117e+01] [ 1.83017837e-02 9.99831981e-01 -1.02687832e-03 3.06906524e+00] [ 2.70711460e-02 5.31140819e-04 9.99633368e-01 2.41527775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30483917299999 meters 0.08213242602872915 Centerline is valid? [True, True] Translation: X:59.01, Y:3.06, Z:2.41 [[ 9.99418730e-01 -2.19216159e-02 -2.61083170e-02 5.90076315e+01] [ 2.19031592e-02 9.99759604e-01 -9.92729200e-04 3.05792287e+00] [ 2.61238029e-02 4.20297534e-04 9.99658627e-01 2.41354169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364839172999986 meters 0.08062922852759671 Centerline is valid? [True, True] Translation: X:59.07, Y:3.06, Z:2.42 [[ 9.99606066e-01 -2.09914203e-02 -1.86299202e-02 5.90672483e+01] [ 2.09818501e-02 9.99779605e-01 -7.09040095e-04 3.05887003e+00] [ 1.86406980e-02 3.17870588e-04 9.99826197e-01 2.42492300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42483917299999 meters 0.08147369607196855 Centerline is valid? [True, True] Translation: X:59.13, Y:3.03, Z:2.42 [[ 9.98901393e-01 -3.48342858e-02 -3.13461411e-02 5.91284366e+01] [ 3.48139776e-02 9.99393097e-01 -1.19357853e-03 3.02731293e+00] [ 3.13686944e-02 1.00983407e-04 9.99507876e-01 2.41510516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48483917299999 meters 0.08329649824934902 Centerline is valid? [True, True] Translation: X:59.19, Y:3.01, Z:2.40 [[ 9.98302334e-01 -3.81347573e-02 -4.40248826e-02 5.91898549e+01] [ 3.80978982e-02 9.99272606e-01 -1.67627125e-03 3.00517314e+00] [ 4.40567833e-02 -3.82999152e-06 9.99029029e-01 2.40359829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544839172999986 meters 0.08541698110152754 Centerline is valid? [True, True] Translation: X:59.25, Y:3.00, Z:2.39 [[ 9.98027650e-01 -3.85890856e-02 -4.95145673e-02 5.92496372e+01] [ 3.85429542e-02 9.99255164e-01 -1.88649612e-03 2.99667677e+00] [ 4.95504852e-02 -2.56624056e-05 9.98771620e-01 2.38931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60483917299999 meters 0.08491162312653586 Centerline is valid? [True, True] Translation: X:59.31, Y:2.97, Z:2.40 [[ 9.97282528e-01 -5.17708417e-02 -5.24150651e-02 5.93109270e+01] [ 5.17372927e-02 9.98658732e-01 -1.99761414e-03 2.96546421e+00] [ 5.24481806e-02 -7.19627886e-04 9.98623388e-01 2.39969250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66483917299999 meters 0.08650131789557601 Centerline is valid? [True, True] Translation: X:59.37, Y:2.94, Z:2.40 [[ 9.96204491e-01 -5.55390001e-02 -6.70226242e-02 5.93719396e+01] [ 5.54925854e-02 9.98455829e-01 -2.55549059e-03 2.94267058e+00] [ 6.70610592e-02 -1.17346749e-03 9.97748183e-01 2.40147131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724839172999985 meters 0.08911352849052531 Centerline is valid? [True, True] Translation: X:59.43, Y:2.93, Z:2.39 [[ 9.96328957e-01 -4.91601802e-02 -7.00848496e-02 5.94306784e+01] [ 4.90932950e-02 9.98790608e-01 -2.67753796e-03 2.93273449e+00] [ 7.01317178e-02 -7.72987599e-04 9.97537440e-01 2.39209739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78483917299999 meters 0.08868768104702306 Centerline is valid? [True, True] Translation: X:59.49, Y:2.93, Z:2.40 [[ 9.96669793e-01 -4.24052897e-02 -6.96499516e-02 5.94894983e+01] [ 4.23223973e-02 9.99100449e-01 -2.66603270e-03 2.93308515e+00] [ 6.97003518e-02 -2.90598659e-04 9.97567931e-01 2.39657330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84483917299999 meters 0.08596780561079571 Centerline is valid? [True, True] Translation: X:59.55, Y:2.92, Z:2.41 [[ 9.96807379e-01 -5.20409199e-02 -6.05540365e-02 5.95507357e+01] [ 5.19959572e-02 9.98644603e-01 -2.31908460e-03 2.91809794e+00] [ 6.05926490e-02 -8.36884456e-04 9.98162227e-01 2.41499189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904839172999985 meters 0.08382938398562532 Centerline is valid? [True, True] Translation: X:59.61, Y:2.91, Z:2.44 [[ 9.96796787e-01 -6.12192881e-02 -5.14622601e-02 5.96114320e+01] [ 6.11990111e-02 9.98123637e-01 -1.97117032e-03 2.90856225e+00] [ 5.14863718e-02 -1.18458318e-03 9.98672995e-01 2.43729542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96483917299999 meters 0.08384043968338421 Centerline is valid? [True, True] Translation: X:59.67, Y:2.90, Z:2.44 [[ 9.96364248e-01 -6.56747265e-02 -5.42689129e-02 5.96714188e+01] [ 6.56587215e-02 9.97839971e-01 -2.07972589e-03 2.90424964e+00] [ 5.42882759e-02 -1.49106292e-03 9.98524191e-01 2.43937019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02483917299999 meters 0.0827326662654984 Centerline is valid? [True, True] Translation: X:59.73, Y:2.91, Z:2.45 [[ 9.96959641e-01 -6.14218826e-02 -4.79460724e-02 5.97309095e+01] [ 6.14043949e-02 9.98111276e-01 -1.83894231e-03 2.90856582e+00] [ 4.79684668e-02 -1.11074830e-03 9.98848233e-01 2.44614797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.084839172999985 meters 0.08049776592580382 Centerline is valid? [True, True] Translation: X:59.79, Y:2.92, Z:2.46 [[ 9.97358121e-01 -6.15081541e-02 -3.86461473e-02 5.97908442e+01] [ 6.14967840e-02 9.98106178e-01 -1.48401891e-03 2.91799666e+00] [ 3.86642376e-02 -8.96515457e-04 9.99251857e-01 2.46029339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14483917299999 meters 0.08073148905570884 Centerline is valid? [True, True] Translation: X:59.85, Y:2.92, Z:2.47 [[ 9.97127876e-01 -6.98057055e-02 -2.93796387e-02 5.98483255e+01] [ 6.98026041e-02 9.97560181e-01 -1.13241289e-03 2.92274053e+00] [ 2.93870066e-02 -9.21614830e-04 9.99567684e-01 2.47374795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20483917299999 meters 0.08167820933747119 Centerline is valid? [True, True] Translation: X:59.91, Y:2.93, Z:2.47 [[ 9.96842097e-01 -7.15577290e-02 -3.44285530e-02 5.99087212e+01] [ 7.15545382e-02 9.97435807e-01 -1.32637998e-03 2.93207477e+00] [ 3.44351843e-02 -1.14132781e-03 9.99406281e-01 2.46903281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.264839172999984 meters 0.08187325883603083 Centerline is valid? [True, True] Translation: X:59.97, Y:2.94, Z:2.47 [[ 9.96750349e-01 -7.20942033e-02 -3.59328309e-02 5.99676115e+01] [ 7.20910521e-02 9.97397093e-01 -1.38501494e-03 2.93973367e+00] [ 3.59391526e-02 -1.20992147e-03 9.99353248e-01 2.46586286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32483917299999 meters 0.08076485580596 Centerline is valid? [True, True] Translation: X:60.03, Y:2.97, Z:2.47 [[ 9.96918866e-01 -7.33212262e-02 -2.78706198e-02 6.00275160e+01] [ 7.33198209e-02 9.97307902e-01 -1.07373001e-03 2.96589287e+00] [ 2.78743166e-02 -9.73047154e-04 9.99610962e-01 2.47151139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38483917299999 meters 0.07874035471991457 Centerline is valid? [True, True] Translation: X:60.09, Y:2.99, Z:2.48 [[ 9.97366747e-01 -6.94045523e-02 -2.10375775e-02 6.00869850e+01] [ 6.94028819e-02 9.97588384e-01 -8.10386126e-04 2.99027117e+00] [ 2.10430875e-02 -6.51816336e-04 9.99778357e-01 2.48098664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.444839172999984 meters 0.07783469371385028 Centerline is valid? [True, True] Translation: X:60.15, Y:3.02, Z:2.48 [[ 9.97684787e-01 -6.51408072e-02 -1.95381946e-02 6.01467213e+01] [ 6.51385640e-02 9.97875945e-01 -7.51874972e-04 3.01502097e+00] [ 1.95456722e-02 -5.22555720e-04 9.99808829e-01 2.48027618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.504839172999986 meters 0.07956592570185438 Centerline is valid? [True, True] Translation: X:60.21, Y:3.03, Z:2.47 [[ 9.97966731e-01 -5.90298413e-02 -2.40391867e-02 6.02070901e+01] [ 5.90247066e-02 9.98256095e-01 -9.23717347e-04 3.02867794e+00] [ 2.40517915e-02 -4.97066760e-04 9.99710590e-01 2.46905254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56483917299999 meters 0.0775297764563598 Centerline is valid? [True, True] Translation: X:60.27, Y:3.05, Z:2.47 [[ 9.98381495e-01 -5.28871850e-02 -2.09125900e-02 6.02665993e+01] [ 5.28819516e-02 9.98600447e-01 -8.03568650e-04 3.05181418e+00] [ 2.09258202e-02 -3.03630503e-04 9.99780985e-01 2.47439633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.624839172999984 meters 0.07647982497999843 Centerline is valid? [True, True] Translation: X:60.33, Y:3.07, Z:2.48 [[ 9.98594501e-01 -5.09915117e-02 -1.44529941e-02 6.03261349e+01] [ 5.09888363e-02 9.98699070e-01 -5.53782793e-04 3.06771018e+00] [ 1.44624300e-02 -1.83936900e-04 9.99895397e-01 2.48094828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.684839172999986 meters 0.07687094452332763 Centerline is valid? [True, True] Translation: X:60.39, Y:3.07, Z:2.48 [[ 9.98297971e-01 -5.55885174e-02 -1.76373996e-02 6.03869955e+01] [ 5.55852560e-02 9.98453716e-01 -6.75463408e-04 3.07430834e+00] [ 1.76476752e-02 -3.06065623e-04 9.99844221e-01 2.48233512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74483917299999 meters 0.07644617392650102 Centerline is valid? [True, True] Translation: X:60.45, Y:3.09, Z:2.48 [[ 9.98711401e-01 -4.82291613e-02 -1.57950949e-02 6.04475720e+01] [ 4.82256342e-02 9.98836284e-01 -6.04337488e-04 3.09123399e+00] [ 1.58058606e-02 -1.58169731e-04 9.99875067e-01 2.47875593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80483917299999 meters 0.07619239512250325 Centerline is valid? [True, True] Translation: X:60.51, Y:3.11, Z:2.49 [[ 9.98751816e-01 -4.91736051e-02 -8.76162994e-03 6.05080570e+01] [ 4.91725602e-02 9.98790242e-01 -3.34766043e-04 3.11209776e+00] [ 8.76749215e-03 -9.64835822e-05 9.99961560e-01 2.48626710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.864839172999986 meters 0.07552091214435391 Centerline is valid? [True, True] Translation: X:60.57, Y:3.13, Z:2.49 [[ 9.98820592e-01 -4.81493252e-02 -6.25043739e-03 6.05698728e+01] [ 4.81487762e-02 9.98840147e-01 -2.38368502e-04 3.13108070e+00] [ 6.25466509e-03 -6.28635431e-05 9.99980437e-01 2.49212224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92483917299999 meters 0.07584559585487306 Centerline is valid? [True, True] Translation: X:60.63, Y:3.16, Z:2.49 [[ 9.99160562e-01 -4.03549138e-02 -7.04650717e-03 6.06313020e+01] [ 4.03540258e-02 9.99185409e-01 -2.68220079e-04 3.15873094e+00] [ 7.05159115e-03 -1.63600073e-05 9.99975137e-01 2.48529080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98483917299999 meters 0.07535321150440816 Centerline is valid? [True, True] Translation: X:60.69, Y:3.19, Z:2.49 [[ 9.99310986e-01 -3.70687369e-02 1.86062492e-03 6.06928819e+01] [ 3.70686696e-02 9.99312718e-01 7.06766826e-05 3.18586292e+00] [-1.86196604e-03 -1.65709502e-06 9.99998267e-01 2.49477155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.044839172999986 meters 0.07514062239757989 Centerline is valid? [True, True] Translation: X:60.75, Y:3.20, Z:2.50 [[ 9.99258788e-01 -3.79205639e-02 6.62614348e-03 6.07547926e+01] [ 3.79197397e-02 9.99280757e-01 2.50022595e-04 3.19905314e+00] [-6.63085867e-03 1.42436069e-06 9.99978016e-01 2.49825010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10483917299999 meters 0.075978999789988 Centerline is valid? [True, True] Translation: X:60.82, Y:3.20, Z:2.51 [[ 9.98990313e-01 -4.23885229e-02 1.48851210e-02 6.08157989e+01] [ 4.23849097e-02 9.99101200e-01 5.58270022e-04 3.20337045e+00] [-1.48954065e-02 7.31981635e-05 9.99889055e-01 2.50716127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16483917299999 meters 0.07670858617182304 Centerline is valid? [True, True] Translation: X:60.88, Y:3.20, Z:2.50 [[ 9.98760097e-01 -4.82090395e-02 1.24159926e-02 6.08783125e+01] [ 4.82070140e-02 9.98837259e-01 4.62540806e-04 3.20013786e+00] [-1.24238546e-02 1.36570627e-04 9.99922812e-01 2.50209554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.224839172999985 meters 0.07659442997984305 Centerline is valid? [True, True] Translation: X:60.94, Y:3.21, Z:2.50 [[ 9.98785563e-01 -4.79870297e-02 1.11644502e-02 6.09406174e+01] [ 4.79854097e-02 9.98847951e-01 4.13088671e-04 3.20914101e+00] [-1.11714111e-02 1.23143715e-04 9.99937590e-01 2.50045043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28483917299999 meters 0.07699640043834151 Centerline is valid? [True, True] Translation: X:61.00, Y:3.21, Z:2.51 [[ 9.98590841e-01 -4.98304843e-02 1.82552682e-02 6.10019974e+01] [ 4.98264719e-02 9.98757662e-01 6.74849353e-04 3.20679351e+00] [-1.82662171e-02 2.35697225e-04 9.99833131e-01 2.50621178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34483917299999 meters 0.07615852840594609 Centerline is valid? [True, True] Translation: X:61.06, Y:3.21, Z:2.49 [[ 9.99215161e-01 -3.96034728e-02 7.91818585e-04 6.10620825e+01] [ 3.96034620e-02 9.99215475e-01 2.92767799e-05 3.21416041e+00] [-7.92356846e-04 2.10495494e-06 9.99999686e-01 2.48522894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.404839172999985 meters 0.07619934655701452 Centerline is valid? [True, True] Translation: X:61.12, Y:3.22, Z:2.48 [[ 9.99301502e-01 -3.73659444e-02 5.43303965e-04 6.11237551e+01] [ 3.73659391e-02 9.99301649e-01 1.99009698e-05 3.21954691e+00] [-5.43668166e-04 4.13993894e-07 9.99999852e-01 2.48251658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46483917299999 meters 0.07765497076582403 Centerline is valid? [True, True] Translation: X:61.19, Y:3.21, Z:2.51 [[ 9.98374907e-01 -5.27002859e-02 2.16846773e-02 6.11853860e+01] [ 5.26954390e-02 9.98610314e-01 7.95265295e-04 3.21189841e+00] [-2.16964531e-02 3.48710676e-04 9.99764543e-01 2.50719501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52483917299999 meters 0.07986565661866037 Centerline is valid? [True, True] Translation: X:61.25, Y:3.20, Z:2.50 [[ 9.97898623e-01 -6.16682089e-02 1.98839432e-02 6.12466166e+01] [ 6.16659300e-02 9.98096580e-01 7.28313527e-04 3.19765584e+00] [-1.98910095e-02 4.99378787e-04 9.99802030e-01 2.50390643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.584839172999985 meters 0.08044062501179101 Centerline is valid? [True, True] Translation: X:61.31, Y:3.19, Z:2.50 [[ 9.97886560e-01 -6.21239225e-02 1.90533709e-02 6.13103185e+01] [ 6.21220133e-02 9.98068322e-01 6.92628499e-04 3.18877523e+00] [-1.90595947e-02 4.92469088e-04 9.99818228e-01 2.49829000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64483917299999 meters 0.07957315088425879 Centerline is valid? [True, True] Translation: X:61.37, Y:3.20, Z:2.50 [[ 9.98065865e-01 -5.74719277e-02 2.36961389e-02 6.13719824e+01] [ 5.74678073e-02 9.98346993e-01 8.55390708e-04 3.19561140e+00] [-2.37061300e-02 5.08028880e-04 9.99718841e-01 2.50457146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70483917299999 meters 0.0806093290739239 Centerline is valid? [True, True] Translation: X:61.43, Y:3.19, Z:2.51 [[ 9.97758661e-01 -6.11801922e-02 2.71042202e-02 6.14332058e+01] [ 6.11761950e-02 9.98126504e-01 9.77445545e-04 3.19322557e+00] [-2.71132409e-02 6.82878303e-04 9.99632135e-01 2.50858569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.764839172999984 meters 0.08413145761566741 Centerline is valid? [True, True] Translation: X:61.49, Y:3.18, Z:2.50 [[ 9.97352689e-01 -6.84492801e-02 2.45419964e-02 6.14938743e+01] [ 6.84482100e-02 9.97654279e-01 8.84641866e-04 3.18181029e+00] [-2.45449808e-02 7.97555781e-04 9.99698408e-01 2.50426581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82483917299999 meters 0.08768004152687708 Centerline is valid? [True, True] Translation: X:61.56, Y:3.17, Z:2.50 [[ 9.96876981e-01 -7.56847917e-02 2.25409971e-02 6.15553230e+01] [ 7.56857406e-02 9.97131390e-01 8.12249430e-04 3.17129857e+00] [-2.25378107e-02 8.96319296e-04 9.99745589e-01 2.49936625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88483917299999 meters 0.08728748431717791 Centerline is valid? [True, True] Translation: X:61.62, Y:3.18, Z:2.50 [[ 9.96986117e-01 -7.50484677e-02 1.96573255e-02 6.16167202e+01] [ 7.50490779e-02 9.97179590e-01 7.07705677e-04 3.17765501e+00] [-1.96549960e-02 7.69691414e-04 9.99806526e-01 2.49549086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.944839172999984 meters 0.08656069435580553 Centerline is valid? [True, True] Translation: X:61.68, Y:3.19, Z:2.50 [[ 9.97094520e-01 -7.33905712e-02 2.04044900e-02 6.16790900e+01] [ 7.33909152e-02 9.97302981e-01 7.32978452e-04 3.18556465e+00] [-2.04032524e-02 7.66655398e-04 9.99791538e-01 2.49572777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.004839172999986 meters 0.08565824358798668 Centerline is valid? [True, True] Translation: X:61.74, Y:3.19, Z:2.50 [[ 9.97275371e-01 -7.03581016e-02 2.21714018e-02 6.17410950e+01] [ 7.03578680e-02 9.97521500e-01 7.91568841e-04 3.19361324e+00] [-2.21721433e-02 7.70520450e-04 9.99753871e-01 2.49833808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06483917299999 meters 0.08356674523877565 Centerline is valid? [True, True] Translation: X:61.80, Y:3.21, Z:2.50 [[ 9.97727291e-01 -6.38603187e-02 2.14968043e-02 6.18014940e+01] [ 6.38585986e-02 9.97958662e-01 7.67164967e-04 3.20545030e+00] [-2.15019134e-02 6.07334370e-04 9.99768623e-01 2.49539796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.124839172999984 meters 0.0847857604881805 Centerline is valid? [True, True] Translation: X:61.86, Y:3.20, Z:2.50 [[ 9.97502992e-01 -6.58572531e-02 2.55069222e-02 6.18631004e+01] [ 6.58555046e-02 9.97828756e-01 9.09479509e-04 3.19867143e+00] [-2.55114363e-02 7.72562702e-04 9.99674232e-01 2.49830046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.184839172999986 meters 0.08951575468244215 Centerline is valid? [True, True] Translation: X:61.92, Y:3.18, Z:2.50 [[ 9.96761152e-01 -7.52871673e-02 2.82674268e-02 6.19242459e+01] [ 7.52888112e-02 9.97161261e-01 1.00767561e-03 3.18258073e+00] [-2.82630480e-02 1.12380906e-03 9.99599889e-01 2.50255013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24483917299999 meters 0.09662227985779219 Centerline is valid? [True, True] Translation: X:61.99, Y:3.16, Z:2.52 [[ 9.95541303e-01 -8.73036022e-02 3.57154829e-02 6.19861001e+01] [ 8.73139604e-02 9.96180030e-01 1.27259301e-03 3.16048931e+00] [-3.56901528e-02 1.85154136e-03 9.99361188e-01 2.51515509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30483917299999 meters 0.10546894527941768 Centerline is valid? [True, False] Translation: X:61.98, Y:3.15, Z:2.51 [[ 9.95077722e-01 -9.46289716e-02 2.94225350e-02 6.19809650e+01] [ 9.50246676e-02 9.95398288e-01 -1.23515305e-02 3.14712495e+00] [-2.81183283e-02 1.50865995e-02 9.99490747e-01 2.50980213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.364839172999986 meters 0.09396064350750201 Centerline is valid? [False, True] Translation: X:61.98, Y:3.13, Z:2.50 [[ 9.95497664e-01 -9.24119867e-02 2.10814053e-02 6.19832038e+01] [ 9.28031026e-02 9.95514542e-01 -1.83951321e-02 3.13390000e+00] [-1.92869149e-02 2.02687309e-02 9.99608520e-01 2.50031847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42483917299999 meters 0.09304597608125449 Centerline is valid? [True, True] Translation: X:62.04, Y:3.12, Z:2.50 [[ 9.96135446e-01 -8.26269012e-02 2.97820100e-02 6.20436055e+01] [ 8.26378886e-02 9.96579266e-01 8.63829600e-04 3.12412579e+00] [-2.97515092e-02 1.60063114e-03 9.99556044e-01 2.50380741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48483917299999 meters 0.08889519968099979 Centerline is valid? [True, True] Translation: X:62.10, Y:3.13, Z:2.50 [[ 9.96405046e-01 -7.93758401e-02 2.96050720e-02 6.21039779e+01] [ 7.93852659e-02 9.96843640e-01 8.58697394e-04 3.12988314e+00] [-2.95797875e-02 1.49459609e-03 9.99561305e-01 2.50368587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.544839172999986 meters 0.0854063355997509 Centerline is valid? [True, True] Translation: X:62.16, Y:3.14, Z:2.51 [[ 9.96940098e-01 -7.00753146e-02 3.46394487e-02 6.21640088e+01] [ 7.00826288e-02 9.97540684e-01 1.00447558e-03 3.14069951e+00] [-3.46246483e-02 1.42622164e-03 9.99399369e-01 2.50908291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60483917299999 meters 0.08335366593914523 Centerline is valid? [True, True] Translation: X:62.23, Y:3.15, Z:2.51 [[ 9.97284081e-01 -6.21047479e-02 3.95911860e-02 6.22250502e+01] [ 6.21080877e-02 9.98068770e-01 1.14677405e-03 3.14760938e+00] [-3.95859464e-02 1.31527335e-03 9.99215304e-01 2.51086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66483917299999 meters 0.08231471039181086 Centerline is valid? [True, True] Translation: X:62.29, Y:3.15, Z:2.52 [[ 9.97203078e-01 -5.93976035e-02 4.53645926e-02 6.22861909e+01] [ 5.93992739e-02 9.98233442e-01 1.31237512e-03 3.15316775e+00] [-4.53624053e-02 1.38591935e-03 9.98969635e-01 2.51552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.724839172999985 meters 0.08087356330734959 Centerline is valid? [True, True] Translation: X:62.35, Y:3.16, Z:2.53 [[ 9.96858861e-01 -5.75682952e-02 5.43902883e-02 6.23474880e+01] [ 5.75680835e-02 9.98340345e-01 1.57192861e-03 3.16151337e+00] [-5.43905124e-02 1.56415369e-03 9.98518515e-01 2.52533157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78483917299999 meters 0.08183925556378104 Centerline is valid? [True, True] Translation: X:62.41, Y:3.16, Z:2.53 [[ 9.96679172e-01 -5.81840145e-02 5.69670866e-02 6.24089671e+01] [ 5.81849095e-02 9.98304469e-01 1.64435783e-03 3.15936366e+00] [-5.69661725e-02 1.67572758e-03 9.98374703e-01 2.52890109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84483917299999 meters 0.0813664293381509 Centerline is valid? [True, True] Translation: X:62.47, Y:3.16, Z:2.53 [[ 9.96706818e-01 -5.33029133e-02 6.11090629e-02 6.24712388e+01] [ 5.32950652e-02 9.98577258e-01 1.75951315e-03 3.15864323e+00] [-6.11159076e-02 1.50309274e-03 9.98129544e-01 2.52801928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.904839172999985 meters 0.07905790140161187 Centerline is valid? [True, True] Translation: X:62.53, Y:3.17, Z:2.52 [[ 9.97262017e-01 -4.81478311e-02 5.61271366e-02 6.25318348e+01] [ 4.81331186e-02 9.98839625e-01 1.61473813e-03 3.17496339e+00] [-5.61397542e-02 1.09125712e-03 9.98422324e-01 2.52326821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96483917299999 meters 0.07827347275811326 Centerline is valid? [True, True] Translation: X:62.59, Y:3.18, Z:2.51 [[ 9.97937267e-01 -3.89833609e-02 5.10049877e-02 6.25924984e+01] [ 3.89592961e-02 9.99239723e-01 1.46631160e-03 3.18158507e+00] [-5.10233715e-02 5.23831433e-04 9.98697322e-01 2.51192798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02483917299999 meters 0.07865081270928408 Centerline is valid? [True, True] Translation: X:62.65, Y:3.19, Z:2.52 [[ 9.97575345e-01 -3.92933153e-02 5.74409735e-02 6.26527459e+01] [ 3.92633562e-02 9.99227534e-01 1.65050118e-03 3.18968032e+00] [-5.74614560e-02 6.08826116e-04 9.98347540e-01 2.52005007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.084839172999985 meters 0.07899000142872431 Centerline is valid? [True, True] Translation: X:62.72, Y:3.19, Z:2.52 [[ 9.97461156e-01 -4.46372644e-02 5.54865507e-02 6.27153081e+01] [ 4.46183368e-02 9.99002856e-01 1.58050619e-03 3.18819952e+00] [-5.55017721e-02 8.99224073e-04 9.98458184e-01 2.52093751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14483917299999 meters 0.07867292021653631 Centerline is valid? [True, True] Translation: X:62.78, Y:3.19, Z:2.51 [[ 9.98161348e-01 -3.97403789e-02 4.57670787e-02 6.27752871e+01] [ 3.97223761e-02 9.99209905e-01 1.30311445e-03 3.18596936e+00] [-4.57827047e-02 5.17258640e-04 9.98951288e-01 2.50812809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20483917299999 meters 0.07872715305406551 Centerline is valid? [True, True] Translation: X:62.84, Y:3.18, Z:2.49 [[ 9.98715643e-01 -3.40991857e-02 3.74741286e-02 6.28359385e+01] [ 3.40831584e-02 9.99418431e-01 1.06663597e-03 3.17570541e+00] [-3.74887063e-02 2.11970635e-04 9.99297029e-01 2.49431717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.264839172999984 meters 0.07723543352249077 Centerline is valid? [True, True] Translation: X:62.90, Y:3.18, Z:2.49 [[ 9.99126238e-01 -2.78408094e-02 3.11712901e-02 6.28953941e+01] [ 2.78266602e-02 9.99612369e-01 8.87712741e-04 3.17676786e+00] [-3.11839217e-02 -1.95441962e-05 9.99513663e-01 2.48847379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32483917299999 meters 0.07625551212412457 Centerline is valid? [True, True] Translation: X:62.96, Y:3.19, Z:2.49 [[ 9.99404110e-01 -1.95921551e-02 2.84178343e-02 6.29575030e+01] [ 1.95772377e-02 9.99808025e-01 8.03090683e-04 3.18505626e+00] [-2.84281131e-02 -2.46269433e-04 9.99595809e-01 2.48618391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38483917299999 meters 0.07645206524259945 Centerline is valid? [True, True] Translation: X:63.02, Y:3.17, Z:2.47 [[ 9.99662395e-01 -1.85376886e-02 1.82057874e-02 6.30190540e+01] [ 1.85314077e-02 9.99828147e-01 5.13650946e-04 3.17202100e+00] [-1.82121805e-02 -1.76098667e-04 9.99834129e-01 2.47301400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.444839172999984 meters 0.07780375741787005 Centerline is valid? [True, True] Translation: X:63.08, Y:3.18, Z:2.45 [[ 9.99907106e-01 -1.31845861e-02 -3.45626137e-03 6.30798157e+01] [ 1.31843334e-02 9.99913078e-01 -9.58728043e-05 3.17735010e+00] [ 3.45722499e-03 5.02953961e-05 9.99994023e-01 2.45062701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.504839172999986 meters 0.08155696169562618 Centerline is valid? [True, True] Translation: X:63.14, Y:3.18, Z:2.43 [[ 9.99835025e-01 8.21137349e-04 -1.81451946e-02 6.31402773e+01] [-8.30479174e-04 9.99999526e-01 -5.07308191e-04 3.17847877e+00] [ 1.81447694e-02 5.22293705e-04 9.99835234e-01 2.43242325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56483917299999 meters 0.08688757314291051 Centerline is valid? [True, True] Translation: X:63.20, Y:3.18, Z:2.40 [[ 9.98848831e-01 9.49484076e-03 -4.70197853e-02 6.31993784e+01] [-9.56721943e-03 9.99953369e-01 -1.31450905e-03 3.18400612e+00] [ 4.70051117e-02 1.76284444e-03 9.98893093e-01 2.40229489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.624839172999984 meters 0.09533948891743696 Centerline is valid? [True, True] Translation: X:63.26, Y:3.20, Z:2.38 [[ 9.97638862e-01 2.41167005e-02 -6.43046315e-02 6.32581119e+01] [-2.42825304e-02 9.99703518e-01 -1.79840295e-03 3.20219650e+00] [ 6.42421949e-02 3.35563584e-03 9.97928695e-01 2.37763371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.684839172999986 meters 0.09995412239379306 Centerline is valid? [True, True] Translation: X:63.32, Y:3.22, Z:2.37 [[ 9.97509580e-01 2.96103982e-02 -6.40145436e-02 6.33169868e+01] [-2.97860607e-02 9.99554692e-01 -1.79128696e-03 3.21802530e+00] [ 6.39329967e-02 3.69356699e-03 9.97947358e-01 2.36829341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74483917299999 meters 0.09822275049910367 Centerline is valid? [True, True] Translation: X:63.38, Y:3.23, Z:2.37 [[ 9.97487517e-01 2.21894370e-02 -6.72776474e-02 6.33767271e+01] [-2.23667745e-02 9.99748058e-01 -1.88371357e-03 3.22725639e+00] [ 6.72188987e-02 3.38376474e-03 9.97732514e-01 2.36651910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80483917299998 meters 0.0981190823724661 Centerline is valid? [True, True] Translation: X:63.44, Y:3.23, Z:2.36 [[ 9.97211085e-01 1.95366416e-02 -7.20303515e-02 6.34373226e+01] [-1.97330973e-02 9.99803249e-01 -2.01672723e-03 3.22869333e+00] [ 7.19767794e-02 3.43248468e-03 9.97400402e-01 2.36332407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.864839172999986 meters 0.09604794521951418 Centerline is valid? [True, True] Translation: X:63.50, Y:3.23, Z:2.36 [[ 9.96990927e-01 1.80885490e-02 -7.53783567e-02 6.34973115e+01] [-1.82997300e-02 9.99830316e-01 -2.11181440e-03 3.23263826e+00] [ 7.53273665e-02 3.48486336e-03 9.97152768e-01 2.36179213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92483917299999 meters 0.10188239347797849 Centerline is valid? [True, False] Translation: X:63.49, Y:3.23, Z:2.35 [[ 9.98065766e-01 2.38230280e-02 -5.74211708e-02 6.34919531e+01] [-2.36949354e-02 9.99714998e-01 2.91067952e-03 3.23400222e+00] [ 5.74741468e-02 -1.54445866e-03 9.98345800e-01 2.35464557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98483917299999 meters 0.10326865207971281 Centerline is valid? [False, False] Translation: X:63.50, Y:3.24, Z:2.35 [[ 9.98258562e-01 2.75681976e-02 -5.21520561e-02 6.35032457e+01] [-2.77686750e-02 9.99609497e-01 -3.12328133e-03 3.24023947e+00] [ 5.20455874e-02 4.56603583e-03 9.98634271e-01 2.35185043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.044839173 meters 0.11106685461259397 Centerline is valid? [False, False] Translation: X:63.50, Y:3.24, Z:2.34 [[ 9.98870581e-01 3.13064014e-02 -3.57417479e-02 6.35027147e+01] [-3.11056436e-02 9.99497124e-01 6.15934917e-03 3.23721427e+00] [ 3.59166013e-02 -5.04062261e-03 9.99342079e-01 2.33971881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10483917299999 meters 0.11030402309333567 Centerline is valid? [False, False] Translation: X:63.52, Y:3.24, Z:2.34 [[ 9.98912558e-01 3.51850046e-02 -3.05894878e-02 6.35174608e+01] [-3.47013192e-02 9.99266389e-01 1.62019367e-02 3.23564696e+00] [ 3.11371123e-02 -1.51228225e-02 9.99400711e-01 2.34114111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16483917299999 meters 0.12585015125652008 Centerline is valid? [False, False] Translation: X:63.52, Y:3.23, Z:2.35 [[ 9.98340241e-01 4.15395161e-02 -3.98902553e-02 6.35213763e+01] [-4.13682964e-02 9.99130906e-01 5.10850223e-03 3.22510091e+00] [ 4.00677916e-02 -3.44983144e-03 9.99191008e-01 2.34639204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22483917299999 meters 0.1177344094032947 Centerline is valid? [False, False] Translation: X:63.52, Y:3.21, Z:2.35 [[ 9.98271236e-01 4.28618671e-02 -4.02169020e-02 6.35204838e+01] [-4.26347111e-02 9.99069652e-01 6.48943101e-03 3.21158539e+00] [ 4.04576354e-02 -4.76357632e-03 9.99169900e-01 2.34971418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.284839173 meters 0.11123247600906706 Centerline is valid? [False, False] Translation: X:63.50, Y:3.19, Z:2.36 [[ 9.98674571e-01 4.04528890e-02 -3.18223963e-02 6.35014294e+01] [-4.06376913e-02 9.99160511e-01 -5.18187481e-03 3.19454056e+00] [ 3.15860599e-02 6.46819531e-03 9.99480106e-01 2.35915045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.344839173 meters 0.1138848335853981 Centerline is valid? [False, False] Translation: X:63.50, Y:3.18, Z:2.36 [[ 9.99047614e-01 4.01798593e-02 -1.70130304e-02 6.34977069e+01] [-4.01449333e-02 9.99191010e-01 2.38960170e-03 3.17829491e+00] [ 1.70952809e-02 -1.70433890e-03 9.99852412e-01 2.35698016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.404839173 meters 0.12027138487567605 Centerline is valid? [False, False] Translation: X:63.50, Y:3.16, Z:2.36 [[ 9.99201759e-01 3.52800464e-02 -1.87393591e-02 6.35004377e+01] [-3.53201817e-02 9.99374400e-01 -1.81502857e-03 3.16135856e+00] [ 1.86636015e-02 2.47545731e-03 9.99822755e-01 2.35861298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46483917299999 meters 0.12667385790340638 Centerline is valid? [False, False] Translation: X:63.50, Y:3.14, Z:2.36 [[ 9.99183136e-01 3.58778959e-02 -1.85967021e-02 6.34992846e+01] [-3.58676086e-02 9.99356157e-01 8.86527289e-04 3.14291777e+00] [ 1.86165355e-02 -2.18783883e-04 9.99826673e-01 2.35982283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52483917299999 meters 0.12856049331825883 Centerline is valid? [False, False] Translation: X:63.48, Y:3.12, Z:2.37 [[ 9.99273853e-01 3.51154895e-02 -1.47874716e-02 6.34849333e+01] [-3.51856478e-02 9.99370611e-01 -4.51122343e-03 3.11910021e+00] [ 1.46197507e-02 5.02825439e-03 9.99880483e-01 2.36679175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58483917299999 meters 0.11906526031678627 Centerline is valid? [False, False] Translation: X:63.47, Y:3.09, Z:2.37 [[ 9.99713436e-01 2.14228080e-02 -1.06821674e-02 6.34732724e+01] [-2.14779538e-02 9.99756443e-01 -5.07469299e-03 3.08964827e+00] [ 1.05708515e-02 5.30266987e-03 9.99930067e-01 2.37477436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.644839173 meters 0.10737678277543287 Centerline is valid? [False, False] Translation: X:63.45, Y:3.06, Z:2.39 [[ 9.99979081e-01 5.52986209e-03 3.35520293e-03 6.34492877e+01] [-5.52142175e-03 9.99981582e-01 -2.51966565e-03 3.05590401e+00] [-3.36907454e-03 2.50108745e-03 9.99991197e-01 2.38877736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters 0.09900544718311682 Centerline is valid? [False, True] Translation: X:63.44, Y:3.03, Z:2.40 [[ 9.99989501e-01 -1.47741685e-03 4.33773795e-03 6.34438580e+01] [ 1.46920008e-03 9.99997122e-01 1.89682738e-03 3.02886788e+00] [-4.34052786e-03 -1.89043446e-03 9.99988793e-01 2.39972451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters 0.10225146287379286 Centerline is valid? [True, False] Translation: X:63.44, Y:3.00, Z:2.40 [[ 9.99974941e-01 -1.35762525e-03 -6.94801119e-03 6.34428566e+01] [ 1.35685317e-03 9.99999073e-01 -1.15834639e-04 3.00478552e+00] [ 6.94816200e-03 1.06404305e-04 9.99975856e-01 2.39839351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters 0.11000075143260636 Centerline is valid? [False, False] Translation: X:63.44, Y:2.98, Z:2.39 [[ 9.99983968e-01 -4.65459168e-04 -5.64340287e-03 6.34448421e+01] [ 4.71652769e-04 9.99999288e-01 1.09621287e-03 2.98069488e+00] [ 5.64288861e-03 -1.09885702e-03 9.99983475e-01 2.39281884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88483917299999 meters 0.09507616341892265 Centerline is valid? [False, True] Translation: X:63.33, Y:2.94, Z:2.37 [[ 9.99960928e-01 3.03504748e-03 -8.30248816e-03 6.33328198e+01] [-2.79696394e-03 9.99588767e-01 2.85389997e-02 2.94082884e+00] [ 8.38569112e-03 -2.85146629e-02 9.99558199e-01 2.37151442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94483917299999 meters 0.12508168532088781 Centerline is valid? [True, False] Translation: X:63.48, Y:2.93, Z:2.36 [[ 9.99356588e-01 8.42306184e-03 -3.48634838e-02 6.34797867e+01] [-7.77798903e-03 9.99796802e-01 1.85972725e-02 2.93249023e+00] [ 3.50130455e-02 -1.83141389e-02 9.99219035e-01 2.36198890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.004839173 meters 0.12592344619967077 Centerline is valid? [False, False] Translation: X:63.46, Y:2.90, Z:2.34 [[ 9.99607908e-01 1.03931431e-02 -2.60002330e-02 6.34582171e+01] [-1.06743414e-02 9.99885779e-01 -1.06999068e-02 2.90018847e+00] [ 2.58860575e-02 1.09732468e-02 9.99604672e-01 2.33745633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.064839173 meters 0.12876546323275662 Centerline is valid? [False, False] Translation: X:63.47, Y:2.89, Z:2.33 [[ 9.99944647e-01 6.26659357e-03 -8.45175112e-03 6.34724223e+01] [-6.22668639e-03 9.99969381e-01 4.73984207e-03 2.89366935e+00] [ 8.48119499e-03 -4.68695330e-03 9.99953050e-01 2.32679319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.124839173 meters 0.10417248923155155 Centerline is valid? [False, False] Translation: X:63.36, Y:2.87, Z:2.35 [[ 9.99987581e-01 -4.61571049e-03 -1.87941852e-03 6.33593802e+01] [ 4.64253296e-03 9.99883705e-01 1.45266226e-02 2.87275349e+00] [ 1.81214927e-03 -1.45351674e-02 9.99892717e-01 2.34590030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.184839173 meters 0.12438210655516377 Centerline is valid? [False, False] Translation: X:63.48, Y:2.87, Z:2.35 [[ 9.99910991e-01 -2.22676872e-03 1.31548982e-02 6.34774463e+01] [ 2.07261583e-03 9.99929167e-01 1.17203220e-02 2.86879824e+00] [-1.31800649e-02 -1.16920137e-02 9.99844779e-01 2.35488313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24483917299999 meters 0.11566387497977937 Centerline is valid? [False, False] Translation: X:63.48, Y:2.84, Z:2.39 [[ 9.99743386e-01 -6.73541641e-03 2.16285970e-02 6.34798029e+01] [ 5.94661125e-03 9.99322157e-01 3.63299378e-02 2.83673742e+00] [-2.18586335e-02 -3.61919982e-02 9.99105770e-01 2.38821719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30483917299999 meters 0.11189216705302309 Centerline is valid? [False, False] Translation: X:63.44, Y:2.81, Z:2.38 [[ 9.99921390e-01 -2.63508096e-05 1.25384604e-02 6.34436296e+01] [-4.29214766e-05 9.99984739e-01 5.52448287e-03 2.81246160e+00] [-1.25384147e-02 -5.52458676e-03 9.99906129e-01 2.38316960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.364839173 meters 0.03994295156509542 Centerline is valid? [False, True] Translation: X:63.25, Y:2.72, Z:2.81 [[ 9.86592000e-01 6.48357174e-02 1.49775015e-01 6.32534174e+01] [-4.29186709e-02 9.88473156e-01 -1.45185422e-01 2.71847828e+00] [-1.57461783e-01 1.36810632e-01 9.78002371e-01 2.80687963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.424839173 meters 0.09619354666630707 Centerline is valid? [True, True] Translation: X:63.23, Y:2.62, Z:2.42 [[ 9.47392899e-01 -1.53981061e-01 -2.80600298e-01 6.32290492e+01] [ 1.49794204e-01 9.88045295e-01 -3.64443568e-02 2.61619652e+00] [ 2.82857545e-01 -7.50517347e-03 9.59132567e-01 2.42359670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.484839173 meters 0.08515627401065616 Centerline is valid? [True, True] Translation: X:63.30, Y:2.68, Z:2.47 [[ 9.77228997e-01 -5.82035787e-02 -2.04048598e-01 6.32964962e+01] [ 5.39019360e-02 9.98192380e-01 -2.65810885e-02 2.67514071e+00] [ 2.05226870e-01 1.49771960e-02 9.78599824e-01 2.47331417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.544839173 meters 0.11075018104928153 Centerline is valid? [True, False] Translation: X:63.46, Y:2.60, Z:2.64 [[ 9.46682089e-01 9.94633615e-03 -3.22015671e-01 6.34592987e+01] [ 2.77860523e-02 9.93278169e-01 1.12367316e-01 2.60165459e+00] [ 3.20968779e-01 -1.15323669e-01 9.40042283e-01 2.64223446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60483917299999 meters 0.11374324010203142 Centerline is valid? [False, False] Translation: X:63.49, Y:2.61, Z:2.62 [[ 9.74794898e-01 -6.36549141e-03 -2.23012081e-01 6.34894924e+01] [ 3.04544285e-02 9.94032743e-01 1.04744616e-01 2.60664870e+00] [ 2.21014559e-01 -1.08896222e-01 9.69171903e-01 2.62369738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66483917299999 meters 0.11201423643978944 Centerline is valid? [False, False] Translation: X:63.45, Y:2.61, Z:2.60 [[ 9.89511925e-01 -5.50777091e-03 -1.44346163e-01 6.34539911e+01] [ 1.60635584e-02 9.97270555e-01 7.20652673e-02 2.61299168e+00] [ 1.43555259e-01 -7.36281544e-02 9.86899581e-01 2.59591868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72483917299999 meters 0.10895538235301568 Centerline is valid? [False, False] Translation: X:63.43, Y:2.62, Z:2.58 [[ 9.95243837e-01 -1.00465019e-02 -9.68956747e-02 6.34264386e+01] [ 1.56362153e-02 9.98245878e-01 5.71023195e-02 2.61663370e+00] [ 9.61520293e-02 -5.83458132e-02 9.93655148e-01 2.57508780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.784839173 meters 0.1065359924788583 Centerline is valid? [False, False] Translation: X:63.39, Y:2.61, Z:2.56 [[ 9.97882094e-01 -9.70941235e-03 -6.43199253e-02 6.33870675e+01] [ 1.24834400e-02 9.99002749e-01 4.28680782e-02 2.60824721e+00] [ 6.38395584e-02 -4.35802216e-02 9.97008162e-01 2.55588059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.844839173 meters 0.10412286051789027 Centerline is valid? [False, False] Translation: X:63.21, Y:2.58, Z:2.59 [[ 9.99602378e-01 3.52837863e-03 -2.79756413e-02 6.32064696e+01] [-3.80807072e-03 9.99943239e-01 -9.95073505e-03 2.58128685e+00] [ 2.79389435e-02 1.00533116e-02 9.99559076e-01 2.58610485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.904839173 meters 0.11087627181483317 Centerline is valid? [False, False] Translation: X:63.22, Y:2.58, Z:2.57 [[ 9.99289895e-01 -1.48793912e-02 -3.46166203e-02 6.32228577e+01] [ 1.48324895e-02 9.99888694e-01 -1.61131156e-03 2.57699674e+00] [ 3.46367426e-02 1.09671670e-03 9.99399366e-01 2.56771284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96483917299999 meters 0.10872622681363167 Centerline is valid? [False, False] Translation: X:63.28, Y:2.56, Z:2.55 [[ 9.98917773e-01 2.58003402e-02 -3.86991662e-02 6.32817293e+01] [-2.50828847e-02 9.99506476e-01 1.89117204e-02 2.56122975e+00] [ 3.91679961e-02 -1.79205669e-02 9.99071930e-01 2.54614806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02483917299999 meters 0.11688330843617574 Centerline is valid? [False, False] Translation: X:63.26, Y:2.55, Z:2.56 [[ 9.99711017e-01 1.57872576e-02 -1.81285771e-02 6.32624720e+01] [-1.55281813e-02 9.99776538e-01 1.43439698e-02 2.55262946e+00] [ 1.83509780e-02 -1.40583208e-02 9.99732767e-01 2.56199363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08483917299999 meters 0.12532329230696723 Centerline is valid? [False, False] Translation: X:63.34, Y:2.55, Z:2.55 [[ 9.99980677e-01 5.79701569e-03 2.24493829e-03 6.33374923e+01] [-5.80429155e-03 9.99977880e-01 3.24817111e-03 2.55053084e+00] [-2.22605893e-03 -3.26113862e-03 9.99992205e-01 2.54745390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.144839173 meters 0.0724492555916414 Centerline is valid? [False, True] Translation: X:63.24, Y:2.55, Z:3.23 [[ 8.60810147e-01 -1.42069455e-01 -4.88694343e-01 6.32426776e+01] [ 5.05635167e-01 3.47772734e-01 7.89548734e-01 2.55269439e+00] [ 5.77838094e-02 -9.26752608e-01 3.71201611e-01 3.23299644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.204839173 meters 0.024773977345418943 Centerline is valid? [True, True] Translation: X:62.39, Y:3.44, Z:2.00 [[ 7.53406509e-01 -6.56637758e-01 -3.47201153e-02 6.23894745e+01] [ 6.55997022e-01 7.54205553e-01 -2.90153511e-02 3.43729215e+00] [ 4.52386789e-02 -9.15937863e-04 9.98975787e-01 1.99744700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.264839173 meters 0.06640837102977287 Centerline is valid? [True, True] Translation: X:63.14, Y:2.74, Z:1.71 [[ 6.58446403e-01 -6.83743395e-01 -3.14552546e-01 6.31447831e+01] [ 6.06344761e-01 7.29508771e-01 -3.16485361e-01 2.74392745e+00] [ 4.45863617e-01 1.76613591e-02 8.94926652e-01 1.70653557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32483917299999 meters 0.11309768607079762 Centerline is valid? [True, False] Translation: X:63.09, Y:2.52, Z:1.61 [[ 0.89679313 -0.42975147 -0.10524146 63.08853402] [ 0.43750194 0.89678701 0.066069 2.52063819] [ 0.06598592 -0.10529357 0.99224953 1.61446448] [ 0. 0. 0. 1. ]] SLAMing on 66.38483917299999 meters 0.06543126424973608 Centerline is valid? [False, True] Translation: X:63.17, Y:2.29, Z:1.86 [[ 9.92289540e-01 1.11148826e-01 -5.48398308e-02 6.31672557e+01] [-1.17210718e-01 9.85372298e-01 -1.23705624e-01 2.29375438e+00] [ 4.02879152e-02 1.29179612e-01 9.90802458e-01 1.85816946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44483917299999 meters 0.040325399186130685 Centerline is valid? [True, True] Translation: X:64.01, Y:3.28, Z:2.20 [[-8.02048520e-01 4.22052460e-03 -5.97243969e-01 6.40093849e+01] [ 1.57983940e-01 9.65856673e-01 -2.05333783e-01 3.28035066e+00] [ 5.75985456e-01 -2.59042612e-01 -7.75330690e-01 2.20135187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.504839173 meters 0.1270616017916999 Centerline is valid? [True, False] Translation: X:63.56, Y:3.47, Z:1.91 [[ 5.84593769e-01 3.59058298e-01 7.27548805e-01 6.35624574e+01] [ 2.55915536e-02 8.88133366e-01 -4.58872745e-01 3.47084590e+00] [-8.10922436e-01 2.86873252e-01 5.10008372e-01 1.91252810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.564839173 meters 0.09857018527805249 Centerline is valid? [False, True] Translation: X:63.77, Y:3.38, Z:1.84 [[ 9.39894521e-01 1.48940720e-01 3.07270159e-01 6.37697527e+01] [-5.88993193e-02 9.57085753e-01 -2.83756464e-01 3.37693656e+00] [-3.36346784e-01 2.48603143e-01 9.08332163e-01 1.83714784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.624839173 meters 0.06289718807787191 Centerline is valid? [True, True] Translation: X:64.40, Y:3.62, Z:3.01 [[ 0.40995179 0.29650907 -0.86256704 64.40305411] [ 0.22443201 -0.94940252 -0.21969325 3.61842187] [-0.88406437 -0.10352402 -0.45575539 3.01248878] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 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 66.74483917299999 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 66.80483917299999 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 66.864839173 meters 0.06683406185378006 Centerline is valid? [True, True] Translation: X:64.34, Y:3.51, Z:2.63 [[ 0.23036764 0.40943377 -0.88277672 64.33516026] [ 0.22440521 -0.90507731 -0.3612165 3.5114284 ] [-0.94687542 -0.1148871 -0.30037959 2.62604563] [ 0. 0. 0. 1. ]] SLAMing on 66.924839173 meters 0.011862444792916031 Centerline is valid? [True, True] Translation: X:64.27, Y:2.93, Z:2.44 [[-8.39530002e-01 5.28591881e-01 1.25618466e-01 6.42700207e+01] [-5.24675001e-01 -8.48802527e-01 6.51951920e-02 2.92739253e+00] [ 1.41086921e-01 -1.11755491e-02 9.89934133e-01 2.43504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.984839173 meters 0.03281493789060918 Centerline is valid? [True, True] Translation: X:63.97, Y:2.14, Z:3.24/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( [[ 0.64832737 0.39764896 -0.64926645 63.96879759] [ 0.22619026 -0.91486522 -0.33445417 2.14464154] [-0.72698665 0.06997804 -0.68307649 3.24233105] [ 0. 0. 0. 1. ]] SLAMing on 67.044839173 meters /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 67.10483917299999 meters 0.12743214186279495 Centerline is valid? [True, False] Translation: X:62.96, Y:2.04, Z:2.32 [[ 0.34403632 0.3188406 0.88316459 62.96035336] [ 0.35322815 0.82753919 -0.43635853 2.03529121] [-0.86998212 0.46208178 0.17208006 2.318722 ] [ 0. 0. 0. 1. ]] SLAMing on 67.16483917299999 meters 0.10590313921108906 Centerline is valid? [False, False] Translation: X:64.11, Y:0.53, Z:2.55 [[ 3.60760735e-01 -3.67863325e-02 -9.31932647e-01 6.41118618e+01] [ 8.20822298e-01 4.86962516e-01 2.98526821e-01 5.28056043e-01] [ 4.42834560e-01 -8.72647852e-01 2.05871997e-01 2.55105143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22483917299999 meters 0.04478039075270968 Centerline is valid? [False, True] Translation: X:63.99, Y:1.60, Z:0.72 [[ 9.94688685e-01 -5.81712430e-03 1.02764690e-01 6.39928178e+01] [-7.71413334e-02 6.18859966e-01 7.81704264e-01 1.59660962e+00] [-6.81442237e-02 -7.85479792e-01 6.15124265e-01 7.15081526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.284839173 meters 0.13044753065745143 Centerline is valid? [True, False] Translation: X:64.56, Y:0.64, Z:1.41 [[ 0.20258559 0.45321562 -0.86807527 64.55714209] [-0.35221838 0.86085504 0.36724762 0.63583496] [ 0.91372933 0.23135299 0.3340277 1.40626971] [ 0. 0. 0. 1. ]] SLAMing on 67.344839173 meters 0.10735860674895158 Centerline is valid? [False, False] Translation: X:64.64, Y:0.63, Z:1.35 [[ 0.43789975 0.46737316 -0.76798837 64.63736521] [-0.43185354 0.85858988 0.2762715 0.62849965] [ 0.78850893 0.21067927 0.57781305 1.34825239] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters 0.10181228437912089 Centerline is valid? [False, False] Translation: X:64.56, Y:0.75, Z:1.13 [[ 0.68014925 0.40660282 -0.60997635 64.55649726] [-0.42408629 0.89695053 0.1250223 0.75466235] [ 0.59795303 0.17364878 0.78249491 1.12885541] [ 0. 0. 0. 1. ]] SLAMing on 67.46483917299999 meters 0.1106839808314831 Centerline is valid? [False, False] Translation: X:64.43, Y:0.87, Z:0.97 [[ 8.14858715e-01 3.67899401e-01 -4.47945650e-01 6.44291435e+01] [-3.99659458e-01 9.16307666e-01 2.55456176e-02 8.69603740e-01] [ 4.19854250e-01 1.58209647e-01 8.93695763e-01 9.66013190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52483917299999 meters 0.10497165431320103 Centerline is valid? [False, False] Translation: X:64.38, Y:0.93, Z:0.89 [[ 8.78437444e-01 3.72606476e-01 -2.99185681e-01 6.43755320e+01] [-3.92791271e-01 9.19592771e-01 -8.00953691e-03 9.26837745e-01] [ 2.72144585e-01 1.24553401e-01 9.54161294e-01 8.94575654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58483917299999 meters 0.10193367964743585 Centerline is valid? [False, False] Translation: X:64.27, Y:1.00, Z:0.84 [[ 9.06652441e-01 3.64618256e-01 -2.12214230e-01 6.42728797e+01] [-3.80232761e-01 9.24165576e-01 -3.66201644e-02 9.95872590e-01] [ 1.82768705e-01 1.13892564e-01 9.76536781e-01 8.42246919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.644839173 meters 0.0980713777862201 Centerline is valid? [False, True] Translation: X:64.19, Y:1.05, Z:0.81 [[ 9.26212754e-01 3.48302281e-01 -1.44275624e-01 6.41885247e+01] [-3.58518164e-01 9.32109508e-01 -5.13477457e-02 1.04906025e+00] [ 1.16596144e-01 9.92843688e-02 9.88204409e-01 8.08670295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.704839173 meters 0.09824202990792585 Centerline is valid? [True, True] Translation: X:64.22, Y:0.97, Z:0.79 [[ 9.34251471e-01 3.38105062e-01 -1.13398219e-01 6.42238628e+01] [-3.35436533e-01 9.41107015e-01 4.24254507e-02 9.73851049e-01] [ 1.21064119e-01 -1.59813440e-03 9.92643403e-01 7.93557060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.764839173 meters 0.09423623580124488 Centerline is valid? [True, True] Translation: X:64.29, Y:0.98, Z:0.82 [[ 9.35296515e-01 3.39829071e-01 -9.86743738e-02 6.42882216e+01] [-3.37820712e-01 9.40486465e-01 3.69103726e-02 9.76262435e-01] [ 1.05345131e-01 -1.18789568e-03 9.94435012e-01 8.22485798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82483917299999 meters 0.09389339388021858 Centerline is valid? [True, True] Translation: X:64.35, Y:0.97, Z:0.83 [[ 9.36329973e-01 3.38536583e-01 -9.31620269e-02 6.43476829e+01] [-3.36741018e-01 9.40952396e-01 3.48436001e-02 9.66487965e-01] [ 9.94568657e-02 -1.25363145e-03 9.95041085e-01 8.30397228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88483917299999 meters 0.09233479276034993 Centerline is valid? [True, True] Translation: X:64.41, Y:0.95, Z:0.84 [[ 9.39326810e-01 3.32500292e-01 -8.43131071e-02 6.44057028e+01] [-3.31006485e-01 9.43101606e-01 3.15288397e-02 9.53765960e-01] [ 8.99991751e-02 -1.70769917e-03 9.95940376e-01 8.38033835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94483917299999 meters 0.09229617085145912 Centerline is valid? [True, True] Translation: X:64.46, Y:0.94, Z:0.85 [[ 9.42645268e-01 3.23343919e-01 -8.28770673e-02 6.44632137e+01] [-3.21865613e-01 9.46278121e-01 3.09878060e-02 9.37659295e-01] [ 8.84444741e-02 -2.53523056e-03 9.96077882e-01 8.45097860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.004839173 meters 0.09256734009331095 Centerline is valid? [True, True] Translation: X:64.52, Y:0.92, Z:0.84 [[ 9.42292484e-01 3.23808437e-01 -8.50468770e-02 6.45219684e+01] [-3.22253772e-01 9.46119218e-01 3.17951489e-02 9.24506141e-01] [ 9.07600222e-02 -2.55365293e-03 9.95869518e-01 8.41610360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.064839173 meters 0.09099170126779145 Centerline is valid? [True, True] Translation: X:64.59, Y:0.93, Z:0.84 [[ 9.38032946e-01 3.34992943e-01 -8.87351097e-02 6.45886107e+01] [-3.33352369e-01 9.42219421e-01 3.31475586e-02 9.33875478e-01] [ 9.47121419e-02 -1.51344296e-03 9.95503551e-01 8.40294626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.124839173 meters 0.09027580753749098 Centerline is valid? [True, True] Translation: X:64.65, Y:0.93, Z:0.84 [[ 9.35893823e-01 3.42532365e-01 -8.23063297e-02 6.46500372e+01] [-3.41151099e-01 9.39505777e-01 3.07379705e-02 9.31055724e-01] [ 8.78560219e-02 -6.88581876e-04 9.96132946e-01 8.43123830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184839173 meters 0.08967245148155313 Centerline is valid? [True, True] Translation: X:64.71, Y:0.92, Z:0.85 [[ 9.34421056e-01 3.46895998e-01 -8.07493442e-02 6.47086644e+01] [-3.45583194e-01 9.37903563e-01 3.01523041e-02 9.17709774e-01] [ 8.61948113e-02 -2.69331571e-04 9.96278265e-01 8.48084130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24483917299999 meters 0.09286348929320867 Centerline is valid? [True, True] Translation: X:64.77, Y:0.90, Z:0.84 [[ 9.30017774e-01 3.56782251e-01 -8.81666880e-02 6.47669468e+01] [-3.55262420e-01 9.34187297e-01 3.29045134e-02 9.03547012e-01] [ 9.41039463e-02 7.20528640e-04 9.95562117e-01 8.36073263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30483917299999 meters 0.10471145475908311 Centerline is valid? [True, False] Translation: X:64.70, Y:0.92, Z:0.81 [[ 9.28491114e-01 3.65556615e-01 -6.53652260e-02 6.46994923e+01] [-3.65000899e-01 9.30777457e-01 2.06801877e-02 9.24202396e-01] [ 6.84002582e-02 4.65699572e-03 9.97647090e-01 8.08071125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.364839173 meters 0.12232007317518453 Centerline is valid? [False, False] Translation: X:64.65, Y:0.93, Z:0.79 [[ 9.26567261e-01 3.71131872e-01 -6.11084573e-02 6.46470334e+01] [-3.70747084e-01 9.28560574e-01 1.79404588e-02 9.26713245e-01] [ 6.34011803e-02 6.03274057e-03 9.97969888e-01 7.87140750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.424839173 meters 0.12466455100734439 Centerline is valid? [False, False] Translation: X:64.58, Y:0.93, Z:0.78 [[ 9.30709346e-01 3.64069702e-01 -3.51192875e-02 6.45825716e+01] [-3.63064511e-01 9.31217533e-01 3.19071558e-02 9.26318707e-01] [ 4.43201250e-02 -1.69457212e-02 9.98873650e-01 7.77916065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.484839173 meters 0.11610058560308771 Centerline is valid? [False, False] Translation: X:64.51, Y:0.92, Z:0.79 [[ 9.39781157e-01 3.41440949e-01 -1.51477891e-02 6.45141431e+01] [-3.40594024e-01 9.39292668e-01 4.15330468e-02 9.20317321e-01] [ 2.84092902e-02 -3.38727284e-02 9.99022297e-01 7.85977753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.544839173 meters 0.10997613633600191 Centerline is valid? [False, False] Translation: X:64.47, Y:0.91, Z:0.80 [[ 9.47329183e-01 3.20254626e-01 2.09598280e-03 6.44678239e+01] [-3.20029999e-01 9.46375390e-01 4.42088358e-02 9.09688902e-01] [ 1.21744976e-02 -4.25510977e-02 9.99020113e-01 7.95676421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60483917299999 meters 0.10986640563745163 Centerline is valid? [False, False] Translation: X:64.42, Y:0.89, Z:0.81 [[ 9.54054766e-01 2.99615995e-01 -3.12382197e-03 6.44218826e+01] [-2.99196907e-01 9.53178542e-01 4.39531368e-02 8.88617151e-01] [ 1.61466229e-02 -4.09990618e-02 9.99028710e-01 8.08183774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66483917299999 meters 0.10130954928575876 Centerline is valid? [False, False] Translation: X:64.39, Y:0.89, Z:0.81 [[ 9.57826789e-01 2.87346166e-01 -1.51075246e-04 6.43867604e+01] [-2.86853968e-01 9.56216615e-01 5.80050489e-02 8.90003179e-01] [ 1.68119891e-02 -5.55154533e-02 9.98316278e-01 8.08183710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72483917299999 meters 0.10737277334304167 Centerline is valid? [False, False] Translation: X:64.34, Y:0.89, Z:0.80 [[ 9.60256966e-01 2.78763919e-01 1.40441062e-02 6.43352874e+01] [-2.79113564e-01 9.58761196e-01 5.35965238e-02 8.88808164e-01] [ 1.47583295e-03 -5.53863358e-02 9.98463908e-01 7.98786986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.784839173 meters 0.11162029894562647 Centerline is valid? [False, False] Translation: X:64.33, Y:0.86, Z:0.80 [[ 9.61336845e-01 2.75132233e-01 1.15639395e-02 6.43329492e+01] [-2.75366144e-01 9.60117916e-01 4.84466109e-02 8.64106556e-01] [ 2.22647878e-03 -4.97578295e-02 9.98758830e-01 7.97935599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.844839173 meters 0.11330100793773261 Centerline is valid? [False, False] Translation: X:64.31, Y:0.85, Z:0.81 [[ 9.61137671e-01 2.75993611e-01 6.47341631e-03 6.43145094e+01] [-2.75888138e-01 9.59392250e-01 5.87558164e-02 8.50240310e-01] [ 1.00056845e-02 -5.82583673e-02 9.98251396e-01 8.08931868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.904839173 meters 0.11260804635761044 Centerline is valid? [False, False] Translation: X:64.30, Y:0.83, Z:0.82 [[ 9.62186296e-01 2.72242812e-01 9.02126045e-03 6.43011789e+01] [-2.72288063e-01 9.60374818e-01 5.94930154e-02 8.32534651e-01] [ 7.53275441e-03 -5.96997456e-02 9.98187957e-01 8.19560894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96483917299999 meters 0.11439352515455745 Centerline is valid? [False, False] Translation: X:64.27, Y:0.83, Z:0.81 [[ 9.63615191e-01 2.66876409e-01 1.49246961e-02 6.42690924e+01] [-2.67237842e-01 9.60773458e-01 7.41505063e-02 8.27945991e-01] [ 5.44976891e-03 -7.54409979e-02 9.97135375e-01 8.14944881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02483917299999 meters 0.11080939951891901 Centerline is valid? [False, False] Translation: X:64.26, Y:0.82, Z:0.82 [[ 9.67207079e-01 2.53662387e-01 1.28786273e-02 6.42607358e+01] [-2.53969277e-01 9.65253917e-01 6.15181456e-02 8.15089197e-01] [ 3.17369426e-03 -6.27715616e-02 9.98022875e-01 8.19545465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08483917299999 meters 0.10596379943572298 Centerline is valid? [False, False] Translation: X:64.24, Y:0.81, Z:0.82 [[ 9.72566488e-01 2.32570335e-01 5.04640411e-03 6.42443384e+01] [-2.32401649e-01 9.70453163e-01 6.48855217e-02 8.10739268e-01] [ 1.01931487e-02 -6.42782765e-02 9.97879954e-01 8.21356458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.144839173 meters 0.09996782436291528 Centerline is valid? [False, True] Translation: X:64.24, Y:0.80, Z:0.82 [[ 9.76876735e-01 2.13799451e-01 1.28071688e-03 6.42427391e+01] [-2.13612789e-01 9.75736017e-01 4.80499831e-02 8.00766373e-01] [ 9.02341843e-03 -4.72124881e-02 9.98844111e-01 8.20945369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.204839173 meters 0.10236111578294582 Centerline is valid? [True, False] Translation: X:64.23, Y:0.79, Z:0.82 [[ 9.80592025e-01 1.96003004e-01 -4.70142952e-03 6.42293350e+01] [-1.95557461e-01 9.79515175e-01 4.80343697e-02 7.94048841e-01] [ 1.40200023e-02 -4.61827202e-02 9.98834619e-01 8.16086228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.264839173 meters 0.09369946676670722 Centerline is valid? [False, True] Translation: X:64.23, Y:0.79, Z:0.82 [[ 9.82938285e-01 1.83815907e-01 -6.63634883e-03 6.42287707e+01] [-1.83459760e-01 9.82350491e-01 3.64695591e-02 7.90652897e-01] [ 1.32229056e-02 -3.46298229e-02 9.99312729e-01 8.15243561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32483917299999 meters 0.08917395717373675 Centerline is valid? [True, True] Translation: X:64.29, Y:0.78, Z:0.82 [[ 9.84313824e-01 1.76420775e-01 -1.41637622e-03 6.42891140e+01] [-1.76420649e-01 9.84314842e-01 2.14284336e-04 7.84307016e-01] [ 1.43196434e-03 3.89549769e-05 9.99998974e-01 8.16963133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38483917299999 meters 0.0919282484066526 Centerline is valid? [True, True] Translation: X:64.35, Y:0.77, Z:0.80 [[ 9.84807807e-01 1.72567904e-01 -1.93365313e-02 6.43462676e+01] [-1.72543792e-01 9.84997516e-01 2.92105694e-03 7.65723306e-01] [ 1.95505160e-02 4.59718757e-04 9.99808765e-01 8.00400372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44483917299999 meters 0.09641418385871332 Centerline is valid? [True, True] Translation: X:64.41, Y:0.77, Z:0.78 [[ 9.84040802e-01 1.75782830e-01 -2.76422914e-02 6.44060833e+01] [-1.75734863e-01 9.84428684e-01 4.17418511e-03 7.70225121e-01] [ 2.79456146e-02 7.50145834e-04 9.99609164e-01 7.75627655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.504839173 meters 0.0982813615436979 Centerline is valid? [True, True] Translation: X:64.47, Y:0.76, Z:0.77 [[ 9.83292951e-01 1.78098313e-01 -3.76292834e-02 6.44654000e+01] [-1.78011095e-01 9.84012072e-01 5.68267086e-03 7.63133844e-01] [ 3.80397432e-02 1.11069974e-03 9.99275610e-01 7.66655437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.564839173 meters 0.09858595281347451 Centerline is valid? [True, True] Translation: X:64.52, Y:0.74, Z:0.76 [[ 9.83649287e-01 1.76062424e-01 -3.78959367e-02 6.45207885e+01] [-1.75972828e-01 9.84378445e-01 5.71324806e-03 7.42165607e-01] [ 3.83098316e-02 1.04882276e-03 9.99265359e-01 7.59032032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.624839173 meters 0.1014217233671748 Centerline is valid? [True, False] Translation: X:64.50, Y:0.75, Z:0.75 [[ 9.85835118e-01 1.67062762e-01 -1.48038430e-02 6.45035961e+01] [-1.67033120e-01 9.85946010e-01 3.22536357e-03 7.50539165e-01] [ 1.51346280e-02 -7.06944595e-04 9.99885215e-01 7.50125282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68483917299999 meters 0.10666134848963651 Centerline is valid? [False, False] Translation: X:64.50, Y:0.76, Z:0.75 [[ 9.84669238e-01 1.74206333e-01 -8.86827674e-03 6.44983305e+01] [-1.74093226e-01 9.84653086e-01 1.22412332e-02 7.64006451e-01] [ 1.08646764e-02 -1.05096588e-02 9.99885746e-01 7.47728823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74483917299999 meters 0.10729374702122245 Centerline is valid? [False, False] Translation: X:64.50, Y:0.76, Z:0.75 [[ 9.84630488e-01 1.74436956e-01 -8.63421700e-03 6.44974485e+01] [-1.74325967e-01 9.84611507e-01 1.22734818e-02 7.64097987e-01] [ 1.06422982e-02 -1.05796761e-02 9.99887400e-01 7.48523745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80483917299999 meters 0.10184524517288733 Centerline is valid? [False, False] Translation: X:64.49, Y:0.76, Z:0.75 [[ 9.87573683e-01 1.56806661e-01 -1.04829617e-02 6.44945506e+01] [-1.56635766e-01 9.87534574e-01 1.55145995e-02 7.61338800e-01] [ 1.27850797e-02 -1.36798034e-02 9.99824687e-01 7.53323596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.864839173 meters 0.0995475564344428 Centerline is valid? [False, True] Translation: X:64.50, Y:0.76, Z:0.76 [[ 9.89710507e-01 1.42411102e-01 -1.38632642e-02 6.44952181e+01] [-1.42082150e-01 9.89602060e-01 2.23701754e-02 7.59704425e-01] [ 1.69048762e-02 -2.01702753e-02 9.99653633e-01 7.56941241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.924839173 meters 0.08840652957176423 Centerline is valid? [True, True] Translation: X:64.55, Y:0.73, Z:0.78 [[ 9.91640438e-01 1.29031233e-01 4.26547876e-04 6.45548580e+01] [-1.29031225e-01 9.91640530e-01 -4.58582003e-05 7.30517398e-01] [-4.28899302e-04 -9.56314935e-06 9.99999908e-01 7.77994285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters 0.08781291243223419 Centerline is valid? [True, True] Translation: X:64.61, Y:0.71, Z:0.78 [[ 9.93238585e-01 1.16088060e-01 8.22530032e-04 6.46131606e+01] [-1.16088025e-01 9.93238925e-01 -8.96338547e-05 7.11952857e-01] [-8.27374265e-04 -6.45808419e-06 9.99999658e-01 7.75279275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters 0.0895043693213376 Centerline is valid? [True, True] Translation: X:64.67, Y:0.69, Z:0.77 [[ 9.94417489e-01 1.05488962e-01 -2.43667462e-03 6.46719688e+01] [-1.05488620e-01 9.94420474e-01 2.68943659e-04 6.94088116e-01] [ 2.45144972e-03 -1.04008351e-05 9.99996995e-01 7.70677104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10483917299999 meters 0.0896143106757292 Centerline is valid? [True, True] Translation: X:64.73, Y:0.66, Z:0.78 [[ 9.96420410e-01 8.37497135e-02 1.15044233e-02 6.47303495e+01] [-8.37408182e-02 9.96486781e-01 -1.25359630e-03 6.57039834e-01] [-1.15689941e-02 2.85719118e-04 9.99933036e-01 7.80188598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16483917299999 meters 0.0865138592348019 Centerline is valid? [True, True] Translation: X:64.79, Y:0.65, Z:0.79 [[ 9.96564642e-01 8.05257199e-02 1.93526011e-02 6.47915756e+01] [-8.04999264e-02 9.96752383e-01 -2.10942350e-03 6.47532880e-01] [-1.94596141e-02 5.44293915e-04 9.99810496e-01 7.94050803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22483917299999 meters 0.08938361785902448 Centerline is valid? [True, True] Translation: X:64.85, Y:0.64, Z:0.78 [[ 9.97009444e-01 7.63468945e-02 1.19716327e-02 6.48509152e+01] [-7.63367246e-02 9.97081241e-01 -1.30483548e-03 6.39504055e-01] [-1.20363106e-02 3.87058063e-04 9.99927486e-01 7.83126904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.284839173 meters 0.09351309271771467 Centerline is valid? [True, True] Translation: X:64.91, Y:0.63, Z:0.77 [[ 9.97631000e-01 6.84564583e-02 6.78976878e-03 6.49098530e+01] [-6.84530053e-02 9.97654068e-01 -7.39927921e-04 6.31219973e-01] [-6.82449329e-03 2.73394954e-04 9.99976676e-01 7.70945878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.344839173 meters 0.09696664813179035 Centerline is valid? [True, True] Translation: X:64.97, Y:0.61, Z:0.77 [[ 9.97860311e-01 6.51874294e-02 5.03975114e-03 6.49678613e+01] [-6.51855101e-02 9.97873014e-01 -5.44330011e-04 6.12972454e-01] [-5.06451513e-03 2.14646565e-04 9.99987152e-01 7.68472656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.404839173 meters 0.08843712099595018 Centerline is valid? [True, True] Translation: X:65.03, Y:0.64, Z:0.77 [[ 9.96524858e-01 8.31657600e-02 4.65434107e-03 6.50320291e+01] [-8.31642993e-02 9.96535721e-01 -5.06837028e-04 6.42534122e-01] [-4.68036862e-03 1.18000684e-04 9.99989040e-01 7.67682255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46483917299999 meters 0.08575887374547099 Centerline is valid? [True, True] Translation: X:65.09, Y:0.66, Z:0.76 [[ 9.94876667e-01 1.01047635e-01 3.12950457e-03 6.50947762e+01] [-1.01047071e-01 9.94881588e-01 -3.38487284e-04 6.61839668e-01] [-3.14768982e-03 2.05258315e-05 9.99995046e-01 7.58764803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52483917299999 meters 0.08600950176837369 Centerline is valid? [True, True] Translation: X:65.16, Y:0.70, Z:0.77 [[ 9.89949097e-01 1.41010811e-01 1.08045100e-02 6.51618683e+01] [-1.41006528e-01 9.90007985e-01 -1.16095225e-03 7.02064825e-01] [-1.08602580e-02 -3.74222817e-04 9.99940956e-01 7.66199031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58483917299999 meters 0.08506494296362739 Centerline is valid? [True, True] Translation: X:65.23, Y:0.71, Z:0.78 [[ 9.87645785e-01 1.55781256e-01 1.69706993e-02 6.52267465e+01] [-1.55772329e-01 9.87791244e-01 -1.85475424e-03 7.14988707e-01] [-1.70524441e-02 -8.11725145e-04 9.99854267e-01 7.82963183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.644839173 meters 0.08510044835600195 Centerline is valid? [True, True] Translation: X:65.29, Y:0.70, Z:0.78 [[ 9.86975926e-01 1.59536340e-01 2.06561771e-02 6.52880613e+01] [-1.59524208e-01 9.87191466e-01 -2.24438223e-03 7.02357620e-01] [-2.07496623e-02 -1.08000906e-03 9.99784119e-01 7.83537416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.704839173 meters 0.08530463707431074 Centerline is valid? [True, True] Translation: X:65.35, Y:0.68, Z:0.78 [[ 9.86376693e-01 1.62868990e-01 2.31238429e-02 6.53482535e+01] [-1.62854469e-01 9.86646877e-01 -2.52239593e-03 6.83656308e-01] [-2.32258874e-02 -1.27778861e-03 9.99729426e-01 7.83299596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.764839173 meters 0.09035204531816537 Centerline is valid? [True, True] Translation: X:65.41, Y:0.69, Z:0.77 [[ 9.85277217e-01 1.69649277e-01 2.11643042e-02 6.54089122e+01] [-1.69638223e-01 9.85503651e-01 -2.32968263e-03 6.92368659e-01] [-2.12527281e-02 -1.29489174e-03 9.99773297e-01 7.71856853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82483917299999 meters 0.09016458605574931 Centerline is valid? [True, True] Translation: X:65.47, Y:0.69, Z:0.77 [[ 9.84843610e-01 1.71671361e-01 2.47387949e-02 6.54709973e+01] [-1.71657269e-01 9.85153008e-01 -2.70803508e-03 6.86048355e-01] [-2.48363903e-02 -1.57960292e-03 9.99690281e-01 7.74060102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88483917299999 meters 0.08679872683230971 Centerline is valid? [True, True] Translation: X:65.53, Y:0.66, Z:0.77 [[ 9.85287543e-01 1.69741492e-01 1.99068700e-02 6.55296867e+01] [-1.69731658e-01 9.85487872e-01 -2.19485108e-03 6.60412223e-01] [-1.99905362e-02 -1.21626662e-03 9.99799429e-01 7.71870367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94483917299999 meters 0.08978393413446785 Centerline is valid? [True, True] Translation: X:65.59, Y:0.66, Z:0.74 [[ 9.87060348e-01 1.60213985e-01 6.58394660e-03 6.55867685e+01] [-1.60212700e-01 9.87082248e-01 -7.25669340e-04 6.56912689e-01] [-6.61515919e-03 -3.38552428e-04 9.99978062e-01 7.43460051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.004839173 meters 0.0907364108181104 Centerline is valid? [True, True] Translation: X:65.65, Y:0.64, Z:0.73 [[ 9.87834181e-01 1.55509267e-01 -7.06039678e-04 6.56450932e+01] [-1.55509250e-01 9.87834433e-01 7.82549932e-05 6.39279197e-01] [ 7.09619682e-04 3.24927439e-05 9.99999748e-01 7.27295695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters 0.08887884424386211 Centerline is valid? [True, True] Translation: X:65.70, Y:0.63, Z:0.73 [[ 9.86905334e-01 1.61284170e-01 -2.29739787e-03 6.57046996e+01] [-1.61284018e-01 9.86908001e-01 2.52307342e-04 6.25652068e-01] [ 2.30801352e-03 1.21530099e-04 9.99997329e-01 7.32249695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.124839173 meters 0.0983263942225294 Centerline is valid? [True, True] Translation: X:65.77, Y:0.64, Z:0.72 [[ 9.84428272e-01 1.75769572e-01 -2.45671687e-03 6.57654745e+01] [-1.75769440e-01 9.84431323e-01 2.71207734e-04 6.39646023e-01] [ 2.46613911e-03 1.64831188e-04 9.99996945e-01 7.17026785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18483917299999 meters 0.10845724195164934 Centerline is valid? [True, False] Translation: X:65.76, Y:0.64, Z:0.72 [[ 9.83552887e-01 1.80619965e-01 -3.83116996e-04 6.57641671e+01] [-1.80615675e-01 9.83540396e-01 5.12509168e-03 6.38177239e-01] [ 1.30250492e-03 -4.97160178e-03 9.99986793e-01 7.15613885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24483917299999 meters 0.11016160288518147 Centerline is valid? [False, False] Translation: X:65.76, Y:0.64, Z:0.72 [[ 9.83491962e-01 1.80928738e-01 2.88996362e-03 6.57589284e+01] [-1.80944720e-01 9.83469404e-01 6.85119174e-03 6.35857612e-01] [-1.60261332e-03 -7.26101567e-03 9.99972354e-01 7.15421356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30483917299999 meters 0.10447207813567394 Centerline is valid? [False, False] Translation: X:65.74, Y:0.63, Z:0.72 [[ 9.84820843e-01 1.73178535e-01 1.17090920e-02 6.57404745e+01] [-1.73311579e-01 9.84799907e-01 1.14995961e-02 6.30880293e-01] [-9.53962946e-03 -1.33543632e-02 9.99865319e-01 7.19829267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.364839173 meters 0.10666748392677569 Centerline is valid? [False, False] Translation: X:65.73, Y:0.63, Z:0.72 [[ 9.87302729e-01 1.58722402e-01 6.36560084e-03 6.57274885e+01] [-1.58816519e-01 9.87124459e-01 1.90424621e-02 6.25477578e-01] [-3.26117496e-03 -1.98116374e-02 9.99798412e-01 7.15378611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.424839173 meters 0.10490940934195338 Centerline is valid? [False, False] Translation: X:65.72, Y:0.63, Z:0.71 [[ 9.88662948e-01 1.49732554e-01 1.12132812e-02 6.57207807e+01] [-1.49921005e-01 9.88525901e-01 1.84454925e-02 6.25778609e-01] [-8.32272819e-03 -1.99174814e-02 9.99766986e-01 7.08453921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.484839173 meters 0.11120298592475213 Centerline is valid? [False, False] Translation: X:65.73, Y:0.63, Z:0.69 [[ 9.90348859e-01 1.38228585e-01 -1.00992558e-02 6.57272791e+01] [-1.37983461e-01 9.90192458e-01 2.18965861e-02 6.26165010e-01] [ 1.30269410e-02 -2.02917288e-02 9.99709230e-01 6.93732722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.544839173 meters 0.11271203858457025 Centerline is valid? [False, False] Translation: X:65.73, Y:0.62, Z:0.68 [[ 9.92482441e-01 1.21103840e-01 -1.76766645e-02 6.57277578e+01] [-1.20629287e-01 9.92361828e-01 2.58181623e-02 6.23671581e-01] [ 2.06683257e-02 -2.34917493e-02 9.99510359e-01 6.76788004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60483917299999 meters 0.10474523229196836 Centerline is valid? [False, False] Translation: X:65.72, Y:0.62, Z:0.67 [[ 9.94962472e-01 9.98546760e-02 -8.87264007e-03 6.57207633e+01] [-9.95525349e-02 9.94589453e-01 2.96835434e-02 6.22541733e-01] [ 1.17886748e-02 -2.86507179e-02 9.99519967e-01 6.71490645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66483917299999 meters 0.09989600631227818 Centerline is valid? [False, True] Translation: X:65.72, Y:0.62, Z:0.69 [[ 9.96364637e-01 8.45751957e-02 -1.02247814e-02 6.57244711e+01] [-8.42408627e-02 9.96005436e-01 2.96082642e-02 6.18095414e-01] [ 1.26880626e-02 -2.86392830e-02 9.99509282e-01 6.88948882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72483917299999 meters 0.09921666529576302 Centerline is valid? [True, True] Translation: X:65.79, Y:0.62, Z:0.68 [[ 9.96667816e-01 8.04546872e-02 -1.34278954e-02 6.57855581e+01] [-8.04553115e-02 9.96758094e-01 4.94572535e-04 6.16682714e-01] [ 1.34241541e-02 5.87420979e-04 9.99909719e-01 6.77337489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters 0.0962499704874096 Centerline is valid? [True, True] Translation: X:65.85, Y:0.60, Z:0.67 [[ 9.97491528e-01 6.86359798e-02 -1.73133992e-02 6.58465133e+01] [-6.86348073e-02 9.97641631e-01 6.62607774e-04 5.99071480e-01] [ 1.73180465e-02 5.27356177e-04 9.99849892e-01 6.66206844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters 0.0892294646731241 Centerline is valid? [True, True] Translation: X:65.91, Y:0.57, Z:0.67 [[ 9.99196857e-01 4.00627015e-02 7.88246065e-04 6.59059351e+01] [-4.00626911e-02 9.99197168e-01 -2.90458691e-05 5.67595551e-01] [-7.88776892e-04 -2.55671745e-06 9.99999689e-01 6.71630168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.904839173 meters 0.09244081361764954 Centerline is valid? [True, True] Translation: X:65.96, Y:0.53, Z:0.67 [[ 9.99865146e-01 1.48635823e-02 6.98303721e-03 6.59648410e+01] [-1.48621434e-02 9.99889519e-01 -2.57906621e-04 5.34531928e-01] [-6.98609913e-03 1.54088941e-04 9.99975585e-01 6.72617750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96483917299999 meters 0.09051810504628366 Centerline is valid? [True, True] Translation: X:66.03, Y:0.53, Z:0.68 [[ 9.99968008e-01 2.40759644e-03 7.62802772e-03 6.60269393e+01] [-2.40554179e-03 9.99997068e-01 -2.78519736e-04 5.32763602e-01] [-7.62867592e-03 2.60161286e-04 9.99970867e-01 6.80896816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02483917299999 meters 0.09190418068162054 Centerline is valid? [True, True] Translation: X:66.09, Y:0.55, Z:0.66 [[ 9.99981477e-01 5.32568093e-03 2.94662489e-03 6.60867486e+01] [-5.32538658e-03 9.99985814e-01 -1.07730225e-04 5.49511288e-01] [-2.94715683e-03 9.20363129e-05 9.99995653e-01 6.64528536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08483917299999 meters 0.08920433442809611 Centerline is valid? [True, True] Translation: X:66.15, Y:0.56, Z:0.66 [[ 9.99918826e-01 1.15876722e-02 5.29787119e-03 6.61484827e+01] [-1.15868072e-02 9.99932852e-01 -1.93925847e-04 5.62955959e-01] [-5.29976260e-03 1.32524693e-04 9.99985947e-01 6.64526491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.144839173 meters 0.0859948996118008 Centerline is valid? [True, True] Translation: X:66.21, Y:0.58, Z:0.67 [[ 9.99728885e-01 1.50654430e-02 1.77535375e-02 6.62092630e+01] [-1.50562122e-02 9.99886435e-01 -6.53494753e-04 5.81456021e-01] [-1.77613665e-02 3.86016553e-04 9.99842180e-01 6.70189797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.204839173 meters 0.08182593733899132 Centerline is valid? [True, True] Translation: X:66.27, Y:0.59, Z:0.68 [[ 9.99403806e-01 2.29461685e-02 2.57973929e-02 6.62707641e+01] [-2.29294222e-02 9.99736640e-01 -9.44810439e-04 5.91081906e-01] [-2.58122787e-02 3.52727836e-04 9.99666745e-01 6.75026480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.264839173 meters 0.07737373584367044 Centerline is valid? [True, True] Translation: X:66.33, Y:0.60, Z:0.69 [[ 9.98668084e-01 3.10026961e-02 4.12418474e-02 6.63315989e+01] [-3.09666306e-02 9.99519273e-01 -1.51318596e-03 5.96706936e-01] [-4.12689342e-02 2.34049467e-04 9.99148047e-01 6.86148343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32483917299999 meters 0.07570276286117684 Centerline is valid? [True, True] Translation: X:66.39, Y:0.61, Z:0.69 [[ 9.98394342e-01 3.01664168e-02 4.79450287e-02 6.63935709e+01] [-3.01168791e-02 9.99544842e-01 -1.75544134e-03 6.06040970e-01] [-4.79761615e-02 3.08668074e-04 9.98848433e-01 6.89203112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38483917299999 meters 0.07458256436086537 Centerline is valid? [True, True] Translation: X:66.46, Y:0.61, Z:0.69 [[ 9.98162559e-01 3.20791512e-02 5.14046096e-02 6.64551387e+01] [-3.20246766e-02 9.99485304e-01 -1.88323676e-03 6.09168729e-01] [-5.14385646e-02 2.33560423e-04 9.98676133e-01 6.93693565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44483917299999 meters 0.07236760007323156 Centerline is valid? [True, True] Translation: X:66.52, Y:0.63, Z:0.70 [[ 9.97693159e-01 4.20329842e-02 5.33065533e-02 6.65192984e+01] [-4.19892225e-02 9.99116178e-01 -1.94112186e-03 6.26637258e-01] [-5.33410310e-02 -3.01656727e-04 9.98576308e-01 7.01147901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.504839173 meters 0.07215263378918656 Centerline is valid? [True, True] Translation: X:66.58, Y:0.63, Z:0.70 [[ 9.97571848e-01 4.06940192e-02 5.65190651e-02 6.65812361e+01] [-4.06410133e-02 9.99171632e-01 -2.08741730e-03 6.29207797e-01] [-5.65571919e-02 -2.14643339e-04 9.98399338e-01 6.97455059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.564839173 meters 0.07430737013348837 Centerline is valid? [True, True] Translation: X:66.64, Y:0.62, Z:0.68 [[ 9.97786430e-01 3.80874740e-02 5.45122330e-02 6.66400956e+01] [-3.80340467e-02 9.99274407e-01 -2.01757046e-03 6.21595552e-01] [-5.45495235e-02 -6.02163837e-05 9.98511064e-01 6.79623956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.624839173 meters 0.07339479965514183 Centerline is valid? [True, True] Translation: X:66.70, Y:0.62, Z:0.68 [[ 9.98045334e-01 3.93864275e-02 4.85203044e-02 6.67011368e+01] [-3.93454990e-02 9.99224047e-01 -1.79870548e-03 6.22434251e-01] [-4.85534996e-02 -1.13865975e-04 9.98820577e-01 6.80826134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68483917299999 meters 0.074499208797471 Centerline is valid? [True, True] Translation: X:66.76, Y:0.63, Z:0.67 [[ 9.97824482e-01 4.64695696e-02 4.67641169e-02 6.67622648e+01] [-4.64395888e-02 9.98919606e-01 -1.72793819e-03 6.32482298e-01] [-4.67938898e-02 -4.47527329e-04 9.98904466e-01 6.70944389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74483917299999 meters 0.07466548030075006 Centerline is valid? [True, True] Translation: X:66.83, Y:0.64, Z:0.67 [[ 9.97144890e-01 5.68643932e-02 4.96840932e-02 6.68256473e+01] [-5.68435278e-02 9.98381415e-01 -1.83398933e-03 6.41387504e-01] [-4.97079639e-02 -9.95466041e-04 9.98763299e-01 6.70625889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80483917299999 meters 0.07832251062050073 Centerline is valid? [True, True] Translation: X:66.88, Y:0.65, Z:0.65 [[ 9.96771550e-01 6.60691122e-02 4.56218068e-02 6.68845204e+01] [-6.60596969e-02 9.97814198e-01 -1.71566320e-03 6.53507668e-01] [-4.56354389e-02 -1.30363847e-03 9.98957310e-01 6.53810467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.864839173 meters 0.08069926923570768 Centerline is valid? [True, True] Translation: X:66.94, Y:0.65, Z:0.63 [[ 9.97113937e-01 6.66791607e-02 3.62999406e-02 6.69438238e+01] [-6.66736891e-02 9.97773904e-01 -1.36258783e-03 6.52592625e-01] [-3.63099896e-02 -1.06159564e-03 9.99340011e-01 6.32458875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.924839173 meters 0.08122102351575158 Centerline is valid? [True, True] Translation: X:67.00, Y:0.65, Z:0.62 [[ 9.97594940e-01 6.23031944e-02 3.03751222e-02 6.70033945e+01] [-6.22973283e-02 9.98056984e-01 -1.14036795e-03 6.45429617e-01] [-3.03871514e-02 -7.54663669e-04 9.99537919e-01 6.19960058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.984839173 meters 0.08165541266386736 Centerline is valid? [True, True] Translation: X:67.06, Y:0.64, Z:0.61 [[ 9.97677255e-01 6.09515923e-02 3.04137816e-02 6.70637521e+01] [-6.09455345e-02 9.98140457e-01 -1.12701070e-03 6.39431797e-01] [-3.04259189e-02 -7.29191235e-04 9.99536759e-01 6.11444006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04483917299999 meters 0.0846868110338278 Centerline is valid? [True, True] Translation: X:67.12, Y:0.63, Z:0.59 [[ 9.97751115e-01 6.29587362e-02 2.29980369e-02 6.71219221e+01] [-6.29553256e-02 9.98015964e-01 -8.73006519e-04 6.33972719e-01] [-2.30073714e-02 -5.76805673e-04 9.99735129e-01 5.92411718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10483917299999 meters 0.0903976529580226 Centerline is valid? [True, True] Translation: X:67.18, Y:0.65, Z:0.57 [[ 9.97291736e-01 7.28927021e-02 9.79018983e-03 6.71812533e+01] [-7.28925759e-02 9.97339729e-01 -3.70190550e-04 6.46809154e-01] [-9.79112946e-03 -3.44444180e-04 9.99952006e-01 5.73516320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16483917299999 meters 0.09798395506253742 Centerline is valid? [True, True] Translation: X:67.24, Y:0.67, Z:0.56 [[ 9.95982917e-01 8.87697467e-02 1.17457114e-02 6.72407973e+01] [-8.87706922e-02 9.96051991e-01 -4.41868509e-04 6.66978750e-01] [-1.17385638e-02 -6.02581447e-04 9.99930919e-01 5.63599022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22483917299999 meters 0.09367767160139528 Centerline is valid? [True, True] Translation: X:67.30, Y:0.67, Z:0.59 [[ 9.94813420e-01 9.69484418e-02 3.07775670e-02 6.73043392e+01] [-9.69585501e-02 9.95287736e-01 -1.16735174e-03 6.69972446e-01] [-3.07457079e-02 -1.82285110e-03 9.99525577e-01 5.87160743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.284839173 meters 0.09445791489484201 Centerline is valid? [True, True] Translation: X:67.36, Y:0.67, Z:0.58 [[ 9.94965055e-01 9.31114739e-02 3.70781994e-02 6.73636891e+01] [-9.31234266e-02 9.95653576e-01 -1.40828652e-03 6.69569386e-01] [-3.70481695e-02 -2.05165310e-03 9.99311375e-01 5.83108271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.344839173 meters 0.08571071733319922 Centerline is valid? [True, True] Translation: X:67.42, Y:0.64, Z:0.59 [[ 9.95333525e-01 8.65382022e-02 4.26885734e-02 6.74249488e+01] [-8.65481231e-02 9.96246355e-01 -1.61917110e-03 6.44534955e-01] [-4.26684558e-02 -2.08300063e-03 9.99087115e-01 5.91209303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.404839173 meters 0.07903709959864186 Centerline is valid? [True, True] Translation: X:67.49, Y:0.61, Z:0.60 [[ 9.95051534e-01 7.84606649e-02 6.09620236e-02 6.74858370e+01] [-7.84658675e-02 9.96914119e-01 -2.31230612e-03 6.14977017e-01] [-6.09553271e-02 -2.48257431e-03 9.98137408e-01 6.04336173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46483917299999 meters 0.07911658759365889 Centerline is valid? [True, True] Translation: X:67.55, Y:0.61, Z:0.60 [[ 9.95107705e-01 7.75416320e-02 6.12205024e-02 6.75477208e+01] [-7.75456986e-02 9.96986115e-01 -2.31308556e-03 6.11166799e-01] [-6.12153513e-02 -2.44561736e-03 9.98121586e-01 5.99979117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52483917299999 meters 0.08632899767026295 Centerline is valid? [True, True] Translation: X:67.60, Y:0.61, Z:0.57 [[ 9.95286557e-01 8.58082408e-02 4.51842414e-02 6.76049585e+01] [-8.58181273e-02 9.96309327e-01 -1.72454382e-03 6.14833705e-01] [-4.51654612e-02 -2.16121170e-03 9.98977182e-01 5.73711999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58483917299999 meters 0.0991897237201389 Centerline is valid? [True, True] Translation: X:67.66, Y:0.61, Z:0.55 [[ 9.93971100e-01 1.04647605e-01 3.27159003e-02 6.76630008e+01] [-1.04662842e-01 9.94506975e-01 -1.25117455e-03 6.10537571e-01] [-3.26671235e-02 -2.18050775e-03 9.99463909e-01 5.51579714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.644839173 meters 0.10427189309692582 Centerline is valid? [True, False] Translation: X:67.67, Y:0.60, Z:0.56 [[ 9.93944834e-01 1.07976032e-01 2.03676925e-02 6.76669066e+01] [-1.08350082e-01 9.93945241e-01 1.82515100e-02 6.03460625e-01] [-1.82736454e-02 -2.03478353e-02 9.99625950e-01 5.59561602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.704839173 meters 0.10249963879883192 Centerline is valid? [False, False] Translation: X:67.66, Y:0.60, Z:0.56 [[ 9.94565428e-01 1.03048367e-01 1.48540575e-02 6.76603889e+01] [-1.03418440e-01 9.94277453e-01 2.67763344e-02 6.01167052e-01] [-1.20097969e-02 -2.81669999e-02 9.99531083e-01 5.62024794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.764839173 meters 0.10008904955338853 Centerline is valid? [False, False] Translation: X:67.66, Y:0.58, Z:0.58 [[ 9.94545169e-01 1.03488581e-01 1.30391523e-02 6.76600977e+01] [-1.03536845e-01 9.94620848e-01 3.08058793e-03 5.84024771e-01] [-1.26502070e-02 -4.41381653e-03 9.99910241e-01 5.76090443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82483917299999 meters 0.10088344996731567 Centerline is valid? [False, False] Translation: X:67.67, Y:0.58, Z:0.57 [[ 9.95257704e-01 9.63260446e-02 1.35423848e-02 6.76668403e+01] [-9.65586955e-02 9.95169440e-01 1.77258118e-02 5.75368743e-01] [-1.17695102e-02 -1.89493857e-02 9.99751169e-01 5.70690931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88483917299999 meters 0.09634093225747024 Centerline is valid? [False, True] Translation: X:67.67, Y:0.57, Z:0.57 [[ 9.96624605e-01 8.07131087e-02 1.49930402e-02 6.76689620e+01] [-8.10667042e-02 9.96402590e-01 2.46995602e-02 5.65762277e-01] [-1.29455258e-02 -2.58316257e-02 9.99582483e-01 5.70913202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94483917299999 meters 0.09267656631662066 Centerline is valid? [True, True] Translation: X:67.73, Y:0.55, Z:0.57 [[ 9.96706505e-01 7.95412466e-02 1.57903047e-02 6.77297304e+01] [-7.95496614e-02 9.96830900e-01 -9.54673927e-05 5.51759161e-01] [-1.57478573e-02 -1.16096042e-03 9.99875321e-01 5.68566484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.004839173 meters 0.09286517142494319 Centerline is valid? [True, True] Translation: X:67.79, Y:0.54, Z:0.57 [[ 9.96461983e-01 8.03392017e-02 2.46805431e-02 6.77902435e+01] [-8.03599818e-02 9.96765896e-01 -1.50300016e-04 5.41391086e-01] [-2.46127987e-02 -1.83355974e-03 9.99695378e-01 5.67068601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters 0.08827106615420623 Centerline is valid? [True, True] Translation: X:67.85, Y:0.51, Z:0.57 [[ 9.96514154e-01 8.10616898e-02 1.97115233e-02 6.78515294e+01] [-8.10750967e-02 9.96707989e-01 -1.19342398e-04 5.13661699e-01] [-1.96563068e-02 -1.47918727e-03 9.99805702e-01 5.66744180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters 0.08807130492288222 Centerline is valid? [True, True] Translation: X:67.91, Y:0.49, Z:0.56 [[ 9.96704175e-01 7.95980515e-02 1.56505002e-02 6.79132828e+01] [-7.96064898e-02 9.96826364e-01 -8.40587767e-05 4.88851538e-01] [-1.56075221e-02 -1.16209965e-03 9.99877520e-01 5.59013983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18483917299999 meters 0.09035928222129266 Centerline is valid? [True, True] Translation: X:67.97, Y:0.49, Z:0.56 [[ 9.96500318e-01 8.05393236e-02 2.23726185e-02 6.79727132e+01] [-8.05562490e-02 9.96750054e-01 -1.45154117e-04 4.89193511e-01] [-2.23115993e-02 -1.65760810e-03 9.99749691e-01 5.55875757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24483917299999 meters 0.09086445641657447 Centerline is valid? [True, True] Translation: X:68.03, Y:0.47, Z:0.55 [[ 9.96674105e-01 7.93857227e-02 1.84020530e-02 6.80345342e+01] [-7.93972054e-02 9.96843053e-01 -1.06919231e-04 4.70043134e-01] [-1.83524465e-02 -1.35450795e-03 9.99830662e-01 5.47180705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30483917299999 meters 0.09167347937135675 Centerline is valid? [True, True] Translation: X:68.10, Y:0.46, Z:0.54 [[ 9.96459176e-01 8.25999403e-02 1.56958990e-02 6.80951623e+01] [-8.26084863e-02 9.96582072e-01 -1.04204706e-04 4.55775939e-01] [-1.56508589e-02 -1.19277872e-03 9.99876806e-01 5.40203233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.364839173 meters 0.1026974342855404 Centerline is valid? [True, False] Translation: X:68.11, Y:0.45, Z:0.52 [[ 9.96672342e-01 8.09723932e-02 9.36563850e-03 6.81062536e+01] [-8.10423987e-02 9.96683531e-01 7.35310334e-03 4.51859905e-01] [-8.73917928e-03 -8.08764853e-03 9.99929106e-01 5.20738489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters 0.10136164852770964 Centerline is valid? [False, False] Translation: X:68.12, Y:0.43, Z:0.51 [[ 9.97776185e-01 6.66339276e-02 -1.61401566e-03 6.81219234e+01] [-6.66352086e-02 9.97777120e-01 -7.53236730e-04 4.34907719e-01] [ 1.56023678e-03 8.59111941e-04 9.99998414e-01 5.10129676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.484839173 meters 0.09653095453057813 Centerline is valid? [False, True] Translation: X:68.13, Y:0.43, Z:0.51 [[ 9.98659382e-01 5.17345794e-02 1.72410767e-03 6.81270446e+01] [-5.17489411e-02 9.98612879e-01 9.71412450e-03 4.26794518e-01] [-1.21915998e-03 -9.79032231e-03 9.99951330e-01 5.11143682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54483917299999 meters 0.08873689576575979 Centerline is valid? [True, True] Translation: X:68.19, Y:0.42, Z:0.52 [[ 9.99126172e-01 3.95543859e-02 1.35034371e-02 6.81882567e+01] [-3.95606520e-02 9.99217152e-01 1.97136804e-04 4.15801957e-01] [-1.34850683e-02 -7.31169317e-04 9.99908805e-01 5.17471725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60483917299999 meters 0.07861533807474297 Centerline is valid? [True, True] Translation: X:68.25, Y:0.38, Z:0.54 [[ 9.99189497e-01 2.95020899e-02 2.73856842e-02 6.82513725e+01] [-2.95240712e-02 9.99563990e-01 3.98572295e-04 3.75892884e-01] [-2.73619851e-02 -1.20678614e-03 9.99624862e-01 5.41796118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66483917299999 meters 0.07778886988488444 Centerline is valid? [True, True] Translation: X:68.31, Y:0.38, Z:0.54 [[ 9.99226987e-01 2.74131312e-02 2.81771107e-02 6.83131192e+01] [-2.74356318e-02 9.99623487e-01 4.12173858e-04 3.83446867e-01] [-2.81552026e-02 -1.18491207e-03 9.99602861e-01 5.37448821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72483917299999 meters 0.07700808568096934 Centerline is valid? [True, True] Translation: X:68.37, Y:0.38, Z:0.54 [[ 9.99149148e-01 2.31675788e-02 3.41210231e-02 6.83731773e+01] [-2.31979346e-02 9.99730770e-01 4.93983404e-04 3.82379486e-01] [-3.41003923e-02 -1.28510036e-03 9.99417586e-01 5.36232936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.784839173 meters 0.07547485658057874 Centerline is valid? [True, True] Translation: X:68.44, Y:0.38, Z:0.55 [[ 9.98913642e-01 2.39254677e-02 3.99888577e-02 6.84352737e+01] [-2.39678082e-02 9.99712563e-01 5.79659192e-04 3.82987415e-01] [-3.99634948e-02 -1.53747475e-03 9.99199958e-01 5.47100443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.844839173 meters 0.07979028391528026 Centerline is valid? [True, True] Translation: X:68.50, Y:0.41, Z:0.54 [[ 9.98718650e-01 3.39620031e-02 3.75185389e-02 6.84952154e+01] [-3.40062944e-02 9.99421471e-01 5.42805756e-04 4.08302295e-01] [-3.74783985e-02 -1.81797671e-03 9.99295784e-01 5.40461808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.904839173 meters 0.08311559980464195 Centerline is valid? [True, True] Translation: X:68.56, Y:0.42, Z:0.53 [[ 9.98795853e-01 3.83934537e-02 3.05415476e-02 6.85553725e+01] [-3.84248813e-02 9.99261394e-01 4.42546724e-04 4.20881504e-01] [-3.05019985e-02 -1.61556917e-03 9.99533400e-01 5.27796356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96483917299999 meters 0.08039299204604068 Centerline is valid? [True, True] Translation: X:68.62, Y:0.42, Z:0.53 [[ 9.98609943e-01 4.39154063e-02 2.91482229e-02 6.86166459e+01] [-4.39463445e-02 9.99033804e-01 4.21335008e-04 4.24520452e-01] [-2.91015569e-02 -1.70170717e-03 9.99575011e-01 5.29668892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02483917299999 meters 0.08833705258214213 Centerline is valid? [True, True] Translation: X:68.68, Y:0.45, Z:0.52 [[ 9.98181191e-01 5.50760733e-02 2.45139992e-02 6.86753638e+01] [-5.51013027e-02 9.98480706e-01 3.54385435e-04 4.51427646e-01] [-2.44572371e-02 -1.70449417e-03 9.99699424e-01 5.16133246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08483917299999 meters 0.08581754389955225 Centerline is valid? [True, True] Translation: X:68.74, Y:0.46, Z:0.52 [[ 9.98079833e-01 5.51803131e-02 2.81385794e-02 6.87372972e+01] [-5.52136310e-02 9.98474481e-01 4.07882189e-04 4.62473280e-01] [-2.80731464e-02 -1.96073213e-03 9.99603949e-01 5.17698928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.144839173 meters 0.08054642050151292 Centerline is valid? [True, True] Translation: X:68.80, Y:0.44, Z:0.52 [[ 9.98562334e-01 4.63759083e-02 2.68800983e-02 6.87992234e+01] [-4.64030454e-02 9.98922724e-01 3.86334608e-04 4.37884731e-01] [-2.68332244e-02 -1.63309761e-03 9.99638590e-01 5.23278003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.204839173 meters 0.07802940106631988 Centerline is valid? [True, True] Translation: X:68.86, Y:0.42, Z:0.52 [[ 9.98846404e-01 3.90435529e-02 2.79546611e-02 6.88595352e+01] [-3.90700002e-02 9.99236396e-01 4.00294002e-04 4.24794499e-01] [-2.79176859e-02 -1.49202084e-03 9.99609112e-01 5.20187524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.264839173 meters 0.07935497518987909 Centerline is valid? [True, True] Translation: X:68.92, Y:0.43, Z:0.51 [[ 9.98766939e-01 3.97596815e-02 2.97282707e-02 6.89200913e+01] [-3.97901198e-02 9.99207966e-01 4.32775797e-04 4.31112094e-01] [-2.96875178e-02 -1.61513361e-03 9.99557924e-01 5.12730224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32483917299999 meters 0.0802228876735684 Centerline is valid? [True, True] Translation: X:68.98, Y:0.42, Z:0.51 [[ 9.98853954e-01 3.74098926e-02 2.98542834e-02 6.89801337e+01] [-3.74392182e-02 9.99298817e-01 4.23716260e-04 4.18863727e-01] [-2.98174989e-02 -1.54095169e-03 9.99554172e-01 5.06958966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38483917299999 meters 0.08017327193418997 Centerline is valid? [True, True] Translation: X:69.04, Y:0.40, Z:0.51 [[ 9.98607906e-01 4.25158344e-02 3.12194336e-02 6.90420365e+01] [-4.25503971e-02 9.99094223e-01 4.43264908e-04 4.04288511e-01] [-3.11723100e-02 -1.77104714e-03 9.99512456e-01 5.09295421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44483917299999 meters 0.09153888748332793 Centerline is valid? [True, True] Translation: X:69.10, Y:0.43, Z:0.50 [[ 9.97706421e-01 5.81324586e-02 3.46773065e-02 6.91000619e+01] [-5.81844186e-02 9.98305731e-01 4.90274989e-04 4.34770906e-01] [-3.45900529e-02 -2.50682942e-03 9.99398441e-01 4.96700945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.504839173 meters 0.09290242725382801 Centerline is valid? [True, True] Translation: X:69.16, Y:0.43, Z:0.50 [[ 9.96832513e-01 6.76796625e-02 4.17660781e-02 6.91616739e+01] [-6.77633082e-02 9.97701252e-01 5.88629731e-04 4.32111547e-01] [-4.16302301e-02 -3.41697288e-03 9.99127243e-01 4.99723036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.564839173 meters 0.09545009996312782 Centerline is valid? [True, True] Translation: X:69.22, Y:0.42, Z:0.49 [[ 9.96897001e-01 6.87443613e-02 3.83481736e-02 6.92217678e+01] [-6.88156072e-02 9.97629250e-01 5.39447315e-04 4.19092364e-01] [-3.82201758e-02 -3.17672626e-03 9.99264293e-01 4.92063424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.624839173 meters 0.09225246887185456 Centerline is valid? [True, True] Translation: X:69.28, Y:0.41, Z:0.48 [[ 9.97259104e-01 6.23215512e-02 3.98786244e-02 6.92819968e+01] [-6.23934601e-02 9.98051473e-01 5.59953016e-04 4.06830682e-01] [-3.97660227e-02 -3.04658360e-03 9.99204374e-01 4.77310196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68483917299999 meters 0.09443510719037865 Centerline is valid? [True, True] Translation: X:69.34, Y:0.40, Z:0.46 [[ 9.97543421e-01 6.01251316e-02 3.59456759e-02 6.93426999e+01] [-6.01824263e-02 9.98187263e-01 5.13075837e-04 3.99518777e-01] [-3.58496671e-02 -2.67511341e-03 9.99353614e-01 4.63600818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74483917299999 meters 0.09501321496416075 Centerline is valid? [True, True] Translation: X:69.40, Y:0.39, Z:0.46 [[ 9.97270530e-01 6.39126480e-02 3.69684146e-02 6.94037123e+01] [-6.39751694e-02 9.97951361e-01 5.09545674e-04 3.92020087e-01] [-3.68601133e-02 -2.87321547e-03 9.99316305e-01 4.61169301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80483917299999 meters 0.10103587583450882 Centerline is valid? [True, False] Translation: X:69.40, Y:0.39, Z:0.46 [[ 9.97432769e-01 6.71997220e-02 2.47400420e-02 6.94033401e+01] [-6.75103226e-02 9.97647127e-01 1.19400934e-02 3.88951658e-01] [-2.38794609e-02 -1.35796486e-02 9.99622611e-01 4.62573790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.864839173 meters 0.10820473122918511 Centerline is valid? [False, False] Translation: X:69.40, Y:0.39, Z:0.46 [[ 9.97581958e-01 6.46023013e-02 2.56277320e-02 6.94014241e+01] [-6.48515296e-02 9.97854201e-01 9.01515885e-03 3.87153132e-01] [-2.49903400e-02 -1.06553574e-02 9.99630905e-01 4.62128387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters 0.10742454046564939 Centerline is valid? [False, False] Translation: X:69.41, Y:0.39, Z:0.45 [[ 9.97714259e-01 6.36033642e-02 2.28225453e-02 6.94098708e+01] [-6.41789528e-02 9.97614041e-01 2.54418207e-02 3.91141602e-01] [-2.11499062e-02 -2.68483944e-02 9.99415752e-01 4.52219993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters 0.1053088779662453 Centerline is valid? [False, False] Translation: X:69.41, Y:0.39, Z:0.45 [[ 9.98679129e-01 4.94785394e-02 1.38517822e-02 6.94056039e+01] [-4.97235520e-02 9.98601871e-01 1.79407688e-02 3.93792786e-01] [-1.29447326e-02 -1.86058311e-02 9.99743095e-01 4.46919456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04483917299999 meters 0.09691684046703762 Centerline is valid? [False, True] Translation: X:69.40, Y:0.39, Z:0.45 [[ 9.99315564e-01 3.35139134e-02 1.56595267e-02 6.93980723e+01] [-3.35350708e-02 9.99436947e-01 1.09038468e-03 3.94775230e-01] [-1.56141664e-02 -1.61478171e-03 9.99876788e-01 4.52766659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10483917299999 meters 0.1004918885511326 Centerline is valid? [True, False] Translation: X:69.39, Y:0.40, Z:0.45 [[ 9.99126181e-01 3.52676132e-02 2.24292235e-02 6.93895243e+01] [-3.55926220e-02 9.99264638e-01 1.42600461e-02 3.97680244e-01] [-2.19098121e-02 -1.50459003e-02 9.99646728e-01 4.47636875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16483917299999 meters 0.09867418166344658 Centerline is valid? [False, True] Translation: X:69.39, Y:0.39, Z:0.45 [[ 9.99330186e-01 2.83285478e-02 2.31662003e-02 6.93872588e+01] [-2.85061488e-02 9.99566430e-01 7.37235982e-03 3.93843285e-01] [-2.29473079e-02 -8.02780086e-03 9.99704444e-01 4.48347748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22483917299999 meters 0.09297464343444463 Centerline is valid? [True, True] Translation: X:69.45, Y:0.38, Z:0.44 [[ 9.99645882e-01 1.65076833e-02 2.08711818e-02 6.94485475e+01] [-1.65372486e-02 9.99862476e-01 1.24474889e-03 3.78314362e-01] [-2.08477636e-02 -1.58946003e-03 9.99781398e-01 4.41532938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters 0.09756927524703762 Centerline is valid? [True, True] Translation: X:69.51, Y:0.38, Z:0.44 [[ 9.99688765e-01 9.71590251e-03 2.29776736e-02 6.95084334e+01] [-9.74994341e-03 9.99951530e-01 1.36990836e-03 3.78529989e-01] [-2.29632499e-02 -1.59351301e-03 9.99735040e-01 4.42416440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters 0.09183237341369133 Centerline is valid? [True, True] Translation: X:69.57, Y:0.37, Z:0.45 [[ 9.99599158e-01 8.82095931e-03 2.69019314e-02 6.95716711e+01] [-8.86733526e-03 9.99959396e-01 1.60507856e-03 3.65069930e-01] [-2.68866807e-02 -1.84298363e-03 9.99636789e-01 4.50032490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40483917299998 meters 0.09032557330222125 Centerline is valid? [True, True] Translation: X:69.63, Y:0.37, Z:0.44 [[ 9.99611526e-01 1.24254353e-02 2.49480768e-02 6.96313866e+01] [-1.24663846e-02 9.99921187e-01 1.48651460e-03 3.74535794e-01] [-2.49276400e-02 -1.79694944e-03 9.99687643e-01 4.38149355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46483917299999 meters 0.09769402248260523 Centerline is valid? [True, True] Translation: X:69.69, Y:0.39, Z:0.43 [[ 9.99616144e-01 1.58914070e-02 2.26942112e-02 6.96902338e+01] [-1.59261680e-02 9.99872257e-01 1.35178549e-03 3.92660022e-01] [-2.26698304e-02 -1.71269842e-03 9.99741539e-01 4.32581780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52483917299999 meters 0.09635456825705274 Centerline is valid? [True, True] Translation: X:69.75, Y:0.40, Z:0.43 [[ 9.99554385e-01 2.28546513e-02 1.92014596e-02 6.97509115e+01] [-2.28808227e-02 9.99737545e-01 1.14437276e-03 3.97059934e-01] [-1.91702658e-02 -1.58320800e-03 9.99814980e-01 4.32447006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58483917299999 meters 0.10421692783764837 Centerline is valid? [True, False] Translation: X:69.75, Y:0.41, Z:0.43 [[ 9.99463097e-01 2.60105334e-02 1.99241142e-02 6.97496941e+01] [-2.60506149e-02 9.99659085e-01 1.75477087e-03 4.06939187e-01] [-1.98716793e-02 -2.27286415e-03 9.99799955e-01 4.32011516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters 0.09855027825223453 Centerline is valid? [False, True] Translation: X:69.73, Y:0.41, Z:0.44 [[ 9.99337974e-01 2.04091545e-02 3.01177686e-02 6.97333477e+01] [-2.06214517e-02 9.99764534e-01 6.75517956e-03 4.09750791e-01] [-2.99728094e-02 -7.37177957e-03 9.99523530e-01 4.35578768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters 0.0944017746030249 Centerline is valid? [True, True] Translation: X:69.79, Y:0.40, Z:0.43 [[ 9.99488652e-01 9.75911965e-03 3.04498509e-02 6.97934862e+01] [-9.83088675e-03 9.99949238e-01 2.20807307e-03 4.00784061e-01] [-3.04267564e-02 -2.50629301e-03 9.99533857e-01 4.31329518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters 0.08936433262585418 Centerline is valid? [True, True] Translation: X:69.86, Y:0.38, Z:0.43 [[ 9.99589845e-01 2.88875117e-03 2.84920528e-02 6.98555300e+01] [-2.94883554e-03 9.99993516e-01 2.06701924e-03 3.83833737e-01] [-2.84858970e-02 -2.15018982e-03 9.99591882e-01 4.27708011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82483917299999 meters 0.09402530063064506 Centerline is valid? [True, True] Translation: X:69.92, Y:0.39, Z:0.42 [[ 9.99704667e-01 3.54124034e-03 2.40424182e-02 6.99158903e+01] [-3.58423878e-03 9.99992053e-01 1.74558302e-03 3.87773706e-01] [-2.40360456e-02 -1.83124126e-03 9.99709415e-01 4.17806058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88483917299999 meters 0.09475282971437406 Centerline is valid? [True, True] Translation: X:69.97, Y:0.40, Z:0.39 [[ 9.99885722e-01 7.92176287e-03 1.28758746e-02 6.99746957e+01] [-7.93442066e-03 9.99968087e-01 9.32275985e-04 3.98730233e-01] [-1.28680785e-02 -1.03433205e-03 9.99916668e-01 3.94964652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94483917299999 meters 0.09763549598988494 Centerline is valid? [True, True] Translation: X:70.03, Y:0.40, Z:0.38 [[ 9.99906576e-01 1.36639288e-02 -3.69792633e-04 7.00349416e+01] [-1.36639395e-02 9.99906644e-01 -2.65698734e-05 4.02813319e-01] [ 3.69395062e-04 3.16202153e-05 9.99999931e-01 3.81352304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.004839173 meters 0.09408175804541438 Centerline is valid? [True, True] Translation: X:70.10, Y:0.40, Z:0.39 [[ 9.99922925e-01 1.21969983e-02 2.31888504e-03 7.00970245e+01] [-1.21974218e-02 9.99925594e-01 1.68570774e-04 3.95736552e-01] [-2.31665645e-03 -1.96842200e-04 9.99997297e-01 3.89284021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.064839173 meters 0.10361370624119441 Centerline is valid? [True, False] Translation: X:70.10, Y:0.40, Z:0.39 [[ 9.99884478e-01 1.49841770e-02 2.55048414e-03 7.00978997e+01] [-1.49884665e-02 9.99886270e-01 1.67113155e-03 4.04950065e-01] [-2.52515354e-03 -1.70916634e-03 9.99995351e-01 3.87510756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters 0.10615641235233823 Centerline is valid? [False, False] Translation: X:70.10, Y:0.40, Z:0.39 [[ 9.99870023e-01 1.58727524e-02 2.82709125e-03 7.00963738e+01] [-1.58785656e-02 9.99871835e-01 2.04581201e-03 4.03567717e-01] [-2.79425625e-03 -2.09043625e-03 9.99993911e-01 3.88695807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18483917299999 meters 0.10461360396538719 Centerline is valid? [False, False] Translation: X:70.10, Y:0.41, Z:0.39 [[ 9.99881251e-01 1.51460122e-02 2.84282368e-03 7.00967900e+01] [-1.51481781e-02 9.99884985e-01 7.41890902e-04 4.06796463e-01] [-2.83126003e-03 -7.84866403e-04 9.99995684e-01 3.88002973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24483917299999 meters 0.09505982276386343 Centerline is valid? [False, True] Translation: X:70.10, Y:0.40, Z:0.39 [[ 9.99938150e-01 1.08309626e-02 2.52719755e-03 7.00957837e+01] [-1.08318917e-02 9.99941271e-01 3.54233712e-04 4.01362097e-01] [-2.52321244e-03 -3.81586133e-04 9.99996744e-01 3.94429117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30483917299999 meters 0.09341808280533365 Centerline is valid? [True, True] Translation: X:70.16, Y:0.40, Z:0.41 [[ 9.99944520e-01 3.20353780e-03 1.00346590e-02 7.01561950e+01] [-3.21136235e-03 9.99994552e-01 7.63735710e-04 3.95351551e-01] [-1.00321577e-02 -7.95918264e-04 9.99949360e-01 4.07159812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.364839173 meters 0.09342997706422441 Centerline is valid? [True, True] Translation: X:70.22, Y:0.39, Z:0.40 [[ 9.99989745e-01 2.33886458e-03 3.87820239e-03 7.02188135e+01] [-2.34004808e-03 9.99997217e-01 3.00658558e-04 3.94807201e-01] [-3.87748840e-03 -3.09730655e-04 9.99992435e-01 4.02844850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.424839173 meters 0.09739936469664097 Centerline is valid? [True, True] Translation: X:70.28, Y:0.39, Z:0.40 [[ 9.99991241e-01 4.12083738e-03 -7.33205996e-04 7.02785573e+01] [-4.12087880e-03 9.99991508e-01 -5.49927098e-05 3.88925021e-01] [ 7.32973154e-04 5.80136811e-05 9.99999730e-01 4.01031739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters 0.08570302206946792 Centerline is valid? [True, True] Translation: X:70.34, Y:0.38, Z:0.40 [[ 9.99902055e-01 -4.91358804e-04 1.39870817e-02 7.03394351e+01] [ 4.76559039e-04 9.99999323e-01 1.06141577e-03 3.82153686e-01] [-1.39875937e-02 -1.05464614e-03 9.99901613e-01 4.03700967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54483917299999 meters 0.09080960381626713 Centerline is valid? [True, True] Translation: X:70.40, Y:0.39, Z:0.40 [[ 9.99947175e-01 -8.57327229e-04 1.02426360e-02 7.04005403e+01] [ 8.49367758e-04 9.99999334e-01 7.81416751e-04 3.89107102e-01] [-1.02432991e-02 -7.72675708e-04 9.99947238e-01 4.00957815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60483917299999 meters 0.08833535315137715 Centerline is valid? [True, True] Translation: X:70.46, Y:0.38, Z:0.40 [[ 9.99987981e-01 3.30997935e-03 -3.61692175e-03 7.04625625e+01] [-3.31098940e-03 9.99994481e-01 -2.73303133e-04 3.75800677e-01] [ 3.61599716e-03 2.85275438e-04 9.99993422e-01 4.01888650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66483917299999 meters 0.08983955870536876 Centerline is valid? [True, True] Translation: X:70.52, Y:0.39, Z:0.40 [[ 9.99983107e-01 5.06908178e-03 2.84417074e-03 7.05221746e+01] [-5.06971365e-03 9.99987126e-01 2.14997203e-04 3.91394834e-01] [-2.84304428e-03 -2.29412702e-04 9.99995932e-01 3.98014814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72483917299999 meters 0.09455592845778568 Centerline is valid? [True, True] Translation: X:70.58, Y:0.40, Z:0.39 [[ 9.99972344e-01 7.27713500e-03 -1.53474596e-03 7.05803643e+01] [-7.27732219e-03 9.99973513e-01 -1.16419770e-04 4.02458051e-01] [ 1.53385811e-03 1.27585391e-04 9.99998815e-01 3.85951280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters 0.09685278138065867 Centerline is valid? [True, True] Translation: X:70.64, Y:0.41, Z:0.38 [[ 9.99919996e-01 9.02163577e-03 -8.86633459e-03 7.06413644e+01] [-9.02792381e-03 9.99959023e-01 -6.69435807e-04 4.05994083e-01] [ 8.85993188e-03 7.49426842e-04 9.99960469e-01 3.81164447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters 0.09346305923205905 Centerline is valid? [True, True] Translation: X:70.70, Y:0.41, Z:0.38 [[ 9.99966706e-01 3.70127023e-03 -7.27231657e-03 7.07026088e+01] [-3.70536100e-03 9.99992984e-01 -5.49119578e-04 4.07095512e-01] [ 7.27023311e-03 5.76047854e-04 9.99973406e-01 3.82524048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90483917299998 meters 0.08971934509734715 Centerline is valid? [True, True] Translation: X:70.76, Y:0.41, Z:0.39 [[ 9.99990815e-01 2.49255672e-03 3.48656718e-03 7.07630996e+01] [-2.49348742e-03 9.99996857e-01 2.62616131e-04 4.11899857e-01] [-3.48590163e-03 -2.71307430e-04 9.99993887e-01 3.90228215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96483917299999 meters 0.08920567081093665 Centerline is valid? [True, True] Translation: X:70.82, Y:0.41, Z:0.39 [[ 9.99976872e-01 3.17588794e-03 -6.01403564e-03 7.08235802e+01] [-3.17867886e-03 9.99994845e-01 -4.54567333e-04 4.12557370e-01] [ 6.01256098e-03 4.73673508e-04 9.99981812e-01 3.89972895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02483917299999 meters 0.09197505613061258 Centerline is valid? [True, True] Translation: X:70.88, Y:0.43, Z:0.38 [[ 9.99977742e-01 2.40937862e-03 -6.22176083e-03 7.08809874e+01] [-2.41236211e-03 9.99996979e-01 -4.72065472e-04 4.25010558e-01] [ 6.22060464e-03 4.87064105e-04 9.99980533e-01 3.83280887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08483917299999 meters 0.08920689270540079 Centerline is valid? [True, True] Translation: X:70.94, Y:0.43, Z:0.38 [[ 9.99992820e-01 -3.78561351e-03 1.73416703e-04 7.09401099e+01] [ 3.78561139e-03 9.99992834e-01 1.25642544e-05 4.27549101e-01] [-1.73463024e-04 -1.19076759e-05 9.99999985e-01 3.83313991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters 0.08726556128000593 Centerline is valid? [True, True] Translation: X:71.00, Y:0.41, Z:0.38 [[ 9.99932105e-01 -1.11647627e-02 -3.33678345e-03 7.10008183e+01] [ 1.11639791e-02 9.99937649e-01 -2.53349700e-04 4.14630468e-01] [ 3.33940398e-03 2.16080717e-04 9.99994401e-01 3.84569880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters 0.08638023974955426 Centerline is valid? [True, True] Translation: X:71.06, Y:0.42, Z:0.38 [[ 9.99906321e-01 -1.36329116e-02 -1.22150742e-03 7.10607417e+01] [ 1.36328082e-02 9.99907065e-01 -9.29137737e-05 4.16168712e-01] [ 1.22266059e-03 7.62524932e-05 9.99999250e-01 3.84185011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters 0.08191781410196713 Centerline is valid? [True, True] Translation: X:71.12, Y:0.42, Z:0.39 [[ 9.99951007e-01 -8.91059810e-03 4.31108366e-03 7.11211627e+01] [ 8.90927495e-03 9.99960258e-01 3.26024823e-04 4.16066151e-01] [-4.31381741e-03 -2.87600220e-04 9.99990654e-01 3.86769395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32483917299999 meters 0.08429485710186396 Centerline is valid? [True, True] Translation: X:71.18, Y:0.41, Z:0.40 [[ 9.99967598e-01 -7.85174032e-03 1.77596924e-03 7.11807619e+01] [ 7.85151708e-03 9.99969168e-01 1.32633601e-04 4.10269153e-01] [-1.77695589e-03 -1.18685251e-04 9.99998414e-01 3.95229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38483917299999 meters 0.08397187499517923 Centerline is valid? [True, True] Translation: X:71.24, Y:0.42, Z:0.38 [[ 9.99924029e-01 -1.22718412e-02 1.15646376e-03 7.12396457e+01] [ 1.22717485e-02 9.99924695e-01 8.71695069e-05 4.19050448e-01] [-1.15744640e-03 -7.29710521e-05 9.99999327e-01 3.83015491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44483917299999 meters 0.08105034318457909 Centerline is valid? [True, True] Translation: X:71.30, Y:0.42, Z:0.39 [[ 9.99840057e-01 -1.66219137e-02 6.60092439e-03 7.12996681e+01] [ 1.66189727e-02 9.99861770e-01 5.00155242e-04 4.19220257e-01] [-6.60832548e-03 -3.90374664e-04 9.99978089e-01 3.85470260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.504839173 meters 0.0745407879405072 Centerline is valid? [True, True] Translation: X:71.36, Y:0.41, Z:0.37 [[ 9.99512374e-01 -2.91795684e-02 -1.11160292e-02 7.13604094e+01] [ 2.91719810e-02 9.99574051e-01 -8.44128078e-04 4.10861277e-01] [ 1.11359256e-02 5.19439868e-04 9.99937859e-01 3.66381785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters 0.07503349061822603 Centerline is valid? [True, True] Translation: X:71.42, Y:0.43, Z:0.36 [[ 9.99533389e-01 -2.84246941e-02 -1.11821803e-02 7.14179654e+01] [ 2.84168671e-02 9.99595791e-01 -8.58249324e-04 4.29027159e-01] [ 1.12020558e-02 5.40086325e-04 9.99937109e-01 3.58370978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters 0.07397778524168191 Centerline is valid? [True, True] Translation: X:71.48, Y:0.42, Z:0.39 [[ 9.99616380e-01 -2.75354561e-02 -2.98174006e-03 7.14790742e+01] [ 2.75348993e-02 9.99620817e-01 -2.27627697e-04 4.24763371e-01] [ 2.98687726e-03 1.45438462e-04 9.99995529e-01 3.87373643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68483917299999 meters 0.07712631923012936 Centerline is valid? [True, True] Translation: X:71.54, Y:0.43, Z:0.38 [[ 9.99615029e-01 -2.77411758e-02 -4.70724296e-04 7.15363969e+01] [ 2.77411608e-02 9.99615139e-01 -3.82391530e-05 4.34042820e-01] [ 4.71603931e-04 2.51659937e-05 9.99999888e-01 3.80831490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74483917299999 meters 0.07177756576253938 Centerline is valid? [True, True] Translation: X:71.60, Y:0.43, Z:0.38 [[ 9.99386985e-01 -3.46759770e-02 4.81984467e-03 7.15967323e+01] [ 3.46746096e-02 9.99398588e-01 3.67007633e-04 4.26259831e-01] [-4.82967231e-03 -1.99656419e-04 9.99988317e-01 3.77047517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80483917299999 meters 0.06846899176396187 Centerline is valid? [True, True] Translation: X:71.66, Y:0.41, Z:0.39 [[ 9.99101956e-01 -4.17700593e-02 7.10935998e-03 7.16588327e+01] [ 4.17672557e-02 9.99127220e-01 5.42434158e-04 4.10916533e-01] [-7.12581258e-03 -2.45008573e-04 9.99974581e-01 3.89997112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.864839173 meters 0.07190865799248185 Centerline is valid? [True, True] Translation: X:71.72, Y:0.41, Z:0.40 [[ 9.99282367e-01 -3.71332705e-02 7.47463963e-03 7.17171154e+01] [ 3.71300509e-02 9.99310280e-01 5.69091157e-04 4.13843872e-01] [-7.49061644e-03 -2.91149009e-04 9.99971903e-01 4.01198898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters 0.07665008938232272 Centerline is valid? [True, True] Translation: X:71.77, Y:0.45, Z:0.37 [[ 9.99710859e-01 -2.39655191e-02 1.96278161e-03 7.17743315e+01] [ 2.39652713e-02 9.99712780e-01 1.49667400e-04 4.46795826e-01] [-1.96580472e-03 -1.02585532e-04 9.99998063e-01 3.71324748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters 0.08574619926784811 Centerline is valid? [True, True] Translation: X:71.83, Y:0.47, Z:0.35 [[ 9.99891484e-01 -1.12313289e-02 -9.53293536e-03 7.18318293e+01] [ 1.12248948e-02 9.99936734e-01 -7.28170166e-04 4.69280753e-01] [ 9.54051056e-03 6.21084952e-04 9.99954295e-01 3.47283103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04483917299999 meters 0.08634909443324489 Centerline is valid? [True, True] Translation: X:71.89, Y:0.47, Z:0.35 [[ 9.99900660e-01 -9.69889624e-03 -1.02275095e-02 7.18909724e+01] [ 9.69138984e-03 9.99952731e-01 -7.83248606e-04 4.73962409e-01] [ 1.02346227e-02 6.84052016e-04 9.99947391e-01 3.47138167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10483917299999 meters 0.09334985483950714 Centerline is valid? [True, True] Translation: X:71.95, Y:0.48, Z:0.37 [[ 9.99998701e-01 9.65724367e-04 -1.29078206e-03 7.19504419e+01] [-9.65852936e-04 9.99999529e-01 -9.89852163e-05 4.80075985e-01] [ 1.29068586e-03 1.00231793e-04 9.99999162e-01 3.68148235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16483917299999 meters 0.09883177040353026 Centerline is valid? [True, True] Translation: X:72.01, Y:0.49, Z:0.37 [[ 9.99937666e-01 9.18239496e-03 6.35206140e-03 7.20098114e+01] [-9.18566310e-03 9.99957693e-01 4.85516186e-04 4.92119339e-01] [-6.34733446e-03 -5.43833818e-04 9.99979708e-01 3.68485377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22483917299999 meters 0.10141717044622967 Centerline is valid? [True, False] Translation: X:72.02, Y:0.49, Z:0.36 [[ 9.99837012e-01 1.67540999e-02 6.72673711e-03 7.20165727e+01] [-1.68156458e-02 9.99816284e-01 9.19958094e-03 4.90391812e-01] [-6.57137060e-03 -9.31119595e-03 9.99935057e-01 3.60145044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters 0.09593601377283055 Centerline is valid? [False, True] Translation: X:72.02, Y:0.47, Z:0.37 [[ 9.99898287e-01 4.22480306e-03 1.36222502e-02 7.20207049e+01] [-4.10907170e-03 9.99955325e-01 -8.51258505e-03 4.69699102e-01] [-1.36576057e-02 8.45574442e-03 9.99870977e-01 3.68755788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.344839173 meters 0.08961054763857725 Centerline is valid? [True, True] Translation: X:72.08, Y:0.45, Z:0.38 [[ 9.99785032e-01 -8.76172700e-04 2.07152601e-02 7.20830645e+01] [ 8.44893393e-04 9.99998490e-01 1.51866829e-03 4.51866193e-01] [-2.07165595e-02 -1.50083964e-03 9.99784263e-01 3.77870209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40483917299998 meters 0.09393068988014586 Centerline is valid? [True, True] Translation: X:72.14, Y:0.47, Z:0.36 [[ 9.99802596e-01 -3.91627190e-03 1.94789989e-02 7.21410786e+01] [ 3.88918874e-03 9.99991417e-01 1.42806570e-03 4.69423830e-01] [-1.94844244e-02 -1.35202629e-03 9.99809246e-01 3.59826153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46483917299999 meters 0.08756179789596726 Centerline is valid? [True, True] Translation: X:72.20, Y:0.46, Z:0.34 [[ 9.99982205e-01 -4.91982499e-03 3.37412851e-03 7.22041158e+01] [ 4.91901418e-03 9.99987871e-01 2.48558310e-04 4.56970005e-01] [-3.37531044e-03 -2.31956501e-04 9.99994277e-01 3.35006949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52483917299999 meters 0.08423617787998475 Centerline is valid? [True, True] Translation: X:72.27, Y:0.43, Z:0.37 [[ 9.99867718e-01 -1.13079461e-02 1.16909060e-02 7.22669432e+01] [ 1.12987038e-02 9.99935801e-01 8.56299992e-04 4.28108005e-01] [-1.16998385e-02 -7.24094634e-04 9.99931292e-01 3.65147391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58483917299999 meters 0.09196522596069329 Centerline is valid? [True, True] Translation: X:72.32, Y:0.45, Z:0.35 [[ 9.99693646e-01 -1.21422284e-02 2.15680501e-02 7.23242596e+01] [ 1.21109436e-02 9.99925411e-01 1.58055207e-03 4.52849712e-01] [-2.15856328e-02 -1.31885842e-03 9.99766133e-01 3.50961522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters 0.08834802937120122 Centerline is valid? [True, True] Translation: X:72.38, Y:0.45, Z:0.35 [[ 9.99536233e-01 -1.80593259e-02 2.45189741e-02 7.23845814e+01] [ 1.80206470e-02 9.99835999e-01 1.79756771e-03 4.52725416e-01] [-2.45474159e-02 -1.35488628e-03 9.99697749e-01 3.45604378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters 0.08389428207441305 Centerline is valid? [True, True] Translation: X:72.45, Y:0.42, Z:0.36 [[ 9.99674531e-01 -1.70670353e-02 1.89617676e-02 7.24491890e+01] [ 1.70437269e-02 9.99853779e-01 1.39016671e-03 4.18615736e-01] [-1.89827211e-02 -1.06653506e-03 9.99819243e-01 3.64123520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters 0.08549238174009259 Centerline is valid? [True, True] Translation: X:72.51, Y:0.43, Z:0.37 [[ 9.99534374e-01 -1.51591728e-02 2.64808192e-02 7.25072553e+01] [ 1.51130536e-02 9.99883908e-01 1.94088976e-03 4.29228221e-01] [-2.65071673e-02 -1.53978000e-03 9.99647437e-01 3.69890075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82483917299999 meters 0.08700770999900806 Centerline is valid? [True, True] Translation: X:72.57, Y:0.44, Z:0.35 [[ 9.99697274e-01 -1.39295741e-02 2.02811915e-02 7.25676707e+01] [ 1.39022597e-02 9.99902253e-01 1.48716141e-03 4.42958175e-01] [-2.02999246e-02 -1.20475682e-03 9.99793209e-01 3.46184090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88483917299999 meters 0.08557374371799867 Centerline is valid? [True, True] Translation: X:72.63, Y:0.43, Z:0.34 [[ 9.99738239e-01 -1.84286348e-02 1.35587331e-02 7.26286080e+01] [ 1.84168500e-02 9.99829902e-01 9.93520629e-04 4.25227376e-01] [-1.35747360e-02 -7.43551410e-04 9.99907583e-01 3.41134647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94483917299999 meters 0.085679473194217 Centerline is valid? [True, True] Translation: X:72.69, Y:0.43, Z:0.34 [[ 9.99649877e-01 -1.96784422e-02 1.76884821e-02 7.26866575e+01] [ 1.96585754e-02 9.99805911e-01 1.29634432e-03 4.34269003e-01] [-1.77105590e-02 -9.48160083e-04 9.99842706e-01 3.37646929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.004839173 meters 0.08578918523506286 Centerline is valid? [True, True] Translation: X:72.75, Y:0.43, Z:0.34 [[ 9.99632563e-01 -2.07444405e-02 1.74472894e-02 7.27464055e+01] [ 2.07252583e-02 9.99784390e-01 1.27955430e-03 4.33237615e-01] [-1.74700712e-02 -9.17484570e-04 9.99846966e-01 3.41557900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters 0.08475712219248677 Centerline is valid? [True, True] Translation: X:72.81, Y:0.43, Z:0.34 [[ 9.99556651e-01 -2.32375944e-02 1.86149512e-02 7.28067527e+01] [ 2.32161114e-02 9.99729532e-01 1.36937410e-03 4.30106433e-01] [-1.86417374e-02 -9.36600213e-04 9.99825789e-01 3.41359355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters 0.08626917360301059 Centerline is valid? [True, True] Translation: X:72.86, Y:0.45, Z:0.33 [[ 9.99475784e-01 -2.30062093e-02 2.27787407e-02 7.28626947e+01] [ 2.29739633e-02 9.99734658e-01 1.67633425e-03 4.52562326e-01] [-2.28112627e-02 -1.15213754e-03 9.99739125e-01 3.31443290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18483917299999 meters 0.09118422881265834 Centerline is valid? [True, True] Translation: X:72.92, Y:0.46, Z:0.33 [[ 9.99770467e-01 -1.65962841e-02 1.35490756e-02 7.29225107e+01] [ 1.65842793e-02 9.99861973e-01 9.97903109e-04 4.59493475e-01] [-1.35637670e-02 -7.72972402e-04 9.99907709e-01 3.29366344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24483917299999 meters 0.09055432308323637 Centerline is valid? [True, True] Translation: X:72.98, Y:0.46, Z:0.32 [[ 9.99784670e-01 -1.90092882e-02 8.32235139e-03 7.29813000e+01] [ 1.90048465e-02 9.99819204e-01 6.12463369e-04 4.56807651e-01] [-8.33248924e-03 -4.54166476e-04 9.99965181e-01 3.23352750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30483917299999 meters 0.08511218761372495 Centerline is valid? [True, True] Translation: X:73.04, Y:0.46, Z:0.32 [[ 9.99464694e-01 -2.76707535e-02 1.74543719e-02 7.30413604e+01] [ 2.76524891e-02 9.99616768e-01 1.28693353e-03 4.59437295e-01] [-1.74832933e-02 -8.03587799e-04 9.99846833e-01 3.17046190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.364839173 meters 0.08523344806771213 Centerline is valid? [True, True] Translation: X:73.10, Y:0.45, Z:0.33 [[ 9.99441527e-01 -2.85675204e-02 1.73358031e-02 7.31010384e+01] [ 2.85496428e-02 9.99591559e-01 1.27791082e-03 4.52865254e-01] [-1.73652291e-02 -7.82266157e-04 9.99848907e-01 3.29340054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters 0.08933176472834017 Centerline is valid? [True, True] Translation: X:73.16, Y:0.46, Z:0.32 [[ 9.99640354e-01 -2.33991216e-02 1.31012933e-02 7.31611330e+01] [ 2.33884294e-02 9.99725984e-01 9.68756613e-04 4.62307737e-01] [-1.31203714e-02 -6.61989530e-04 9.99913705e-01 3.24956358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters 0.08037350307452011 Centerline is valid? [True, True] Translation: X:73.22, Y:0.46, Z:0.32 [[ 9.99491276e-01 -2.64723569e-02 1.77877160e-02 7.32210206e+01] [ 2.64531322e-02 9.99649189e-01 1.31524614e-03 4.60284113e-01] [-1.78162936e-02 -8.44036241e-04 9.99840921e-01 3.18173830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54483917299999 meters 0.08579504372905335 Centerline is valid? [True, True] Translation: X:73.28, Y:0.47, Z:0.32 [[ 9.99433064e-01 -2.99230577e-02 1.54324531e-02 7.32796908e+01] [ 2.99089920e-02 9.99551974e-01 1.14147770e-03 4.65484823e-01] [-1.54596955e-02 -6.79261438e-04 9.99880261e-01 3.23131106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60483917299999 meters 0.07786068796541921 Centerline is valid? [True, True] Translation: X:73.34, Y:0.44, Z:0.33 [[ 9.99278003e-01 -3.37713999e-02 1.74058847e-02 7.33419860e+01] [ 3.37540706e-02 9.99429338e-01 1.28850427e-03 4.43916265e-01] [-1.74394664e-02 -7.00054514e-04 9.99847676e-01 3.28029186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66483917299999 meters 0.07801876741761463 Centerline is valid? [True, True] Translation: X:73.40, Y:0.47, Z:0.31 [[ 9.99375258e-01 -3.06926622e-02 1.75229818e-02 7.33990602e+01] [ 3.06746224e-02 9.99528581e-01 1.29740925e-03 4.69200443e-01] [-1.75545421e-02 -7.59087848e-04 9.99845619e-01 3.06194316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72483917299999 meters 0.0848323821528077 Centerline is valid? [True, True] Translation: X:73.46, Y:0.48, Z:0.31 [[ 9.99785758e-01 -1.92908479e-02 7.50340776e-03 7.34577169e+01] [ 1.92872174e-02 9.99813830e-01 5.55904137e-04 4.83490557e-01] [-7.51273472e-03 -4.11065182e-04 9.99971695e-01 3.07353777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters 0.0865502292192647 Centerline is valid? [True, True] Translation: X:73.52, Y:0.48, Z:0.32 [[ 9.99859288e-01 -1.60521947e-02 4.87145462e-03 7.35186966e+01] [ 1.60506269e-02 9.99871115e-01 3.60753296e-04 4.79770348e-01] [-4.87661764e-03 -2.82512633e-04 9.99988069e-01 3.17584158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters 0.08005017267209387 Centerline is valid? [True, True] Translation: X:73.58, Y:0.49, Z:0.30 [[ 9.99483517e-01 -2.94044467e-02 1.29644699e-02 7.35780685e+01] [ 2.93944512e-02 9.99567428e-01 9.60909098e-04 4.91593950e-01] [-1.29871168e-02 -5.79329328e-04 9.99915496e-01 2.97481540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90483917299998 meters 0.07644207870591861 Centerline is valid? [True, True] Translation: X:73.64, Y:0.48, Z:0.29 [[ 9.99206597e-01 -3.88198634e-02 8.89913208e-03 7.36390610e+01] [ 3.88155288e-02 9.99246176e-01 6.59340098e-04 4.81231520e-01] [-8.91801919e-03 -3.13392458e-04 9.99960185e-01 2.92585104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96483917299999 meters 0.07231368047641332 Centerline is valid? [True, True] Translation: X:73.70, Y:0.46, Z:0.31 [[ 9.98925499e-01 -4.53359231e-02 9.61775622e-03 7.37013152e+01] [ 4.53311576e-02 9.98971760e-01 7.13024395e-04 4.55153732e-01] [-9.64019248e-03 -2.76274227e-04 9.99953494e-01 3.13516387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02483917299999 meters 0.07047318118935329 Centerline is valid? [True, True] Translation: X:73.76, Y:0.45, Z:0.33 [[ 9.98607461e-01 -5.00494167e-02 1.66791826e-02 7.37606498e+01] [ 5.00357326e-02 9.98746662e-01 1.23698930e-03 4.49388442e-01] [-1.67201886e-02 -4.00711621e-04 9.99860128e-01 3.26866760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08483917299999 meters 0.07233261644581299 Centerline is valid? [True, True] Translation: X:73.82, Y:0.47, Z:0.29 [[ 9.98834395e-01 -4.81758565e-02 2.98984883e-03 7.38187467e+01] [ 4.81754088e-02 9.98838866e-01 2.21642459e-04 4.68033312e-01] [-2.99705503e-03 -7.73469218e-05 9.99995506e-01 2.92789136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.144839173 meters 0.07735376159133933 Centerline is valid? [True, True] Translation: X:73.88, Y:0.48, Z:0.29 [[ 9.99269984e-01 -3.78928670e-02 -4.86103781e-03 7.38771474e+01] [ 3.78915586e-02 9.99281792e-01 -3.60999967e-04 4.81853461e-01] [ 4.87122589e-03 1.76544132e-04 9.99988120e-01 2.87720082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.204839173 meters 0.08107590202122873 Centerline is valid? [True, True] Translation: X:73.94, Y:0.50, Z:0.29 [[ 9.99519506e-01 -3.02840175e-02 -6.60565188e-03 7.39372056e+01] [ 3.02814365e-02 9.99541292e-01 -4.90406779e-04 4.96270901e-01] [ 6.61747330e-03 2.90142513e-04 9.99978062e-01 2.94300696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26483917299998 meters 0.08216067698148177 Centerline is valid? [True, True] Translation: X:73.99, Y:0.50, Z:0.29 [[ 9.99495671e-01 -3.03883470e-02 -9.21693302e-03 7.39942615e+01] [ 3.03833048e-02 9.99538085e-01 -6.86620461e-04 5.04262827e-01] [ 9.23354084e-03 4.06233293e-04 9.99957287e-01 2.87271789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32483917299999 meters 0.07390272728051704 Centerline is valid? [True, True] Translation: X:74.06, Y:0.48, Z:0.30 [[ 9.99024468e-01 -4.36634082e-02 6.60449604e-03 7.40555173e+01] [ 4.36611171e-02 9.99046278e-01 4.90744682e-04 4.81721678e-01] [-6.61962477e-03 -2.01906270e-04 9.99978070e-01 3.04705281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38483917299999 meters 0.07071131138276772 Centerline is valid? [True, True] Translation: X:74.12, Y:0.48, Z:0.30 [[ 9.98581296e-01 -5.24083902e-02 9.42104317e-03 7.41165936e+01] [ 5.24041147e-02 9.98625715e-01 7.00275377e-04 4.77126599e-01] [-9.44479628e-03 -2.05580467e-04 9.99955376e-01 2.96919712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44483917299999 meters 0.06936298769431566 Centerline is valid? [True, True] Translation: X:74.18, Y:0.46, Z:0.31 [[ 9.98459464e-01 -5.49742412e-02 7.51872370e-03 7.41778722e+01] [ 5.49716010e-02 9.98487763e-01 5.57507294e-04 4.57070003e-01] [-7.53800215e-03 -1.43332155e-04 9.99971579e-01 3.07710889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.504839173 meters 0.0677038345459397 Centerline is valid? [True, True] Translation: X:74.24, Y:0.46, Z:0.30 [[ 9.98120111e-01 -6.12210874e-02 2.86736012e-03 7.42358773e+01] [ 6.12207303e-02 9.98124229e-01 2.12196353e-04 4.55125321e-01] [-2.87497250e-03 -3.62555665e-05 9.99995867e-01 2.95087162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.564839173 meters 0.0686823491078437 Centerline is valid? [True, True] Translation: X:74.30, Y:0.46, Z:0.27 [[ 9.97656829e-01 -6.77185365e-02 -9.74947635e-03 7.42954891e+01] [ 6.77146598e-02 9.97704463e-01 -7.27557820e-04 4.59317544e-01] [ 9.77636522e-03 6.56705531e-05 9.99952208e-01 2.67685278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.624839173 meters 0.06964062719671496 Centerline is valid? [True, True] Translation: X:74.36, Y:0.46, Z:0.28 [[ 9.97860964e-01 -6.36707471e-02 -1.48166430e-02 7.43557521e+01] [ 6.36613462e-02 9.97970947e-01 -1.10575016e-03 4.56686305e-01] [ 1.48569832e-02 1.60137486e-04 9.99889616e-01 2.76648407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68483917299999 meters 0.07124885181012036 Centerline is valid? [True, True] Translation: X:74.41, Y:0.47, Z:0.29 [[ 9.98524799e-01 -5.32853618e-02 -1.04353268e-02 7.44130197e+01] [ 5.32801088e-02 9.98579301e-01 -7.80948322e-04 4.73960394e-01] [ 1.04621145e-02 2.23800919e-04 9.99945246e-01 2.88621604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74483917299999 meters 0.07282826652239918 Centerline is valid? [True, True] Translation: X:74.47, Y:0.50, Z:0.28 [[ 9.98833326e-01 -4.75164689e-02 -8.61229587e-03 7.44693869e+01] [ 4.75126721e-02 9.98870427e-01 -6.45040753e-04 5.04970591e-01] [ 8.63321771e-03 2.35095011e-04 9.99962705e-01 2.76095420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80483917299999 meters 0.07460620187420934 Centerline is valid? [True, True] Translation: X:74.53, Y:0.53, Z:0.28 [[ 9.99121168e-01 -4.19152038e-02 8.96495210e-05 7.45269766e+01] [ 4.19152037e-02 9.99121172e-01 2.38545945e-06 5.32037247e-01] [-8.96707214e-05 1.37431491e-06 9.99999996e-01 2.78796260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.864839173 meters 0.07255469613450734 Centerline is valid? [True, True] Translation: X:74.59, Y:0.52, Z:0.31 [[ 9.99062467e-01 -4.14232803e-02 1.25816790e-02 7.45886234e+01] [ 4.14146823e-02 9.99141599e-01 9.43260856e-04 5.23248190e-01] [-1.26099518e-02 -4.21310280e-04 9.99920403e-01 3.12006274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters 0.07319221185194535 Centerline is valid? [True, True] Translation: X:74.65, Y:0.53, Z:0.29 [[ 9.99233413e-01 -3.91372399e-02 -9.29401188e-04 7.46477005e+01] [ 3.91371919e-02 9.99233844e-01 -6.98377780e-05 5.33388127e-01] [ 9.31422380e-04 3.34100886e-05 9.99999566e-01 2.87893552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters 0.07565135397500955 Centerline is valid? [True, True] Translation: X:74.71, Y:0.55, Z:0.27 [[ 9.99215934e-01 -3.84038059e-02 -9.62629407e-03 7.47056428e+01] [ 3.83986212e-02 9.99262239e-01 -7.22919141e-04 5.50252612e-01] [ 9.64695502e-03 3.52715906e-04 9.99953405e-01 2.67555075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04483917299999 meters 0.08166875280206527 Centerline is valid? [True, True] Translation: X:74.76, Y:0.57, Z:0.27 [[ 9.99483323e-01 -2.59219679e-02 -1.90036697e-02 7.47643731e+01] [ 2.58995262e-02 9.99663534e-01 -1.42611857e-03 5.69488192e-01] [ 1.90342434e-02 9.33195687e-04 9.99818397e-01 2.72227595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10483917299999 meters 0.08311275525058338 Centerline is valid? [True, True] Translation: X:74.82, Y:0.59, Z:0.27 [[ 9.99589847e-01 -2.52791364e-02 -1.34574552e-02 7.48221144e+01] [ 2.52678108e-02 9.99680207e-01 -1.01097251e-03 5.85837258e-01] [ 1.34787081e-02 6.70517429e-04 9.99908933e-01 2.68318822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16483917299999 meters 0.0824281922940644 Centerline is valid? [True, True] Translation: X:74.88, Y:0.61, Z:0.26 [[ 9.99639126e-01 -2.63123517e-02 -5.41082979e-03 7.48806051e+01] [ 2.63105369e-02 9.99653735e-01 -4.06317745e-04 6.08447901e-01] [ 5.41964738e-03 2.63809279e-04 9.99985279e-01 2.57930948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22483917299999 meters 0.08110319771567683 Centerline is valid? [True, True] Translation: X:74.94, Y:0.60, Z:0.28 [[ 9.99688267e-01 -2.48141378e-02 2.76176728e-03 7.49403356e+01] [ 2.48136626e-02 9.99692072e-01 2.06229524e-04 5.99833169e-01] [-2.76603426e-03 -1.37635674e-04 9.99996165e-01 2.78338765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters 0.07991296887832723 Centerline is valid? [True, True] Translation: X:75.00, Y:0.59, Z:0.29 [[ 9.99607908e-01 -2.76448259e-02 4.44906707e-03 7.50010716e+01] [ 2.76436132e-02 9.99617787e-01 3.33844069e-04 5.91113986e-01] [-4.45659564e-03 -2.10724882e-04 9.99990047e-01 2.88583851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters 0.07958907888135529 Centerline is valid? [True, True] Translation: X:75.06, Y:0.59, Z:0.27 [[ 9.99496750e-01 -3.15642094e-02 -3.15381891e-03 7.50603542e+01] [ 3.15636015e-02 9.99501716e-01 -2.42322549e-04 5.85932313e-01] [ 3.15989614e-03 1.42654716e-04 9.99994997e-01 2.71201296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40483917299998 meters 0.07393978599244938 Centerline is valid? [True, True] Translation: X:75.12, Y:0.56, Z:0.25 [[ 9.98781746e-01 -4.80478476e-02 -1.12440371e-02 7.51213156e+01] [ 4.80413341e-02 9.98844988e-01 -8.48820105e-04 5.60231282e-01] [ 1.12718341e-02 3.07607483e-04 9.99936424e-01 2.54189521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46483917299999 meters 0.06826440210658329 Centerline is valid? [True, True] Translation: X:75.18, Y:0.52, Z:0.27 [[ 9.97941136e-01 -6.36231041e-02 -8.09872662e-03 7.51845873e+01] [ 6.36202351e-02 9.97973993e-01 -6.11650507e-04 5.17968486e-01] [ 8.12123365e-03 9.51483099e-05 9.99967018e-01 2.70023232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52483917299999 meters 0.06721338547826705 Centerline is valid? [True, True] Translation: X:75.24, Y:0.52, Z:0.27 [[ 9.97639368e-01 -6.84284175e-02 -5.76575439e-03 7.52439493e+01] [ 6.84270153e-02 9.97656028e-01 -4.40331747e-04 5.20015989e-01] [ 5.78237083e-03 4.47589213e-05 9.99983281e-01 2.65830667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58483917299999 meters 0.06801034307814124 Centerline is valid? [True, True] Translation: X:75.30, Y:0.53, Z:0.26 [[ 9.97793863e-01 -6.61321346e-02 -5.82640973e-03 7.53016231e+01] [ 6.61306548e-02 9.97810872e-01 -4.46487724e-04 5.32851678e-01] [ 5.84318216e-03 6.01984204e-05 9.99982927e-01 2.61534504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters 0.06966189816770509 Centerline is valid? [True, True] Translation: X:75.36, Y:0.55, Z:0.27 [[ 9.98285156e-01 -5.84534741e-02 -3.15260893e-03 7.53598767e+01] [ 5.84529943e-02 9.98290132e-01 -2.44196341e-04 5.45980770e-01] [ 3.16149251e-03 5.94981508e-05 9.99995001e-01 2.71595750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters 0.06880721862612776 Centerline is valid? [True, True] Translation: X:75.42, Y:0.55, Z:0.26 [[ 9.98111795e-01 -6.13253570e-02 -3.47053858e-03 7.54172913e+01] [ 6.13248000e-02 9.98117828e-01 -2.66777087e-04 5.53268867e-01] [ 3.48036662e-03 5.34432730e-05 9.99993942e-01 2.63613092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76483917299998 meters 0.06780875509316013 Centerline is valid? [True, True] Translation: X:75.48, Y:0.57, Z:0.26 [[ 9.98062905e-01 -6.19694885e-02 5.49735274e-03 7.54757985e+01] [ 6.19681221e-02 9.98078041e-01 4.18701053e-04 5.71800089e-01] [-5.51273374e-03 -7.72293638e-05 9.99984802e-01 2.63441726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82483917299999 meters 0.07339657531677034 Centerline is valid? [True, True] Translation: X:75.53, Y:0.58, Z:0.27 [[ 9.98673196e-01 -5.12224866e-02 -5.30138407e-03 7.55343463e+01] [ 5.12210603e-02 9.98687258e-01 -4.04551936e-04 5.81139051e-01] [ 5.31514687e-03 1.32472661e-04 9.99985866e-01 2.65799085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88483917299999 meters 0.07537748542838785 Centerline is valid? [True, True] Translation: X:75.59, Y:0.59, Z:0.27 [[ 9.98821212e-01 -4.80787330e-02 -6.67992135e-03 7.55930585e+01] [ 4.80763919e-02 9.98843531e-01 -5.10686265e-04 5.88797948e-01] [ 6.69674938e-03 1.88937757e-04 9.99977559e-01 2.66332355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94483917299999 meters 0.07699574442753519 Centerline is valid? [True, True] Translation: X:75.65, Y:0.60, Z:0.26 [[ 9.98918629e-01 -4.57914314e-02 -8.04471615e-03 7.56520482e+01] [ 4.57879637e-02 9.98950992e-01 -6.14802074e-04 5.98307072e-01] [ 8.06442984e-03 2.45786075e-04 9.99967452e-01 2.62935181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.004839173 meters 0.06997873800280464 Centerline is valid? [True, True] Translation: X:75.71, Y:0.59, Z:0.25 [[ 9.98271116e-01 -5.81680567e-02 -8.44133458e-03 7.57130544e+01] [ 5.81646831e-02 9.98306793e-01 -6.44801898e-04 5.91375402e-01] [ 8.46454853e-03 1.52699559e-04 9.99964163e-01 2.45799001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters 0.06744406947105885 Centerline is valid? [True, True] Translation: X:75.77, Y:0.58, Z:0.26 [[ 9.98139835e-01 -6.09521289e-02 -1.30655841e-03 7.57742436e+01] [ 6.09520496e-02 9.98140690e-01 -1.00498294e-04 5.84636225e-01] [ 1.31025470e-03 2.06739377e-05 9.99999141e-01 2.62135917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters 0.06884223789404664 Centerline is valid? [True, True] Translation: X:75.83, Y:0.59, Z:0.27 [[ 9.98377682e-01 -5.69304028e-02 9.65903616e-04 7.58319775e+01] [ 5.69303604e-02 9.98378149e-01 7.14153588e-05 5.89647042e-01] [-9.68402770e-04 -1.63102594e-05 9.99999531e-01 2.70317348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18483917299999 meters 0.06935591690622031 Centerline is valid? [True, True] Translation: X:75.89, Y:0.61, Z:0.27 [[ 9.98548661e-01 -5.38040609e-02 2.38631373e-03 7.58899718e+01] [ 5.38037876e-02 9.98551511e-01 1.78604368e-04 6.06494875e-01] [-2.39246682e-03 -4.99524351e-05 9.99997137e-01 2.65466875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24483917299999 meters 0.07272381373720903 Centerline is valid? [True, True] Translation: X:75.95, Y:0.63, Z:0.25 [[ 9.98800715e-01 -4.89189519e-02 -2.01667370e-03 7.59474105e+01] [ 4.89187375e-02 9.98802750e-01 -1.55542860e-04 6.30134428e-01] [ 2.02186823e-03 5.67031885e-05 9.99997954e-01 2.50640170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30483917299999 meters 0.07269222962131934 Centerline is valid? [True, True] Translation: X:76.01, Y:0.63, Z:0.25 [[ 9.98856767e-01 -4.72707199e-02 -7.11598155e-03 7.60077575e+01] [ 4.72680214e-02 9.98882093e-01 -5.47015599e-04 6.27553765e-01] [ 7.13388436e-03 2.10031865e-04 9.99974531e-01 2.54891235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.364839173 meters 0.07596090442823912 Centerline is valid? [True, True] Translation: X:76.07, Y:0.64, Z:0.24 [[ 9.98955193e-01 -4.19205798e-02 -1.81985369e-02 7.60671384e+01] [ 4.19020506e-02 9.99120745e-01 -1.39845790e-03 6.43578168e-01] [ 1.82411599e-02 6.34440764e-04 9.99833415e-01 2.39257805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters 0.07582799116406053 Centerline is valid? [True, True] Translation: X:76.13, Y:0.65, Z:0.24 [[ 9.99010209e-01 -4.26145086e-02 -1.27517109e-02 7.61262026e+01] [ 4.26054556e-02 9.99091494e-01 -9.80886253e-04 6.45308105e-01] [ 1.27819258e-02 4.36622930e-04 9.99918213e-01 2.44596962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters 0.0725506353949154 Centerline is valid? [True, True] Translation: X:76.19, Y:0.64, Z:0.26 [[ 9.98849589e-01 -4.79498491e-02 -5.57588271e-04 7.61861937e+01] [ 4.79498324e-02 9.98849744e-01 -4.31901681e-05 6.39367080e-01] [ 5.59017864e-04 1.64042175e-05 9.99999844e-01 2.57725412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54483917299999 meters 0.0694504283566405 Centerline is valid? [True, True] Translation: X:76.25, Y:0.62, Z:0.27 [[ 9.98527922e-01 -5.40959732e-02 3.95146372e-03 7.62479772e+01] [ 5.40951948e-02 9.98535737e-01 3.03679618e-04 6.22191072e-01] [-3.96210558e-03 -8.94773780e-05 9.99992147e-01 2.66551710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60483917299999 meters 0.06699285494254208 Centerline is valid? [True, True] Translation: X:76.31, Y:0.60, Z:0.26 [[ 9.97789175e-01 -6.64249431e-02 2.11889512e-03 7.63091970e+01] [ 6.64247481e-02 9.97791424e-01 1.62352668e-04 6.04364449e-01] [-2.12499964e-03 -2.12466602e-05 9.99997742e-01 2.60940300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66483917299999 meters 0.06550462504085126 Centerline is valid? [True, True] Translation: X:76.37, Y:0.59, Z:0.27 [[ 9.96886618e-01 -7.81927629e-02 1.01470041e-02 7.63701815e+01] [ 7.81888709e-02 9.96938259e-01 7.80305703e-04 5.89235237e-01] [-1.01769509e-02 1.55064810e-05 9.99948213e-01 2.66727616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72483917299999 meters 0.06664802279300179 Centerline is valid? [True, True] Translation: X:76.43, Y:0.59, Z:0.25 [[ 9.96527411e-01 -8.32622125e-02 7.23007345e-04 7.64276216e+01] [ 8.32621950e-02 9.96527673e-01 5.44199144e-05 5.94442007e-01] [-7.25027950e-04 5.96824212e-06 9.99999737e-01 2.48271317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters 0.07008269249320705 Centerline is valid? [True, True] Translation: X:76.49, Y:0.61, Z:0.23 [[ 9.96761900e-01 -7.86148703e-02 -1.68942635e-02 7.64860881e+01] [ 7.86040943e-02 9.96905061e-01 -1.30196230e-03 6.13784284e-01] [ 1.69443304e-02 -3.02118655e-05 9.99856434e-01 2.31075698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters 0.07181440102270799 Centerline is valid? [True, True] Translation: X:76.55, Y:0.61, Z:0.24 [[ 9.96864899e-01 -7.58965535e-02 -2.23625955e-02 7.65453127e+01] [ 7.58769652e-02 9.97115697e-01 -1.72437658e-03 6.13253283e-01] [ 2.24289693e-02 2.21646000e-05 9.99748439e-01 2.41318312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90483917299998 meters 0.06938014441609783 Centerline is valid? [True, True] Translation: X:76.60, Y:0.64, Z:0.23 [[ 9.97145404e-01 -7.45756375e-02 -1.18117888e-02 7.66025489e+01] [ 7.45700743e-02 9.97215360e-01 -9.11327067e-04 6.44716849e-01] [ 1.18468600e-02 2.79196280e-05 9.99929823e-01 2.33858658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96483917299999 meters 0.07015266508712456 Centerline is valid? [True, True] Translation: X:76.66, Y:0.68, Z:0.22 [[ 9.97116667e-01 -7.49031116e-02 -1.21604794e-02 7.66586142e+01] [ 7.48971541e-02 9.97190816e-01 -9.45223438e-04 6.77853288e-01] [ 1.21971185e-02 3.17127467e-05 9.99925612e-01 2.16017342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02483917299999 meters 0.07346372060518891 Centerline is valid? [True, True] Translation: X:76.72, Y:0.71, Z:0.23 [[ 9.98216005e-01 -5.77013691e-02 -1.53414181e-02 7.67165495e+01] [ 5.76899379e-02 9.98333843e-01 -1.18699501e-03 7.13717825e-01] [ 1.53843481e-02 2.99831959e-04 9.99881609e-01 2.27243978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08483917299999 meters 0.07576902423995685 Centerline is valid? [True, True] Translation: X:76.78, Y:0.73, Z:0.25 [[ 9.98733001e-01 -4.77198312e-02 -1.59753065e-02 7.67756403e+01] [ 4.77061564e-02 9.98860648e-01 -1.23620335e-03 7.32561155e-01] [ 1.60160964e-02 4.72516610e-04 9.99871622e-01 2.45199588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.144839173 meters 0.07507763919350037 Centerline is valid? [True, True] Translation: X:76.83, Y:0.73, Z:0.22 [[ 9.98164513e-01 -5.62572885e-02 -2.24214896e-02 7.68328507e+01] [ 5.62324246e-02 9.98416192e-01 -1.73838184e-03 7.34136373e-01] [ 2.24837749e-02 4.74376343e-04 9.99747095e-01 2.22253931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters 0.07001393398754585 Centerline is valid? [True, True] Translation: X:76.89, Y:0.73, Z:0.22 [[ 9.97189719e-01 -7.40511605e-02 -1.13617565e-02 7.68939658e+01] [ 7.40459305e-02 9.97254443e-01 -8.80862104e-04 7.27030279e-01] [ 1.13957910e-02 3.70948029e-05 9.99935065e-01 2.16947291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26483917299998 meters 0.06861721662880127 Centerline is valid? [True, True] Translation: X:76.96, Y:0.70, Z:0.25 [[ 9.96427573e-01 -8.43647201e-02 -3.83229553e-03 7.69570561e+01] [ 8.43642005e-02 9.96434942e-01 -2.97330698e-04 6.95287639e-01] [ 3.84371739e-03 -2.70400419e-05 9.99992613e-01 2.51914437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32483917299999 meters 0.06784856601783935 Centerline is valid? [True, True] Translation: X:77.01, Y:0.72, Z:0.26 [[ 9.97140220e-01 -7.55430594e-02 -2.15146370e-03 7.70149532e+01] [ 7.55428639e-02 9.97142541e-01 -1.72105377e-04 7.16256489e-01] [ 2.15831735e-03 9.08546423e-06 9.99997671e-01 2.57269468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38483917299999 meters 0.07646196858294114 Centerline is valid? [True, True] Translation: X:77.07, Y:0.79, Z:0.22 [[ 9.99052065e-01 -4.22667766e-02 -1.04158726e-02 7.70681961e+01] [ 4.22606232e-02 9.99106292e-01 -8.10264437e-04 7.87776718e-01] [ 1.04408111e-02 3.69315093e-04 9.99945425e-01 2.22774656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44483917299999 meters 0.08675666478189044 Centerline is valid? [True, True] Translation: X:77.13, Y:0.82, Z:0.22 [[ 9.99500073e-01 -2.37728228e-02 -2.08436404e-02 7.71264416e+01] [ 2.37441661e-02 9.99716753e-01 -1.62128341e-03 8.22629244e-01] [ 2.08762790e-02 1.12555802e-03 9.99781433e-01 2.18323522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters 0.09087622359415655 Centerline is valid? [True, True] Translation: X:77.19, Y:0.83, Z:0.22 [[ 9.99494916e-01 -1.82627317e-02 -2.60074081e-02 7.71866302e+01] [ 1.82162492e-02 9.99832024e-01 -2.02310085e-03 8.33517684e-01] [ 2.60399868e-02 1.54832159e-03 9.99659703e-01 2.20529804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters 0.08870048291440162 Centerline is valid? [True, True] Translation: X:77.25, Y:0.83, Z:0.23 [[ 9.99695508e-01 -1.99281549e-02 -1.45519622e-02 7.72466136e+01] [ 1.99137776e-02 9.99801060e-01 -1.13224665e-03 8.30628080e-01] [ 1.45716308e-02 8.42117357e-04 9.99893474e-01 2.28717577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62483917299998 meters 0.0765710531594301 Centerline is valid? [True, True] Translation: X:77.31, Y:0.81, Z:0.22 [[ 9.99125796e-01 -4.16995033e-02 -2.96573044e-03 7.73084693e+01] [ 4.16990017e-02 9.99130192e-01 -2.30804359e-04 8.13434780e-01] [ 2.97277525e-03 1.06934590e-04 9.99995576e-01 2.17943563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68483917299999 meters 0.07158193275187613 Centerline is valid? [True, True] Translation: X:77.37, Y:0.80, Z:0.21 [[ 9.98373293e-01 -5.69013941e-02 -3.60549943e-03 7.73694861e+01] [ 5.69007500e-02 9.98379800e-01 -2.81049719e-04 7.98082970e-01] [ 3.61564992e-03 7.54369125e-05 9.99993461e-01 2.12517152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74483917299999 meters 0.07416641304460884 Centerline is valid? [True, True] Translation: X:77.43, Y:0.79, Z:0.23 [[ 9.98659170e-01 -5.05772768e-02 -1.10363810e-02 7.74313859e+01] [ 5.05708710e-02 9.98720106e-01 -8.58905483e-04 7.86320038e-01] [ 1.10656967e-02 2.99634437e-04 9.99938728e-01 2.32044243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80483917299999 meters 0.08406870601128758 Centerline is valid? [True, True] Translation: X:77.49, Y:0.81, Z:0.24 [[ 9.99350507e-01 -3.27792347e-02 -1.49694859e-02 7.74892694e+01] [ 3.27654510e-02 9.99462389e-01 -1.16517523e-03 8.09883038e-01] [ 1.49996317e-02 6.73936494e-04 9.99887272e-01 2.39766472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.864839173 meters 0.08417312847976136 Centerline is valid? [True, True] Translation: X:77.55, Y:0.82, Z:0.24 [[ 9.99792088e-01 -1.92358576e-02 -6.76482615e-03 7.75495007e+01] [ 1.92327312e-02 9.99814895e-01 -5.26914477e-04 8.15314827e-01] [ 6.77370960e-03 3.96698842e-04 9.99976979e-01 2.44642671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters 0.0730468263306896 Centerline is valid? [True, True] Translation: X:77.61, Y:0.79, Z:0.20 [[ 9.98686243e-01 -5.01845139e-02 -1.03587019e-02 7.76110500e+01] [ 5.01788464e-02 9.98739923e-01 -8.06458200e-04 7.89318420e-01] [ 1.03861209e-02 2.85610997e-04 9.99946022e-01 2.02371780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.984839173 meters 0.0675564301437299 Centerline is valid? [True, True] Translation: X:77.68, Y:0.74, Z:0.24 [[ 9.96383241e-01 -8.48624222e-02 4.33670563e-03 7.76756888e+01] [ 8.48617579e-02 9.96392678e-01 3.37298628e-04 7.38400974e-01] [-4.34968572e-03 3.19417636e-05 9.99990540e-01 2.37756504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04483917299999 meters 0.06780621860317287 Centerline is valid? [True, True] Translation: X:77.74, Y:0.73, Z:0.27 [[ 9.96865797e-01 -7.84720644e-02 1.00358590e-02 7.77350355e+01] [ 7.84681815e-02 9.96916313e-01 7.80680264e-04 7.33363383e-01] [-1.00661732e-02 9.26215601e-06 9.99949335e-01 2.73873956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10483917299999 meters 0.06925891796807562 Centerline is valid? [True, True] Translation: X:77.79, Y:0.77, Z:0.23 [[ 9.97554992e-01 -6.93709291e-02 -8.46834910e-03 7.77913352e+01] [ 6.93678202e-02 9.97590933e-01 -6.60652567e-04 7.70689937e-01] [ 8.49377836e-03 7.16063482e-05 9.99963925e-01 2.28785305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16483917299999 meters 0.07023556052129572 Centerline is valid? [True, True] Translation: X:77.85, Y:0.79, Z:0.20 [[ 9.97245016e-01 -7.28549573e-02 -1.39474909e-02 7.78485896e+01] [ 7.28468474e-02 9.97342544e-01 -1.08929510e-03 7.90115526e-01] [ 1.39897866e-02 7.02633736e-05 9.99902136e-01 1.95717367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22483917299999 meters 0.0710203998207474 Centerline is valid? [True, True] Translation: X:77.91, Y:0.77, Z:0.21 [[ 9.96099988e-01 -8.58044518e-02 -2.05526019e-02 7.79113414e+01] [ 8.57896134e-02 9.96311984e-01 -1.60420678e-03 7.68164171e-01] [ 2.06144517e-02 -1.65249421e-04 9.99787486e-01 2.06568605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.284839173 meters 0.06991951831814178 Centerline is valid? [True, True] Translation: X:77.97, Y:0.78, Z:0.22 [[ 9.97148504e-01 -7.40948205e-02 -1.43115075e-02 7.79697775e+01] [ 7.40864063e-02 9.97251199e-01 -1.11793621e-03 7.81957358e-01] [ 1.43550013e-02 5.44602567e-05 9.99896960e-01 2.22629478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters 0.06981240849617715 Centerline is valid? [True, True] Translation: X:78.03, Y:0.80, Z:0.23 [[ 9.97915941e-01 -6.44181205e-02 -3.75227096e-03 7.80284797e+01] [ 6.44174728e-02 9.97922995e-01 -2.93337835e-04 7.99490430e-01] [ 3.76337374e-03 5.10146893e-05 9.99992917e-01 2.25932128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40483917299998 meters 0.06836525809896839 Centerline is valid? [True, True] Translation: X:78.09, Y:0.78, Z:0.21 [[ 9.96915668e-01 -7.82773636e-02 -5.63963590e-03 7.80887845e+01] [ 7.82760897e-02 9.96931620e-01 -4.46599672e-04 7.83333837e-01] [ 5.65728999e-03 3.77356510e-06 9.99983997e-01 2.12533971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46483917299999 meters 0.06802859586650391 Centerline is valid? [True, True] Translation: X:78.15, Y:0.79, Z:0.21 [[ 9.97115440e-01 -7.58535237e-02 -2.65386060e-03 7.81458870e+01] [ 7.58532316e-02 9.97118971e-01 -2.10703985e-04 7.92073728e-01] [ 2.66219739e-03 8.79229396e-06 9.99996456e-01 2.13988808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52483917299999 meters 0.07201738791662254 Centerline is valid? [True, True] Translation: X:78.20, Y:0.82, Z:0.21 [[ 9.98427136e-01 -5.53073993e-02 -9.18404285e-03 7.82045302e+01] [ 5.53031088e-02 9.98469352e-01 -7.20661504e-04 8.20331627e-01] [ 9.20984323e-03 2.11621880e-04 9.99957566e-01 2.13493923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58483917299999 meters 0.0730049543662457 Centerline is valid? [True, True] Translation: X:78.26, Y:0.82, Z:0.20 [[ 9.98080749e-01 -5.91229108e-02 -1.84200814e-02 7.82635950e+01] [ 5.91062749e-02 9.98250648e-01 -1.44672891e-03 8.16032101e-01] [ 1.84733930e-02 3.55209884e-04 9.99829289e-01 2.03104542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters 0.06969052392179188 Centerline is valid? [True, True] Translation: X:78.33, Y:0.79, Z:0.19 [[ 9.96050651e-01 -8.77068673e-02 -1.38059924e-02 7.83254040e+01] [ 8.77002592e-02 9.96146319e-01 -1.08450271e-03 7.94809202e-01] [ 1.38479069e-02 -1.30569485e-04 9.99904105e-01 1.92003741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters 0.06982502001335367 Centerline is valid? [True, True] Translation: X:78.39, Y:0.77, Z:0.22 [[ 9.95139133e-01 -9.84034368e-02 -3.85604500e-03 7.83871334e+01] [ 9.84029989e-02 9.95146601e-01 -3.03583170e-04 7.71128268e-01] [ 3.86720371e-03 -7.73388992e-05 9.99992519e-01 2.17715679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76483917299998 meters 0.06853691303111553 Centerline is valid? [True, True] Translation: X:78.44, Y:0.80, Z:0.22 [[ 9.96733375e-01 -8.01035620e-02 -1.02955457e-02 7.84440626e+01] [ 8.00994043e-02 9.96786546e-01 -8.16210568e-04 7.99393108e-01] [ 1.03278429e-02 -1.11227668e-05 9.99946666e-01 2.18393378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82483917299999 meters 0.07326641917486461 Centerline is valid? [True, True] Translation: X:78.50, Y:0.85, Z:0.20 [[ 9.98544194e-01 -5.26695353e-02 -1.16367296e-02 7.84996857e+01] [ 5.26624140e-02 9.98611951e-01 -9.17755495e-04 8.46077393e-01] [ 1.16689150e-02 3.03601148e-04 9.99931870e-01 2.01296027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88483917299999 meters 0.07713282189780173 Centerline is valid? [True, True] Translation: X:78.56, Y:0.86, Z:0.19 [[ 9.98863351e-01 -4.56714073e-02 -1.36428982e-02 7.85578633e+01] [ 4.56609624e-02 9.98956415e-01 -1.07627128e-03 8.62088961e-01] [ 1.36778155e-02 4.52100081e-04 9.99906352e-01 1.92796212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94483917299999 meters 0.07072014623520236 Centerline is valid? [True, True] Translation: X:78.62, Y:0.84, Z:0.22 [[ 9.98533071e-01 -5.41450917e-02 1.22359401e-04 7.86205783e+01] [ 5.41450910e-02 9.98533079e-01 9.43333368e-06 8.40753057e-01] [-1.22690678e-04 -2.79433474e-06 9.99999992e-01 2.18229580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters 0.06866625364514037 Centerline is valid? [True, True] Translation: X:78.68, Y:0.83, Z:0.22 [[ 9.98137224e-01 -6.10029980e-02 -8.46287234e-04 7.86804523e+01] [ 6.10029624e-02 9.98137583e-01 -6.77838633e-05 8.29235359e-01] [ 8.48846113e-04 1.60315688e-05 9.99999640e-01 2.19387568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters 0.0686904878528038 Centerline is valid? [True, True] Translation: X:78.74, Y:0.83, Z:0.21 [[ 9.98096542e-01 -6.16701407e-02 -2.95847359e-04 7.87388518e+01] [ 6.16701352e-02 9.98096585e-01 -2.80088535e-05 8.31570841e-01] [ 2.97011549e-04 9.71059320e-06 9.99999956e-01 2.07514408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12483917299998 meters 0.08434475498886676 Centerline is valid? [True, True] Translation: X:78.80, Y:0.83, Z:0.21 [[ 9.98899986e-01 -4.57644454e-02 1.02192875e-02 7.87995471e+01] [ 4.57585622e-02 9.98952201e-01 8.08887280e-04 8.25610467e-01] [-1.02455980e-02 -3.40377588e-04 9.99947455e-01 2.11037064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18483917299999 meters 0.11547871609302061 Centerline is valid? [True, False] Translation: X:78.81, Y:0.81, Z:0.22 [[ 9.99212237e-01 -3.96792159e-02 6.82753118e-04 7.88082333e+01] [ 3.96795136e-02 9.99212366e-01 -4.28062149e-04 8.14879235e-01] [-6.65230189e-04 4.54816249e-04 9.99999675e-01 2.21135848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24483917299999 meters 0.1296281879618502 Centerline is valid? [False, False] Translation: X:78.82, Y:0.83, Z:0.20 [[ 9.99384971e-01 -3.41832830e-02 -7.82189053e-03 7.88192586e+01] [ 3.42949658e-02 9.99304818e-01 1.46197438e-02 8.28230330e-01] [ 7.31670205e-03 -1.48790037e-02 9.99862531e-01 2.01708332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30483917299999 meters 0.15313879182869025 Centerline is valid? [False, False] Translation: X:78.83, Y:0.84, Z:0.20 [[ 9.99626976e-01 -1.91039522e-02 -1.95178922e-02 7.88332872e+01] [ 1.90612624e-02 9.99815506e-01 -2.37092787e-03 8.37928236e-01] [ 1.95595853e-02 1.99800779e-03 9.99806697e-01 2.01174244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.364839173 meters 0.1638724785200083 Centerline is valid? [False, False] Translation: X:78.83, Y:0.84, Z:0.21 [[ 9.99814565e-01 -1.47013437e-02 -1.24380862e-02 7.88342686e+01] [ 1.46126889e-02 9.99867386e-01 -7.18880512e-03 8.35483932e-01] [ 1.25421218e-02 7.00571819e-03 9.99896802e-01 2.10795634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters 0.17594944139427815 Centerline is valid? [False, False] Translation: X:78.85, Y:0.83, Z:0.20 [[ 9.99599745e-01 -2.58328917e-02 -1.15330236e-02 7.88475270e+01] [ 2.58955265e-02 9.99650525e-01 5.31499205e-03 8.28881079e-01] [ 1.13916915e-02 -5.61151842e-03 9.99919367e-01 2.01566574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.484839173 meters 0.1810935750695092 Centerline is valid? [False, False] Translation: X:78.85, Y:0.82, Z:0.21 [[ 9.99614694e-01 -2.74564067e-02 -4.07553883e-03 7.88513692e+01] [ 2.74453593e-02 9.99619544e-01 -2.74230106e-03 8.23104731e-01] [ 4.14928200e-03 2.62938981e-03 9.99987935e-01 2.10311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54483917299999 meters 0.19988321227793712 Centerline is valid? [False, False] Translation: X:78.85, Y:0.82, Z:0.20 [[ 9.99772680e-01 -2.10333531e-02 3.49075754e-03 7.88510339e+01] [ 2.10844577e-02 9.99660420e-01 -1.53130677e-02 8.21784304e-01] [-3.16748699e-03 1.53831874e-02 9.99876655e-01 2.03669872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60483917299999 meters 0.2118798232228561 Centerline is valid? [False, False] Translation: X:78.85, Y:0.82, Z:0.20 [[ 9.99917957e-01 -1.23969335e-02 3.22408074e-03 7.88514212e+01] [ 1.24185979e-02 9.99899841e-01 -6.78868376e-03 8.21390359e-01] [-3.13959895e-03 6.82816536e-03 9.99971759e-01 2.03327108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66483917299999 meters 0.2228920738686741 Centerline is valid? [False, False] Translation: X:78.86, Y:0.82, Z:0.20 [[ 9.99947429e-01 -9.90299651e-03 2.65893752e-03 7.88558813e+01] [ 9.91447630e-03 9.99941434e-01 -4.33953720e-03 8.23649458e-01] [-2.61580738e-03 4.36567104e-03 9.99987049e-01 1.98790478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72483917299999 meters 0.2295887215703038 Centerline is valid? [False, False] Translation: X:78.84, Y:0.84, Z:0.19 [[ 9.99990229e-01 -2.79951295e-03 3.42110104e-03 7.88414370e+01] [ 2.71140846e-03 9.99671348e-01 2.54920603e-02 8.42320052e-01] [-3.49134204e-03 -2.54825353e-02 9.99669171e-01 1.87736160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters 0.23967839542631716 Centerline is valid? [False, False] Translation: X:78.83, Y:0.84, Z:0.20 [[ 9.99933385e-01 -3.08475039e-03 1.11225223e-02 7.88291249e+01] [ 2.96952442e-03 9.99941910e-01 1.03613722e-02 8.38486807e-01] [-1.11538385e-02 -1.03276534e-02 9.99884459e-01 2.04168800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters 0.24899046489995655 Centerline is valid? [False, False] Translation: X:78.82, Y:0.83, Z:0.21 [[ 9.99891037e-01 -1.38031225e-02 5.23327374e-03 7.88169922e+01] [ 1.37288533e-02 9.99808139e-01 1.39715316e-02 8.32907766e-01] [-5.42512045e-03 -1.38981624e-02 9.99888698e-01 2.14302268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90483917299998 meters 0.25630902955453205 Centerline is valid? [False, False] Translation: X:78.82, Y:0.83, Z:0.20 [[ 9.99741948e-01 -1.91856304e-02 1.21634189e-02 7.88168246e+01] [ 1.88355821e-02 9.99422901e-01 2.82681113e-02 8.27155534e-01] [-1.26987409e-02 -2.80317116e-02 9.99526370e-01 2.04490006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96483917299999 meters 0.2597067921691759 Centerline is valid? [False, False] Translation: X:78.82, Y:0.82, Z:0.20 [[ 9.99675778e-01 -2.23743833e-02 1.21542686e-02 7.88247576e+01] [ 2.20311108e-02 9.99374072e-01 2.76784069e-02 8.21266621e-01] [-1.27659482e-02 -2.74016609e-02 9.99542985e-01 1.98105673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02483917299999 meters 0.2594537461700026 Centerline is valid? [False, False] Translation: X:78.84, Y:0.81, Z:0.21 [[ 9.99856633e-01 -1.69205367e-02 6.38697474e-04 7.88412463e+01] [ 1.69103668e-02 9.99765709e-01 1.35117305e-02 8.11467195e-01] [-8.67173564e-04 -1.34989928e-02 9.99908508e-01 2.08434870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08483917299999 meters 0.25472912904619793 Centerline is valid? [False, False] Translation: X:78.87, Y:0.81, Z:0.20 [[ 9.99904314e-01 -1.20368958e-02 -6.81726858e-03 7.88693559e+01] [ 1.20633448e-02 9.99919816e-01 3.85195855e-03 8.08396643e-01] [ 6.77035632e-03 -3.93382903e-03 9.99969343e-01 1.95348807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters 0.25690050964758687 Centerline is valid? [False, False] Translation: X:78.90, Y:0.79, Z:0.19 [[ 9.99688797e-01 -2.26379353e-02 -1.04801479e-02 7.89046440e+01] [ 2.25414210e-02 9.99703232e-01 -9.23756985e-03 7.93439904e-01] [ 1.06861572e-02 8.99845766e-03 9.99902412e-01 1.93556301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters 0.25500822505711296 Centerline is valid? [False, False] Translation: X:78.94, Y:0.78, Z:0.20 [[ 9.99201705e-01 -3.74762575e-02 -1.38377120e-02 7.89414439e+01] [ 3.74412666e-02 9.99294965e-01 -2.77921476e-03 7.78315121e-01] [ 1.39321105e-02 2.25889466e-03 9.99900392e-01 2.01017320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26483917299998 meters 0.2520621876176791 Centerline is valid? [False, False] Translation: X:78.97, Y:0.80, Z:0.19 [[ 9.99405652e-01 -3.44706907e-02 3.37595262e-04 7.89678722e+01] [ 3.44216174e-02 9.98418243e-01 4.44540767e-02 8.01769274e-01] [-1.86942400e-03 -4.44160349e-02 9.99011372e-01 1.94305862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1032.22 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%| | 0/2902 [00:00