+ python -m lidar_slam --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.9 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters 0.07870780770409752 Centerline is valid? [0, True] SLAMing on 0.089649246 meters 0.07902372523942791 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.00 [[ 9.99997433e-01 -1.06189184e-03 2.00135914e-03 5.95340171e-02] [ 1.06214451e-03 9.99999428e-01 -1.25189152e-04 -6.76704805e-03] [-2.00122505e-03 1.27314564e-04 9.99997989e-01 8.76727036e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14964924599999999 meters 0.07934708003255551 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99985896e-01 -4.64957934e-03 2.56677569e-03 1.20126721e-01] [ 4.65000783e-03 9.99989176e-01 -1.60996525e-04 -1.10079012e-02] [-2.56599934e-03 1.72929781e-04 9.99996693e-01 4.43071220e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20964924599999998 meters 0.08094789148901768 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:-0.00 [[ 9.99862646e-01 -1.65577396e-02 7.28126868e-04 1.80412549e-01] [ 1.65577771e-02 9.99862910e-01 -4.55589248e-05 -1.71925572e-02] [-7.27272696e-04 5.76088295e-05 9.99999734e-01 -2.31442032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.269649246 meters 0.09388582651104091 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.04, Z:0.00 [[ 9.99399046e-01 -3.45323166e-02 3.01087177e-03 2.39523126e-01] [ 3.45330404e-02 9.99403539e-01 -1.88710844e-04 -3.61552389e-02] [-3.00255928e-03 2.92571994e-04 9.99995450e-01 1.99193485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.329649246 meters 0.11030786390760022 Centerline is valid? [True, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.99913459 -0.04134703 -0.00452811 0.23577945] [ 0.04139193 0.99908971 0.01031765 -0.03910142] [ 0.00409738 -0.01049614 0.99993652 0.01045527] [ 0. 0. 0. 1. ]] SLAMing on 0.389649246 meters 0.13479780164425692 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.99926336 -0.03790903 -0.00597023 0.23804753] [ 0.03799854 0.99915492 0.01567052 -0.0418173 ] [ 0.00537113 -0.01588584 0.99985939 0.01233446] [ 0. 0. 0. 1. ]] SLAMing on 0.449649246 meters 0.17769563689059464 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.99933265 -0.0356332 -0.00803353 0.24317364] [ 0.03577811 0.99918515 0.01868037 -0.03921999] [ 0.00736134 -0.01895533 0.99979323 0.01156963] [ 0. 0. 0. 1. ]] SLAMing on 0.509649246 meters 0.1796076550429305 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:0.01 [[ 0.99938253 -0.03364526 -0.01012648 0.24924854] [ 0.03384516 0.99922165 0.02026317 -0.03317655] [ 0.00943684 -0.02059339 0.9997434 0.00867745] [ 0. 0. 0. 1. ]] SLAMing on 0.569649246 meters 0.20469802484940233 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:0.00 [[ 0.99939232 -0.03253793 -0.0125011 0.25681597] [ 0.03278295 0.99926392 0.0199224 -0.02272656] [ 0.01184367 -0.02032011 0.99972337 0.00382294] [ 0. 0. 0. 1. ]] SLAMing on 0.6296492459999999 meters 0.21741882344852526 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:0.00 [[ 0.99940421 -0.02594884 -0.0227572 0.27826012] [ 0.02629802 0.99953887 0.0151811 -0.02008872] [ 0.02235277 -0.01577053 0.99962575 0.00127903] [ 0. 0. 0. 1. ]] SLAMing on 0.6896492459999999 meters 0.23615660408286804 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.00 [[ 0.99958089 -0.02176906 -0.01908262 0.29707442] [ 0.02197439 0.99970216 0.0106167 -0.01720285] [ 0.01884582 -0.01103158 0.99976154 -0.0044711 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7496492459999999 meters 0.2533922505342707 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.01 [[ 0.99940267 -0.02332299 -0.02550191 0.33595752] [ 0.02360546 0.99966267 0.01083186 -0.01771287] [ 0.02524067 -0.01142738 0.99961609 -0.00620663] [ 0. 0. 0. 1. ]] SLAMing on 0.809649246 meters 0.27348643827378744 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:-0.01 [[ 0.99959047 -0.01851393 -0.02182028 0.3560849 ] [ 0.01865236 0.99980707 0.00615745 -0.01437128] [ 0.02170207 -0.00656192 0.99974295 -0.01412291] [ 0. 0. 0. 1. ]] SLAMing on 0.8696492459999999 meters 0.28291090403325875 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:-0.02 [[ 0.99979903 -0.00941031 -0.01770183 0.37675925] [ 0.00948242 0.99994706 0.0039942 -0.00531693] [ 0.0176633 -0.00416126 0.99983533 -0.02440888] [ 0. 0. 0. 1. ]] SLAMing on 0.9296492459999999 meters 0.28743202597888057 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.03 [[ 0.99990733 0.0031594 -0.01324167 0.39591692] [-0.00310854 0.99998772 0.00385952 0.00761463] [ 0.0132537 -0.003818 0.99990488 -0.03421478] [ 0. 0. 0. 1. ]] SLAMing on 0.9896492459999999 meters 0.2987278580419682 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.04 [[ 0.99976348 0.02029852 -0.00780783 0.4105149 ] [-0.02022386 0.9997501 0.00952584 0.0191985 ] [ 0.00799924 -0.00936568 0.99992415 -0.03786256] [ 0. 0. 0. 1. ]] SLAMing on 1.049649246 meters 0.30439449237461247 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.04 [[ 0.9992176 0.03951156 -0.00173879 0.42379472] [-0.03947813 0.99908804 0.01626555 0.03195664] [ 0.00237988 -0.01618418 0.9998662 -0.04183944] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters 0.3075794278842996 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.05 [[ 0.9982829 0.05838864 0.00469243 0.43765474] [-0.05847769 0.99804961 0.02184799 0.04512743] [-0.0034076 -0.02208488 0.99975029 -0.04777377] [ 0. 0. 0. 1. ]] SLAMing on 1.1696492459999999 meters 0.2938167821986819 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.05 [[ 0.9980749 0.06184377 0.00467374 0.43879246] [-0.06193891 0.99778892 0.02410049 0.05016211] [-0.00317295 -0.02434358 0.99969862 -0.04895359] [ 0. 0. 0. 1. ]] SLAMing on 1.229649246 meters 0.31088607583584266 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.06 [[ 0.9971288 0.07505127 0.01007332 0.45695431] [-0.0752789 0.99686078 0.02452917 0.06296129] [-0.00820075 -0.02521705 0.99964836 -0.05788449] [ 0. 0. 0. 1. ]] SLAMing on 1.289649246 meters 0.3203138139176743 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:-0.07 [[ 0.99659871 0.07991038 0.02013312 0.4931849 ] [-0.08043497 0.99640076 0.02675325 0.07401966] [-0.0179228 -0.02828167 0.9994393 -0.07052596] [ 0. 0. 0. 1. ]] SLAMing on 1.3496492459999998 meters 0.30513029524477675 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:-0.08 [[ 0.99630784 0.08015306 0.03076011 0.52666082] [-0.08097769 0.99636173 0.02656911 0.08262521] [-0.0285186 -0.0289619 0.99917361 -0.08174232] [ 0. 0. 0. 1. ]] SLAMing on 1.4096492459999999 meters 0.2505720448768132 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.09 [[ 0.99653045 0.07360728 0.03884619 0.57273075] [-0.07466516 0.99685593 0.02652128 0.08537597] [-0.0367719 -0.02932972 0.99889319 -0.08961622] [ 0. 0. 0. 1. ]] SLAMing on 1.469649246 meters 0.22853855746637464 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.09 [[ 0.99742759 0.0608499 0.03788781 0.57432612] [-0.06146303 0.99799312 0.01523281 0.08294354] [-0.03688486 -0.01752233 0.99916589 -0.08911097] [ 0. 0. 0. 1. ]] SLAMing on 1.529649246 meters 0.20761534537950352 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.09 [[ 0.99878413 0.02965077 0.03938385 0.58243653] [-0.03016911 0.99946498 0.01263254 0.06725828] [-0.03898821 -0.01380536 0.9991443 -0.08614499] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters 0.2015660508239638 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.08 [[ 0.99941659 0.01303526 0.03156835 0.60713441] [-0.01345903 0.99982165 0.01324883 0.05606416] [-0.03139002 -0.01366598 0.99941378 -0.08330813] [ 0. 0. 0. 1. ]] SLAMing on 1.6496492459999998 meters 0.194673730859514 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.08 [[ 0.99964243 -0.00899862 0.02518008 0.6578592 ] [ 0.00876324 0.99991702 0.0094426 0.03722761] [-0.02526296 -0.00921856 0.99963834 -0.08234979] [ 0. 0. 0. 1. ]] SLAMing on 1.709649246 meters 0.18728975727143915 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.08 [[ 0.9995218 -0.02716859 0.01476626 0.70183048] [ 0.02709096 0.99961822 0.00543165 0.01442126] [-0.01490819 -0.00502902 0.99987622 -0.07806879] [ 0. 0. 0. 1. ]] SLAMing on 1.769649246 meters 0.17965764541226412 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.01, Z:-0.08 [[ 9.99261600e-01 -3.77237489e-02 7.29198212e-03 7.34319580e-01] [ 3.77210991e-02 9.99288181e-01 5.00629460e-04 -9.65102783e-03] [-7.30567716e-03 -2.25198215e-04 9.99973288e-01 -7.67258663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8296492459999998 meters 0.17315485854813245 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.08 [[ 9.99262224e-01 -3.83913414e-02 1.05489028e-03 7.58861584e-01] [ 3.83921545e-02 9.99262459e-01 -7.61650648e-04 -3.20537040e-02] [-1.02487146e-03 8.01588230e-04 9.99999154e-01 -7.66233302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8896492459999998 meters 0.16785930768502505 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.07 [[ 0.9995335 -0.02978209 -0.00676774 0.76602536] [ 0.02979912 0.99955295 0.00242981 -0.05437375] [ 0.00669235 -0.00263035 0.99997415 -0.06826513] [ 0. 0. 0. 1. ]] SLAMing on 1.949649246 meters 0.1578456287064416 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.07 [[ 0.99989423 -0.01449308 0.00121475 0.76315963] [ 0.01448966 0.99989117 0.00277336 -0.0630127 ] [-0.00125481 -0.00275546 0.99999542 -0.06737548] [ 0. 0. 0. 1. ]] SLAMing on 2.009649246 meters 0.15305803891113512 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.07 [[ 0.99993117 0.00778026 0.00878204 0.76222791] [-0.00785272 0.99993516 0.0082464 -0.06165 ] [-0.00871731 -0.00831479 0.99992743 -0.06902438] [ 0. 0. 0. 1. ]] SLAMing on 2.069649246 meters 0.1488676700586475 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.07 [[ 0.99969215 0.02275935 0.00988022 0.75775414] [-0.02296903 0.99950162 0.02165504 -0.05837433] [-0.00938244 -0.02187532 0.99971668 -0.06632772] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters 0.146853083753609 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.07 [[ 0.99974616 0.02000659 0.01036119 0.75594913] [-0.02015915 0.99968671 0.0148355 -0.05312347] [-0.01006114 -0.01504061 0.99983626 -0.07013587] [ 0. 0. 0. 1. ]] SLAMing on 2.189649246 meters 0.13868896784133894 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.07 [[ 0.99982041 0.01576933 0.0105107 0.75593798] [-0.01586453 0.99983332 0.00903603 -0.0500293 ] [-0.01036645 -0.00920116 0.99990393 -0.07230214] [ 0. 0. 0. 1. ]] SLAMing on 2.2496492459999997 meters 0.1323708680466497 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.08 [[ 0.99989978 0.01007132 0.00994997 0.75929434] [-0.01009114 0.99994719 0.00194422 -0.04538193] [-0.00992987 -0.00204443 0.99994861 -0.07711973] [ 0. 0. 0. 1. ]] SLAMing on 2.3096492459999998 meters 0.12850884336627724 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99993716 0.00535295 0.00984966 0.76025921] [-0.00531899 0.99997983 -0.00347081 -0.04274765] [-0.00986804 0.0034182 0.99994547 -0.07881733] [ 0. 0. 0. 1. ]] SLAMing on 2.369649246 meters 0.1203910988454627 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99994206 0.00490102 0.0095841 0.76050232] [-0.00486247 0.99998001 -0.00404112 -0.03933852] [-0.00960371 0.00399429 0.99994591 -0.07781214] [ 0. 0. 0. 1. ]] SLAMing on 2.429649246 meters 0.1158703551499198 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.08 [[ 0.99995034 0.00387283 0.0091824 0.76182407] [-0.00382172 0.99997714 -0.00557736 -0.03407882] [-0.00920379 0.00554199 0.99994229 -0.07825636] [ 0. 0. 0. 1. ]] SLAMing on 2.489649246 meters 0.10532671829742633 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.03, Z:-0.08 [[ 0.99996148 0.0027923 0.00832071 0.76402374] [-0.00274067 0.99997696 -0.0062101 -0.03192894] [-0.00833786 0.00618706 0.9999461 -0.07824373] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters 0.09813241807528876 Centerline is valid? [False, True] Translation: X:0.77, Y:-0.03, Z:-0.08 [[ 0.99997092 0.00155712 0.00746514 0.76658048] [-0.00150171 0.99997133 -0.00742233 -0.02875278] [-0.00747648 0.00741091 0.99994459 -0.07915731] [ 0. 0. 0. 1. ]] SLAMing on 2.609649246 meters 0.0916096621586065 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.03, Z:-0.08 [[ 9.99805740e-01 -7.82094139e-03 1.80918793e-02 8.28310236e-01] [ 7.81862361e-03 9.99969414e-01 1.98841675e-04 -3.22090245e-02] [-1.80928811e-02 -5.73494529e-05 9.99836309e-01 -7.79953950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6696492459999996 meters 0.08719360356090157 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.03, Z:-0.08 [[ 9.99505048e-01 -1.62383297e-02 2.69439321e-02 8.88563387e-01] [ 1.62363102e-02 9.99868139e-01 2.93739886e-04 -3.40833617e-02] [-2.69451491e-02 1.43875541e-04 9.99636903e-01 -8.33548231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7296492459999997 meters 0.08422817218669734 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.04, Z:-0.09 [[ 9.99105716e-01 -2.51897570e-02 3.39594534e-02 9.47900356e-01] [ 2.51917578e-02 9.99682569e-01 3.69022026e-04 -3.93768912e-02] [-3.39579692e-02 4.86806311e-04 9.99423143e-01 -9.17102099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7896492459999997 meters 0.08236609787598012 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.05, Z:-0.10 [[ 9.98595016e-01 -3.50180291e-02 3.97709806e-02 1.00727397e+00] [ 3.50285414e-02 9.99386219e-01 4.32698040e-04 -4.77095374e-02] [-3.97617222e-02 9.61029336e-04 9.99208728e-01 -9.70906976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.849649246 meters 0.07968084503345271 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.05, Z:-0.10 [[ 9.98213109e-01 -3.97689560e-02 4.45984289e-02 1.06762510e+00] [ 3.97867789e-02 9.99208073e-01 4.88303706e-04 -4.86672901e-02] [-4.45825295e-02 1.28699667e-03 9.99004876e-01 -9.78442844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.909649246 meters 0.07586804995339425 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.05, Z:-0.10 [[ 9.97743832e-01 -4.04832673e-02 5.35569918e-02 1.12842242e+00] [ 4.05100055e-02 9.99178961e-01 5.86679225e-04 -4.72666102e-02] [-5.35367700e-02 1.58423845e-03 9.98564622e-01 -9.89717094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.969649246 meters 0.0731985160482786 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:-0.10 [[ 9.97205151e-01 -4.09446223e-02 6.24934009e-02 1.18898094e+00] [ 4.09819629e-02 9.99159652e-01 6.84712021e-04 -4.78118904e-02] [-6.24689199e-02 1.87830388e-03 9.98045142e-01 -1.02651088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.029649246 meters 0.0712548471709484 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.04, Z:-0.11 [[ 9.97112150e-01 -3.60048535e-02 6.68656107e-02 1.24873321e+00] [ 3.60365454e-02 9.99350204e-01 7.32521146e-04 -4.34351297e-02] [-6.68485360e-02 1.67919988e-03 9.97761722e-01 -1.08349793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.089649246 meters 0.06954523604707614 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.04, Z:-0.12 [[ 9.96934758e-01 -3.25624651e-02 7.11391213e-02 1.30725675e+00] [ 3.25895671e-02 9.99468515e-01 7.79970246e-04 -4.15060574e-02] [-7.11267097e-02 1.54081372e-03 9.97466098e-01 -1.16599139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.149649246 meters 0.06695765487741269 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.12 [[ 9.96351428e-01 -2.98706102e-02 7.99473542e-02 1.36658686e+00] [ 2.98960977e-02 9.99552626e-01 8.78418658e-04 -3.92306740e-02] [-7.99378267e-02 1.51490023e-03 9.96798700e-01 -1.23810221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2096492459999997 meters 0.06913856667894412 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.07, Z:-0.13 [[ 9.95228605e-01 -4.56845732e-02 8.62145167e-02 1.42721868e+00] [ 4.57731433e-02 9.98951408e-01 9.50270827e-04 -6.83524432e-02] [-8.61675256e-02 3.00057272e-03 9.96276143e-01 -1.29541104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2696492459999997 meters 0.07459444007249984 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.11, Z:-0.13 [[ 9.93246153e-01 -6.95045741e-02 9.29042205e-02 1.48906799e+00] [ 6.97115719e-02 9.97566668e-01 1.01928387e-03 -1.07288769e-01] [-9.27489986e-02 5.46409947e-03 9.95674529e-01 -1.26318094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.329649246 meters 0.07255010979630358 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.11, Z:-0.13 [[ 9.92792296e-01 -6.51379174e-02 1.00600744e-01 1.54956778e+00] [ 6.53586999e-02 9.97861224e-01 1.10325493e-03 -1.09568345e-01] [-1.00457445e-01 5.47983084e-03 9.94926265e-01 -1.26724334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.389649246 meters 0.07105785117057863 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.10, Z:-0.14 [[ 9.92694071e-01 -5.99717199e-02 1.04698967e-01 1.60754199e+00] [ 6.01824403e-02 9.98186734e-01 1.14827833e-03 -9.95781629e-02] [-1.04577984e-01 5.16115022e-03 9.94503297e-01 -1.39902191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.449649246 meters 0.07292049939095503 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.10, Z:-0.15 [[ 9.92216726e-01 -6.33477626e-02 1.07205549e-01 1.66563764e+00] [ 6.35881166e-02 9.97975532e-01 1.17833628e-03 -1.03905371e-01] [-1.07063160e-01 5.64783401e-03 9.94236180e-01 -1.45370418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.509649246 meters 0.07684765637023776 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.11, Z:-0.15 [[ 9.91774824e-01 -7.03681591e-02 1.06915953e-01 1.72619780e+00] [ 7.06468811e-02 9.97500686e-01 1.18306939e-03 -1.14016700e-01] [-1.06731987e-01 6.37994016e-03 9.94267358e-01 -1.51015453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.569649246 meters 0.07973931151161266 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:-0.16 [[ 9.91412716e-01 -7.49681055e-02 1.07147606e-01 1.78621928e+00] [ 7.52747460e-02 9.97162127e-01 1.18542215e-03 -1.17707919e-01] [-1.06932403e-01 6.89026623e-03 9.94242418e-01 -1.60639645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6296492459999996 meters 0.0802446686203511 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.12, Z:-0.17 [[ 9.91478061e-01 -7.45804398e-02 1.06812980e-01 1.84435810e+00] [ 7.48833206e-02 9.97191607e-01 1.17793799e-03 -1.15506468e-01] [-1.06600858e-01 6.83061095e-03 9.94278432e-01 -1.72289815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6896492459999997 meters 0.07653933620460901 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.11, Z:-0.18 [[ 9.92165164e-01 -6.61298068e-02 1.05995924e-01 1.90426844e+00] [ 6.63772679e-02 9.97793881e-01 1.19536367e-03 -1.06400885e-01] [-1.05841134e-01 5.84972169e-03 9.94365846e-01 -1.82145818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7496492459999997 meters 0.07075506864072618 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.09, Z:-0.19 [[ 9.92833753e-01 -5.34983624e-02 1.06860021e-01 1.96376469e+00] [ 5.36770268e-02 9.98557621e-01 1.20562918e-03 -9.41740349e-02] [-1.06770388e-01 4.53893888e-03 9.94273344e-01 -1.89390305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8096492459999998 meters 0.066644107689124 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.08, Z:-0.20 [[ 9.93479365e-01 -4.29600040e-02 1.05608658e-01 2.02323026e+00] [ 4.30750441e-02 9.99071128e-01 1.19244181e-03 -8.47263048e-02] [-1.05561788e-01 3.36443126e-03 9.94407054e-01 -1.98640109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.869649246 meters 0.06370590103175915 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.08, Z:-0.20 [[ 9.93699425e-01 -3.43263782e-02 1.06691862e-01 2.08373819e+00] [ 3.43940534e-02 9.99407622e-01 1.20621127e-03 -7.72168831e-02] [-1.06670065e-01 2.47095416e-03 9.94291402e-01 -2.04391263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.929649246 meters 0.06421094476823859 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.08, Z:-0.21 [[ 9.93285808e-01 -3.55241033e-02 1.10096968e-01 2.14560964e+00] [ 3.56034766e-02 9.99365219e-01 1.24549528e-03 -7.78727114e-02] [-1.10071326e-01 2.68270204e-03 9.93920070e-01 -2.08815805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.989649246 meters 0.06609715350194605 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.08, Z:-0.22 [[ 9.93009684e-01 -3.98642536e-02 1.11097290e-01 2.20543994e+00] [ 3.99729497e-02 9.99199981e-01 1.24967245e-03 -8.10236972e-02] [-1.11058228e-01 3.19994956e-03 9.93808749e-01 -2.16726190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0496492459999995 meters 0.07130852608554025 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.09, Z:-0.22 [[ 9.92535978e-01 -4.95520495e-02 1.11431267e-01 2.26659382e+00] [ 4.97223416e-02 9.98762295e-01 1.25194368e-03 -9.25484592e-02] [-1.11355384e-01 4.29802437e-03 9.93771355e-01 -2.23432389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109649246 meters 0.07993448625073675 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.11, Z:-0.23 [[ 9.91754859e-01 -6.29693665e-02 1.11611645e-01 2.32540745e+00] [ 6.32250382e-02 9.97998512e-01 1.25072344e-03 -1.09897057e-01] [-1.11467013e-01 5.81623945e-03 9.93751114e-01 -2.29995166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.169649246 meters 0.0770018502286423 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.10, Z:-0.23 [[ 9.91187979e-01 -7.39476244e-02 1.09900588e-01 2.38505674e+00] [ 7.42621776e-02 9.97237989e-01 1.23386540e-03 -1.00819499e-01] [-1.09688283e-01 6.93846445e-03 9.93941818e-01 -2.34893005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.229649246 meters 0.08148549010371635 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.10, Z:-0.24 [[ 9.90812188e-01 -8.05644643e-02 1.08630452e-01 2.44323175e+00] [ 8.09110277e-02 9.96720580e-01 1.22090245e-03 -1.03989837e-01] [-1.08372569e-01 7.57971651e-03 9.94081453e-01 -2.44454226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.289649246 meters 0.08398158158278098 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.11, Z:-0.25 [[ 9.90620481e-01 -8.39908420e-02 1.07780340e-01 2.50293716e+00] [ 8.43517660e-02 9.96435299e-01 1.21406922e-03 -1.05132364e-01] [-1.07498106e-01 7.88878016e-03 9.94173991e-01 -2.53403738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.349649246 meters 0.08365520331159507 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.10, Z:-0.26 [[ 9.90607157e-01 -8.09922279e-02 1.10171322e-01 2.56203752e+00] [ 8.13511148e-02 9.96684733e-01 1.24098061e-03 -1.03492935e-01] [-1.09906584e-01 7.73323559e-03 9.93911837e-01 -2.57706548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.409649246 meters 0.07999020797336763 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:-0.26 [[ 9.91153897e-01 -7.16473840e-02 1.11716630e-01 2.62099915e+00] [ 7.19572813e-02 9.97406918e-01 1.26083955e-03 -9.92598500e-02] [-1.11517275e-01 6.78913893e-03 9.93739304e-01 -2.64284473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4696492459999995 meters 0.07691560353266212 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.10, Z:-0.27 [[ 9.91576779e-01 -6.48014796e-02 1.12143923e-01 2.68070481e+00] [ 6.50699904e-02 9.97879897e-01 1.26803358e-03 -9.67336940e-02] [-1.11988336e-01 6.03985132e-03 9.93691166e-01 -2.72746351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.529649246 meters 0.06836915149224815 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.08, Z:-0.28 [[ 9.92589848e-01 -4.75033845e-02 1.11842844e-01 2.74022175e+00] [ 4.76610492e-02 9.98862765e-01 1.26506399e-03 -8.09509041e-02] [-1.11775748e-01 4.07485764e-03 9.93725102e-01 -2.80107181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.589649246 meters 0.061029951329518155 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.06, Z:-0.29 [[ 9.93413326e-01 -2.68470102e-02 1.11396593e-01 2.79886226e+00] [ 2.68738883e-02 9.99638037e-01 1.26048608e-03 -5.91591352e-02] [-1.11390112e-01 1.74147592e-03 9.93775231e-01 -2.88446619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.649649246 meters 0.06018912085177004 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.05, Z:-0.30 [[ 9.93693753e-01 -2.14210438e-02 1.10062999e-01 2.85942358e+00] [ 2.14137475e-02 9.99769920e-01 1.24844962e-03 -5.01691570e-02] [-1.10064418e-01 1.11628468e-03 9.93923829e-01 -2.99036992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.709649246 meters 0.060675670343692645 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.05, Z:-0.31 [[ 9.93889640e-01 -2.26379231e-02 1.08031972e-01 2.92003531e+00] [ 2.26384854e-02 9.99742971e-01 1.22138263e-03 -4.98493871e-02] [-1.08031855e-01 1.23176069e-03 9.94146670e-01 -3.11173882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.769649246 meters 0.061956720534637265 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.06, Z:-0.32 [[ 9.93767513e-01 -2.75001366e-02 1.08027182e-01 2.98195694e+00] [ 2.75317258e-02 9.99620211e-01 1.19930598e-03 -5.67251995e-02] [-1.08019136e-01 1.78234345e-03 9.94147217e-01 -3.18044202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829649246 meters 0.06317102188287231 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.06, Z:-0.33 [[ 9.93846624e-01 -3.11302640e-02 1.06300494e-01 3.04274363e+00] [ 3.11822103e-02 9.99513027e-01 1.17374816e-03 -6.14538773e-02] [-1.06285267e-01 2.14815871e-03 9.94333358e-01 -3.26873186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889649245999999 meters 0.06398557035769425 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.06, Z:-0.34 [[ 9.93959379e-01 -3.29474122e-02 1.04686295e-01 3.10432770e+00] [ 3.30080587e-02 9.99454420e-01 1.15360993e-03 -6.26354765e-02] [-1.04667188e-01 2.30884995e-03 9.94504625e-01 -3.36488379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949649246 meters 0.0639992891331297 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.06, Z:-0.34 [[ 9.93838257e-01 -3.25375065e-02 1.05956737e-01 3.16527929e+00] [ 3.25978605e-02 9.99467872e-01 1.16265859e-03 -6.15498020e-02] [-1.05938184e-01 2.29846835e-03 9.94370061e-01 -3.43755003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0096492459999995 meters 0.06389473139143105 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.06, Z:-0.35 [[ 9.93897612e-01 -3.23262857e-02 1.05463492e-01 3.22654516e+00] [ 3.23862061e-02 9.99474774e-01 1.14479629e-03 -6.08324462e-02] [-1.05445107e-01 2.27775208e-03 9.94422517e-01 -3.51906729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069649246 meters 0.06510643312510354 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.07, Z:-0.36 [[ 9.93919773e-01 -3.43127370e-02 1.04623709e-01 3.28813237e+00] [ 3.43832534e-02 9.99408082e-01 1.13006214e-03 -6.52531449e-02] [-1.04600556e-01 2.47411240e-03 9.94511238e-01 -3.60867171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.129649246 meters 0.06450865170320755 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.07, Z:-0.37 [[ 9.93856407e-01 -3.32973458e-02 1.05549649e-01 3.35011348e+00] [ 3.33640295e-02 9.99442622e-01 1.13436803e-03 -6.62197077e-02] [-1.05528589e-01 2.39416265e-03 9.94413387e-01 -3.66838514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.189649246 meters 0.059985375942836934 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.05, Z:-0.36 [[ 9.93856214e-01 -3.03896769e-02 1.06425058e-01 3.41386780e+00] [ 3.04414127e-02 9.99535904e-01 1.13869746e-03 -4.92719329e-02] [-1.06410271e-01 2.10802757e-03 9.94320074e-01 -3.60858138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.249649246 meters 0.05932116152984834 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.04, Z:-0.37 [[ 9.93879856e-01 -2.61196029e-02 1.07334046e-01 3.47449762e+00] [ 2.61485369e-02 9.99657421e-01 1.13804333e-03 -4.29508876e-02] [-1.07327000e-01 1.67554991e-03 9.94222363e-01 -3.68283358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.309649245999999 meters 0.05922230915322869 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.04, Z:-0.38 [[ 9.93845545e-01 -2.52780333e-02 1.07852000e-01 3.53633481e+00] [ 2.53023565e-02 9.99679191e-01 1.14313695e-03 -4.23047112e-02] [-1.07846296e-01 1.59280819e-03 9.94166304e-01 -3.75309209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369649246 meters 0.059026650737284615 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.04, Z:-0.38 [[ 9.94009791e-01 -2.47449908e-02 1.06452903e-01 3.59724842e+00] [ 2.47684746e-02 9.99692607e-01 1.10168934e-03 -4.25891475e-02] [-1.06447441e-01 1.54158603e-03 9.94317135e-01 -3.82455230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429649245999999 meters 0.05916832813452106 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.04, Z:-0.39 [[ 9.94051752e-01 -2.52198793e-02 1.05948442e-01 3.65778881e+00] [ 2.52484132e-02 9.99680633e-01 1.07217761e-03 -4.22010628e-02] [-1.05941646e-01 1.60923000e-03 9.94371047e-01 -3.91400745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.489649246 meters 0.05912890528726638 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.04, Z:-0.40 [[ 9.93933806e-01 -2.59848447e-02 1.06866166e-01 3.72012796e+00] [ 2.60207931e-02 9.99660842e-01 1.05820048e-03 -4.09801871e-02] [-1.06857418e-01 1.72896115e-03 9.94272851e-01 -3.98422893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5496492459999995 meters 0.059585304258961795 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.05, Z:-0.40 [[ 9.93462300e-01 -3.14301161e-02 1.09748831e-01 3.78221259e+00] [ 3.15047808e-02 9.99503045e-01 1.05408674e-03 -4.76120491e-02] [-1.09727421e-01 2.41041743e-03 9.93958793e-01 -4.02637132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609649246 meters 0.05968423324235297 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.05, Z:-0.41 [[ 9.93273787e-01 -3.36537599e-02 1.10790829e-01 3.84395498e+00] [ 3.37469669e-02 9.99429874e-01 1.03434024e-03 -4.78156612e-02] [-1.10762474e-01 2.71147139e-03 9.93843208e-01 -4.09505112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.669649246 meters 0.06030030698104687 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.05, Z:-0.42 [[ 9.93438943e-01 -3.71018711e-02 1.08178179e-01 3.90402177e+00] [ 3.72119605e-02 9.99306893e-01 1.00154072e-03 -4.90716040e-02] [-1.08140359e-01 3.03055258e-03 9.94131017e-01 -4.19756419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729649246 meters 0.060572433474180065 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.05, Z:-0.43 [[ 9.93464044e-01 -3.91828514e-02 1.07209591e-01 3.96557942e+00] [ 3.93031314e-02 9.99226841e-01 9.91599226e-04 -5.08758186e-02] [-1.07165555e-01 3.22855448e-03 9.94235948e-01 -4.26910782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789649246 meters 0.060458898316849904 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.05, Z:-0.44 [[ 9.93621985e-01 -3.79895586e-02 1.06170357e-01 4.02670109e+00] [ 3.81015054e-02 9.99273399e-01 9.74489709e-04 -4.83458915e-02] [-1.06130234e-01 3.07697604e-03 9.94347477e-01 -4.37495139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849649245999999 meters 0.06001258481543149 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.04, Z:-0.45 [[ 9.93974124e-01 -3.38259023e-02 1.04265282e-01 4.08825961e+00] [ 3.39116366e-02 9.99424383e-01 9.50865668e-04 -4.46001429e-02] [-1.04237428e-01 2.59067047e-03 9.94549067e-01 -4.48575322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909649246 meters 0.05920907783573622 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.04, Z:-0.46 [[ 9.94088878e-01 -3.05518979e-02 1.04181975e-01 4.14976357e+00] [ 3.06210423e-02 9.99530628e-01 9.36055595e-04 -4.22582097e-02] [-1.04161674e-01 2.25963822e-03 9.94557811e-01 -4.57150824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9696492459999995 meters 0.05864908879100116 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.04, Z:-0.46 [[ 9.94418257e-01 -2.52146781e-02 1.02452675e-01 4.21100962e+00] [ 2.52540035e-02 9.99680649e-01 9.13432879e-04 -4.22568199e-02] [-1.02442989e-01 1.67900589e-03 9.94737460e-01 -4.64847699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029649246 meters 0.057785956685044416 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.04, Z:-0.47 [[ 9.94375908e-01 -1.80826771e-02 1.04353108e-01 4.27136485e+00] [ 1.80851803e-02 9.99836024e-01 9.22295138e-04 -3.55601989e-02] [-1.04352674e-01 9.70136707e-04 9.94539883e-01 -4.70975040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089649246 meters 0.0573852142195557 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.03, Z:-0.48 [[ 9.94465609e-01 -1.40502160e-02 1.04118898e-01 4.33306017e+00] [ 1.40306131e-02 9.99901142e-01 9.20724328e-04 -3.00472382e-02] [-1.04121541e-01 5.45223292e-04 9.94564431e-01 -4.79105943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149649246 meters 0.05732480641673706 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.03, Z:-0.48 [[ 9.94373393e-01 -1.49951543e-02 1.04865157e-01 4.39552627e+00] [ 1.49830491e-02 9.99887340e-01 9.03251036e-04 -3.09275868e-02] [-1.04866887e-01 6.73031003e-04 9.94486040e-01 -4.84521651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209649246 meters 0.05708674583939326 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.03, Z:-0.49 [[ 9.94141707e-01 -1.60953325e-02 1.06879406e-01 4.45698589e+00] [ 1.60925036e-02 9.99870112e-01 8.88973563e-04 -3.33909024e-02] [-1.06879832e-01 8.36191534e-04 9.94271594e-01 -4.89552640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269649246 meters 0.057167032151018905 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.03, Z:-0.50 [[ 9.94197607e-01 -1.54471450e-02 1.06454235e-01 4.51825201e+00] [ 1.54433696e-02 9.99880374e-01 8.59863443e-04 -3.35120139e-02] [-1.06454782e-01 7.89137909e-04 9.94317231e-01 -4.97899982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329649246 meters 0.05726142285570069 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.03, Z:-0.51 [[ 9.94392530e-01 -1.45807356e-02 1.04742060e-01 4.57991235e+00] [ 1.45751088e-02 9.99893442e-01 8.19180592e-04 -3.29781626e-02] [-1.04742843e-01 7.12039850e-04 9.94499085e-01 -5.07563330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389649245999999 meters 0.05713212081035126 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.03, Z:-0.51 [[ 9.94566243e-01 -1.52503100e-02 1.02982598e-01 4.64123410e+00] [ 1.52509009e-02 9.99883393e-01 7.81690200e-04 -3.24701132e-02] [-1.02982510e-01 7.93134701e-04 9.94682851e-01 -5.12771802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449649246 meters 0.05738147109938417 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.03, Z:-0.52 [[ 9.94627153e-01 -1.52430272e-02 1.02393732e-01 4.70080687e+00] [ 1.52461247e-02 9.99883488e-01 7.52404773e-04 -3.16496322e-02] [-1.02393271e-01 8.12745389e-04 9.94743664e-01 -5.24472066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5096492459999995 meters 0.05727750176924815 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.03, Z:-0.53 [[ 9.94443909e-01 -1.57298168e-02 1.04085951e-01 4.76210725e+00] [ 1.57377926e-02 9.99875876e-01 7.44695843e-04 -3.13162431e-02] [-1.04084745e-01 8.97524852e-04 9.94568027e-01 -5.31017105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569649246 meters 0.057077028481813064 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.03, Z:-0.54 [[ 9.94447667e-01 -1.58371880e-02 1.04033753e-01 4.82522030e+00] [ 1.58482279e-02 9.99874149e-01 7.20550807e-04 -3.17373498e-02] [-1.04032072e-01 9.32200552e-04 9.94573506e-01 -5.36113468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.629649246 meters 0.056998359291014176 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.03, Z:-0.54 [[ 9.94328615e-01 -1.63897829e-02 1.05080829e-01 4.88758637e+00] [ 1.64076670e-02 9.99865144e-01 6.94320221e-04 -3.27491874e-02] [-1.05078038e-01 1.03374879e-03 9.94463442e-01 -5.41834865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689649246 meters 0.056804072855512644 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.03, Z:-0.55 [[ 9.94283138e-01 -1.58354232e-02 1.05594892e-01 4.94900248e+00] [ 1.58510596e-02 9.99874125e-01 6.91213632e-04 -3.21228835e-02] [-1.05592546e-01 9.86528866e-04 9.94408991e-01 -5.49045178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749649246 meters 0.05705302400092967 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.03, Z:-0.56 [[ 9.94369534e-01 -1.51390458e-02 1.04881073e-01 5.01154505e+00] [ 1.51532523e-02 9.99884964e-01 6.61433643e-04 -3.14653350e-02] [-1.04879022e-01 9.31579897e-04 9.94484551e-01 -5.58611363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809649245999999 meters 0.05691408680070352 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.03, Z:-0.56 [[ 9.94357568e-01 -1.49295747e-02 1.05024450e-01 5.07264143e+00] [ 1.49458365e-02 9.99888105e-01 6.32218875e-04 -3.39654364e-02] [-1.05022137e-01 9.41026637e-04 9.94469439e-01 -5.64711822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869649246 meters 0.056903483466064386 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.03, Z:-0.57 [[ 9.94399407e-01 -1.39566128e-02 1.04761788e-01 5.13443017e+00] [ 1.39702327e-02 9.99902229e-01 6.03819244e-04 -3.24221223e-02] [-1.04759973e-01 8.63109061e-04 9.94497161e-01 -5.73945905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929649245999999 meters 0.05687259234851557 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.03, Z:-0.58 [[ 9.94509636e-01 -1.35192955e-02 1.03768073e-01 5.19628386e+00] [ 1.35332639e-02 9.99908259e-01 5.69480949e-04 -3.06910787e-02] [-1.03766252e-01 8.37966425e-04 9.94601359e-01 -5.81772554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989649246 meters 0.05678999660434941 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.03, Z:-0.59 [[ 9.94540169e-01 -1.29558063e-02 1.03547091e-01 5.25840901e+00] [ 1.29692365e-02 9.99915748e-01 5.43599560e-04 -3.07225325e-02] [-1.03545410e-01 8.02295110e-04 9.94624404e-01 -5.90291384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0496492459999995 meters 0.056851102892052904 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.03, Z:-0.60 [[ 9.94580613e-01 -1.31446523e-02 1.03134006e-01 5.31988057e+00] [ 1.31620147e-02 9.99913246e-01 5.12220827e-04 -3.01467913e-02] [-1.03131791e-01 8.48006389e-04 9.94667339e-01 -5.97334752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109649246 meters 0.05704572557027974 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.04, Z:-0.60 [[ 9.94395322e-01 -1.58644457e-02 1.04528767e-01 5.38140045e+00] [ 1.58999388e-02 9.99873466e-01 4.93773182e-04 -3.56170585e-02] [-1.04523374e-01 1.17099526e-03 9.94521741e-01 -6.04784862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169649246 meters 0.05725457227606528 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.04, Z:-0.61 [[ 9.94151008e-01 -1.85604100e-02 1.06392122e-01 5.44396572e+00] [ 1.86155264e-02 9.99826603e-01 4.75104430e-04 -3.86278418e-02] [-1.06382493e-01 1.50821981e-03 9.94324138e-01 -6.09777924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229649245999999 meters 0.05730826280255743 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.04, Z:-0.62 [[ 9.94156769e-01 -1.80264027e-02 1.06430102e-01 5.50642927e+00] [ 1.80815339e-02 9.99836416e-01 4.47002208e-04 -3.63803358e-02] [-1.06420749e-01 1.48002922e-03 9.94320086e-01 -6.19312073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289649246 meters 0.05689674130169355 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.04, Z:-0.63 [[ 9.94254980e-01 -1.61346599e-02 1.05814498e-01 5.56775265e+00] [ 1.61814666e-02 9.99868985e-01 4.16221738e-04 -3.54654534e-02] [-1.05807350e-01 1.29840322e-03 9.94385800e-01 -6.26112412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349649245999999 meters 0.056644979150136804 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.03, Z:-0.63 [[ 9.94386352e-01 -1.48714393e-02 1.04759833e-01 5.63029562e+00] [ 1.49127700e-02 9.99888723e-01 3.88789557e-04 -3.42687231e-02] [-1.04753958e-01 1.17565226e-03 9.94497474e-01 -6.33634925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409649246 meters 0.056433174774199665 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.03, Z:-0.64 [[ 9.94579912e-01 -1.17963877e-02 1.03303648e-01 5.69264344e+00] [ 1.18228805e-02 9.99930044e-01 3.55873095e-04 -3.17223358e-02] [-1.03300620e-01 8.67402463e-04 9.94649802e-01 -6.42798730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4696492459999995 meters 0.05631053341817448 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.03, Z:-0.65 [[ 9.94591652e-01 -9.44394380e-03 1.03432384e-01 5.75264413e+00] [ 9.46082150e-03 9.99955192e-01 3.27427017e-04 -3.08802208e-02] [-1.03430841e-01 6.52899142e-04 9.94636433e-01 -6.51823228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529649246 meters 0.05642291206650544 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.03, Z:-0.66 [[ 9.94599472e-01 -9.45392960e-03 1.03356248e-01 5.81383858e+00] [ 9.47308751e-03 9.99955083e-01 3.05517300e-04 -3.10722487e-02] [-1.03354493e-01 6.75235432e-04 9.94644355e-01 -6.60577198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.589649246 meters 0.0563549635464271 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.03, Z:-0.67 [[ 9.94756160e-01 -1.02853081e-02 1.01756541e-01 5.87532247e+00] [ 1.03106070e-02 9.99946806e-01 2.77339821e-04 -3.13745323e-02] [-1.01753981e-01 7.73286210e-04 9.94809293e-01 -6.66055583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649649246 meters 0.05633276668161009 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.03, Z:-0.67 [[ 9.94807867e-01 -1.10289193e-02 1.01171493e-01 5.93743463e+00] [ 1.10601438e-02 9.99938803e-01 2.52307495e-04 -3.18820657e-02] [-1.01168084e-01 8.67973779e-04 9.94868969e-01 -6.72385500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709649246 meters 0.05674439816385713 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.03, Z:-0.69 [[ 9.94981108e-01 -1.12973048e-02 9.94231622e-02 5.99687449e+00] [ 1.13314331e-02 9.99935773e-01 2.21450788e-04 -3.20825586e-02] [-9.94192783e-02 9.06267563e-04 9.95045218e-01 -6.85507440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769649245999999 meters 0.0568882775306308 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.03, Z:-0.69 [[ 9.94879904e-01 -1.44014580e-02 1.00032866e-01 6.05864974e+00] [ 1.44525876e-02 9.99895533e-01 2.13575274e-04 -3.42516879e-02] [-1.00025492e-01 1.23325201e-03 9.94984110e-01 -6.89631477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829649246 meters 0.05755524829663877 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.04, Z:-0.69 [[ 9.94681322e-01 -1.85148985e-02 1.01322586e-01 6.11960714e+00] [ 1.85911859e-02 9.99827151e-01 1.91396975e-04 -4.15278149e-02] [-1.01308616e-01 1.69332803e-03 9.94853606e-01 -6.94773229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889649245999999 meters 0.057496327631168416 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.04, Z:-0.70 [[ 9.94706024e-01 -1.80949092e-02 1.01155819e-01 6.18199080e+00] [ 1.81709025e-02 9.99834881e-01 1.70184849e-04 -4.09465121e-02] [-1.01142196e-01 1.66880863e-03 9.94870580e-01 -7.02587349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949649246 meters 0.05717223081335791 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.04, Z:-0.71 [[ 9.94775534e-01 -1.70603593e-02 1.00650788e-01 6.24400465e+00] [ 1.71329333e-02 9.99853210e-01 1.43389027e-04 -3.74148244e-02] [-1.00638459e-01 1.58180333e-03 9.94921805e-01 -7.10703069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009649246 meters 0.057164837123252175 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.04, Z:-0.72 [[ 9.95149061e-01 -1.62749967e-02 9.70230477e-02 6.30541214e+00] [ 1.63416588e-02 9.99866460e-01 1.07571999e-04 -3.58446727e-02] [-9.70118420e-02 1.47846737e-03 9.95282129e-01 -7.19848824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069649245999999 meters 0.057089457001232406 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.04, Z:-0.73 [[ 9.95288816e-01 -1.53205411e-02 9.57363723e-02 6.36674282e+00] [ 1.53811978e-02 9.99881697e-01 1.04395920e-04 -3.69388870e-02] [-9.57266457e-02 1.36863599e-03 9.95406719e-01 -7.27947909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129649246 meters 0.057117790578996734 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.04, Z:-0.73 [[ 9.95148981e-01 -1.51242707e-02 9.72098856e-02 6.42721034e+00] [ 1.51882645e-02 9.99884648e-01 8.16804288e-05 -3.77569590e-02] [-9.71999077e-02 1.39516526e-03 9.95263900e-01 -7.34572325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189649246 meters 0.05648823042794261 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.04, Z:-0.74 [[ 9.94662768e-01 -1.12478390e-02 1.02564443e-01 6.48728804e+00] [ 1.13015545e-02 9.99936134e-01 5.73805614e-05 -3.56653228e-02] [-1.02558538e-01 1.10206333e-03 9.94726360e-01 -7.39656061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249649245999999 meters 0.056023996389451686 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.03, Z:-0.74 [[ 9.94694839e-01 -1.04796971e-02 1.02334519e-01 6.55010526e+00] [ 1.05285209e-02 9.99944572e-01 6.30363365e-05 -3.36858867e-02] [-1.02329507e-01 1.01472920e-03 9.94750040e-01 -7.43362313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309649246 meters 0.05623086807266215 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.04, Z:-0.75 [[ 9.94772692e-01 -1.26843662e-02 1.01323231e-01 6.61168983e+00] [ 1.27464008e-02 9.99918761e-01 3.51776434e-05 -3.66535394e-02] [-1.01315446e-01 1.25651276e-03 9.94853558e-01 -7.51321563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369649246 meters 0.05650772083131513 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.04, Z:-0.76 [[ 9.95057900e-01 -1.23657770e-02 9.85234158e-02 6.67306063e+00] [ 1.24250825e-02 9.99922806e-01 1.16311934e-05 -3.57253742e-02] [-9.85159542e-02 1.21258786e-03 9.95134733e-01 -7.62820336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429649246 meters 0.05672535869596194 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.03, Z:-0.77 [[ 9.95198460e-01 -1.18529201e-02 9.71572666e-02 6.73352026e+00] [ 1.19103639e-02 9.99929069e-01 -1.12849960e-05 -3.48069810e-02] [-9.71502414e-02 1.16840921e-03 9.95269042e-01 -7.73119791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489649245999999 meters 0.05638088025076045 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.03, Z:-0.78 [[ 9.95291090e-01 -1.10140065e-02 9.63033660e-02 6.79528388e+00] [ 1.10684381e-02 9.99938742e-01 -3.10058183e-05 -3.41273761e-02] [-9.62971252e-02 1.09678766e-03 9.95352029e-01 -7.77407607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549649246 meters 0.05682123915765358 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.03, Z:-0.79 [[ 9.95311394e-01 -1.02653703e-02 9.61761450e-02 6.85623177e+00] [ 1.03183267e-02 9.99946763e-01 -5.32805714e-05 -3.39164351e-02] [-9.61704779e-02 1.04540765e-03 9.95364328e-01 -7.88672816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609649246 meters 0.056155398639318774 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.03, Z:-0.79 [[ 9.95315287e-01 -6.61006098e-03 9.64561368e-02 6.91797872e+00] [ 6.64857837e-03 9.99977895e-01 -7.79300499e-05 -2.85611384e-02] [-9.64534895e-02 7.18861155e-04 9.95337233e-01 -7.91440326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669649246 meters 0.05581657686878725 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.03, Z:-0.80 [[ 9.95112480e-01 -7.23555484e-03 9.84824799e-02 6.98059354e+00] [ 7.28157547e-03 9.99973483e-01 -1.07873559e-04 -2.97343911e-02] [-9.84790879e-02 8.24453935e-04 9.95138779e-01 -7.95085651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729649246 meters 0.05597470435970539 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.03, Z:-0.81 [[ 9.95047512e-01 -7.12387312e-03 9.91448392e-02 7.04038903e+00] [ 7.17050685e-03 9.99974285e-01 -1.14025872e-04 -2.95335101e-02] [-9.91414774e-02 8.24379909e-04 9.95073006e-01 -8.05592322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789649246 meters 0.056032344633204945 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.03, Z:-0.81 [[ 9.95119306e-01 -6.85591319e-03 9.84406591e-02 7.10179568e+00] [ 6.90275563e-03 9.99976167e-01 -1.35265288e-04 -2.98810860e-02] [-9.84373856e-02 8.14116914e-04 9.95142914e-01 -8.14487428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849649246 meters 0.0559862277538925 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.03, Z:-0.82 [[ 9.95070640e-01 -7.49678402e-03 9.88848779e-02 7.16497911e+00] [ 7.54941415e-03 9.99971490e-01 -1.58063451e-04 -3.14829644e-02] [-9.88808737e-02 9.03807196e-04 9.95098867e-01 -8.19063674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909649245999999 meters 0.056096466758268515 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.03, Z:-0.83 [[ 9.94965443e-01 -7.84808326e-03 9.99108348e-02 7.22664096e+00] [ 7.90645428e-03 9.99968726e-01 -1.88277494e-04 -3.06978837e-02] [-9.99062326e-02 9.77270047e-04 9.94996377e-01 -8.28760986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969649246 meters 0.05632469455789758 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.03, Z:-0.84 [[ 9.95102562e-01 -9.05445469e-03 9.84322465e-02 7.28760286e+00] [ 9.11928831e-03 9.99958397e-01 -2.08764630e-04 -3.47083816e-02] [-9.84262612e-02 1.10537425e-03 9.95143733e-01 -8.37565349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029649246 meters 0.056364069125679844 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.04, Z:-0.84 [[ 9.95139649e-01 -9.09307169e-03 9.80530230e-02 7.34870345e+00] [ 9.15990849e-03 9.99958020e-01 -2.31488538e-04 -3.64365153e-02] [-9.80468019e-02 1.12852014e-03 9.95181165e-01 -8.44204865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089649246 meters 0.05613630817391614 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.04, Z:-0.85 [[ 9.95243971e-01 -7.58228835e-03 9.71182115e-02 7.41137133e+00] [ 7.64147942e-03 9.99970775e-01 -2.37541037e-04 -3.51841521e-02] [-9.71135722e-02 9.78538099e-04 9.95272825e-01 -8.50867898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149649246 meters 0.05597022788854127 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.03, Z:-0.86 [[ 9.94859801e-01 -7.82345923e-03 1.00959251e-01 7.47104934e+00] [ 7.89197323e-03 9.99968819e-01 -2.79237700e-04 -3.45239641e-02] [-1.00953919e-01 1.07457007e-03 9.94890522e-01 -8.56940460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209649246 meters 0.055664169148996814 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.04, Z:-0.86 [[ 9.94508683e-01 -7.88683351e-03 1.04356493e-01 7.53365522e+00] [ 7.96158270e-03 9.99968261e-01 -2.99741137e-04 -3.68980226e-02] [-1.04350817e-01 1.12893801e-03 9.94539910e-01 -8.59707445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269649246 meters 0.05576823611185254 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.04, Z:-0.87 [[ 9.94635320e-01 -8.19762278e-03 1.03118282e-01 7.59478727e+00] [ 8.27276938e-03 9.99965735e-01 -3.01078845e-04 -3.51603046e-02] [-1.03112280e-01 1.15253742e-03 9.94669055e-01 -8.67659876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329649245999999 meters 0.05646335238505116 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.04, Z:-0.88 [[ 9.94883801e-01 -8.54391896e-03 1.00663917e-01 7.65443371e+00] [ 8.61972154e-03 9.99962799e-01 -3.18090203e-04 -3.80127893e-02] [-1.00657454e-01 1.18415772e-03 9.94920436e-01 -8.82192062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389649246 meters 0.056378332842776525 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.04, Z:-0.89 [[ 9.94905763e-01 -8.14957138e-03 1.00479390e-01 7.71745692e+00] [ 8.22521291e-03 9.99966115e-01 -3.38542018e-04 -3.80554120e-02] [-1.00473226e-01 1.16328178e-03 9.94939082e-01 -8.87064023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449649246 meters 0.05618078333529212 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.04, Z:-0.89 [[ 9.94913900e-01 -8.44974228e-03 1.00373966e-01 7.77965426e+00] [ 8.52938584e-03 9.99963558e-01 -3.64339310e-04 -3.79982060e-02] [-1.00367230e-01 1.21861453e-03 9.94949714e-01 -8.92843909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509649246 meters 0.056444784522822346 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.04, Z:-0.90 [[ 9.95008765e-01 -7.79768508e-03 9.94824321e-02 7.83962843e+00] [ 7.87547491e-03 9.99968912e-01 -3.89253600e-04 -3.94590250e-02] [-9.94763041e-02 1.17078214e-03 9.95039243e-01 -9.01818835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569649245999999 meters 0.056455409552911465 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.04, Z:-0.91 [[ 9.94980411e-01 -7.70513830e-03 9.97728047e-02 7.90156121e+00] [ 7.78498445e-03 9.99969612e-01 -4.10962425e-04 -4.03427657e-02] [-9.97666063e-02 1.18562930e-03 9.95010160e-01 -9.09282475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629649246 meters 0.056126237800755 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.04, Z:-0.91 [[ 9.94878605e-01 -6.06303144e-03 1.00894995e-01 7.96327469e+00] [ 6.13909125e-03 9.99981057e-01 -4.43371387e-04 -3.78421165e-02] [-1.00890396e-01 1.06050429e-03 9.94896981e-01 -9.14380984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689649246 meters 0.05626471078901705 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.04, Z:-0.92 [[ 9.94817429e-01 -6.37488089e-03 1.01477307e-01 8.02517395e+00] [ 6.45586795e-03 9.99979050e-01 -4.69687478e-04 -3.75543606e-02] [-1.01472187e-01 1.12237738e-03 9.94837743e-01 -9.22020423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749649245999999 meters 0.056382742484118696 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.04, Z:-0.93 [[ 9.94855288e-01 -6.32954592e-03 1.01108325e-01 8.08555483e+00] [ 6.41282314e-03 9.99979313e-01 -4.98633785e-04 -3.90135194e-02] [-1.01103078e-01 1.14445827e-03 9.94875298e-01 -9.29537644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809649246 meters 0.056603771575145505 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.04, Z:-0.94 [[ 9.94888249e-01 -5.20513849e-03 1.00847803e-01 8.14770991e+00] [ 5.28323016e-03 9.99985915e-01 -5.07283494e-04 -3.85465076e-02] [-1.00843742e-01 1.03749254e-03 9.94901735e-01 -9.39808781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869649246 meters 0.05665686839568552 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.04, Z:-0.95 [[ 9.94990069e-01 -4.66959682e-03 9.98646998e-02 8.20892203e+00] [ 4.74617888e-03 9.99988597e-01 -5.29288859e-04 -3.87091281e-02] [-9.98610894e-02 1.00061289e-03 9.95000885e-01 -9.49119037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929649246 meters 0.056622879767780174 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.04, Z:-0.96 [[ 9.94999463e-01 -3.77877647e-03 9.98087600e-02 8.26970861e+00] [ 3.85305643e-03 9.99992425e-01 -5.51466931e-04 -4.04875034e-02] [-9.98059201e-02 9.33278085e-04 9.95006486e-01 -9.57657026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989649245999999 meters 0.056182457060577944 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.04, Z:-0.96 [[ 9.94813696e-01 -3.15669581e-03 1.01664869e-01 8.33195936e+00] [ 3.23313967e-03 9.99994601e-01 -5.87153187e-04 -4.03239916e-02] [-1.01662467e-01 9.12804753e-04 9.94818531e-01 -9.61121295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049649246 meters 0.05615774481834528 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.04, Z:-0.97 [[ 9.94752798e-01 -2.71509631e-03 1.02271688e-01 8.39326493e+00] [ 2.79261431e-03 9.99995912e-01 -6.14790816e-04 -3.97764276e-02] [-1.02269601e-01 8.97170264e-04 9.94756314e-01 -9.68766079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109649246 meters 0.056145344413872894 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.04, Z:-0.97 [[ 9.94676696e-01 -2.43403284e-03 1.03016238e-01 8.45534311e+00] [ 2.51365485e-03 9.99996634e-01 -6.43095295e-04 -4.00292052e-02] [-1.03014326e-01 8.98619171e-04 9.94679466e-01 -9.74278288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169649245999999 meters 0.05585947801280999 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.04, Z:-0.98 [[ 9.94573806e-01 -2.01670057e-03 1.04013828e-01 8.51717243e+00] [ 2.09816229e-03 9.99997572e-01 -6.73771860e-04 -3.99576146e-02] [-1.04012217e-01 8.88353736e-04 9.94575623e-01 -9.78193034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229649246 meters 0.05597548990052419 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.04, Z:-0.99 [[ 9.94665513e-01 -1.59313364e-03 1.03140582e-01 8.57896746e+00] [ 1.67353024e-03 9.99998360e-01 -6.92955075e-04 -3.98766577e-02] [-1.03139309e-01 8.61867399e-04 9.94666547e-01 -9.86681477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289649246 meters 0.056049603156169775 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.04, Z:-1.00 [[ 9.94842152e-01 -1.31147087e-03 1.01426682e-01 8.64020071e+00] [ 1.39016319e-03 9.99998785e-01 -7.05175992e-04 -3.87347279e-02] [-1.01425634e-01 8.42538441e-04 9.94842767e-01 -9.95871131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349649246 meters 0.05626239508499538 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.04, Z:-1.00 [[ 9.94958091e-01 -8.38722600e-04 1.00288053e-01 8.70063802e+00] [ 9.15756385e-04 9.99999320e-01 -7.22091939e-04 -3.94524678e-02] [-1.00287379e-01 8.10290641e-04 9.94958183e-01 -1.00462065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409649245999999 meters 0.05630183381787197 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.04, Z:-1.01 [[ 9.94834106e-01 -7.26750466e-04 1.01511447e-01 8.76201431e+00] [ 8.07431037e-04 9.99999390e-01 -7.53707224e-04 -4.02673444e-02] [-1.01510838e-01 8.31777145e-04 9.94834086e-01 -1.01095015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469649246 meters 0.056141733122167616 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.04, Z:-1.02 [[ 9.94724393e-01 -2.53277163e-04 1.02583221e-01 8.82357520e+00] [ 3.35725957e-04 9.99999634e-01 -7.86461254e-04 -3.90970147e-02] [-1.02582985e-01 8.16752044e-04 9.94724115e-01 -1.01835251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529649246 meters 0.05607451278727193 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.04, Z:-1.03 [[ 9.94622187e-01 1.21991625e-04 1.03569740e-01 8.88458594e+00] [-3.73346481e-05 9.99999664e-01 -8.19329229e-04 -3.99919739e-02] [-1.03569805e-01 8.11056290e-04 9.94621857e-01 -1.02669949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589649245999999 meters 0.056180155474564765 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.04, Z:-1.03 [[ 9.94701371e-01 4.31831947e-04 1.02805621e-01 8.94601477e+00] [-3.47589461e-04 9.99999589e-01 -8.37347757e-04 -4.07207619e-02] [-1.02805940e-01 7.97176811e-04 9.94701112e-01 -1.03435453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649649246 meters 0.056167854176080216 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.04, Z:-1.04 [[ 9.94870895e-01 1.64187903e-03 1.01139543e-01 9.00748081e+00] [-1.56416452e-03 9.99998417e-01 -8.47686992e-04 -4.09084464e-02] [-1.01140775e-01 6.85140231e-04 9.94871888e-01 -1.04350017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709649246 meters 0.05628199487987091 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.04, Z:-1.05 [[ 9.95027052e-01 1.80710392e-03 9.95886507e-02 9.06846994e+00] [-1.73018540e-03 9.99998135e-01 -8.58725060e-04 -4.17723698e-02] [-9.95900167e-02 6.82147836e-04 9.95028323e-01 -1.05175992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769649246 meters 0.056144218701923584 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.04, Z:-1.06 [[ 9.95024212e-01 2.22853207e-03 9.96084908e-02 9.13095070e+00] [-2.15160227e-03 9.99997298e-01 -8.79741207e-04 -4.09932639e-02] [-9.96101822e-02 6.61045945e-04 9.95026319e-01 -1.05827287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829649245999999 meters 0.056056695935219565 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.04, Z:-1.06 [[ 9.94696915e-01 1.97524526e-03 1.02830661e-01 9.19177477e+00] [-1.88840458e-03 9.99997773e-01 -9.41846040e-04 -4.14167412e-02] [-1.02832292e-01 7.42665459e-04 9.94698431e-01 -1.06480147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889649246 meters 0.05597382031521036 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.04, Z:-1.07 [[ 9.94441412e-01 1.80896045e-03 1.05275860e-01 9.25290292e+00] [-1.71553449e-03 9.99998050e-01 -9.77986645e-04 -4.24773730e-02] [-1.05277423e-01 7.91946051e-04 9.94442576e-01 -1.06961488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949649246 meters 0.055860331182558905 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.04, Z:-1.08 [[ 9.94443440e-01 2.59904477e-03 1.05240152e-01 9.31371603e+00] [-2.50763549e-03 9.99996355e-01 -1.00088825e-03 -4.37404632e-02] [-1.05242370e-01 7.31422809e-04 9.94446333e-01 -1.07832483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009649246 meters 0.055700919995630004 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.04, Z:-1.08 [[ 9.94380769e-01 3.04149048e-03 1.05818881e-01 9.37561036e+00] [-2.94865889e-03 9.99995118e-01 -1.03370907e-03 -4.34698852e-02] [-1.05821508e-01 7.15876632e-04 9.94384883e-01 -1.08404475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069649245999999 meters 0.05564089653239568 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.05, Z:-1.09 [[ 9.94400231e-01 3.13236086e-03 1.05633185e-01 9.43856159e+00] [-3.03769839e-03 9.99994828e-01 -1.05702272e-03 -4.51701366e-02] [-1.05635950e-01 7.30221877e-04 9.94404602e-01 -1.08918434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246 meters 0.05567546312691009 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.05, Z:-1.10 [[ 9.94578242e-01 3.32046928e-03 1.03937937e-01 9.49897564e+00] [-3.22665144e-03 9.99994221e-01 -1.07076189e-03 -4.63247720e-02] [-1.03940892e-01 7.29584987e-04 9.94583209e-01 -1.10090811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189649246 meters 0.05571110302463519 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.05, Z:-1.11 [[ 9.94677005e-01 3.41005757e-03 1.02985564e-01 9.56006402e+00] [-3.31604480e-03 9.99993914e-01 -1.08406757e-03 -4.67342555e-02] [-1.02988634e-01 7.36792340e-04 9.94682260e-01 -1.10930780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249649245999999 meters 0.05568879230623453 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.05, Z:-1.12 [[ 9.94512917e-01 3.16016053e-03 1.04566107e-01 9.62185763e+00] [-3.05904853e-03 9.99994686e-01 -1.12732947e-03 -4.76533008e-02] [-1.04569114e-01 8.01270923e-04 9.94517299e-01 -1.11630204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309649246 meters 0.05558995203412777 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.05, Z:-1.12 [[ 9.94346525e-01 2.69568340e-03 1.06149520e-01 9.68381883e+00] [-2.58594851e-03 9.99995970e-01 -1.17140072e-03 -5.01638037e-02] [-1.06152250e-01 8.90281038e-04 9.94349489e-01 -1.12352572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246 meters 0.05573031849682553 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.05, Z:-1.13 [[ 9.94436633e-01 1.89384049e-03 1.05319492e-01 9.74433007e+00] [-1.77840469e-03 9.99997711e-01 -1.18995434e-03 -5.25059825e-02] [-1.05321504e-01 9.96033509e-04 9.94437725e-01 -1.13225367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters 0.05587495250682063 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.06, Z:-1.14 [[ 9.94273866e-01 2.68373838e-04 1.06861624e-01 9.80611901e+00] [-1.38867594e-04 9.99999247e-01 -1.21934527e-03 -5.54005824e-02] [-1.06861871e-01 1.19752352e-03 9.94273155e-01 -1.14056783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649245999999 meters 0.05604099621532527 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.06, Z:-1.15 [[ 9.94419373e-01 -7.47873822e-04 1.05496693e-01 9.86618577e+00] [ 8.82891835e-04 9.99998850e-01 -1.23313612e-03 -5.68133846e-02] [-1.05495649e-01 1.31939662e-03 9.94418889e-01 -1.15093680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246 meters 0.05610042514324066 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.06, Z:-1.16 [[ 9.94499594e-01 1.79057344e-04 1.04740276e-01 9.92715564e+00] [-4.87698830e-05 9.99999222e-01 -1.24646965e-03 -5.73581309e-02] [-1.04740418e-01 1.23450539e-03 9.94498829e-01 -1.16004838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters 0.055947236255129054 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.05, Z:-1.17 [[ 9.94616586e-01 3.56942287e-03 1.03562087e-01 9.98854853e+00] [-3.45771590e-03 9.99993231e-01 -1.25815466e-03 -5.49107505e-02] [-1.03565877e-01 8.93293215e-04 9.94622195e-01 -1.16931814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649245999999 meters 0.055877220743488346 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.06, Z:-1.18 [[ 9.94697250e-01 5.31686781e-03 1.02708867e-01 1.00514808e+01] [-5.21395614e-03 9.99985600e-01 -1.27042015e-03 -5.57679269e-02] [-1.02714142e-01 7.28163898e-04 9.94710649e-01 -1.17610764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246 meters 0.05577730343761837 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.06, Z:-1.18 [[ 9.94674742e-01 4.26887199e-03 1.02975408e-01 1.01139229e+01] [-4.15704377e-03 9.99990514e-01 -1.30055371e-03 -5.70419868e-02] [-1.02979983e-01 8.65554643e-04 9.94683052e-01 -1.18215989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246 meters 0.05561388128922388 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.06, Z:-1.19 [[ 9.94560776e-01 3.96220872e-03 1.04082485e-01 1.01759753e+01] [-3.84320952e-03 9.99991712e-01 -1.34384217e-03 -5.82086543e-02] [-1.04086947e-01 9.36521912e-04 9.94567761e-01 -1.18626206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters 0.05571365644380396 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.06, Z:-1.20 [[ 9.94483440e-01 4.03807446e-03 1.04815941e-01 1.02359341e+01] [-3.91484398e-03 9.99991383e-01 -1.38139444e-03 -5.81771107e-02] [-1.04820616e-01 9.63435835e-04 9.94490679e-01 -1.19585307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649245999999 meters 0.055316108146055004 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.06, Z:-1.20 [[ 9.94320332e-01 4.37467076e-03 1.06338794e-01 1.02983689e+01] [-4.24814964e-03 9.99989974e-01 -1.41627842e-03 -5.89246622e-02] [-1.06343923e-01 9.56491323e-04 9.94328947e-01 -1.20098976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246 meters 0.05544509505696733 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.06, Z:-1.21 [[ 9.94296933e-01 4.61108251e-03 1.06547393e-01 1.03604278e+01] [-4.48416585e-03 9.99988923e-01 -1.43071617e-03 -6.02942294e-02] [-1.06552810e-01 9.44780517e-04 9.94306596e-01 -1.20889799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246 meters 0.055672865079987414 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.06, Z:-1.22 [[ 9.94592888e-01 4.27594606e-03 1.03762727e-01 1.04218629e+01] [-4.15077540e-03 9.99990374e-01 -1.42221794e-03 -6.22314830e-02] [-1.03767810e-01 9.83832074e-04 9.94601063e-01 -1.22036203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649245999999 meters 0.05611147836882585 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.06, Z:-1.23 [[ 9.95017266e-01 4.51623067e-03 9.96004237e-02 1.04828572e+01] [-4.39942234e-03 9.99989353e-01 -1.39237756e-03 -6.34747612e-02] [-9.96056515e-02 9.47255384e-04 9.95026541e-01 -1.23288903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149649246 meters 0.056452187897238264 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.06, Z:-1.24 [[ 9.95240452e-01 4.94312735e-03 9.73242432e-02 1.05437741e+01] [-4.83345839e-03 9.99987390e-01 -1.36257632e-03 -6.32633715e-02] [-9.73297514e-02 8.85678394e-04 9.95251795e-01 -1.24268606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209649246 meters 0.056492159591755346 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.06, Z:-1.25 [[ 9.95080053e-01 4.25844877e-03 9.89825881e-02 1.06040702e+01] [-4.13919134e-03 9.99990439e-01 -1.41016030e-03 -6.41573945e-02] [-9.89876468e-02 9.93514512e-04 9.95088166e-01 -1.25064462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269649246 meters 0.05582153338347584 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.07, Z:-1.25 [[ 9.94784019e-01 4.48239564e-03 1.01905169e-01 1.06665899e+01] [-4.35486297e-03 9.99989431e-01 -1.47392109e-03 -6.55778952e-02] [-1.01910698e-01 1.02245010e-03 9.94793026e-01 -1.25167225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329649245999999 meters 0.056009146994115175 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.07, Z:-1.26 [[ 9.94835866e-01 4.20568221e-03 1.01409629e-01 1.07281684e+01] [-4.07547419e-03 9.99990583e-01 -1.49112779e-03 -6.56676736e-02] [-1.01414946e-01 1.07013508e-03 9.94843638e-01 -1.26115840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389649246 meters 0.05625449112772566 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.07, Z:-1.27 [[ 9.94915668e-01 4.12256386e-03 1.00627127e-01 1.07882284e+01] [-3.99126829e-03 9.99990901e-01 -1.50606497e-03 -6.77209719e-02] [-1.00632421e-01 1.09677778e-03 9.94923069e-01 -1.27010660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449649246 meters 0.05654911230469287 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.07, Z:-1.28 [[ 9.95086649e-01 4.02991666e-03 9.89258320e-02 1.08482099e+01] [-3.90110950e-03 9.99991272e-01 -1.49545883e-03 -6.92854196e-02] [-9.89309952e-02 1.10219062e-03 9.95093686e-01 -1.27982975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509649246 meters 0.0562131977827583 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.07, Z:-1.28 [[ 9.94982602e-01 4.63196690e-03 9.99408153e-02 1.09097923e+01] [-4.50367539e-03 9.99988719e-01 -1.50925316e-03 -6.85691802e-02] [-9.99466787e-02 1.05157965e-03 9.94992239e-01 -1.28414935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569649245999999 meters 0.056173749317672106 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.07, Z:-1.29 [[ 9.95002527e-01 5.25131720e-03 9.97115539e-02 1.09721734e+01] [-5.12444910e-03 9.99985702e-01 -1.52843181e-03 -6.99244806e-02] [-9.97181544e-02 1.00982673e-03 9.95015211e-01 -1.29172652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629649246 meters 0.05617340751637448 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.07, Z:-1.30 [[ 9.94957330e-01 4.90057422e-03 1.00179315e-01 1.10349472e+01] [-4.76805699e-03 9.99987413e-01 -1.56219163e-03 -7.14536393e-02] [-1.00185710e-01 1.07665333e-03 9.94968173e-01 -1.29702081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689649246 meters 0.056100410809668745 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.07, Z:-1.30 [[ 9.94707133e-01 5.08671855e-03 1.02624778e-01 1.10952198e+01] [-4.94543986e-03 9.99986441e-01 -1.63104160e-03 -7.24846256e-02] [-1.02631683e-01 1.11488405e-03 9.94718802e-01 -1.30368078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749649245999999 meters 0.056059087056832 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.07, Z:-1.31 [[ 9.94680109e-01 4.63494743e-03 1.02907718e-01 1.11576142e+01] [-4.48817720e-03 9.99988554e-01 -1.65773568e-03 -7.48747911e-02] [-1.02914224e-01 1.18704863e-03 9.94689526e-01 -1.31162755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809649246 meters 0.056359213935830044 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.07, Z:-1.32 [[ 9.94857986e-01 4.98284863e-03 1.01157101e-01 1.12173817e+01] [-4.83976760e-03 9.99986911e-01 -1.65981393e-03 -7.46994346e-02] [-1.01164047e-01 1.16170229e-03 9.94869080e-01 -1.32268419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869649246 meters 0.05639995205243105 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.07, Z:-1.33 [[ 9.95049082e-01 5.26993901e-03 9.92449123e-02 1.12784206e+01] [-5.13281077e-03 9.99985487e-01 -1.63699957e-03 -7.48434154e-02] [-9.92520988e-02 1.11948957e-03 9.95061690e-01 -1.33023335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929649246 meters 0.05640554623638726 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.08, Z:-1.34 [[ 9.95120887e-01 6.52618052e-03 9.84470887e-02 1.13407198e+01] [-6.39536384e-03 9.99978198e-01 -1.64431567e-03 -7.50835048e-02] [-9.84556734e-02 1.00668792e-03 9.95140928e-01 -1.33942997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989649245999999 meters 0.05650855884372549 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.07, Z:-1.35 [[ 9.95242691e-01 7.88993726e-03 9.71068171e-02 1.14019061e+01] [-7.76654388e-03 9.99968481e-01 -1.64862303e-03 -7.40364071e-02] [-9.71167639e-02 8.86595666e-04 9.95272600e-01 -1.34906978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049649246 meters 0.05640420523637125 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.07, Z:-1.35 [[ 9.95223283e-01 1.11936990e-02 9.69810157e-02 1.14635456e+01] [-1.10840521e-02 9.99937177e-01 -1.66928649e-03 -7.33838722e-02] [-9.69936085e-02 5.86370157e-04 9.95284832e-01 -1.35485010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109649246 meters 0.05624377729097952 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.07, Z:-1.36 [[ 9.95123368e-01 1.82611623e-02 9.69330354e-02 1.15251998e+01] [-1.81827768e-02 9.99833248e-01 -1.69200427e-03 -6.84234787e-02] [-9.69477695e-02 -7.87587580e-05 9.95289467e-01 -1.36238532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169649245999999 meters 0.05695971971903977 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.06, Z:-1.37 [[ 9.94907674e-01 2.52886445e-02 9.75664067e-02 1.15867859e+01] [-2.52406522e-02 9.99679913e-01 -1.72632557e-03 -6.08544618e-02] [-9.75788334e-02 -7.45105174e-04 9.95227520e-01 -1.37241054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229649246 meters 0.056462832404671474 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.07, Z:-1.38 [[ 9.94675069e-01 2.43407245e-02 1.00145072e-01 1.16488499e+01] [-2.42826982e-02 9.99703514e-01 -1.79852402e-03 -6.55771076e-02] [-1.00159157e-01 -6.42845546e-04 9.94971221e-01 -1.37552345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289649246 meters 0.056208576062569224 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.07, Z:-1.38 [[ 9.94532949e-01 2.29746198e-02 1.01864524e-01 1.17104453e+01] [-2.29048459e-02 9.99735929e-01 -1.85470736e-03 -7.03236566e-02] [-1.01880235e-01 -4.88623640e-04 9.94796551e-01 -1.38054821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349649246 meters 0.05628834824647244 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.07, Z:-1.39 [[ 9.94312784e-01 2.32896955e-02 1.03921502e-01 1.17722051e+01] [-2.32159941e-02 9.99728631e-01 -1.91890725e-03 -7.18206074e-02] [-1.03937991e-01 -5.04646958e-04 9.94583651e-01 -1.38750800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409649245999999 meters 0.056393262879833844 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.07, Z:-1.40 [[ 9.94520076e-01 2.31297857e-02 1.01955048e-01 1.18332209e+01] [-2.30554845e-02 9.99732368e-01 -1.90724417e-03 -7.28745749e-02] [-1.01971875e-01 -4.53830409e-04 9.94787179e-01 -1.39774784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469649246 meters 0.0566225776859056 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.08, Z:-1.41 [[ 9.94768117e-01 2.07719135e-02 1.00024600e-01 1.18935415e+01] [-2.06859798e-02 9.99784224e-01 -1.89631525e-03 -7.95350620e-02] [-1.00042407e-01 -1.82712911e-04 9.94983157e-01 -1.40956535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529649246 meters 0.05654022110982724 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.09, Z:-1.42 [[ 9.94880250e-01 1.68911121e-02 9.96392443e-02 1.19553054e+01] [-1.67842208e-02 9.99857309e-01 -1.91101583e-03 -8.88024897e-02] [-9.96573058e-02 2.28864830e-04 9.95021793e-01 -1.41670579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589649245999999 meters 0.05653261409533281 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.09, Z:-1.42 [[ 9.94850775e-01 1.77243682e-02 9.97886880e-02 1.20163065e+01] [-1.76186855e-02 9.99842896e-01 -1.94030701e-03 -9.10783018e-02] [-9.98074015e-02 1.72170422e-04 9.95006760e-01 -1.42453312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649649246 meters 0.056477391323699506 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.09, Z:-1.43 [[ 9.94570165e-01 1.76977657e-02 1.02552309e-01 1.20779756e+01] [-1.75831063e-02 9.99843361e-01 -2.02199821e-03 -9.13999335e-02] [-1.02572030e-01 2.07830939e-04 9.94725558e-01 -1.42966994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709649246 meters 0.05639010188528709 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.09, Z:-1.44 [[ 9.94446188e-01 1.83016407e-02 1.03642792e-01 1.21393115e+01] [-1.81851453e-02 9.99832496e-01 -2.06890131e-03 -9.28610528e-02] [-1.03663296e-01 1.72651792e-04 9.94612433e-01 -1.43612337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769649246 meters 0.05635652182866555 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.10, Z:-1.44 [[ 9.94378735e-01 1.75020762e-02 1.04425131e-01 1.22014125e+01] [-1.73767657e-02 9.99846787e-01 -2.10972504e-03 -9.61071482e-02] [-1.04446057e-01 2.83294675e-04 9.94530513e-01 -1.44229205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829649245999999 meters 0.056564242258249305 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.10, Z:-1.45 [[ 9.94391908e-01 1.78705738e-02 1.04237115e-01 1.22636897e+01] [-1.77450987e-02 9.99840272e-01 -2.13107194e-03 -9.68634645e-02] [-1.04258549e-01 2.69422803e-04 9.94550191e-01 -1.45187837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889649246 meters 0.056784732351156525 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.10, Z:-1.46 [[ 9.94403875e-01 1.75425956e-02 1.04178644e-01 1.23264197e+01] [-1.74124268e-02 9.99846061e-01 -2.15889126e-03 -9.97857131e-02] [-1.04200480e-01 3.32806813e-04 9.94556257e-01 -1.45814083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949649246 meters 0.0567828261655264 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.10, Z:-1.46 [[ 9.94313547e-01 1.88338408e-02 1.04813435e-01 1.23887625e+01] [-1.87060530e-02 9.99822601e-01 -2.20217739e-03 -1.00115941e-01] [-1.04836317e-01 2.29009138e-04 9.94489464e-01 -1.46294808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009649245999999 meters 0.056978676378332954 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.10, Z:-1.47 [[ 9.94344504e-01 2.15645608e-02 1.03990276e-01 1.24489585e+01] [-2.14506586e-02 9.99767457e-01 -2.21368386e-03 -9.74968999e-02] [-1.04013831e-01 -2.94955405e-05 9.94575850e-01 -1.47379040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069649245999999 meters 0.057219700168562156 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.10, Z:-1.48 [[ 9.94367899e-01 2.14344566e-02 1.03793283e-01 1.25113461e+01] [-2.13190824e-02 9.99770256e-01 -2.22096282e-03 -9.87956234e-02] [-1.03817042e-01 -4.32341161e-06 9.94596412e-01 -1.48161634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129649246 meters 0.05731185761016931 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.10, Z:-1.49 [[ 9.94224210e-01 2.11160150e-02 1.05225159e-01 1.25719647e+01] [-2.09922755e-02 9.99777030e-01 -2.28346751e-03 -1.02222343e-01] [-1.05249914e-01 6.13631568e-05 9.94445801e-01 -1.48760003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189649246 meters 0.057230134013979736 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.10, Z:-1.49 [[ 9.94074946e-01 2.08294725e-02 1.06682399e-01 1.26333061e+01] [-2.06979766e-02 9.99783036e-01 -2.33977858e-03 -1.04360039e-01] [-1.06707989e-01 1.17805459e-04 9.94290396e-01 -1.49420701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249649245999999 meters 0.05743947300064765 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.11, Z:-1.51 [[ 9.94162600e-01 2.02581562e-02 1.05973256e-01 1.26938628e+01] [-2.01222019e-02 9.99794761e-01 -2.35208296e-03 -1.05112608e-01] [-1.05999155e-01 2.05937662e-04 9.94366199e-01 -1.50594024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309649246 meters 0.057476927041694825 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.11, Z:-1.51 [[ 9.94135748e-01 2.06590363e-02 1.06147624e-01 1.27564010e+01] [-2.05236865e-02 9.99786564e-01 -2.36742516e-03 -1.07017977e-01] [-1.06173877e-01 1.75001429e-04 9.94347564e-01 -1.51268300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.369649246 meters 0.057379672177029994 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.11, Z:-1.52 [[ 9.93886500e-01 2.02604705e-02 1.08531738e-01 1.28165981e+01] [-2.01130437e-02 9.99794703e-01 -2.45300178e-03 -1.09419354e-01] [-1.08559156e-01 2.55101767e-04 9.94089958e-01 -1.51999868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429649245999999 meters 0.05724007049794809 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.11, Z:-1.53 [[ 9.93873823e-01 2.01478139e-02 1.08668716e-01 1.28793098e+01] [-1.99967340e-02 9.99796970e-01 -2.47994841e-03 -1.12003103e-01] [-1.08696619e-01 2.91736392e-04 9.94074927e-01 -1.52679224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489649245999999 meters 0.057676491412505373 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.11, Z:-1.54 [[ 9.94177584e-01 2.05501072e-02 1.05776300e-01 1.29388722e+01] [-2.04061963e-02 9.99788788e-01 -2.44273915e-03 -1.13506482e-01] [-1.05804157e-01 2.70024579e-04 9.94386951e-01 -1.54091615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549649246 meters 0.05787253406500381 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.12, Z:-1.55 [[ 9.94330891e-01 2.05260238e-02 1.04330065e-01 1.30004341e+01] [-2.03835828e-02 9.99789277e-01 -2.43144123e-03 -1.15761187e-01] [-1.04357988e-01 2.91036603e-04 9.94539756e-01 -1.55003434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609649246 meters 0.05776082592547735 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.12, Z:-1.56 [[ 9.94414305e-01 1.95730027e-02 1.03716385e-01 1.30613206e+01] [-1.94246705e-02 9.99808346e-01 -2.44012791e-03 -1.19615956e-01] [-1.03744268e-01 4.11841494e-04 9.94603920e-01 -1.55890011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669649245999999 meters 0.057524622367430875 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.12, Z:-1.56 [[ 9.94312777e-01 1.94752516e-02 1.04703470e-01 1.31238304e+01] [-1.93207951e-02 9.99810237e-01 -2.48933934e-03 -1.21782428e-01] [-1.04732081e-01 4.52227626e-04 9.94500370e-01 -1.56284046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729649246 meters 0.05753994911304355 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.12, Z:-1.57 [[ 9.94159695e-01 1.97217367e-02 1.06101621e-01 1.31845287e+01] [-1.95631865e-02 9.99805409e-01 -2.53499957e-03 -1.23992341e-01] [-1.06130969e-01 4.44508613e-04 9.94352060e-01 -1.56845504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789649246 meters 0.05748268010682986 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.12, Z:-1.58 [[ 9.94076110e-01 2.02032310e-02 1.06791938e-01 1.32466080e+01] [-2.00428869e-02 9.99795806e-01 -2.57463818e-03 -1.23651096e-01] [-1.06822147e-01 4.18967574e-04 9.94278056e-01 -1.57508040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849649246 meters 0.05731283049722662 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.13, Z:-1.58 [[ 9.93767219e-01 2.00148576e-02 1.09663666e-01 1.33071621e+01] [-1.98412543e-02 9.99799567e-01 -2.67415757e-03 -1.25090875e-01] [-1.09695209e-01 4.81625445e-04 9.93965155e-01 -1.58127932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909649245999999 meters 0.05717458320283188 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.13, Z:-1.59 [[ 9.93750522e-01 2.09898538e-02 1.09632690e-01 1.33698942e+01] [-2.08207617e-02 9.99779614e-01 -2.68701914e-03 -1.26549275e-01] [-1.09664929e-01 3.87590546e-04 9.93968537e-01 -1.58898327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969649246 meters 0.05742938969881813 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.13, Z:-1.60 [[ 9.93916800e-01 2.15852337e-02 1.07997558e-01 1.34305815e+01] [-2.14213286e-02 9.99766951e-01 -2.67769923e-03 -1.26522549e-01] [-1.08030188e-01 3.47959067e-04 9.94147553e-01 -1.60088958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029649246 meters 0.05741747747296148 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.13, Z:-1.61 [[ 9.94059071e-01 2.16373578e-02 1.06669528e-01 1.34907397e+01] [-2.14749261e-02 9.99765818e-01 -2.67129450e-03 -1.28900969e-01] [-1.06702348e-01 3.64704301e-04 9.94290941e-01 -1.61068544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089649245999999 meters 0.05722918990107021 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.13, Z:-1.62 [[ 9.93998547e-01 2.15094143e-02 1.07257786e-01 1.35532659e+01] [-2.13418674e-02 9.99768564e-01 -2.70983592e-03 -1.31560803e-01] [-1.07291250e-01 4.04491515e-04 9.94227551e-01 -1.61685716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149649246 meters 0.05737480554682796 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.13, Z:-1.62 [[ 9.93950457e-01 2.11998953e-02 1.07763882e-01 1.36154261e+01] [-2.10255695e-02 9.99775146e-01 -2.75374230e-03 -1.33292876e-01] [-1.07798030e-01 4.71286416e-04 9.94172703e-01 -1.62454565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209649246 meters 0.0573296293537787 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.13, Z:-1.63 [[ 9.93895898e-01 2.16460964e-02 1.08177588e-01 1.36771786e+01] [-2.14696782e-02 9.99765592e-01 -2.79537863e-03 -1.34937331e-01] [-1.08212739e-01 4.55777360e-04 9.94127655e-01 -1.63246499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269649246 meters 0.05735611771345608 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.14, Z:-1.64 [[ 9.93869021e-01 2.16508987e-02 1.08423280e-01 1.37389170e+01] [-2.14705993e-02 9.99765474e-01 -2.83018060e-03 -1.37036494e-01] [-1.08459128e-01 4.84916024e-04 9.94100791e-01 -1.64043861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329649245999999 meters 0.05720719201683334 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.14, Z:-1.65 [[ 9.93720633e-01 1.98902678e-02 1.10107587e-01 1.38004106e+01] [-1.96903334e-02 9.99801912e-01 -2.90295320e-03 -1.40807924e-01] [-1.10143517e-01 7.16669387e-04 9.93915435e-01 -1.64536915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389649246 meters 0.05727004029710357 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.14, Z:-1.66 [[ 9.93808742e-01 2.12531268e-02 1.09052686e-01 1.38617262e+01] [-2.10622846e-02 9.99773955e-01 -2.90171712e-03 -1.41688229e-01] [-1.09089706e-01 5.86853129e-04 9.94031736e-01 -1.65559465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449649246 meters 0.057166875668983694 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.14, Z:-1.66 [[ 9.93968080e-01 2.01280957e-02 1.07806846e-01 1.39229289e+01] [-1.99319456e-02 9.99797142e-01 -2.89679933e-03 -1.44844557e-01] [-1.07843284e-01 7.30525875e-04 9.94167638e-01 -1.66227224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509649245999999 meters 0.057219982664468025 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.15, Z:-1.67 [[ 9.93814866e-01 2.05160992e-02 1.09137995e-01 1.39846459e+01] [-2.03144171e-02 9.99789260e-01 -2.95961009e-03 -1.45779994e-01] [-1.09175715e-01 7.24229755e-04 9.94022202e-01 -1.66913063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569649245999999 meters 0.057264110321200705 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.15, Z:-1.68 [[ 9.93742643e-01 2.07454631e-02 1.09750562e-01 1.40464588e+01] [-2.05399299e-02 9.99784523e-01 -3.00307078e-03 -1.48510986e-01] [-1.09789214e-01 7.30010635e-04 9.93954625e-01 -1.67547874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629649246 meters 0.0570896201274735 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.15, Z:-1.68 [[ 9.93657289e-01 2.03282808e-02 1.10598156e-01 1.41090469e+01] [-2.01139634e-02 9.99793032e-01 -3.05327994e-03 -1.50455839e-01] [-1.10637334e-01 8.09346601e-04 9.93860516e-01 -1.68364212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689649246 meters 0.05727171316202023 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.15, Z:-1.69 [[ 9.93767009e-01 2.14399591e-02 1.09395884e-01 1.41708811e+01] [-2.12335660e-02 9.99769886e-01 -3.05137666e-03 -1.51677734e-01] [-1.09436132e-01 7.09492733e-04 9.93993576e-01 -1.69354961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749649245999999 meters 0.057443577389516866 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.15, Z:-1.70 [[ 9.93856705e-01 2.13776352e-02 1.08590266e-01 1.42321802e+01] [-2.11705391e-02 9.99771197e-01 -3.05977391e-03 -1.53685810e-01] [-1.08630831e-01 7.42062349e-04 9.94081884e-01 -1.70186013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809649246 meters 0.05748177541379582 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.16, Z:-1.71 [[ 9.93911441e-01 2.17601517e-02 1.08011772e-01 1.42929492e+01] [-2.15545447e-02 9.99762958e-01 -3.07082304e-03 -1.57971898e-01] [-1.08052990e-01 7.23981585e-04 9.94144872e-01 -1.70978162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869649246 meters 0.05741776731112304 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.16, Z:-1.72 [[ 9.93922103e-01 2.14994059e-02 1.07965870e-01 1.43551235e+01] [-2.12892977e-02 9.99768556e-01 -3.09844633e-03 -1.60456318e-01] [-1.08007497e-01 7.81096737e-04 9.94149773e-01 -1.71788384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929649245999999 meters 0.05740492905041816 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.16, Z:-1.73 [[ 9.93989838e-01 2.19811154e-02 1.07242865e-01 1.44172003e+01] [-2.17733864e-02 9.99758102e-01 -3.10765043e-03 -1.62625547e-01] [-1.07285232e-01 7.53932617e-04 9.94227997e-01 -1.72709676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989649245999999 meters 0.05749173654710261 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.16, Z:-1.73 [[ 9.94109242e-01 2.26232623e-02 1.05995301e-01 1.44790366e+01] [-2.24207897e-02 9.99743811e-01 -3.10157378e-03 -1.64617742e-01] [-1.06038314e-01 7.06804799e-04 9.94361794e-01 -1.73494974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049649246 meters 0.05744299252435381 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.17, Z:-1.74 [[ 9.94237055e-01 2.21686473e-02 1.04886749e-01 1.45402650e+01] [-2.19652396e-02 9.99753947e-01 -3.09417059e-03 -1.67222181e-01] [-1.04929535e-01 7.72476474e-04 9.94479359e-01 -1.74270911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109649246 meters 0.05751695701432893 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.17, Z:-1.75 [[ 9.94289661e-01 2.17785744e-02 1.04468959e-01 1.46013051e+01] [-2.15719268e-02 9.99762469e-01 -3.10769444e-03 -1.69420485e-01] [-1.04511826e-01 8.36351716e-04 9.94523292e-01 -1.75011985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169649246000002 meters 0.05736776954807239 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.17, Z:-1.76 [[ 9.93933783e-01 2.42823341e-02 1.07266042e-01 1.46618450e+01] [-2.40760107e-02 9.99704951e-01 -3.21825301e-03 -1.67595480e-01] [-1.07312540e-01 6.16192019e-04 9.94225145e-01 -1.75826537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229649246 meters 0.05716629317977208 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.17, Z:-1.77 [[ 9.93796451e-01 2.80669805e-02 1.07614399e-01 1.47234432e+01] [-2.78799413e-02 9.99606020e-01 -3.24246497e-03 -1.65089159e-01] [-1.07663008e-01 2.22067035e-04 9.94187421e-01 -1.76520130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289649246 meters 0.057116985092111064 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.17, Z:-1.77 [[ 9.93817978e-01 2.92419135e-02 1.07101529e-01 1.47856906e+01] [-2.90608338e-02 9.99572357e-01 -3.25139364e-03 -1.65542399e-01] [-1.07150805e-01 1.18833720e-04 9.94242773e-01 -1.77206558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349649246000002 meters 0.05755772395727723 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.18, Z:-1.78 [[ 9.94221583e-01 2.50437368e-02 1.04385132e-01 1.48455960e+01] [-2.48454255e-02 9.99686184e-01 -3.19987531e-03 -1.75121841e-01] [-1.04432511e-01 5.87892078e-04 9.94531802e-01 -1.78447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409649246 meters 0.057766362725919965 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.19, Z:-1.79 [[ 9.94359353e-01 1.81516370e-02 1.04498784e-01 1.49074612e+01] [-1.79123743e-02 9.99834351e-01 -3.22772469e-03 -1.85285918e-01] [-1.04540062e-01 1.33769691e-03 9.94519777e-01 -1.78971107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469649246 meters 0.05755796690454372 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.18, Z:-1.80 [[ 9.94531868e-01 2.06902700e-02 1.02363456e-01 1.49683858e+01] [-2.04716522e-02 9.99785358e-01 -3.18588743e-03 -1.83336806e-01] [-1.02407401e-01 1.07291751e-03 9.94741963e-01 -1.80026095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529649246 meters 0.05761033850719955 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.19, Z:-1.81 [[ 9.94254333e-01 2.15012619e-02 1.04861896e-01 1.50296080e+01] [-2.12735056e-02 9.99768280e-01 -3.29008470e-03 -1.85664033e-01] [-1.04908338e-01 1.04040084e-03 9.94481351e-01 -1.80674390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589649246 meters 0.05755838346506253 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.19, Z:-1.81 [[ 9.94063801e-01 2.19350770e-02 1.06564590e-01 1.50907498e+01] [-2.16995086e-02 9.99758859e-01 -3.36970832e-03 -1.88111166e-01] [-1.06612808e-01 1.03730582e-03 9.94300072e-01 -1.81315715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649649246000003 meters 0.05728304113506897 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.19, Z:-1.82 [[ 9.93995212e-01 2.25511883e-02 1.07074561e-01 1.51520496e+01] [-2.23141982e-02 9.99745188e-01 -3.41104216e-03 -1.87764723e-01] [-1.07124200e-01 1.00127660e-03 9.94245142e-01 -1.81926577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709649246 meters 0.05754635540198974 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.19, Z:-1.83 [[ 9.94227000e-01 2.34227755e-02 1.04709344e-01 1.52131303e+01] [-2.31983379e-02 9.99725233e-01 -3.36097788e-03 -1.89464221e-01] [-1.04759296e-01 9.12492214e-04 9.94497188e-01 -1.82876226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769649246 meters 0.05794783161521123 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.19, Z:-1.84 [[ 9.94552374e-01 2.39049058e-02 1.01459998e-01 1.52731121e+01] [-2.36942618e-02 9.99713868e-01 -3.28091387e-03 -1.90914807e-01] [-1.01509397e-01 8.59020922e-04 9.94834210e-01 -1.84364996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829649246000002 meters 0.057950900657059226 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.19, Z:-1.85 [[ 9.94768650e-01 2.38732062e-02 9.93247374e-02 1.53346694e+01] [-2.36690916e-02 9.99714620e-01 -3.23306087e-03 -1.93219324e-01] [-9.93735756e-02 8.65221285e-04 9.95049820e-01 -1.85269249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889649246 meters 0.057696565929106894 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.19, Z:-1.86 [[ 9.94606755e-01 2.51339493e-02 1.00626473e-01 1.53969401e+01] [-2.49280629e-02 9.99683791e-01 -3.30312625e-03 -1.94281880e-01] [-1.00677675e-01 7.76888627e-04 9.94918792e-01 -1.85876513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949649246 meters 0.05738335368556036 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.19, Z:-1.86 [[ 9.94242731e-01 2.98159425e-02 1.02919396e-01 1.54575569e+01] [-2.96249108e-02 9.99555356e-01 -3.38452018e-03 -1.90564355e-01] [-1.02974546e-01 3.16056672e-04 9.94683941e-01 -1.86467243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009649246000002 meters 0.057338713461999494 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.19, Z:-1.87 [[ 9.93926967e-01 3.32350689e-02 1.04902883e-01 1.55199570e+01] [-3.30531769e-02 9.99447562e-01 -3.47239911e-03 -1.86520572e-01] [-1.04960336e-01 -1.60624461e-05 9.94476409e-01 -1.86916216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069649246 meters 0.05695415123184782 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.19, Z:-1.88 [[ 9.93710443e-01 3.36864044e-02 1.06793170e-01 1.55813516e+01] [-3.34975947e-02 9.99432451e-01 -3.56180159e-03 -1.88251846e-01] [-1.06852544e-01 -3.79149006e-05 9.94274878e-01 -1.87640216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129649246 meters 0.057054486122417106 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.19, Z:-1.89 [[ 9.93717955e-01 3.48012822e-02 1.06364923e-01 1.56424113e+01] [-3.46176707e-02 9.99394243e-01 -3.57260824e-03 -1.90616891e-01] [-1.06424823e-01 -1.31940940e-04 9.94320743e-01 -1.88557447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189649246000002 meters 0.05716785755481266 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.19, Z:-1.89 [[ 9.93828424e-01 3.45310162e-02 1.05416660e-01 1.57038107e+01] [-3.43463013e-02 9.99403624e-01 -3.56767328e-03 -1.94011377e-01] [-1.05476988e-01 -7.50172625e-05 9.94421741e-01 -1.89319519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249649246 meters 0.056647829618148834 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.20, Z:-1.90 [[ 9.93573641e-01 3.52366538e-02 1.07562998e-01 1.57660380e+01] [-3.50456073e-02 9.99378988e-01 -3.66649986e-03 -1.97365698e-01] [-1.07625396e-01 -1.26672991e-04 9.94191510e-01 -1.89763618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309649246000003 meters 0.056602346428869126 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.20, Z:-1.91 [[ 9.93470642e-01 3.61207053e-02 1.08219121e-01 1.58266475e+01] [-3.59294976e-02 9.99347415e-01 -3.71683308e-03 -1.99655360e-01] [-1.08282754e-01 -1.95694112e-04 9.94120117e-01 -1.90615777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369649246 meters 0.056826586820524896 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.20, Z:-1.91 [[ 9.93382738e-01 3.54833424e-02 1.09232172e-01 1.58881735e+01] [-3.52818923e-02 9.99370263e-01 -3.77704076e-03 -2.03108449e-01] [-1.09297406e-01 -1.01870621e-04 9.94009088e-01 -1.91125471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429649246 meters 0.05715738005274129 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.21, Z:-1.92 [[ 9.93286444e-01 3.47070588e-02 1.10351534e-01 1.59501760e+01] [-3.44935719e-02 9.99397528e-01 -3.84363866e-03 -2.08350986e-01] [-1.10418452e-01 1.14156035e-05 9.93885187e-01 -1.91664663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489649246000003 meters 0.05828901760854568 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.21, Z:-1.93 [[ 9.93577519e-01 3.35451187e-02 1.08066829e-01 1.60108515e+01] [-3.33306447e-02 9.99437191e-01 -3.79080169e-03 -2.14458777e-01] [-1.08133170e-01 1.64518278e-04 9.94136404e-01 -1.92556976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549649246 meters 0.061750215426798614 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.22, Z:-1.94 [[ 9.94095324e-01 3.58750211e-02 1.02408344e-01 1.60713970e+01] [-3.56921967e-02 9.99356283e-01 -3.61769230e-03 -2.20439289e-01] [-1.02472207e-01 -5.88477696e-05 9.94735866e-01 -1.93674991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609649246 meters 0.06427267020330374 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.22, Z:-1.95 [[ 9.94307701e-01 4.03670495e-02 9.86037411e-02 1.61329278e+01] [-4.02183831e-02 9.99184798e-01 -3.49575103e-03 -2.21904734e-01] [-9.86644723e-02 -4.89830865e-04 9.95120637e-01 -1.94771032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669649246000002 meters 0.06638888070774886 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.23, Z:-1.96 [[ 9.94412666e-01 4.30851466e-02 9.63697008e-02 1.61938298e+01] [-4.29557029e-02 9.99071130e-01 -3.41840965e-03 -2.25820925e-01] [-9.64274685e-02 -7.40318379e-04 9.95339739e-01 -1.95711691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729649246 meters 0.06775087295506049 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.23, Z:-1.97 [[ 9.94646141e-01 4.12930569e-02 9.47308684e-02 1.62533329e+01] [-4.11575475e-02 9.99146936e-01 -3.38469906e-03 -2.31453319e-01] [-9.47898215e-02 -5.32312361e-04 9.95497165e-01 -1.96773195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789649246 meters 0.06865508306153209 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.24, Z:-1.97 [[ 9.94534965e-01 4.15222552e-02 9.57919901e-02 1.63150792e+01] [-4.13830577e-02 9.99137432e-01 -3.44017891e-03 -2.35129525e-01] [-9.58522070e-02 -5.42787239e-04 9.95395429e-01 -1.97259082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849649246000002 meters 0.07014417821412773 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.24, Z:-1.98 [[ 9.94264913e-01 4.12633605e-02 9.86641706e-02 1.63753476e+01] [-4.11117814e-02 9.99148176e-01 -3.56978302e-03 -2.40651108e-01] [-9.87274274e-02 -5.06949816e-04 9.95114384e-01 -1.98064490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.909649246 meters 0.07133894642932596 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.24, Z:-1.99 [[ 9.94106147e-01 4.01083376e-02 1.00718861e-01 1.64366348e+01] [-3.99420873e-02 9.99195266e-01 -3.66750024e-03 -2.43867674e-01] [-1.00784906e-01 -3.77036988e-04 9.94908167e-01 -1.98683233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.969649246 meters 0.0716531815805768 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.25, Z:-2.00 [[ 9.94214110e-01 3.67501045e-02 1.00934304e-01 1.64969572e+01] [-3.65629700e-02 9.99324487e-01 -3.70397996e-03 -2.48925139e-01] [-1.01002243e-01 -7.90878021e-06 9.94886198e-01 -1.99879418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029649246 meters 0.07168174513160397 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.25, Z:-2.00 [[ 9.94013114e-01 3.35470151e-02 1.03983298e-01 1.65588832e+01] [-3.33295081e-02 9.99437082e-01 -3.82910255e-03 -2.54363895e-01] [-1.04053219e-01 3.40465974e-04 9.94571672e-01 -2.00434856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089649246 meters 0.07182324089331339 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.26, Z:-2.01 [[ 9.93713608e-01 3.12657828e-02 1.07497518e-01 1.66192161e+01] [-3.10167969e-02 9.99510908e-01 -3.98779223e-03 -2.58316455e-01] [-1.07569623e-01 6.28494712e-04 9.94197355e-01 -2.01239767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149649246000003 meters 0.07149850775181955 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.26, Z:-2.02 [[ 9.93608650e-01 2.98474885e-02 1.08862194e-01 1.66806316e+01] [-2.95821267e-02 9.99554140e-01 -4.05212903e-03 -2.60817750e-01] [-1.08934603e-01 8.05855222e-04 9.94048592e-01 -2.02224692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209649246 meters 0.07095550956803012 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.26, Z:-2.03 [[ 9.93639933e-01 2.97206108e-02 1.08611089e-01 1.67427129e+01] [-2.94528389e-02 9.99557888e-01 -4.06914380e-03 -2.61114035e-01] [-1.08684008e-01 8.44358885e-04 9.94075990e-01 -2.03196248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.269649246 meters 0.07024439252943196 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.26, Z:-2.04 [[ 9.93542960e-01 2.84453038e-02 1.09832836e-01 1.68048012e+01] [-2.81601196e-02 9.99594822e-01 -4.14711829e-03 -2.62621316e-01] [-1.09906300e-01 1.02743438e-03 9.93941422e-01 -2.03994747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329649246000002 meters 0.07039107655581305 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.26, Z:-2.05 [[ 9.93381091e-01 2.74089254e-02 1.11547113e-01 1.68667866e+01] [-2.71045566e-02 9.99623593e-01 -4.24443575e-03 -2.62872161e-01] [-1.11621462e-01 1.19290718e-03 9.93750082e-01 -2.04679957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.389649246 meters 0.06919143931913814 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.26, Z:-2.06 [[ 9.93190511e-01 2.82667456e-02 1.13020352e-01 1.69270858e+01] [-2.79563133e-02 9.99599764e-01 -4.33096431e-03 -2.63500045e-01] [-1.13097539e-01 1.14184028e-03 9.93583234e-01 -2.05506366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449649246 meters 0.06829979774032433 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.26, Z:-2.06 [[ 9.92943937e-01 2.75091980e-02 1.15349822e-01 1.69889354e+01] [-2.71788159e-02 9.99620744e-01 -4.43628323e-03 -2.63197664e-01] [-1.15428113e-01 1.26990897e-03 9.93315025e-01 -2.06079594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509649246000002 meters 0.06704314791438297 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.27, Z:-2.07 [[ 9.92737830e-01 2.72825807e-02 1.17163397e-01 1.70499911e+01] [-2.69365852e-02 9.99626854e-01 -4.53582901e-03 -2.66365744e-01] [-1.17243427e-01 1.34690721e-03 9.93102293e-01 -2.06525313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569649246 meters 0.06724714700372093 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.28, Z:-2.07 [[ 9.92798712e-01 2.17677527e-02 1.17800182e-01 1.71113907e+01] [-2.13759742e-02 9.99760979e-01 -4.58836343e-03 -2.75465006e-01] [-1.17871904e-01 2.03722763e-03 9.93026719e-01 -2.07385985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629649246 meters 0.067331584502966 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.28, Z:-2.08 [[ 9.93132661e-01 2.02524348e-02 1.15227409e-01 1.71718810e+01] [-1.98666647e-02 9.99792532e-01 -4.49545326e-03 -2.80826553e-01] [-1.15294546e-01 2.17539717e-03 9.93328966e-01 -2.08216407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689649246000002 meters 0.06620616496571602 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.28, Z:-2.09 [[ 9.93098237e-01 1.95111350e-02 1.15651229e-01 1.72330773e+01] [-1.91159454e-02 9.99807032e-01 -4.52531515e-03 -2.79979037e-01] [-1.15717206e-01 2.28329992e-03 9.93279575e-01 -2.08940590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749649246 meters 0.06566976018704163 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.28, Z:-2.09 [[ 9.92943236e-01 1.94945760e-02 1.16977313e-01 1.72952973e+01] [-1.90866348e-02 9.99807221e-01 -4.60664501e-03 -2.81681741e-01] [-1.17044567e-01 2.34143375e-03 9.93123903e-01 -2.09439054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809649246 meters 0.06503756002831335 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.28, Z:-2.10 [[ 9.92713660e-01 1.98570860e-02 1.18849847e-01 1.73566435e+01] [-1.94342544e-02 9.99800016e-01 -4.71574054e-03 -2.82609532e-01] [-1.18919720e-01 2.37162188e-03 9.92901040e-01 -2.10049218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869649246 meters 0.06451578944651835 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.28, Z:-2.11 [[ 9.92570156e-01 2.04494253e-02 1.19942927e-01 1.74184188e+01] [-2.00193721e-02 9.99788120e-01 -4.78945472e-03 -2.84154674e-01] [-1.20015455e-01 2.35268774e-03 9.92769236e-01 -2.10723473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.929649246 meters 0.06403448124570918 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.29, Z:-2.11 [[ 9.92518336e-01 1.92943979e-02 1.20561514e-01 1.74796738e+01] [-1.88477428e-02 9.99810631e-01 -4.84411524e-03 -2.88838510e-01] [-1.20632147e-01 2.53556079e-03 9.92694039e-01 -2.11379786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989649246000003 meters 0.06381324744535119 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.29, Z:-2.12 [[ 9.92608037e-01 1.83373109e-02 1.19970947e-01 1.75409013e+01] [-1.78844559e-02 9.99828295e-01 -4.85040467e-03 -2.92413346e-01] [-1.20039291e-01 2.66893555e-03 9.92765554e-01 -2.12257895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.049649246 meters 0.06341445979875761 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.30, Z:-2.13 [[ 9.92637345e-01 1.82332219e-02 1.19744103e-01 1.76036769e+01] [-1.77777120e-02 9.99830098e-01 -4.87124780e-03 -2.95701135e-01] [-1.19812577e-01 2.70660631e-03 9.92792839e-01 -2.12997559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109649246 meters 0.06338785768316033 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.30, Z:-2.14 [[ 9.92678649e-01 1.73041462e-02 1.19539391e-01 1.76637896e+01] [-1.68392925e-02 9.99846213e-01 -4.89779079e-03 -2.99275353e-01] [-1.19605760e-01 2.84897357e-03 9.92817378e-01 -2.13895726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169649246000002 meters 0.06291513323295124 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.30, Z:-2.15 [[ 9.92582181e-01 1.73236825e-02 1.20334964e-01 1.77260669e+01] [-1.68493492e-02 9.99845746e-01 -4.95821305e-03 -3.00699112e-01] [-1.20402296e-01 2.89386809e-03 9.92720964e-01 -2.14567320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.229649246 meters 0.06289518767665665 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.30, Z:-2.15 [[ 9.92316861e-01 1.68111925e-02 1.22574999e-01 1.77872642e+01] [-1.63107156e-02 9.99854039e-01 -5.08538100e-03 -3.02804412e-01] [-1.22642599e-01 3.04702337e-03 9.92446225e-01 -2.15181528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.289649246 meters 0.06249892232879096 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.31, Z:-2.16 [[ 9.92330107e-01 1.64806201e-02 1.22512643e-01 1.78486505e+01] [-1.59747167e-02 9.99859335e-01 -5.11057030e-03 -3.05394736e-01] [-1.22579636e-01 3.11426801e-03 9.92453795e-01 -2.15988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349649246000002 meters 0.06153644742041837 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.31, Z:-2.17 [[ 9.92275176e-01 1.75097300e-02 1.22814432e-01 1.79101104e+01] [-1.70054892e-02 9.99842118e-01 -5.15282053e-03 -3.05156558e-01] [-1.22885267e-01 3.02449639e-03 9.92416275e-01 -2.16722977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409649246 meters 0.06146160182671159 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.31, Z:-2.17 [[ 9.92424451e-01 1.80336193e-02 1.21525705e-01 1.79709465e+01] [-1.75401201e-02 9.99833002e-01 -5.12947932e-03 -3.09652975e-01] [-1.21597914e-01 2.95904523e-03 9.92575031e-01 -2.17483548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469649246 meters 0.06098866386269512 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.31, Z:-2.18 [[ 9.92260408e-01 1.85932334e-02 1.22774486e-01 1.80335737e+01] [-1.80895831e-02 9.99822766e-01 -5.21574970e-03 -3.09452810e-01] [-1.22849704e-01 2.95444266e-03 9.92420889e-01 -2.18314081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529649246 meters 0.060157909765392495 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.31, Z:-2.19 [[ 9.92017258e-01 2.11861943e-02 1.24309717e-01 1.80949691e+01] [-2.06854754e-02 9.99771892e-01 -5.31746861e-03 -3.07550442e-01] [-1.24394017e-01 2.70361505e-03 9.92229217e-01 -2.18964815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589649246 meters 0.059850737900648605 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.31, Z:-2.20 [[ 9.91977220e-01 2.35051750e-02 1.24212325e-01 1.81553398e+01] [-2.30193452e-02 9.99720730e-01 -5.34523955e-03 -3.08785718e-01] [-1.24303277e-01 2.44306948e-03 9.92241264e-01 -2.19736853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649649246000003 meters 0.05999077084919738 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.32, Z:-2.21 [[ 9.92050471e-01 2.19656458e-02 1.23908730e-01 1.82153760e+01] [-2.14666029e-02 9.99755191e-01 -5.36132395e-03 -3.15040162e-01] [-1.23996161e-01 2.65880444e-03 9.92279136e-01 -2.20649924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709649246 meters 0.05973586765991954 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.32, Z:-2.21 [[ 9.92280239e-01 2.18344257e-02 1.22078604e-01 1.82774995e+01] [-2.13457052e-02 9.99758054e-01 -5.30986930e-03 -3.19795745e-01] [-1.22165006e-01 2.66302448e-03 9.92506232e-01 -2.21466464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769649246 meters 0.059046767349062106 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.32, Z:-2.22 [[ 9.92386230e-01 2.36298447e-02 1.20876804e-01 1.83391841e+01] [-2.31599178e-02 9.99717770e-01 -5.29127318e-03 -3.19484506e-01] [-1.20967721e-01 2.45148980e-03 9.92653414e-01 -2.22374209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829649246000002 meters 0.059058317246652614 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.32, Z:-2.23 [[ 9.92305650e-01 2.35008961e-02 1.21561530e-01 1.84010230e+01] [-2.30208869e-02 9.99720659e-01 -5.35181803e-03 -3.21605057e-01] [-1.21653345e-01 2.51218504e-03 9.92569470e-01 -2.23190946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889649246 meters 0.05877590934234325 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.33, Z:-2.24 [[ 9.92221078e-01 2.37953551e-02 1.22192938e-01 1.84632565e+01] [-2.33081778e-02 9.99713662e-01 -5.41501257e-03 -3.25474734e-01] [-1.22286802e-01 2.52479487e-03 9.92491594e-01 -2.23869648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246 meters 0.058754434429714314 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.33, Z:-2.25 [[ 9.92222077e-01 2.40092150e-02 1.22142977e-01 1.85253373e+01] [-2.35197689e-02 9.99708530e-01 -5.44757514e-03 -3.28208215e-01] [-1.22238168e-01 2.53242973e-03 9.92497565e-01 -2.24711149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters 0.058634760042577345 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.33, Z:-2.26 [[ 9.92324781e-01 2.45772446e-02 1.21191944e-01 1.85877730e+01] [-2.40954028e-02 9.99694863e-01 -5.43996450e-03 -3.30847634e-01] [-1.21288664e-01 2.47804286e-03 9.92614185e-01 -2.25593409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246 meters 0.05846602249009971 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.34, Z:-2.26 [[ 9.92421135e-01 2.50358661e-02 1.20305841e-01 1.86500051e+01] [-2.45603239e-02 9.99683580e-01 -5.43414784e-03 -3.35462432e-01] [-1.20403822e-01 2.43821275e-03 9.92722003e-01 -2.26387601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246 meters 0.05837765089326405 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.34, Z:-2.27 [[ 9.92659538e-01 2.60517516e-02 1.18103120e-01 1.87117990e+01] [-2.55968412e-02 9.99657939e-01 -5.36727318e-03 -3.36347798e-01] [-1.18202549e-01 2.30480810e-03 9.92986830e-01 -2.27445751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters 0.05819505906319066 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.34, Z:-2.28 [[ 9.92661391e-01 2.66526140e-02 1.17953383e-01 1.87740470e+01] [-2.61990876e-02 9.99642192e-01 -5.39412058e-03 -3.38255395e-01] [-1.18054946e-01 2.26426422e-03 9.93004483e-01 -2.28276343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246 meters 0.05813618012560134 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.34, Z:-2.29 [[ 9.92642382e-01 2.70097689e-02 1.18032090e-01 1.88360659e+01] [-2.65540957e-02 9.99632620e-01 -5.43178802e-03 -3.41745464e-01] [-1.18135438e-01 2.25758760e-03 9.92994925e-01 -2.29022429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246 meters 0.05759316716812335 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.35, Z:-2.30 [[ 9.92467114e-01 2.87950860e-02 1.19079260e-01 1.88964183e+01] [-2.83398898e-02 9.99583133e-01 -5.51459329e-03 -3.45665203e-01] [-1.19188413e-01 2.09835938e-03 9.92869437e-01 -2.29571379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters 0.057181954243575604 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.35, Z:-2.30 [[ 9.92594079e-01 3.01133944e-02 1.17686782e-01 1.89574789e+01] [-2.96749416e-02 9.99544599e-01 -5.47648082e-03 -3.46962258e-01] [-1.17798102e-01 1.94357406e-03 9.93035664e-01 -2.30445813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246 meters 0.057513150826695766 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.35, Z:-2.32 [[ 9.92893031e-01 3.03344788e-02 1.15079312e-01 1.90187433e+01] [-2.99136281e-02 9.99537994e-01 -5.38264618e-03 -3.49194301e-01] [-1.15189425e-01 1.90195213e-03 9.93341723e-01 -2.31601520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters 0.057622896429445215 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.35, Z:-2.33 [[ 9.93125836e-01 3.13216394e-02 1.12783104e-01 1.90809801e+01] [-3.09208558e-02 9.99507776e-01 -5.30151512e-03 -3.52811694e-01] [-1.12893642e-01 1.77772154e-03 9.93605488e-01 -2.32609673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246 meters 0.05719698336509372 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.36, Z:-2.33 [[ 9.93099449e-01 3.20523859e-02 1.12810145e-01 1.91434706e+01] [-3.16526143e-02 9.99484700e-01 -5.33352279e-03 -3.56727820e-01] [-1.12922966e-01 1.72598255e-03 9.93602247e-01 -2.33364776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246 meters 0.05714117064268047 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.36, Z:-2.34 [[ 9.92997488e-01 3.31423583e-02 1.13391236e-01 1.92045813e+01] [-3.27419771e-02 9.99449293e-01 -5.39200009e-03 -3.59635854e-01] [-1.13507494e-01 1.64158930e-03 9.93535784e-01 -2.34048222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters 0.05732468916421549 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.36, Z:-2.35 [[ 9.92939370e-01 3.38041727e-02 1.13704373e-01 1.92650217e+01] [-3.34028435e-02 9.99427200e-01 -5.43348722e-03 -3.62016029e-01] [-1.13822918e-01 1.59707399e-03 9.93499770e-01 -2.34845912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246 meters 0.05734213000044881 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.37, Z:-2.36 [[ 9.93162857e-01 3.34505544e-02 1.11841849e-01 1.93257832e+01] [-3.30574947e-02 9.99439039e-01 -5.36752656e-03 -3.66924980e-01] [-1.11958656e-01 1.63361670e-03 9.93711523e-01 -2.35792714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246 meters 0.05711355962713173 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.37, Z:-2.37 [[ 9.93380322e-01 3.56021396e-02 1.09215491e-01 1.93868274e+01] [-3.52377691e-02 9.99365088e-01 -5.26508594e-03 -3.70029088e-01] [-1.09333597e-01 1.38172251e-03 9.94004153e-01 -2.36668513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters 0.05732292248724439 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.37, Z:-2.38 [[ 9.93351273e-01 3.53839668e-02 1.09550093e-01 1.94483398e+01] [-3.50130204e-02 9.99372758e-01 -5.30847575e-03 -3.73182640e-01] [-1.09669214e-01 1.43750150e-03 9.93967101e-01 -2.37578071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246 meters 0.05729109217104705 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.38, Z:-2.38 [[ 9.93330021e-01 3.56884375e-02 1.09643994e-01 1.95109877e+01] [-3.53169573e-02 9.99361955e-01 -5.32881662e-03 -3.77103218e-01] [-1.09764213e-01 1.42098128e-03 9.93956638e-01 -2.38372496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969649246 meters 0.057134120903011947 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.38, Z:-2.39 [[ 9.93252292e-01 3.66880884e-02 1.10017580e-01 1.95725704e+01] [-3.63171193e-02 9.99325863e-01 -5.37453776e-03 -3.80694706e-01] [-1.10140595e-01 1.34275037e-03 9.93915110e-01 -2.39077069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters 0.05672135278639277 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.38, Z:-2.40 [[ 9.93249284e-01 3.94646010e-02 1.09079813e-01 1.96340119e+01] [-3.91141251e-02 9.99220419e-01 -5.35166281e-03 -3.81613397e-01] [-1.09205978e-01 1.04897379e-03 9.94018588e-01 -2.40023893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246 meters 0.05652712323319453 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.38, Z:-2.41 [[ 9.93271458e-01 4.19043127e-02 1.07962213e-01 1.96957340e+01] [-4.15730030e-02 9.99121313e-01 -5.31866316e-03 -3.81527121e-01] [-1.08090223e-01 7.94562917e-04 9.94140771e-01 -2.41010266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246 meters 0.05654978810160963 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.38, Z:-2.42 [[ 9.93336410e-01 4.21777764e-02 1.07255822e-01 1.97562405e+01] [-4.18495824e-02 9.99109813e-01 -5.30988740e-03 -3.84633363e-01] [-1.07384303e-01 7.85893137e-04 9.94217277e-01 -2.41989295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246 meters 0.05654265375706819 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.39, Z:-2.43 [[ 9.93390351e-01 4.17920579e-02 1.06906661e-01 1.98178672e+01] [-4.14616358e-02 9.99125973e-01 -5.31249888e-03 -3.91975161e-01] [-1.07035242e-01 8.44860077e-04 9.94254868e-01 -2.42685554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246 meters 0.05643406715604048 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.39, Z:-2.44 [[ 9.93353238e-01 4.28826575e-02 1.06819576e-01 1.98796689e+01] [-4.25567986e-02 9.99079836e-01 -5.32921711e-03 -3.93896891e-01] [-1.06949815e-01 7.47895911e-04 9.94264139e-01 -2.43521930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329649246000002 meters 0.056449939667441086 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.40, Z:-2.44 [[ 9.93388905e-01 4.30012927e-02 1.06439524e-01 1.99401872e+01] [-4.26756124e-02 9.99074728e-01 -5.33659793e-03 -3.95464963e-01] [-1.06570519e-01 7.58945325e-04 9.94304857e-01 -2.44467307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389649246 meters 0.056024822367952073 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.39, Z:-2.45 [[ 9.93483948e-01 4.48247333e-02 1.04787345e-01 2.00023148e+01] [-4.45183218e-02 9.98994708e-01 -5.26240314e-03 -3.94042326e-01] [-1.04917889e-01 5.63156304e-04 9.94480729e-01 -2.44663848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246 meters 0.0560560470203539 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.40, Z:-2.45 [[ 9.93445344e-01 4.54995346e-02 1.04862490e-01 2.00644749e+01] [-4.51937786e-02 9.98964226e-01 -5.29129587e-03 -3.98333625e-01] [-1.04994627e-01 5.17481105e-04 9.94472654e-01 -2.45392796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters 0.056030994364639444 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.40, Z:-2.46 [[ 9.93328451e-01 4.57410820e-02 1.05860014e-01 2.01260165e+01] [-4.54276121e-02 9.98953190e-01 -5.37181299e-03 -4.00924095e-01] [-1.05994911e-01 5.27007016e-04 9.94366533e-01 -2.46173939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246 meters 0.0560936456598818 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.40, Z:-2.47 [[ 9.93239604e-01 4.69521748e-02 1.06162995e-01 2.01871323e+01] [-4.66410874e-02 9.98897048e-01 -5.41255994e-03 -4.01781173e-01] [-1.06300034e-01 4.24411373e-04 9.94334010e-01 -2.47180736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246 meters 0.056154920663467146 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.41, Z:-2.48 [[ 9.93283545e-01 4.69187340e-02 1.05765928e-01 2.02498149e+01] [-4.66072273e-02 9.98898608e-01 -5.41635795e-03 -4.06867479e-01] [-1.05903567e-01 4.50522594e-04 9.94376303e-01 -2.47832661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters 0.0564232567720171 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.41, Z:-2.49 [[ 9.93457539e-01 4.60944304e-02 1.04486466e-01 2.03098678e+01] [-4.57827786e-02 9.98936929e-01 -5.38042995e-03 -4.11517248e-01] [-1.04623397e-01 5.61547957e-04 9.94511754e-01 -2.48866331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246 meters 0.056231584354272106 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.42, Z:-2.50 [[ 9.93355142e-01 4.56875150e-02 1.05632443e-01 2.03711293e+01] [-4.53641933e-02 9.98955579e-01 -5.46274744e-03 -4.15083332e-01] [-1.05771698e-01 6.34517679e-04 9.94390238e-01 -2.49603681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246 meters 0.056251105662394545 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.42, Z:-2.50 [[ 9.93054724e-01 4.59466348e-02 1.08310761e-01 2.04326055e+01] [-4.56053253e-02 9.98943685e-01 -5.62748268e-03 -4.19843372e-01] [-1.08454915e-01 6.48850777e-04 9.94101157e-01 -2.50137997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246 meters 0.056427065631255664 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.42, Z:-2.51 [[ 9.93037256e-01 4.64785426e-02 1.08243953e-01 2.04949925e+01] [-4.61381244e-02 9.98919099e-01 -5.64860639e-03 -4.23325126e-01] [-1.08389491e-01 6.15103635e-04 9.94108314e-01 -2.51028212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246 meters 0.05627044737912591 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.43, Z:-2.52 [[ 9.93028348e-01 4.66312866e-02 1.08259981e-01 2.05572040e+01] [-4.62886503e-02 9.98911973e-01 -5.67715478e-03 -4.25419358e-01] [-1.08406924e-01 6.26367253e-04 9.94106406e-01 -2.51549887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters 0.05681250059265898 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.43, Z:-2.53 [[ 9.93023744e-01 4.65290275e-02 1.08346173e-01 2.06180799e+01] [-4.61817740e-02 9.98916714e-01 -5.71340107e-03 -4.29928371e-01] [-1.08494642e-01 6.69924456e-04 9.94096808e-01 -2.52899423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246 meters 0.0568424576258709 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.44, Z:-2.53 [[ 9.93153484e-01 4.44145615e-02 1.08043987e-01 2.06804892e+01] [-4.40536148e-02 9.99012756e-01 -5.72648656e-03 -4.35191618e-01] [-1.08191660e-01 9.27551904e-04 9.94129621e-01 -2.53168072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246 meters 0.056875336292715066 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.44, Z:-2.54 [[ 9.92980262e-01 4.50762800e-02 1.09354144e-01 2.07408310e+01] [-4.47073377e-02 9.98983147e-01 -5.82456401e-03 -4.37308160e-01] [-1.09505496e-01 8.94744468e-04 9.93985787e-01 -2.54179976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters 0.056858565462993726 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.44, Z:-2.55 [[ 9.92955327e-01 4.51259658e-02 1.09559869e-01 2.08033765e+01] [-4.47531677e-02 9.98980885e-01 -5.86054856e-03 -4.39832301e-01] [-1.09712678e-01 9.16111723e-04 9.93962921e-01 -2.54890394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246 meters 0.0568856582162673 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.44, Z:-2.56 [[ 9.92754533e-01 4.60470083e-02 1.10986984e-01 2.08649196e+01] [-4.56666031e-02 9.98938906e-01 -5.96845583e-03 -4.42266802e-01] [-1.11144046e-01 8.56813046e-04 9.93803938e-01 -2.55502558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246 meters 0.05694869984690766 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.45, Z:-2.56 [[ 9.92732892e-01 4.54038447e-02 1.11444583e-01 2.09257047e+01] [-4.50128933e-02 9.98968250e-01 -6.02289961e-03 -4.47951815e-01] [-1.11603063e-01 9.62687405e-04 9.93752398e-01 -2.56278730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters 0.05703215978885672 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.45, Z:-2.57 [[ 9.92775202e-01 4.55553141e-02 1.11005003e-01 2.09877568e+01] [-4.51662979e-02 9.98961356e-01 -6.01790704e-03 -4.50960721e-01] [-1.11163856e-01 9.60743817e-04 9.93801627e-01 -2.57316117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246 meters 0.057560143130228225 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.46, Z:-2.58 [[ 9.92845951e-01 4.27892077e-02 1.11471978e-01 2.10487525e+01] [-4.23758860e-02 9.99083266e-01 -6.07555798e-03 -4.58081934e-01] [-1.11629756e-01 1.30836932e-03 9.93749005e-01 -2.58195673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246 meters 0.05794956266349596 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.47, Z:-2.59 [[ 9.93362437e-01 4.01639842e-02 1.07786471e-01 2.11094268e+01] [-3.97594451e-02 9.99191859e-01 -5.90043252e-03 -4.65525073e-01] [-1.07936349e-01 1.57573775e-03 9.94156558e-01 -2.59165218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters 0.05834911955177224 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.47, Z:-2.60 [[ 9.93668494e-01 3.90186299e-02 1.05358771e-01 2.11702572e+01] [-3.86233423e-02 9.99237064e-01 -5.79033702e-03 -4.70865300e-01] [-1.05504320e-01 1.68436758e-03 9.94417418e-01 -2.60246481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589649246 meters 0.05849455069468835 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.48, Z:-2.61 [[ 9.93749977e-01 3.75672307e-02 1.05117485e-01 2.12317596e+01] [-3.71630329e-02 9.99292373e-01 -5.80192652e-03 -4.75148898e-01] [-1.05261064e-01 1.85917977e-03 9.94442885e-01 -2.61012767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649649246 meters 0.05849135332095715 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.48, Z:-2.62 [[ 9.93624585e-01 3.81346437e-02 1.06093985e-01 2.12924556e+01] [-3.77231345e-02 9.99270909e-01 -5.88352182e-03 -4.79249469e-01] [-1.06240999e-01 1.84381426e-03 9.94338700e-01 -2.61752436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709649246 meters 0.05820325530382931 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.48, Z:-2.62 [[ 9.93473410e-01 3.90532345e-02 1.07170095e-01 2.13546505e+01] [-3.86359224e-02 9.99235531e-01 -5.96825043e-03 -4.81145055e-01] [-1.07321247e-01 1.78868262e-03 9.94222787e-01 -2.62268991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769649246 meters 0.05818649548307145 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.48, Z:-2.63 [[ 9.93346341e-01 3.96305138e-02 1.08131725e-01 2.14159778e+01] [-3.92059958e-02 9.99212835e-01 -6.04989532e-03 -4.82035704e-01] [-1.08286367e-01 1.77022944e-03 9.94118166e-01 -2.63217860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829649246000002 meters 0.058359122467361045 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.48, Z:-2.64 [[ 9.93198018e-01 4.10788849e-02 1.08950550e-01 2.14763011e+01] [-4.06534336e-02 9.99154538e-01 -6.12428829e-03 -4.84481147e-01] [-1.09110015e-01 1.65341704e-03 9.94028305e-01 -2.64047528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889649246 meters 0.057976092710652884 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.49, Z:-2.65 [[ 9.93076726e-01 4.38254475e-02 1.08985990e-01 2.15369062e+01] [-4.34133845e-02 9.99038253e-01 -6.15195380e-03 -4.87234785e-01] [-1.09150786e-01 1.37791143e-03 9.94024249e-01 -2.64782027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949649246 meters 0.057621502049990045 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.49, Z:-2.66 [[ 9.92890093e-01 4.70589585e-02 1.09337627e-01 2.15992378e+01] [-4.66607777e-02 9.98891558e-01 -6.19889472e-03 -4.86882857e-01] [-1.09508146e-01 1.05304244e-03 9.93985340e-01 -2.65503620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters 0.057905301191018256 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.48, Z:-2.67 [[ 9.92890989e-01 5.20778483e-02 1.07029821e-01 2.16603098e+01] [-5.17247428e-02 9.98642905e-01 -6.07440774e-03 -4.83584647e-01] [-1.07200913e-01 4.95134769e-04 9.94237255e-01 -2.66720133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069649246 meters 0.05794009323149355 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.49, Z:-2.67 [[ 9.93071663e-01 4.95597031e-02 1.06548144e-01 2.17213340e+01] [-4.91922895e-02 9.98770849e-01 -6.07535639e-03 -4.89482335e-01] [-1.06718274e-01 7.91917116e-04 9.94288984e-01 -2.67497540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129649246 meters 0.0588926439040318 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.50, Z:-2.69 [[ 9.93658127e-01 4.43944947e-02 1.03308543e-01 2.17812571e+01] [-4.40183671e-02 9.99013188e-01 -5.91894394e-03 -4.98445318e-01] [-1.03469365e-01 1.33393338e-03 9.94631746e-01 -2.68774755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189649246000002 meters 0.05857881741927871 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.50, Z:-2.69 [[ 9.93389583e-01 4.54946309e-02 1.05391534e-01 2.18437170e+01] [-4.51093303e-02 9.98963809e-01 -6.03796993e-03 -5.03884693e-01] [-1.05557023e-01 1.24391492e-03 9.94412474e-01 -2.68913441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249649246 meters 0.058432532236092884 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.51, Z:-2.69 [[ 9.93049880e-01 4.50192734e-02 1.08743736e-01 2.19050835e+01] [-4.46030501e-02 9.98985187e-01 -6.25814164e-03 -5.09022028e-01] [-1.08915119e-01 1.36434450e-03 9.94050117e-01 -2.69412922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309649246 meters 0.05848649128281614 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.51, Z:-2.70 [[ 9.93111624e-01 4.51682489e-02 1.08116283e-01 2.19670480e+01] [-4.47549096e-02 9.98978460e-01 -6.24777984e-03 -5.13136371e-01] [-1.08288039e-01 1.36600831e-03 9.94118622e-01 -2.70352030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369649246 meters 0.058933888722554936 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.52, Z:-2.72 [[ 9.93341345e-01 4.47968091e-02 1.06142443e-01 2.20282676e+01] [-4.43931156e-02 9.98995122e-01 -6.16413790e-03 -5.17618551e-01] [-1.06311916e-01 1.41109930e-03 9.94331829e-01 -2.71551910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429649246 meters 0.05911124673852958 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.52, Z:-2.72 [[ 9.93592446e-01 4.46780185e-02 1.03816788e-01 2.20898166e+01] [-4.42886103e-02 9.99000433e-01 -6.05423380e-03 -5.19729735e-01] [-1.03983508e-01 1.41753969e-03 9.94578011e-01 -2.72368401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489649246000003 meters 0.0590778856119913 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.52, Z:-2.73 [[ 9.93599584e-01 4.68461738e-02 1.02787658e-01 2.21504618e+01] [-4.64732923e-02 9.98901388e-01 -6.02080194e-03 -5.21825742e-01] [-1.02956785e-01 1.20538544e-03 9.94685100e-01 -2.73290379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.549649246 meters 0.059309828191612735 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.53, Z:-2.74 [[ 9.93673691e-01 4.35527738e-02 1.03516913e-01 2.22116537e+01] [-4.31537385e-02 9.99049868e-01 -6.09232103e-03 -5.28896057e-01] [-1.03683896e-01 1.58663732e-03 9.94609035e-01 -2.74054393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.609649246 meters 0.05956435128798518 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.53, Z:-2.75 [[ 9.93804425e-01 4.41744132e-02 1.01987182e-01 2.22724085e+01] [-4.37878474e-02 9.99022672e-01 -6.02706900e-03 -5.33089464e-01] [-1.02153749e-01 1.52392870e-03 9.94767455e-01 -2.75062677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669649246000002 meters 0.05929808510149023 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.54, Z:-2.76 [[ 9.93828424e-01 4.44447596e-02 1.01635263e-01 2.23343757e+01] [-4.40598341e-02 9.99010695e-01 -6.03013842e-03 -5.37236135e-01] [-1.01802722e-01 1.51489016e-03 9.94803453e-01 -2.75646967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.729649246 meters 0.059734686917922386 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.54, Z:-2.76 [[ 9.93724589e-01 4.36518235e-02 1.02985241e-01 2.23947621e+01] [-4.32490477e-02 9.99045444e-01 -6.14178573e-03 -5.41122980e-01] [-1.03155036e-01 1.64922989e-03 9.94663922e-01 -2.76492020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.789649246 meters 0.059851809044504795 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.54, Z:-2.77 [[ 9.93679744e-01 4.43458928e-02 1.03121324e-01 2.24547895e+01] [-4.39432647e-02 9.99014950e-01 -6.17406599e-03 -5.44857228e-01] [-1.03293539e-01 1.60355668e-03 9.94649623e-01 -2.77359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849649246000002 meters 0.05950916099624911 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.54, Z:-2.78 [[ 9.93622806e-01 4.64813668e-02 1.02728776e-01 2.25161806e+01] [-4.60908732e-02 9.98918178e-01 -6.17294843e-03 -5.43485122e-01] [-1.02904568e-01 1.39872337e-03 9.94690250e-01 -2.78029628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.909649246 meters 0.05962147421182912 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.54, Z:-2.79 [[ 9.93646952e-01 4.86029251e-02 1.01506115e-01 2.25772524e+01] [-4.82301856e-02 9.98817471e-01 -6.12449665e-03 -5.43546695e-01] [-1.01683750e-01 1.18992865e-03 9.94816063e-01 -2.79123658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.969649246 meters 0.05935156572364638 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.54, Z:-2.80 [[ 9.93430221e-01 5.39838737e-02 1.00906577e-01 2.26392395e+01] [-5.36404324e-02 9.98541588e-01 -6.11571904e-03 -5.40208301e-01] [-1.01089564e-01 6.62867690e-04 9.94877108e-01 -2.79726314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029649246 meters 0.05930502236390972 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.54, Z:-2.80 [[ 9.93219900e-01 5.67604690e-02 1.01451861e-01 2.26996912e+01] [-5.64249757e-02 9.98387741e-01 -6.17581350e-03 -5.40482254e-01] [-1.01638836e-01 4.09522095e-04 9.94821280e-01 -2.80485942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089649246 meters 0.05918165617647481 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.54, Z:-2.81 [[ 9.92959946e-01 5.85977234e-02 1.02941010e-01 2.27614972e+01] [-5.82596525e-02 9.98281646e-01 -6.29030532e-03 -5.41468853e-01] [-1.03132719e-01 2.48713748e-04 9.94667573e-01 -2.81165331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149649246 meters 0.05910686571415428 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.54, Z:-2.82 [[ 9.92545797e-01 6.16502943e-02 1.05128884e-01 2.28224281e+01] [-6.13116426e-02 9.98097811e-01 -6.45313279e-03 -5.41631684e-01] [-1.05326747e-01 -4.05947537e-05 9.94437668e-01 -2.81840614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209649246 meters 0.05933569739185657 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.54, Z:-2.83 [[ 9.92258522e-01 6.60211565e-02 1.05186654e-01 2.28845216e+01] [-6.57053012e-02 9.97818102e-01 -6.46907118e-03 -5.42119986e-01] [-1.05384243e-01 -4.92329773e-04 9.94431455e-01 -2.82595503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269649246 meters 0.05933612648666156 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.55, Z:-2.83 [[ 9.92213653e-01 6.76963868e-02 1.04543133e-01 2.29458537e+01] [-6.73905909e-02 9.97705765e-01 -6.45868289e-03 -5.45260618e-01] [-1.04740516e-01 -6.36830178e-04 9.94499381e-01 -2.83268628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329649246000002 meters 0.05952259892668261 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.55, Z:-2.84 [[ 9.92406257e-01 6.55902512e-02 1.04056424e-01 2.30062568e+01] [-6.52730009e-02 9.97846566e-01 -6.45488647e-03 -5.50638029e-01] [-1.04255723e-01 -3.86205359e-04 9.94550449e-01 -2.84497439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389649246 meters 0.05950991431031999 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.57, Z:-2.85 [[ 9.92995669e-01 5.76639703e-02 1.03123553e-01 2.30667825e+01] [-5.73067554e-02 9.98335938e-01 -6.42582522e-03 -5.66017964e-01] [-1.03322487e-01 4.71140395e-04 9.94647798e-01 -2.85038191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449649246 meters 0.05965858740779214 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.58, Z:-2.86 [[ 9.93289699e-01 5.44988607e-02 1.02007095e-01 2.31278341e+01] [-5.41303687e-02 9.98513500e-01 -6.37907171e-03 -5.75420392e-01] [-1.02203114e-01 8.14584561e-04 9.94763218e-01 -2.85902266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509649246000002 meters 0.05967369782675766 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.58, Z:-2.87 [[ 9.93288801e-01 5.64348894e-02 1.00957721e-01 2.31892878e+01] [-5.60813948e-02 9.98406080e-01 -6.33844875e-03 -5.79596679e-01] [-1.01154512e-01 6.34060374e-04 9.94870526e-01 -2.86838146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569649246 meters 0.05979928871684451 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.58, Z:-2.88 [[ 9.93312308e-01 5.58255009e-02 1.01065193e-01 2.32513108e+01] [-5.54653679e-02 9.98440278e-01 -6.37208558e-03 -5.83752508e-01] [-1.01263284e-01 7.23852935e-04 9.94859399e-01 -2.87528875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.629649246 meters 0.05995342814839874 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.59, Z:-2.88 [[ 9.93506092e-01 5.42132277e-02 1.00032850e-01 2.33112649e+01] [-5.38490447e-02 9.98528966e-01 -6.33916019e-03 -5.90107598e-01] [-1.00229364e-01 9.11320875e-04 9.94963941e-01 -2.88440684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689649246000002 meters 0.05971135353659712 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.59, Z:-2.89 [[ 9.93456566e-01 5.43966060e-02 1.00424407e-01 2.33740796e+01] [-5.40295077e-02 9.98518997e-01 -6.37370220e-03 -5.94967554e-01] [-1.00622386e-01 9.06115046e-04 9.94924276e-01 -2.88914029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.749649246 meters 0.05957570475591564 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.60, Z:-2.90 [[ 9.93390219e-01 5.44620569e-02 1.01043347e-01 2.34345423e+01] [-5.40876123e-02 9.98515402e-01 -6.44374499e-03 -5.97896235e-01] [-1.01244278e-01 9.35959867e-04 9.94861156e-01 -2.89827588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.809649246 meters 0.05930902047044155 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.60, Z:-2.90 [[ 9.93233070e-01 5.54375014e-02 1.02052688e-01 2.34963504e+01] [-5.50582316e-02 9.98461781e-01 -6.53162628e-03 -6.02351134e-01] [-1.02257806e-01 8.68586693e-04 9.94757552e-01 -2.90477976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869649246 meters 0.05926628145307407 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.61, Z:-2.91 [[ 9.93101761e-01 5.51874040e-02 1.03456476e-01 2.35580712e+01] [-5.47935838e-02 9.98475579e-01 -6.64695507e-03 -6.06918152e-01] [-1.03665593e-01 9.32351699e-04 9.94611771e-01 -2.91160916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.929649246 meters 0.059435592329223144 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.62, Z:-2.92 [[ 9.93325412e-01 5.28177658e-02 1.02542232e-01 2.36193502e+01] [-5.24157087e-02 9.98603453e-01 -6.61335167e-03 -6.15134851e-01] [-1.02748330e-01 1.19438650e-03 9.94706667e-01 -2.91787648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.989649246000003 meters 0.060104868897476654 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.63, Z:-2.93 [[ 9.93540449e-01 4.98380364e-02 1.01948747e-01 2.36784976e+01] [-4.94220880e-02 9.98756153e-01 -6.60333802e-03 -6.25117393e-01] [-1.02151036e-01 1.52216347e-03 9.94767736e-01 -2.92848883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.049649246 meters 0.05999941647602003 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.63, Z:-2.93 [[ 9.93400557e-01 5.02901395e-02 1.03083631e-01 2.37406464e+01] [-4.98661752e-02 9.98733520e-01 -6.68740259e-03 -6.27256261e-01] [-1.03289388e-01 1.50288304e-03 9.94650212e-01 -2.93441723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.109649246 meters 0.059580131121815615 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.63, Z:-2.94 [[ 9.93346915e-01 5.21905146e-02 1.02655033e-01 2.38027715e+01] [-5.17776691e-02 9.98636268e-01 -6.68406371e-03 -6.28327142e-01] [-1.02863883e-01 1.32435576e-03 9.94694560e-01 -2.93926154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169649246000002 meters 0.06006116634349162 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.63, Z:-2.95 [[ 9.93410203e-01 5.38490634e-02 1.01175324e-01 2.38635125e+01] [-5.34540275e-02 9.98548411e-01 -6.61347373e-03 -6.28110845e-01] [-1.01384589e-01 1.16166372e-03 9.94846629e-01 -2.94946028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.229649246 meters 0.0597280714188356 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.63, Z:-2.96 [[ 9.93368018e-01 5.42321496e-02 1.01384688e-01 2.39259341e+01] [-5.38351632e-02 9.98527695e-01 -6.64966195e-03 -6.32991862e-01] [-1.01596044e-01 1.14750031e-03 9.94825074e-01 -2.95627546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.289649246 meters 0.05971507000890562 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.64, Z:-2.96 [[ 9.93388883e-01 5.37175914e-02 1.01454168e-01 2.39878178e+01] [-5.33143786e-02 9.98555410e-01 -6.68361451e-03 -6.39724027e-01] [-1.01666636e-01 1.23046243e-03 9.94817763e-01 -2.96287692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349649246000002 meters 0.06048729111830808 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.65, Z:-2.97 [[ 9.93718767e-01 4.35941573e-02 1.03065810e-01 2.40487822e+01] [-4.31200558e-02 9.99046588e-01 -6.82462380e-03 -6.52417044e-01] [-1.03265060e-01 2.33755326e-03 9.94651126e-01 -2.96508234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.409649246 meters 0.06256113067339604 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.66, Z:-2.97 [[ 9.94269414e-01 3.45130730e-02 1.01178953e-01 2.41079399e+01] [-3.40089190e-02 9.99399044e-01 -6.70400479e-03 -6.63213274e-01] [-1.01349525e-01 3.22460009e-03 9.94845654e-01 -2.97455012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469649246 meters 0.06257013100167809 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.66, Z:-2.99 [[ 9.94577288e-01 3.73525630e-02 9.70608296e-02 2.41688062e+01] [-3.69028517e-02 9.99298204e-01 -6.42494949e-03 -6.61795157e-01] [-9.72327010e-02 2.80828743e-03 9.95257713e-01 -2.98731277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529649246 meters 0.06270282270718289 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.66, Z:-2.99 [[ 9.94565980e-01 3.87578729e-02 9.66247300e-02 2.42309558e+01] [-3.83161204e-02 9.99245020e-01 -6.42383818e-03 -6.63981394e-01] [-9.68007545e-02 2.68664613e-03 9.95300154e-01 -2.99439860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589649246 meters 0.06254733232851732 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.66, Z:-3.00 [[ 9.94518286e-01 4.12467840e-02 9.60837171e-02 2.42929679e+01] [-4.08211830e-02 9.99146023e-01 -6.39179308e-03 -6.61004252e-01] [-9.62653048e-02 2.43450411e-03 9.95352734e-01 -3.00182207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649649246 meters 0.06188061429309802 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.66, Z:-3.01 [[ 9.94472911e-01 4.46869385e-02 9.50089779e-02 2.43551081e+01] [-4.42843430e-02 9.98998832e-01 -6.34276764e-03 -6.58216215e-01] [-9.51972968e-02 2.10030043e-03 9.95456209e-01 -3.00819513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709649246 meters 0.061565100185417845 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.66, Z:-3.01 [[ 9.94378355e-01 4.69311204e-02 9.49165813e-02 2.44175413e+01] [-4.65368362e-02 9.98896299e-01 -6.36453500e-03 -6.58064816e-01] [-9.51105166e-02 1.91163845e-03 9.95464884e-01 -3.01444817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769649246 meters 0.06110747604058544 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.66, Z:-3.02 [[ 9.94192966e-01 5.03104355e-02 9.51273159e-02 2.44790542e+01] [-4.99294500e-02 9.98732353e-01 -6.38251608e-03 -6.56106700e-01] [-9.53278352e-02 1.59579802e-03 9.95444653e-01 -3.02235769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829649246000002 meters 0.06125939777822652 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.66, Z:-3.03 [[ 9.94192736e-01 5.34071866e-02 9.34263151e-02 2.45405225e+01] [-5.30513050e-02 9.98571975e-01 -6.29049491e-03 -6.55920932e-01] [-9.36288576e-02 1.29757640e-03 9.95606324e-01 -3.03338340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889649246 meters 0.06097792750151039 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.66, Z:-3.04 [[ 9.93948486e-01 5.68319425e-02 9.40028558e-02 2.46024435e+01] [-5.64845345e-02 9.98383252e-01 -6.35450923e-03 -6.55037870e-01] [-9.42120160e-02 1.00634728e-03 9.95551648e-01 -3.03900939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949649246 meters 0.060579640209176486 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.66, Z:-3.05 [[ 9.93746106e-01 5.92538750e-02 9.46448911e-02 2.46643613e+01] [-5.89104128e-02 9.98242620e-01 -6.42137285e-03 -6.56208373e-01] [-9.48590553e-02 8.05644663e-04 9.95490387e-01 -3.04650805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009649246000002 meters 0.06068876492825503 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.65, Z:-3.06 [[ 9.93189432e-01 6.85312789e-02 9.42242857e-02 2.47266836e+01] [-6.82302916e-02 9.97648967e-01 -6.41612723e-03 -6.46621316e-01] [-9.44424666e-02 -5.65207206e-05 9.95530320e-01 -3.05640863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069649246 meters 0.06086570378150765 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.64, Z:-3.06 [[ 9.92636962e-01 7.54655580e-02 9.47460304e-02 2.47889465e+01] [-7.51906038e-02 9.97148165e-01 -6.47383497e-03 -6.42112915e-01] [-9.49643819e-02 -6.97843349e-04 9.95480426e-01 -3.06469811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129649246 meters 0.0608708788413393 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.64, Z:-3.07 [[ 9.92520559e-01 7.71854923e-02 9.45798047e-02 2.48510029e+01] [-7.69166773e-02 9.97016402e-01 -6.48995117e-03 -6.44183257e-01] [-9.47985467e-02 -8.33354348e-04 9.95496128e-01 -3.07198010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189649246000002 meters 0.06148574432918938 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.65, Z:-3.08 [[ 9.92320363e-01 8.10122277e-02 9.34736130e-02 2.49108553e+01] [-8.07638136e-02 9.96712438e-01 -6.44372437e-03 -6.45185902e-01] [-9.36883332e-02 -1.15504655e-03 9.95600905e-01 -3.08212951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249649246 meters 0.06135948138403146 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.65, Z:-3.09 [[ 9.92192863e-01 8.14915782e-02 9.44057475e-02 2.49725852e+01] [-8.12406181e-02 9.96673289e-01 -6.50508981e-03 -6.50972957e-01] [-9.46217969e-02 -1.21527759e-03 9.95512551e-01 -3.08817205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309649246 meters 0.06159670680846274 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.65, Z:-3.10 [[ 9.92097500e-01 8.25393413e-02 9.44976583e-02 2.50340747e+01] [-8.22904228e-02 9.96586968e-01 -6.53465092e-03 -6.54152279e-01] [-9.47145005e-02 -1.29324140e-03 9.95503637e-01 -3.09826361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369649246 meters 0.06160976873312528 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.66, Z:-3.11 [[ 9.92003623e-01 8.32360564e-02 9.48713364e-02 2.50965045e+01] [-8.29859915e-02 9.96528957e-01 -6.58508934e-03 -6.59524600e-01] [-9.50901508e-02 -1.34055943e-03 9.95467762e-01 -3.10599851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429649246 meters 0.06139698655181485 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.67, Z:-3.11 [[ 9.91843251e-01 8.27466943e-02 9.69533432e-02 2.51573947e+01] [-8.24803119e-02 9.96569773e-01 -6.75906250e-03 -6.66484307e-01] [-9.71800613e-02 -1.29281147e-03 9.95265977e-01 -3.11325875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489649246 meters 0.06159208433870042 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.67, Z:-3.12 [[ 9.92112906e-01 8.15502825e-02 9.51920824e-02 2.52184858e+01] [-8.12858064e-02 9.96668587e-01 -6.65924216e-03 -6.73680028e-01] [-9.54180214e-02 -1.13104509e-03 9.95436649e-01 -3.12334393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549649246 meters 0.06109153259075431 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.68, Z:-3.13 [[ 9.92352645e-01 7.88644352e-02 9.49559333e-02 2.52793934e+01] [-7.85868119e-02 9.96884990e-01 -6.66562940e-03 -6.83567732e-01] [-9.51858257e-02 -8.47629106e-04 9.95459160e-01 -3.12986024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609649246 meters 0.06100351467122168 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.69, Z:-3.14 [[ 9.92131442e-01 7.87647835e-02 9.73206626e-02 2.53405796e+01] [-7.84701975e-02 9.96892880e-01 -6.85673127e-03 -6.87603881e-01] [-9.75583445e-02 -8.33992934e-04 9.95229458e-01 -3.13674480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669649246000002 meters 0.06096998199557741 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.69, Z:-3.14 [[ 9.92045879e-01 7.80966398e-02 9.87212637e-02 2.54022382e+01] [-7.77877039e-02 9.96945508e-01 -6.98049327e-03 -6.93564693e-01] [-9.89648735e-02 -7.54330844e-04 9.95090642e-01 -3.14437038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729649246 meters 0.060781405914212806 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.70, Z:-3.15 [[ 9.92098143e-01 7.68141593e-02 9.92011115e-02 2.54638195e+01] [-7.64933687e-02 9.97045244e-01 -7.03886409e-03 -7.02077742e-01] [-9.94486808e-02 -6.04983208e-04 9.95042509e-01 -3.15113478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789649246 meters 0.060891455517325534 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.71, Z:-3.16 [[ 9.92308500e-01 7.56759569e-02 9.79642302e-02 2.55246556e+01] [-7.53552105e-02 9.97132357e-01 -6.97529459e-03 -7.10020300e-01] [-9.82111659e-02 -4.60471079e-04 9.95165491e-01 -3.15986834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849649246000002 meters 0.06086122049615363 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.72, Z:-3.17 [[ 9.92566203e-01 7.22013144e-02 9.79760305e-02 2.55844653e+01] [-7.18611330e-02 9.97390075e-01 -7.00112542e-03 -7.22209328e-01] [-9.82258109e-02 -9.15880824e-05 9.95164148e-01 -3.16968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909649246 meters 0.06094668924114127 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.74, Z:-3.18 [[ 9.92832227e-01 6.74690412e-02 9.86513967e-02 2.56462352e+01] [-6.70987135e-02 9.97721288e-01 -7.07069084e-03 -7.37350089e-01] [-9.89036513e-02 4.00627929e-04 9.95096934e-01 -3.17620129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969649246 meters 0.06090081784590681 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.74, Z:-3.18 [[ 9.92801782e-01 6.64761938e-02 9.96269889e-02 2.57074866e+01] [-6.60905706e-02 9.97787869e-01 -7.16977873e-03 -7.44252145e-01] [-9.98832205e-02 5.33764564e-04 9.94999024e-01 -3.18278289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029649246 meters 0.06086825533537733 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.75, Z:-3.19 [[ 9.92869431e-01 6.62605080e-02 9.90950998e-02 2.57681487e+01] [-6.58754986e-02 9.97802191e-01 -7.15586520e-03 -7.47403859e-01] [-9.93514590e-02 5.76900695e-04 9.95052237e-01 -3.19278903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089649246 meters 0.0607686292818538 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.75, Z:-3.20 [[ 9.92693631e-01 6.56346433e-02 1.01249437e-01 2.58302206e+01] [-6.52267728e-02 9.97843491e-01 -7.33732061e-03 -7.52259759e-01] [-1.01512674e-01 6.79537394e-04 9.94834014e-01 -3.19855619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149649246 meters 0.060641713267990116 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.76, Z:-3.21 [[ 9.92561049e-01 6.65785173e-02 1.01930688e-01 2.58915104e+01] [-6.61689312e-02 9.97781010e-01 -7.39793314e-03 -7.56944290e-01] [-1.02197048e-01 5.98255593e-04 9.94763995e-01 -3.20558672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209649246 meters 0.06076572529578603 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.76, Z:-3.21 [[ 9.92582544e-01 6.71642434e-02 1.01335369e-01 2.59534155e+01] [-6.67600251e-02 9.97741776e-01 -7.37882484e-03 -7.62932465e-01] [-1.01602124e-01 5.58940938e-04 9.94824957e-01 -3.21369674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269649246 meters 0.060666038151235745 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.77, Z:-3.22 [[ 9.92486167e-01 6.76632047e-02 1.01945568e-01 2.60144028e+01] [-6.72537034e-02 9.97708073e-01 -7.45255805e-03 -7.67634490e-01] [-1.02216181e-01 5.40343753e-04 9.94762062e-01 -3.22090318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329649246000002 meters 0.06083987266643806 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.77, Z:-3.23 [[ 9.92483201e-01 6.80654846e-02 1.01706374e-01 2.60765603e+01] [-6.76575501e-02 9.97680719e-01 -7.45911756e-03 -7.71493607e-01] [-1.01978196e-01 5.21844810e-04 9.94786497e-01 -3.22896023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389649246 meters 0.06103884933950052 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.78, Z:-3.24 [[ 9.92597411e-01 6.63390388e-02 1.01732547e-01 2.61384100e+01] [-6.59188354e-02 9.97796873e-01 -7.49042652e-03 -7.79818079e-01] [-1.02005325e-01 7.28886952e-04 9.94783586e-01 -3.23716996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449649246 meters 0.06107377878346521 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.79, Z:-3.24 [[ 9.92592628e-01 6.43544868e-02 1.03045499e-01 2.61981766e+01] [-6.39093876e-02 9.97926624e-01 -7.61866080e-03 -7.88306558e-01] [-1.03322142e-01 9.76651816e-04 9.94647466e-01 -3.24433245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509649246000002 meters 0.061044407672555645 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.79, Z:-3.25 [[ 9.92460981e-01 6.47589428e-02 1.04055180e-01 2.62601253e+01] [-6.43044200e-02 9.97900464e-01 -7.72043558e-03 -7.92069441e-01] [-1.04336680e-01 9.71023074e-04 9.94541560e-01 -3.25229175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569649246 meters 0.06125262328230883 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.80, Z:-3.26 [[ 9.92637540e-01 6.31533087e-02 1.03355571e-01 2.63205397e+01] [-6.26955668e-02 9.98003188e-01 -7.67476990e-03 -8.00153945e-01] [-1.03633876e-01 1.13832863e-03 9.94614862e-01 -3.26087840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629649246 meters 0.061026128811383785 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.80, Z:-3.27 [[ 9.92587002e-01 6.34606711e-02 1.03652235e-01 2.63832768e+01] [-6.29996316e-02 9.97983698e-01 -7.71907904e-03 -8.04422898e-01] [-1.03933099e-01 1.13180489e-03 9.94583647e-01 -3.26775396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689649246000002 meters 0.060853413453881636 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.81, Z:-3.27 [[ 9.92217539e-01 6.22189506e-02 1.07857119e-01 2.64456913e+01] [-6.17084901e-02 9.98061613e-01 -8.06715422e-03 -8.09789741e-01] [-1.08149980e-01 1.34867195e-03 9.94133675e-01 -3.27095143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749649246 meters 0.06085463281121478 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.82, Z:-3.28 [[ 9.92292075e-01 6.08723841e-02 1.07939754e-01 2.65070788e+01] [-6.03524244e-02 9.98144424e-01 -8.08041820e-03 -8.15009547e-01] [-1.08231338e-01 1.50370910e-03 9.94124598e-01 -3.27743260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809649246 meters 0.061338612903357646 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.82, Z:-3.29 [[ 9.92414764e-01 6.03023647e-02 1.07128709e-01 2.65683168e+01] [-5.97840445e-02 9.98178905e-01 -8.04620861e-03 -8.17421696e-01] [-1.07418823e-01 1.58058871e-03 9.94212602e-01 -3.28909020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869649246 meters 0.06128186223643906 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.82, Z:-3.30 [[ 9.92464452e-01 6.13593249e-02 1.06062929e-01 2.66305758e+01] [-6.08546406e-02 9.98114649e-01 -7.99123277e-03 -8.21461680e-01] [-1.06353300e-01 1.47659304e-03 9.94327308e-01 -3.29773021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.929649246 meters 0.061444473821721995 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.83, Z:-3.31 [[ 9.92428452e-01 6.26802780e-02 1.05626465e-01 2.66912469e+01] [-6.21840346e-02 9.98032732e-01 -7.98818675e-03 -8.27028270e-01] [-1.05919371e-01 1.35942408e-03 9.94373792e-01 -3.30719341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.989649246 meters 0.06082135398021686 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.83, Z:-3.31 [[ 9.92359896e-01 6.50124571e-02 1.04858082e-01 2.67537392e+01] [-6.45335485e-02 9.97883813e-01 -7.95716573e-03 -8.27756112e-01] [-1.05153498e-01 1.12950803e-03 9.94455362e-01 -3.31156120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.049649246 meters 0.06059391101133087 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.83, Z:-3.32 [[ 9.92052653e-01 6.63239800e-02 1.06923632e-01 2.68160150e+01] [-6.58303174e-02 9.97797598e-01 -8.14382128e-03 -8.30147310e-01] [-1.07228274e-01 1.04028285e-03 9.94233883e-01 -3.31801315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.109649246 meters 0.060473296825873324 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.83, Z:-3.33 [[ 9.92125206e-01 6.73379258e-02 1.05608613e-01 2.68764975e+01] [-6.68613737e-02 9.97729796e-01 -8.05048803e-03 -8.32361779e-01] [-1.05910963e-01 9.25955132e-04 9.94375186e-01 -3.32675182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169649246000002 meters 0.06034838769191704 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.83, Z:-3.34 [[ 9.92022910e-01 6.90578968e-02 1.05458774e-01 2.69381689e+01] [-6.85898520e-02 9.97612360e-01 -8.06293097e-03 -8.33657218e-01] [-1.05763786e-01 7.65210518e-04 9.94390988e-01 -3.33542860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229649246 meters 0.060391142291297197 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.83, Z:-3.35 [[ 9.91936898e-01 7.13903098e-02 1.04712051e-01 2.70003347e+01] [-7.09391921e-02 9.97448312e-01 -8.03099365e-03 -8.34491496e-01] [-1.05018194e-01 5.38050624e-04 9.94470155e-01 -3.34505302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.289649246 meters 0.06019363676721529 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.84, Z:-3.35 [[ 9.91602621e-01 7.48922101e-02 1.05429593e-01 2.70613963e+01] [-7.44513212e-02 9.97191615e-01 -8.11687335e-03 -8.35035408e-01] [-1.05741397e-01 1.99340374e-04 9.94393643e-01 -3.35307372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349649246000002 meters 0.06024513713401322 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.83, Z:-3.36 [[ 9.91398748e-01 7.95571389e-02 1.03919122e-01 2.71231221e+01] [-7.91519937e-02 9.96830270e-01 -8.02332418e-03 -8.33396776e-01] [-1.04228039e-01 -2.71092162e-04 9.94553388e-01 -3.36244756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.409649246 meters 0.06035438513925073 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.83, Z:-3.37 [[ 9.90860093e-01 8.39644446e-02 1.05575797e-01 2.71849877e+01] [-8.35684739e-02 9.96468490e-01 -8.17666105e-03 -8.34091103e-01] [-1.05889504e-01 -7.20881143e-04 9.94377641e-01 -3.36793314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469649246 meters 0.06041491252557723 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.84, Z:-3.38 [[ 9.90964891e-01 8.48036557e-02 1.03908252e-01 2.72465542e+01] [-8.44220944e-02 9.96397382e-01 -8.07259244e-03 -8.39619787e-01] [-1.04218496e-01 -7.72496570e-04 9.94554125e-01 -3.37637130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529649246 meters 0.06025907130797286 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.85, Z:-3.39 [[ 9.91082548e-01 8.23902732e-02 1.04724526e-01 2.73077356e+01] [-8.19864871e-02 9.96600018e-01 -8.16209260e-03 -8.47847191e-01] [-1.05040941e-01 -4.96688468e-04 9.94467774e-01 -3.38556541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589649246 meters 0.0600853378245288 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.86, Z:-3.39 [[ 9.91099488e-01 8.21191446e-02 1.04777146e-01 2.73695150e+01] [-8.17107777e-02 9.96622421e-01 -8.19139209e-03 -8.57650774e-01] [-1.05095923e-01 -4.42937568e-04 9.94461991e-01 -3.39109734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649649246 meters 0.06018874811810212 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.87, Z:-3.40 [[ 9.91215543e-01 8.05029826e-02 1.04933398e-01 2.74296553e+01] [-8.00811468e-02 9.96754339e-01 -8.23398209e-03 -8.65596580e-01] [-1.05255680e-01 -2.41535859e-04 9.94445164e-01 -3.39866794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709649246 meters 0.060227459183758575 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.87, Z:-3.41 [[ 9.91405284e-01 8.00817638e-02 1.03452758e-01 2.74895614e+01] [-7.96671057e-02 9.96788283e-01 -8.14066523e-03 -8.70186886e-01] [-1.03772416e-01 -1.71083248e-04 9.94601054e-01 -3.40981537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.769649246 meters 0.060069289143445476 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.88, Z:-3.42 [[ 9.91468893e-01 7.92433179e-02 1.03488800e-01 2.75515194e+01] [-7.88215536e-02 9.96855302e-01 -8.16516480e-03 -8.77550797e-01] [-1.03810394e-01 -6.16411011e-05 9.94597104e-01 -3.41724312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.829649246 meters 0.060289736351052135 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.88, Z:-3.43 [[ 9.91358970e-01 8.04629553e-02 1.03600705e-01 2.76134696e+01] [-8.00440493e-02 9.96757587e-01 -8.20143951e-03 -8.81970432e-01] [-1.03924700e-01 -1.62049286e-04 9.94585155e-01 -3.42577725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.889649246 meters 0.05993747459789357 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.89, Z:-3.43 [[ 9.91321406e-01 8.09346935e-02 1.03592693e-01 2.76762287e+01] [-8.05156087e-02 9.96719389e-01 -8.22772194e-03 -8.87949516e-01] [-1.03918754e-01 -1.84511866e-04 9.94585772e-01 -3.43142843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.949649246 meters 0.059527056519251095 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.89, Z:-3.44 [[ 9.91179217e-01 8.17251440e-02 1.04330057e-01 2.77373402e+01] [-8.13013260e-02 9.96654877e-01 -8.31571237e-03 -8.93530458e-01] [-1.04660663e-01 -2.39810715e-04 9.94507963e-01 -3.43765643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009649246000002 meters 0.059463415748145676 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.90, Z:-3.45 [[ 9.91178436e-01 8.21034221e-02 1.04040067e-01 2.77991771e+01] [-8.16815201e-02 9.96623782e-01 -8.31661994e-03 -8.98686283e-01] [-1.04371628e-01 -2.54896498e-04 9.94538334e-01 -3.44593607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069649246 meters 0.05938829916053819 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.91, Z:-3.45 [[ 9.91242177e-01 8.10128624e-02 1.04287406e-01 2.78608530e+01] [-8.05800118e-02 9.96713050e-01 -8.36410469e-03 -9.08274229e-01] [-1.04622219e-01 -1.12627111e-04 9.94512030e-01 -3.45253418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129649246 meters 0.05927254079876789 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.92, Z:-3.46 [[ 9.91437753e-01 7.93146425e-02 1.03732204e-01 2.79225959e+01] [-7.88742017e-02 9.96849627e-01 -8.34755675e-03 -9.16497134e-01] [-1.04067492e-01 9.42881240e-05 9.94570233e-01 -3.45986670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189649246000002 meters 0.05947166068542486 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.92, Z:-3.47 [[ 9.91676972e-01 7.89835536e-02 1.01677830e-01 2.79825778e+01] [-7.85554620e-02 9.96875907e-01 -8.21377536e-03 -9.24051572e-01] [-1.02008932e-01 1.58062961e-04 9.94783470e-01 -3.47046905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249649246 meters 0.05963110913527032 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.93, Z:-3.48 [[ 9.91580434e-01 7.97681086e-02 1.02006336e-01 2.80426640e+01] [-7.93402195e-02 9.96813443e-01 -8.25158368e-03 -9.28710835e-01] [-1.02339500e-01 8.89038264e-05 9.94749526e-01 -3.48115306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309649246 meters 0.05923138555101198 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.93, Z:-3.48 [[ 9.91654948e-01 8.05232116e-02 1.00680068e-01 2.81050797e+01] [-8.01082134e-02 9.96752733e-01 -8.16472550e-03 -9.33042410e-01] [-1.01010583e-01 3.12901058e-05 9.94885351e-01 -3.48356505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369649246 meters 0.059236525223301646 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.95, Z:-3.49 [[ 9.91987410e-01 7.06267815e-02 1.04751306e-01 2.81652214e+01] [-7.01192966e-02 9.97502193e-01 -8.52409335e-03 -9.49480965e-01] [-1.05091687e-01 1.11070535e-03 9.94461917e-01 -3.48511474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429649246 meters 0.0600721612857071 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.95, Z:-3.50 [[ 9.92673072e-01 6.84208931e-02 9.95929348e-02 2.82251571e+01] [-6.79496687e-02 9.97655707e-01 -8.11993327e-03 -9.51180771e-01] [-9.99150329e-02 1.29313218e-03 9.94995133e-01 -3.50055682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489649246 meters 0.060603631703144076 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.96, Z:-3.51 [[ 9.93000904e-01 6.73819865e-02 9.69993465e-02 2.82854380e+01] [-6.69302866e-02 9.97726325e-01 -7.90672129e-03 -9.55660392e-01] [-9.73115722e-02 1.35918733e-03 9.95253038e-01 -3.51406308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549649246 meters 0.05941664072230191 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.96, Z:-3.51 [[ 9.92387358e-01 6.94717055e-02 1.01690774e-01 2.83458157e+01] [-6.89833452e-02 9.97583155e-01 -8.31543872e-03 -9.63612056e-01] [-1.02022691e-01 1.23716646e-03 9.94781303e-01 -3.51131226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609649246 meters 0.05924481913411743 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.97, Z:-3.52 [[ 9.92245436e-01 7.09153137e-02 1.02078465e-01 2.84076882e+01] [-7.04300601e-02 9.97481733e-01 -8.35459589e-03 -9.65894103e-01] [-1.02413873e-01 1.10041724e-03 9.94741267e-01 -3.51991932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669649246000002 meters 0.05925512265753479 Centerline is valid? [True, True] Translation: X:28.47, Y:-0.96, Z:-3.53 [[ 9.92305276e-01 7.44183098e-02 9.89553155e-02 2.84695098e+01] [-7.39775958e-02 9.97226840e-01 -8.12060767e-03 -9.62671894e-01] [-9.92852185e-02 7.37645507e-04 9.95058743e-01 -3.53028625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.729649246 meters 0.05911230795584502 Centerline is valid? [True, True] Translation: X:28.53, Y:-0.96, Z:-3.54 [[ 9.92228344e-01 7.87376072e-02 9.63498937e-02 2.85305800e+01] [-7.83379999e-02 9.96895324e-01 -7.92910563e-03 -9.62759820e-01] [-9.66750773e-02 3.19625387e-04 9.95315943e-01 -3.53909699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.789649246 meters 0.05928117147984782 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.97, Z:-3.55 [[ 9.92122577e-01 7.99924951e-02 9.64053602e-02 2.85911117e+01] [-7.95963902e-02 9.96795442e-01 -7.95369407e-03 -9.65538912e-01] [-9.67326595e-02 2.17520785e-04 9.95310376e-01 -3.54976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849649246000002 meters 0.05915063558953638 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.96, Z:-3.56 [[ 9.91669953e-01 8.56963613e-02 9.61604845e-02 2.86538201e+01] [-8.53267743e-02 9.96321251e-01 -7.95657074e-03 -9.60890746e-01] [-9.64885834e-02 -3.14771824e-04 9.95334042e-01 -3.55697502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909649246 meters 0.05978556010493326 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.95, Z:-3.57 [[ 9.91061445e-01 9.24025146e-02 9.62236291e-02 2.87147505e+01] [-9.20611237e-02 9.95721293e-01 -7.99097964e-03 -9.53502237e-01] [-9.65503030e-02 -9.38903582e-04 9.95327663e-01 -3.56552454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969649246 meters 0.060202061579762836 Centerline is valid? [True, True] Translation: X:28.78, Y:-0.95, Z:-3.57 [[ 9.90459718e-01 9.84750343e-02 9.63961314e-02 2.87771112e+01] [-9.81598232e-02 9.95138360e-01 -8.01830309e-03 -9.51433758e-01] [-9.67170908e-02 -1.52042100e-03 9.95310752e-01 -3.57025402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029649246 meters 0.06148999785085464 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.95, Z:-3.58 [[ 9.89823597e-01 1.02578687e-01 9.86248449e-02 2.88386185e+01] [-1.02268790e-01 9.94722955e-01 -8.20597059e-03 -9.49085728e-01] [-9.89461548e-02 -1.96378028e-03 9.95090851e-01 -3.57901360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089649246 meters 0.0615952992919281 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.95, Z:-3.59 [[ 9.89943073e-01 1.02332841e-01 9.76765119e-02 2.88988337e+01] [-1.02025219e-01 9.94748409e-01 -8.15214053e-03 -9.54844940e-01] [-9.79977865e-02 -1.89531243e-03 9.95184828e-01 -3.58887148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149649246 meters 0.060046022471784755 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.97, Z:-3.59 [[ 9.90419500e-01 9.95211930e-02 9.57326762e-02 2.89607458e+01] [-9.92109564e-02 9.95034208e-01 -8.00693724e-03 -9.73019398e-01] [-9.60541476e-02 -1.56750359e-03 9.95374876e-01 -3.59314597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209649246 meters 0.05949729758938279 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.98, Z:-3.60 [[ 9.90573332e-01 9.81081866e-02 9.55994687e-02 2.90218430e+01] [-9.77897022e-02 9.95174768e-01 -8.02222723e-03 -9.83059860e-01] [-9.59252252e-02 -1.40203923e-03 9.95387555e-01 -3.59898492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269649246 meters 0.059144493395692437 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.99, Z:-3.61 [[ 9.90525421e-01 9.67173726e-02 9.74943090e-02 2.90819675e+01] [-9.63769445e-02 9.95311078e-01 -8.20621073e-03 -9.91535298e-01] [-9.78308489e-02 -1.26774327e-03 9.95202250e-01 -3.60626948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.329649246 meters 0.05842965003314851 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.00, Z:-3.61 [[ 9.90851557e-01 9.13446361e-02 9.93446043e-02 2.91413503e+01] [-9.09614584e-02 9.95819077e-01 -8.38926906e-03 -1.00368578e+00] [-9.96955668e-02 -7.24009776e-04 9.95017723e-01 -3.61373794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.389649246 meters 0.05801611614417119 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.01, Z:-3.62 [[ 9.90965847e-01 8.92639605e-02 1.00093131e-01 2.92015685e+01] [-8.88644492e-02 9.96007869e-01 -8.45185788e-03 -1.01327440e+00] [-1.00447992e-01 -5.19218404e-04 9.94942175e-01 -3.62110111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.449649246 meters 0.05795800370094868 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.02, Z:-3.63 [[ 9.91080640e-01 8.89515603e-02 9.92309721e-02 2.92628125e+01] [-8.85553892e-02 9.96035845e-01 -8.39869646e-03 -1.02125881e+00] [-9.95846823e-02 -4.63651893e-04 9.95028983e-01 -3.62732117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509649246000002 meters 0.05816758883919494 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.03, Z:-3.64 [[ 9.91326090e-01 8.86280745e-02 9.70445704e-02 2.93227194e+01] [-8.82454651e-02 9.96064709e-01 -8.23606571e-03 -1.02705469e+00] [-9.73926185e-02 -3.99116439e-04 9.95245959e-01 -3.63860509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.569649246 meters 0.057925421247060446 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.03, Z:-3.64 [[ 9.91205246e-01 8.91456101e-02 9.78019445e-02 2.93841707e+01] [-8.87574882e-02 9.96018510e-01 -8.32079400e-03 -1.03297410e+00] [-9.81543093e-02 -4.33040262e-04 9.95171113e-01 -3.64469720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.629649246 meters 0.0577894743849889 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.04, Z:-3.65 [[ 9.91012461e-01 8.93260449e-02 9.95748940e-02 2.94461151e+01] [-8.89222344e-02 9.96002343e-01 -8.49518997e-03 -1.03834450e+00] [-9.99356695e-02 -4.35582942e-04 9.94993805e-01 -3.65014634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689649246000002 meters 0.05790632226322262 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.05, Z:-3.66 [[ 9.91065213e-01 8.93208388e-02 9.90531786e-02 2.95058152e+01] [-8.89187680e-02 9.96002822e-01 -8.47534377e-03 -1.04610917e+00] [-9.94142702e-02 -4.08068227e-04 9.95046047e-01 -3.65924797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.749649246 meters 0.05779182856330595 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.05, Z:-3.67 [[ 9.91045365e-01 8.95125054e-02 9.90787324e-02 2.95680855e+01] [-8.91090861e-02 9.95985615e-01 -8.49850405e-03 -1.05281508e+00] [-9.94417146e-02 -4.06412242e-04 9.95043306e-01 -3.66706851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.809649246 meters 0.058438793243485825 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.06, Z:-3.68 [[ 9.91092219e-01 9.04435232e-02 9.77557274e-02 2.96281845e+01] [-9.00526587e-02 9.95901477e-01 -8.41228436e-03 -1.05713384e+00] [-9.81159100e-02 -4.65813581e-04 9.95174885e-01 -3.67905621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869649246 meters 0.05797971269725649 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.07, Z:-3.68 [[ 9.90998863e-01 8.89782208e-02 1.00020645e-01 2.96901032e+01] [-8.85593780e-02 9.96033525e-01 -8.62869822e-03 -1.06578322e+00] [-1.00391681e-01 -3.06735954e-04 9.94947946e-01 -3.68079057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.929649246 meters 0.058042174096480534 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.07, Z:-3.69 [[ 9.91173545e-01 8.64098210e-02 1.00540275e-01 2.97499775e+01] [-8.59706466e-02 9.96259676e-01 -8.70088855e-03 -1.07483509e+00] [-1.00916064e-01 -1.94218820e-05 9.94894943e-01 -3.69109481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.989649246 meters 0.057872195596954994 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.09, Z:-3.70 [[ 9.91387991e-01 8.21758515e-02 1.01965589e-01 2.98106024e+01] [-8.17004950e-02 9.96617753e-01 -8.83653927e-03 -1.08907802e+00] [-1.02346866e-01 4.29799845e-04 9.94748679e-01 -3.69577437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049649246 meters 0.05794056081651331 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.10, Z:-3.70 [[ 9.91427803e-01 8.03234508e-02 1.03048801e-01 2.98714162e+01] [-7.98255178e-02 9.96768639e-01 -8.95361250e-03 -1.09722614e+00] [-1.03434998e-01 6.50936452e-04 9.94636002e-01 -3.70223334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.109649246 meters 0.05769279944641665 Centerline is valid? [True, True] Translation: X:29.93, Y:-1.10, Z:-3.71 [[ 9.91272013e-01 7.99313557e-02 1.04836900e-01 2.99328313e+01] [-7.94111290e-02 9.96800104e-01 -9.13374967e-03 -1.10289924e+00] [-1.05231505e-01 7.28813857e-04 9.94447484e-01 -3.70629759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169649246000002 meters 0.057712805898916926 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.11, Z:-3.72 [[ 9.91268813e-01 7.98682367e-02 1.04915228e-01 2.99941908e+01] [-7.93440585e-02 9.96805138e-01 -9.16719208e-03 -1.10803529e+00] [-1.05312206e-01 7.62751626e-04 9.94438916e-01 -3.71529737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.229649246 meters 0.057622277454803805 Centerline is valid? [True, True] Translation: X:30.06, Y:-1.11, Z:-3.72 [[ 9.91216591e-01 8.04267893e-02 1.04981912e-01 3.00563382e+01] [-7.99033725e-02 9.96760259e-01 -9.18900031e-03 -1.11371846e+00] [-1.05380839e-01 7.19880758e-04 9.94431677e-01 -3.72298163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.289649246 meters 0.057685418315720424 Centerline is valid? [True, True] Translation: X:30.12, Y:-1.12, Z:-3.73 [[ 9.91076011e-01 8.03467014e-02 1.06361407e-01 3.01172690e+01] [-7.98057757e-02 9.96766682e-01 -9.33915027e-03 -1.11860754e+00] [-1.06767876e-01 7.67553247e-04 9.94283678e-01 -3.73056555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349649246000002 meters 0.05757987403608264 Centerline is valid? [True, True] Translation: X:30.18, Y:-1.12, Z:-3.74 [[ 9.91077060e-01 8.13633328e-02 1.05575890e-01 3.01797529e+01] [-8.08336522e-02 9.96684278e-01 -9.29356371e-03 -1.12311535e+00] [-1.05981985e-01 6.76552997e-04 9.94367820e-01 -3.73835713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.409649246 meters 0.05741676649931858 Centerline is valid? [True, True] Translation: X:30.24, Y:-1.13, Z:-3.75 [[ 9.90986737e-01 8.24709336e-02 1.05564351e-01 3.02414254e+01] [-8.19445428e-02 9.96593297e-01 -9.32156166e-03 -1.12768809e+00] [-1.05973482e-01 5.87121518e-04 9.94368783e-01 -3.74672038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.469649246 meters 0.057656778777725744 Centerline is valid? [True, True] Translation: X:30.30, Y:-1.13, Z:-3.76 [[ 9.90854691e-01 8.53139895e-02 1.04539486e-01 3.03026539e+01] [-8.48104195e-02 9.96354067e-01 -9.26098236e-03 -1.12826991e+00] [-1.04948433e-01 3.10250161e-04 9.94477617e-01 -3.75742814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529649246 meters 0.05793562711108863 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.13, Z:-3.77 [[ 9.91171323e-01 8.51716156e-02 1.01613009e-01 3.03634526e+01] [-8.46935930e-02 9.96366241e-01 -9.01716992e-03 -1.13132527e+00] [-1.02011778e-01 3.31589448e-04 9.94783136e-01 -3.76771592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.589649246 meters 0.057878111905740416 Centerline is valid? [True, True] Translation: X:30.43, Y:-1.14, Z:-3.77 [[ 9.91188005e-01 8.52044202e-02 1.01422613e-01 3.04252642e+01] [-8.47262820e-02 9.96363431e-01 -9.02061127e-03 -1.13832468e+00] [-1.01822378e-01 3.47960810e-04 9.94802534e-01 -3.77394920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.649649246 meters 0.05791083817842816 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.15, Z:-3.78 [[ 9.91079326e-01 8.57540897e-02 1.02019635e-01 3.04854273e+01] [-8.52702393e-02 9.96316281e-01 -9.10240954e-03 -1.14507482e+00] [-1.02424393e-01 3.21971177e-04 9.94740740e-01 -3.78194557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709649246 meters 0.057635675296307774 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.15, Z:-3.78 [[ 9.90847739e-01 8.51866581e-02 1.04709081e-01 3.05478647e+01] [-8.46710073e-02 9.96364923e-01 -9.36806929e-03 -1.15101407e+00] [-1.05126490e-01 4.16506941e-04 9.94458771e-01 -3.78483463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.769649246 meters 0.05744891389939891 Centerline is valid? [True, True] Translation: X:30.61, Y:-1.16, Z:-3.79 [[ 9.90659692e-01 8.62112998e-02 1.05645574e-01 3.06085751e+01] [-8.56914702e-02 9.96276825e-01 -9.45836664e-03 -1.15523357e+00] [-1.06067655e-01 3.17098022e-04 9.94358865e-01 -3.79303710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.829649246 meters 0.0573673273475949 Centerline is valid? [True, True] Translation: X:30.67, Y:-1.16, Z:-3.80 [[ 9.90500228e-01 8.65709560e-02 1.06839920e-01 3.06703329e+01] [-8.60389089e-02 9.96245641e-01 -9.58797686e-03 -1.16228824e+00] [-1.07268845e-01 3.04503126e-04 9.94230005e-01 -3.79957556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.889649246 meters 0.05727880856005601 Centerline is valid? [True, True] Translation: X:30.73, Y:-1.17, Z:-3.81 [[ 9.90443096e-01 8.63743863e-02 1.07526453e-01 3.07307710e+01] [-8.58316365e-02 9.96262687e-01 -9.67414332e-03 -1.16905285e+00] [-1.07960191e-01 3.52517038e-04 9.94155155e-01 -3.80863985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.949649246 meters 0.05759248598649827 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.18, Z:-3.82 [[ 9.90656483e-01 8.65814409e-02 1.05372610e-01 3.07917020e+01] [-8.60592302e-02 9.96244717e-01 -9.50122377e-03 -1.17516646e+00] [-1.05799536e-01 3.44163226e-04 9.94387419e-01 -3.81840299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.009649246 meters 0.05770639162419363 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.18, Z:-3.83 [[ 9.90744602e-01 8.67489163e-02 1.04401915e-01 3.08532891e+01] [-8.62348905e-02 9.96230147e-01 -9.43597111e-03 -1.18012782e+00] [-1.04826896e-01 3.45549712e-04 9.94490424e-01 -3.82502099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.069649246 meters 0.057625890176337485 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.19, Z:-3.83 [[ 9.90503252e-01 8.67145047e-02 1.06695376e-01 3.09145339e+01] [-8.61745977e-02 9.96233129e-01 -9.66905201e-03 -1.18506167e+00] [-1.07131916e-01 3.82796330e-04 9.94244742e-01 -3.83007422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129649246 meters 0.05751845296998091 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.19, Z:-3.84 [[ 9.90493652e-01 8.64970653e-02 1.06960659e-01 3.09754242e+01] [-8.59502384e-02 9.96252011e-01 -9.72048686e-03 -1.19231148e+00] [-1.07400565e-01 4.34786354e-04 9.94215736e-01 -3.83775839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189649245999995 meters 0.05760466879214483 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.20, Z:-3.84 [[ 9.90424126e-01 8.72589212e-02 1.06985657e-01 3.10374862e+01] [-8.67144570e-02 9.96185597e-01 -9.73953277e-03 -1.19724761e+00] [-1.07427432e-01 3.69065072e-04 9.94212860e-01 -3.84488619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249649246 meters 0.057615166861377215 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.21, Z:-3.85 [[ 9.90659211e-01 8.64787613e-02 1.05431264e-01 3.10990003e+01] [-8.59425908e-02 9.96253581e-01 -9.62671193e-03 -1.20503467e+00] [-1.05868780e-01 4.75754916e-04 9.94379995e-01 -3.85251066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309649246 meters 0.05772551199772121 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.21, Z:-3.86 [[ 9.90638967e-01 8.69369411e-02 1.05244501e-01 3.11600062e+01] [-8.64023201e-02 9.96213713e-01 -9.63725193e-03 -1.21198557e+00] [-1.05683849e-01 4.53668213e-04 9.94399677e-01 -3.86153851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369649245999994 meters 0.05804987157395472 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.22, Z:-3.87 [[ 9.90688433e-01 8.67790056e-02 1.04908686e-01 3.12214891e+01] [-8.62451372e-02 9.96227468e-01 -9.62331344e-03 -1.21660293e+00] [-1.05348016e-01 4.85841329e-04 9.94435297e-01 -3.87086687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.429649246 meters 0.058030723526139534 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.22, Z:-3.88 [[ 9.90835588e-01 8.60526184e-02 1.04114290e-01 3.12811434e+01] [-8.55199192e-02 9.96290421e-01 -9.57812778e-03 -1.22407088e+00] [-1.04552293e-01 5.86504190e-04 9.94519218e-01 -3.87913938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.489649246 meters 0.05786979940669539 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.23, Z:-3.88 [[ 9.90756096e-01 8.42236193e-02 1.06342564e-01 3.13422006e+01] [-8.36547326e-02 9.96446541e-01 -9.80696496e-03 -1.23355516e+00] [-1.06790658e-01 8.20251532e-04 9.94281189e-01 -3.88467231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.549649245999994 meters 0.057747481059786145 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.24, Z:-3.89 [[ 9.90807194e-01 8.50812656e-02 1.05177385e-01 3.14036371e+01] [-8.45270558e-02 9.96373737e-01 -9.72379791e-03 -1.23974720e+00] [-1.05623297e-01 7.44074230e-04 9.94405936e-01 -3.89225602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.609649246 meters 0.05784186197638538 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.24, Z:-3.90 [[ 9.90715496e-01 8.68632552e-02 1.04582894e-01 3.14660882e+01] [-8.63226664e-02 9.96220078e-01 -9.69293941e-03 -1.24337119e+00] [-1.05029539e-01 5.75071030e-04 9.94468936e-01 -3.90261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.669649246 meters 0.05762534084207169 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.25, Z:-3.91 [[ 9.90563498e-01 8.80976408e-02 1.04989341e-01 3.15271637e+01] [-8.75565969e-02 9.96111730e-01 -9.76027246e-03 -1.24640535e+00] [-1.05440971e-01 4.75660210e-04 9.94425450e-01 -3.91015299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.729649245999994 meters 0.05757985820771825 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.25, Z:-3.92 [[ 9.90361371e-01 8.88059184e-02 1.06291409e-01 3.15874296e+01] [-8.82525172e-02 9.96048855e-01 -9.90813348e-03 -1.25210669e+00] [-1.06751337e-01 4.32148264e-04 9.94285656e-01 -3.91579946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789649245999996 meters 0.05751688454411842 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.26, Z:-3.92 [[ 9.90530811e-01 8.61460547e-02 1.06899809e-01 3.16493955e+01] [-8.55684194e-02 9.96282240e-01 -9.98718800e-03 -1.26255443e+00] [-1.07362738e-01 7.45369776e-04 9.94219637e-01 -3.92211986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849649246 meters 0.05826492002976999 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.27, Z:-3.93 [[ 9.91085327e-01 8.31472169e-02 1.04098105e-01 3.17103836e+01] [-8.25802255e-02 9.96536702e-01 -9.75237341e-03 -1.26768984e+00] [-1.04548465e-01 1.06898922e-03 9.94519218e-01 -3.92953224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.909649245999994 meters 0.058493956564268576 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.27, Z:-3.94 [[ 9.91234180e-01 8.32225732e-02 1.02609961e-01 3.17701498e+01] [-8.26697473e-02 9.96530412e-01 -9.63596399e-03 -1.27489966e+00] [-1.03055876e-01 1.06875735e-03 9.94674994e-01 -3.93863718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.969649245999996 meters 0.05845330125528619 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.28, Z:-3.94 [[ 9.91334549e-01 8.26965256e-02 1.02064181e-01 3.18309820e+01] [-8.21444896e-02 9.96574124e-01 -9.60716221e-03 -1.28189805e+00] [-1.02509001e-01 1.13990174e-03 9.94731424e-01 -3.94493822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.029649246 meters 0.058658987618419534 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.29, Z:-3.96 [[ 9.91321342e-01 8.33140705e-02 1.01689543e-01 3.18917875e+01] [-8.27668255e-02 9.96522736e-01 -9.59631569e-03 -1.28703746e+00] [-1.02135449e-01 1.09651192e-03 9.94769897e-01 -3.95551633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089649246 meters 0.05822034993545774 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.29, Z:-3.96 [[ 9.91001199e-01 8.60575194e-02 1.02521839e-01 3.19538345e+01] [-8.55141405e-02 9.96289818e-01 -9.69173614e-03 -1.28929051e+00] [-1.02975511e-01 8.37455169e-04 9.94683539e-01 -3.96264714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149649245999996 meters 0.05804206754176949 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.29, Z:-3.97 [[ 9.90784823e-01 8.94494432e-02 1.01706598e-01 3.20163762e+01] [-8.89302453e-02 9.95991237e-01 -9.63678124e-03 -1.29013967e+00] [-1.02160885e-01 5.03183880e-04 9.94767762e-01 -3.96825789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.209649246 meters 0.05835556247113646 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.29, Z:-3.98 [[ 9.90538990e-01 9.31370225e-02 1.00786922e-01 3.20779328e+01] [-9.26433060e-02 9.95653289e-01 -9.57838571e-03 -1.28922035e+00] [-1.01240933e-01 1.50530870e-04 9.94861926e-01 -3.98012461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269649246 meters 0.0584405060590331 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.29, Z:-3.99 [[ 9.90270604e-01 9.68947898e-02 9.98775748e-02 3.21397054e+01] [-9.64263579e-02 9.95294608e-01 -9.51839434e-03 -1.28937846e+00] [-1.00329895e-01 -2.05044662e-04 9.94954205e-01 -3.98805062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.329649245999995 meters 0.0583097357830934 Centerline is valid? [True, True] Translation: X:32.20, Y:-1.29, Z:-3.99 [[ 9.89584850e-01 1.01147671e-01 1.02425457e-01 3.22015372e+01] [-1.00675025e-01 9.94871226e-01 -9.78690337e-03 -1.29047338e+00] [-1.02890062e-01 -6.26714125e-04 9.94692537e-01 -3.99315859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.389649246 meters 0.05825161122955198 Centerline is valid? [True, True] Translation: X:32.26, Y:-1.30, Z:-4.00 [[ 9.89521520e-01 1.01185099e-01 1.02998729e-01 3.22623686e+01] [-1.00704724e-01 9.94867431e-01 -9.86680642e-03 -1.29803794e+00] [-1.03468454e-01 -6.09041235e-04 9.94632549e-01 -4.00018135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449649246 meters 0.058270522002247985 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.31, Z:-4.01 [[ 9.89535807e-01 1.00742248e-01 1.03295145e-01 3.23233210e+01] [-1.00254053e-01 9.94912413e-01 -9.92048441e-03 -1.30672290e+00] [-1.03769034e-01 -5.39082400e-04 9.94601275e-01 -4.00780102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.509649245999995 meters 0.05832555208207293 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.31, Z:-4.01 [[ 9.89563378e-01 1.01018231e-01 1.02760098e-01 3.23855732e+01] [-1.00534062e-01 9.94884428e-01 -9.89332027e-03 -1.31485070e+00] [-1.03233827e-01 -5.40822716e-04 9.94656968e-01 -4.01445834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.569649246 meters 0.05862479423773413 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.32, Z:-4.03 [[ 9.89566167e-01 1.01091740e-01 1.02660900e-01 3.24462576e+01] [-1.00605788e-01 9.94876973e-01 -9.91380352e-03 -1.32069640e+00] [-1.03137169e-01 -5.17916235e-04 9.94667008e-01 -4.02579752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629649246 meters 0.05843315984530714 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.33, Z:-4.03 [[ 9.89681066e-01 9.89676806e-02 1.03618461e-01 3.25078917e+01] [-9.84580215e-02 9.95090611e-01 -1.00346029e-02 -1.33134918e+00] [-1.04102859e-01 -2.71012146e-04 9.94566499e-01 -4.02934457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.689649245999995 meters 0.05830067657267336 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.34, Z:-4.04 [[ 9.89909279e-01 9.64465963e-02 1.03815577e-01 3.25682319e+01] [-9.59184851e-02 9.95338160e-01 -1.00792139e-02 -1.34009339e+00] [-1.04303711e-01 1.96745212e-05 9.94545492e-01 -4.04069791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.749649246 meters 0.05815825121114393 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.35, Z:-4.05 [[ 9.90081875e-01 9.36655843e-02 1.04712173e-01 3.26295303e+01] [-9.31097938e-02 9.95603656e-01 -1.01944113e-02 -1.35070165e+00] [-1.05206688e-01 3.43573002e-04 9.94450318e-01 -4.04779853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.809649246 meters 0.058267512488062424 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.36, Z:-4.06 [[ 9.90197165e-01 9.39678066e-02 1.03342275e-01 3.26894618e+01] [-9.34255062e-02 9.95575181e-01 -1.00863338e-02 -1.35982427e+00] [-1.03832795e-01 3.32654783e-04 9.94594711e-01 -4.05538040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.869649245999994 meters 0.058203069314420736 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.37, Z:-4.06 [[ 9.90204485e-01 9.41470234e-02 1.03108757e-01 3.27500572e+01] [-9.36056435e-02 9.95558248e-01 -1.00875778e-02 -1.36689131e+00] [-1.03600489e-01 3.37203194e-04 9.94618935e-01 -4.06258255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.929649246 meters 0.058333134829150424 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.37, Z:-4.07 [[ 9.90206141e-01 9.41559067e-02 1.03084735e-01 3.28122947e+01] [-9.36132258e-02 9.95557402e-01 -1.01006114e-02 -1.37261663e+00] [-1.03577803e-01 3.51592875e-04 9.94621292e-01 -4.07179363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.989649246 meters 0.05852285094613243 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.38, Z:-4.08 [[ 9.90176062e-01 9.51034527e-02 1.02502190e-01 3.28736256e+01] [-9.45691035e-02 9.95467355e-01 -1.00711996e-02 -1.37628202e+00] [-1.02995390e-01 2.78720506e-04 9.94681794e-01 -4.08204980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.049649245999994 meters 0.05851458089772664 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.38, Z:-4.09 [[ 9.90031149e-01 9.69711161e-02 1.02151485e-01 3.29357242e+01] [-9.64477749e-02 9.95287190e-01 -1.00616083e-02 -1.38038186e+00] [-1.02645750e-01 1.09022158e-04 9.94717969e-01 -4.08992372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.109649246 meters 0.058447057493124406 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.38, Z:-4.09 [[ 9.89928104e-01 9.77675536e-02 1.02390693e-01 3.29981988e+01] [-9.72429427e-02 9.95209276e-01 -1.01147306e-02 -1.38476918e+00] [-1.02889060e-01 5.60838201e-05 9.94692836e-01 -4.09364089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.169649246 meters 0.05842074439365806 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.39, Z:-4.10 [[ 9.89867968e-01 9.89410167e-02 1.01843412e-01 3.30603398e+01] [-9.84272690e-02 9.95093298e-01 -1.00697911e-02 -1.39053777e+00] [-1.02340012e-01 -5.64052709e-05 9.94749475e-01 -4.10166396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.229649245999994 meters 0.05877431143933815 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.40, Z:-4.11 [[ 9.89990886e-01 9.91383413e-02 1.00447172e-01 3.31200206e+01] [-9.86366072e-02 9.95073659e-01 -9.96155345e-03 -1.39781789e+00] [-1.00939907e-01 -4.59211019e-05 9.94892523e-01 -4.11189137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.289649245999996 meters 0.05864431214630807 Centerline is valid? [True, True] Translation: X:33.18, Y:-1.41, Z:-4.12 [[ 9.90275830e-01 9.46685263e-02 1.01939444e-01 3.31814549e+01] [-9.41256591e-02 9.95508753e-01 -1.01332840e-02 -1.40990051e+00] [-1.02440912e-01 4.39628867e-04 9.94738994e-01 -4.11591949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.349649246 meters 0.0585481628766434 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.42, Z:-4.12 [[ 9.90176491e-01 9.39966736e-02 1.03513972e-01 3.32416370e+01] [-9.34303566e-02 9.95572363e-01 -1.03169440e-02 -1.41828875e+00] [-1.04025408e-01 5.44248169e-04 9.94574491e-01 -4.12383277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.409649245999994 meters 0.0586823167674317 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.43, Z:-4.13 [[ 9.90091997e-01 9.32732110e-02 1.04966402e-01 3.33015917e+01] [-9.26841757e-02 9.95640337e-01 -1.04863143e-02 -1.42681463e+00] [-1.05486876e-01 6.53691473e-04 9.94420480e-01 -4.13036369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469649245999996 meters 0.05860870782120995 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.43, Z:-4.14 [[ 9.90120131e-01 9.39318364e-02 1.04110211e-01 3.33623448e+01] [-9.33535986e-02 9.95578449e-01 -1.04239026e-02 -1.43348747e+00] [-1.04629019e-01 6.01852964e-04 9.94511139e-01 -4.13800232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529649246 meters 0.05877243045930216 Centerline is valid? [True, True] Translation: X:33.42, Y:-1.44, Z:-4.15 [[ 9.90300948e-01 9.41613460e-02 1.02164931e-01 3.34231141e+01] [-9.36032483e-02 9.95556774e-01 -1.02538152e-02 -1.43922446e+00] [-1.02676502e-01 5.91393541e-04 9.94714626e-01 -4.14686566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589649246 meters 0.05902434457016227 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.45, Z:-4.16 [[ 9.90485839e-01 9.36469684e-02 1.00836739e-01 3.34832397e+01] [-9.30981448e-02 9.95605247e-01 -1.01453006e-02 -1.44600055e+00] [-1.01343663e-01 6.61063274e-04 9.94851258e-01 -4.15748846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.649649245999996 meters 0.05894591300604628 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.45, Z:-4.16 [[ 9.90435275e-01 9.42770761e-02 1.00746211e-01 3.35456488e+01] [-9.37303381e-02 9.95545806e-01 -1.01573496e-02 -1.45160637e+00] [-1.01255073e-01 6.17220907e-04 9.94860306e-01 -4.16390030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.709649246 meters 0.05879527602738527 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.46, Z:-4.17 [[ 9.90398618e-01 9.48247138e-02 1.00592500e-01 3.36075376e+01] [-9.42795686e-02 9.95493811e-01 -1.01703530e-02 -1.45836072e+00] [-1.01103612e-01 5.88885998e-04 9.94875727e-01 -4.17080285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769649246 meters 0.05872045267814468 Centerline is valid? [True, True] Translation: X:33.67, Y:-1.46, Z:-4.18 [[ 9.90135300e-01 9.61884144e-02 1.01881677e-01 3.36687486e+01] [-9.56333192e-02 9.95363026e-01 -1.03302778e-02 -1.46378215e+00] [-1.02402908e-01 4.85089751e-04 9.94742886e-01 -4.17740533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829649245999995 meters 0.0589882224365228 Centerline is valid? [True, True] Translation: X:33.73, Y:-1.48, Z:-4.18 [[ 9.90353989e-01 9.13882153e-02 1.04149750e-01 3.37301013e+01] [-9.07788633e-02 9.95814809e-01 -1.05859963e-02 -1.47569668e+00] [-1.04681299e-01 1.02928778e-03 9.94505287e-01 -4.18314644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.889649246 meters 0.05896695753400964 Centerline is valid? [True, True] Translation: X:33.79, Y:-1.48, Z:-4.19 [[ 9.90267177e-01 9.18881848e-02 1.04534587e-01 3.37917668e+01] [-9.12744664e-02 9.95768824e-01 -1.06498876e-02 -1.48078544e+00] [-1.05070881e-01 1.00489549e-03 9.94464228e-01 -4.18915222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949649246 meters 0.058913449372655996 Centerline is valid? [True, True] Translation: X:33.85, Y:-1.49, Z:-4.20 [[ 9.90316810e-01 9.15781698e-02 1.04336257e-01 3.38534946e+01] [-9.09624313e-02 9.95797325e-01 -1.06547019e-02 -1.48688084e+00] [-1.04873504e-01 1.06085080e-03 9.94485004e-01 -4.19674764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.009649245999995 meters 0.05912867549325565 Centerline is valid? [True, True] Translation: X:33.91, Y:-1.50, Z:-4.21 [[ 9.90692021e-01 9.12636306e-02 1.00996379e-01 3.39132713e+01] [-9.06821428e-02 9.95826172e-01 -1.03433073e-02 -1.49654983e+00] [-1.01518806e-01 1.08846395e-03 9.94833025e-01 -4.20693230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.069649246 meters 0.059530434342540156 Centerline is valid? [True, True] Translation: X:33.97, Y:-1.51, Z:-4.22 [[ 9.90844652e-01 9.06874676e-02 1.00013289e-01 3.39729940e+01] [-9.01120288e-02 9.95878727e-01 -1.02656159e-02 -1.50640358e+00] [-1.00532069e-01 1.15923026e-03 9.94933143e-01 -4.21817462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129649246 meters 0.059456227857291016 Centerline is valid? [True, True] Translation: X:34.03, Y:-1.51, Z:-4.22 [[ 9.90919346e-01 9.04555520e-02 9.94818768e-02 3.40340334e+01] [-8.98828486e-02 9.95899772e-01 -1.02331220e-02 -1.51121508e+00] [-9.99996212e-02 1.19848405e-03 9.94986753e-01 -4.22490285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.189649245999995 meters 0.05912084569162579 Centerline is valid? [True, True] Translation: X:34.10, Y:-1.51, Z:-4.23 [[ 9.90477125e-01 9.21229325e-02 1.02315350e-01 3.40956309e+01] [-9.15232558e-02 9.95747050e-01 -1.05501965e-02 -1.51477726e+00] [-1.02852123e-01 1.08549431e-03 9.94696065e-01 -4.22966764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.249649246 meters 0.05854053168514853 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.51, Z:-4.23 [[ 9.89854493e-01 9.69082864e-02 1.03907977e-01 3.41587589e+01] [-9.63130661e-02 9.95293119e-01 -1.07424805e-02 -1.51282451e+00] [-1.04459929e-01 6.25796781e-04 9.94528899e-01 -4.23367794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309649246 meters 0.05854045503196823 Centerline is valid? [True, True] Translation: X:34.22, Y:-1.51, Z:-4.24 [[ 9.89191794e-01 1.03747279e-01 1.03615133e-01 3.42201985e+01] [-1.03192144e-01 9.94603687e-01 -1.07185475e-02 -1.50900377e+00] [-1.04168014e-01 -8.95684994e-05 9.94559710e-01 -4.24206342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369649245999994 meters 0.058792458823333074 Centerline is valid? [True, True] Translation: X:34.28, Y:-1.51, Z:-4.25 [[ 9.88870442e-01 1.07677927e-01 1.02667975e-01 3.42813605e+01] [-1.07151677e-01 9.94185716e-01 -1.06433442e-02 -1.50959898e+00] [-1.03217087e-01 -4.76157107e-04 9.94658739e-01 -4.25092138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429649246 meters 0.05868179390309257 Centerline is valid? [True, True] Translation: X:34.34, Y:-1.51, Z:-4.26 [[ 9.88684162e-01 1.09330845e-01 1.02715111e-01 3.43435622e+01] [-1.08810775e-01 9.94005218e-01 -1.06697077e-02 -1.51476870e+00] [-1.03265885e-01 -6.27539894e-04 9.94653590e-01 -4.25866946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489649246 meters 0.058711023937911416 Centerline is valid? [True, True] Translation: X:34.40, Y:-1.52, Z:-4.27 [[ 9.88782041e-01 1.08743819e-01 1.02395589e-01 3.44043003e+01] [-1.08220900e-01 9.94069663e-01 -1.06650010e-02 -1.52181001e+00] [-1.02948102e-01 -5.35981323e-04 9.94686584e-01 -4.26853806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549649245999994 meters 0.05833650665260947 Centerline is valid? [True, True] Translation: X:34.47, Y:-1.54, Z:-4.27 [[ 9.89199838e-01 1.05257593e-01 1.02002546e-01 3.44659136e+01] [-1.04717588e-01 9.94444980e-01 -1.06493747e-02 -1.53650131e+00] [-1.02556847e-01 -1.47100828e-04 9.94727134e-01 -4.27355129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609649246 meters 0.058593517086525354 Centerline is valid? [True, True] Translation: X:34.53, Y:-1.55, Z:-4.28 [[ 9.89651350e-01 1.02246468e-01 1.00677032e-01 3.45260858e+01] [-1.01702037e-01 9.94759078e-01 -1.05390849e-02 -1.54810033e+00] [-1.01226975e-01 1.90960372e-04 9.94863339e-01 -4.28239474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669649246 meters 0.05909211034257447 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.56, Z:-4.30 [[ 9.90226803e-01 9.97448426e-02 9.74774063e-02 3.45844372e+01] [-9.92198358e-02 9.95012942e-01 -1.02307655e-02 -1.56059858e+00] [-9.80117469e-02 4.59085955e-04 9.95185152e-01 -4.29544354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.729649245999994 meters 0.05926333063517186 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.57, Z:-4.30 [[ 9.90305192e-01 1.00218815e-01 9.61863568e-02 3.46455388e+01] [-9.97090452e-02 9.94965334e-01 -1.01039487e-02 -1.56641261e+00] [-9.67146964e-02 4.15343094e-04 9.95312059e-01 -4.30412905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.789649245999996 meters 0.05914940853276252 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.57, Z:-4.31 [[ 9.90230621e-01 1.00365184e-01 9.67995240e-02 3.47075443e+01] [-9.98473707e-02 9.94950576e-01 -1.01908953e-02 -1.57063986e+00] [-9.73335532e-02 4.26158599e-04 9.95251726e-01 -4.31043985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.849649246 meters 0.059005074363252474 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.58, Z:-4.32 [[ 9.90070170e-01 1.01208307e-01 9.75599135e-02 3.47674235e+01] [-1.00683986e-01 9.94865188e-01 -1.02953216e-02 -1.57784438e+00] [-9.81009337e-02 3.70369850e-04 9.95176401e-01 -4.31700250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.909649245999994 meters 0.05896262639635203 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.58, Z:-4.33 [[ 9.90006657e-01 1.01616351e-01 9.77800358e-02 3.48288565e+01] [-1.01089578e-01 9.94823599e-01 -1.03394243e-02 -1.58320327e+00] [-9.83245417e-02 3.51556345e-04 9.95154340e-01 -4.32617192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.969649245999996 meters 0.05889681822244395 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.59, Z:-4.33 [[ 9.90116183e-01 1.00763283e-01 9.75535953e-02 3.48906504e+01] [-1.00232484e-01 9.94910323e-01 -1.03392045e-02 -1.59051285e+00] [-9.80988912e-02 4.58974576e-04 9.95176566e-01 -4.33277204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.029649246 meters 0.05872970911969305 Centerline is valid? [True, True] Translation: X:34.95, Y:-1.60, Z:-4.34 [[ 9.89918997e-01 1.00925293e-01 9.93703410e-02 3.49507214e+01] [-1.00372325e-01 9.94893891e-01 -1.05613620e-02 -1.59916430e+00] [-9.99288537e-02 4.80860751e-04 9.94994469e-01 -4.33875760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08964924599999 meters 0.058912057056413586 Centerline is valid? [True, True] Translation: X:35.01, Y:-1.60, Z:-4.35 [[ 9.89840577e-01 1.02657886e-01 9.83716949e-02 3.50115793e+01] [-1.02122432e-01 9.94716670e-01 -1.04764251e-02 -1.60341997e+00] [-9.89274524e-02 3.24033968e-04 9.95094596e-01 -4.34744922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149649245999996 meters 0.05907434545878059 Centerline is valid? [True, True] Translation: X:35.07, Y:-1.61, Z:-4.36 [[ 9.89994932e-01 1.03238912e-01 9.61860826e-02 3.50727755e+01] [-1.02727671e-01 9.94656548e-01 -1.02653840e-02 -1.60786984e+00] [-9.67319039e-02 2.81705947e-04 9.95310434e-01 -4.35636842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209649246 meters 0.059237137308670376 Centerline is valid? [True, True] Translation: X:35.13, Y:-1.62, Z:-4.37 [[ 9.90139117e-01 1.02744749e-01 9.52262881e-02 3.51329334e+01] [-1.02239101e-01 9.94707693e-01 -1.01868797e-02 -1.61581458e+00] [-9.57689697e-02 3.50577935e-04 9.95403527e-01 -4.36530599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269649246 meters 0.05896150768097094 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.62, Z:-4.37 [[ 9.90029669e-01 1.02214709e-01 9.69195981e-02 3.51929665e+01] [-1.01685906e-01 9.94762266e-01 -1.03928634e-02 -1.62418554e+00] [-9.74742625e-02 4.33885945e-04 9.95237951e-01 -4.37168739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329649245999995 meters 0.059010986200691 Centerline is valid? [True, True] Translation: X:35.25, Y:-1.63, Z:-4.38 [[ 9.89887365e-01 1.03596929e-01 9.69055238e-02 3.52543538e+01] [-1.03073874e-01 9.94619315e-01 -1.04016883e-02 -1.62956953e+00] [-9.74616887e-02 3.08072128e-04 9.95239230e-01 -4.37965846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389649246 meters 0.05907873393872115 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.63, Z:-4.39 [[ 9.89560998e-01 1.07177316e-01 9.63434195e-02 3.53171549e+01] [-1.06674929e-01 9.94239922e-01 -1.03651902e-02 -1.62964517e+00] [-9.68993872e-02 -2.04394550e-05 9.95294182e-01 -4.39018918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449649246 meters 0.058827832753596807 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.63, Z:-4.39 [[ 9.88872409e-01 1.10966761e-01 9.90844965e-02 3.53784326e+01] [-1.10451400e-01 9.93824048e-01 -1.06887917e-02 -1.63116762e+00] [-9.96586559e-02 -3.74170076e-04 9.95021614e-01 -4.39428063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509649245999995 meters 0.0586408950514202 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.64, Z:-4.40 [[ 9.88869303e-01 1.10578537e-01 9.95484221e-02 3.54394975e+01] [-1.10054258e-01 9.93867339e-01 -1.07597804e-02 -1.63727793e+00] [-1.00127726e-01 -3.15711223e-04 9.94974542e-01 -4.40084075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569649246 meters 0.058861046573144685 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.64, Z:-4.41 [[ 9.88907632e-01 1.11006126e-01 9.86880672e-02 3.55008659e+01] [-1.10490761e-01 9.93819666e-01 -1.06893798e-02 -1.64468799e+00] [-9.92647286e-02 -3.33310319e-04 9.95061004e-01 -4.40816136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629649246 meters 0.05916584428823162 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.66, Z:-4.42 [[ 9.89165189e-01 1.09299621e-01 9.80092933e-02 3.55600654e+01] [-1.08780594e-01 9.94008840e-01 -1.06399296e-02 -1.65572329e+00] [-9.85850443e-02 -1.36861198e-04 9.95128620e-01 -4.42055533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689649245999995 meters 0.058118481121957555 Centerline is valid? [True, True] Translation: X:35.62, Y:-1.67, Z:-4.42 [[ 9.89212236e-01 1.05670424e-01 1.01453998e-01 3.56213456e+01] [-1.05092359e-01 9.94401174e-01 -1.10409248e-02 -1.67021203e+00] [-1.02052674e-01 2.59777895e-04 9.94778962e-01 -4.41970022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.749649246 meters 0.058083386948689135 Centerline is valid? [True, True] Translation: X:35.68, Y:-1.68, Z:-4.43 [[ 9.89075549e-01 1.05945319e-01 1.02494626e-01 3.56830020e+01] [-1.05356628e-01 9.94371929e-01 -1.11555740e-02 -1.67661843e+00] [-1.03099659e-01 2.35217389e-04 9.94671003e-01 -4.42626826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809649246 meters 0.058115608856257474 Centerline is valid? [True, True] Translation: X:35.74, Y:-1.68, Z:-4.44 [[ 9.89150667e-01 1.06238932e-01 1.01460574e-01 3.57441289e+01] [-1.05661148e-01 9.94340605e-01 -1.10672418e-02 -1.68290639e+00] [-1.02062141e-01 2.26728833e-04 9.94777999e-01 -4.43633022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.869649245999994 meters 0.0582633410606529 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.69, Z:-4.44 [[ 9.89078508e-01 1.06727685e-01 1.01650904e-01 3.58054370e+01] [-1.06147835e-01 9.94288269e-01 -1.11119765e-02 -1.68975236e+00] [-1.02256257e-01 2.00593757e-04 9.94758070e-01 -4.44432028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.929649246 meters 0.05835283114593164 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.70, Z:-4.45 [[ 9.89306041e-01 1.06415292e-01 9.97463884e-02 3.58669284e+01] [-1.05852948e-01 9.94321739e-01 -1.09284907e-02 -1.69658653e+00] [-1.00342961e-01 2.53172636e-04 9.94952876e-01 -4.45185876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.989649246 meters 0.05835902583225127 Centerline is valid? [True, True] Translation: X:35.93, Y:-1.71, Z:-4.46 [[ 9.89310308e-01 1.05618766e-01 1.00547456e-01 3.59265660e+01] [-1.05040676e-01 9.94406630e-01 -1.10413324e-02 -1.70609226e+00] [-1.01151229e-01 3.61731170e-04 9.94870996e-01 -4.45789869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.049649245999994 meters 0.05824691899728656 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.71, Z:-4.46 [[ 9.89142721e-01 1.05623948e-01 1.02177587e-01 3.59878953e+01] [-1.05024564e-01 9.94406069e-01 -1.12432811e-02 -1.71314533e+00] [-1.02793573e-01 3.90053068e-04 9.94702634e-01 -4.46406225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.109649246 meters 0.058459291156358 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.72, Z:-4.47 [[ 9.89084007e-01 1.06115407e-01 1.02236725e-01 3.60484842e+01] [-1.05515477e-01 9.94353754e-01 -1.12736643e-02 -1.71890291e+00] [-1.02855781e-01 3.63044203e-04 9.94696213e-01 -4.47339687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.169649246 meters 0.05833757853160912 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.73, Z:-4.48 [[ 9.89040388e-01 1.06219432e-01 1.02550200e-01 3.61101176e+01] [-1.05613740e-01 9.94342642e-01 -1.13335343e-02 -1.72606556e+00] [-1.03173879e-01 3.78612971e-04 9.94663263e-01 -4.48019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.229649245999994 meters 0.058371289605472644 Centerline is valid? [True, True] Translation: X:36.17, Y:-1.74, Z:-4.49 [[ 9.89062753e-01 1.06172115e-01 1.02383364e-01 3.61723341e+01] [-1.05565252e-01 9.94347682e-01 -1.13430314e-02 -1.73582276e+00] [-1.03008974e-01 4.10844200e-04 9.94680342e-01 -4.48661268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.289649245999996 meters 0.05831201595446066 Centerline is valid? [True, True] Translation: X:36.23, Y:-1.74, Z:-4.49 [[ 9.89093802e-01 1.05589525e-01 1.02685455e-01 3.62336449e+01] [-1.04973002e-01 9.94409675e-01 -1.14047301e-02 -1.74439522e+00] [-1.03315630e-01 5.01147318e-04 9.94648495e-01 -4.49390872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.349649246 meters 0.058512267268856624 Centerline is valid? [True, True] Translation: X:36.29, Y:-1.75, Z:-4.50 [[ 9.89137900e-01 1.04702136e-01 1.03168196e-01 3.62941363e+01] [-1.04072267e-01 9.94503431e-01 -1.14842582e-02 -1.75204284e+00] [-1.03803552e-01 6.22567003e-04 9.94597625e-01 -4.50201308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.409649245999994 meters 0.05812250951532249 Centerline is valid? [True, True] Translation: X:36.36, Y:-1.76, Z:-4.51 [[ 9.89035996e-01 1.05389706e-01 1.03444713e-01 3.63564003e+01] [-1.04757621e-01 9.94430831e-01 -1.15396447e-02 -1.75767509e+00] [-1.04084771e-01 5.76501974e-04 9.94568262e-01 -4.50545437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.469649245999996 meters 0.058054975911667486 Centerline is valid? [True, True] Translation: X:36.42, Y:-1.77, Z:-4.51 [[ 9.88986294e-01 1.05575209e-01 1.03730347e-01 3.64172715e+01] [-1.04937462e-01 9.94411147e-01 -1.16017481e-02 -1.76543526e+00] [-1.04375470e-01 5.88770524e-04 9.94537789e-01 -4.51228146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.529649246 meters 0.05807158194272539 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.77, Z:-4.52 [[ 9.88943393e-01 1.05534730e-01 1.04179585e-01 3.64788166e+01] [-1.04888311e-01 9.94415422e-01 -1.16794602e-02 -1.77283419e+00] [-1.04830375e-01 6.23104249e-04 9.94489922e-01 -4.51934803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58964924599999 meters 0.05821141216591746 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.78, Z:-4.53 [[ 9.89051727e-01 1.06030471e-01 1.02636353e-01 3.65396655e+01] [-1.05402815e-01 9.94362706e-01 -1.15349931e-02 -1.77814846e+00] [-1.03280822e-01 5.90544334e-04 9.94652061e-01 -4.52817134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.649649245999996 meters 0.05833214363039198 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.79, Z:-4.54 [[ 9.89047124e-01 1.06607784e-01 1.02081182e-01 3.66000264e+01] [-1.05987392e-01 9.94300998e-01 -1.14977227e-02 -1.78672029e+00] [-1.02725168e-01 5.52471326e-04 9.94709623e-01 -4.53708607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.709649246 meters 0.05829069431435673 Centerline is valid? [True, True] Translation: X:36.66, Y:-1.79, Z:-4.54 [[ 9.89013577e-01 1.07533784e-01 1.01432885e-01 3.66619461e+01] [-1.06923408e-01 9.94201315e-01 -1.14511901e-02 -1.79108900e+00] [-1.02076097e-01 4.79832766e-04 9.94776477e-01 -4.54464408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769649246 meters 0.05875613128097052 Centerline is valid? [True, True] Translation: X:36.72, Y:-1.80, Z:-4.56 [[ 9.89019731e-01 1.08668462e-01 1.00155569e-01 3.67216959e+01] [-1.08076290e-01 9.94077973e-01 -1.13357746e-02 -1.79677699e+00] [-1.00794286e-01 3.86862381e-04 9.94907213e-01 -4.55708737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.829649245999995 meters 0.05873586024465091 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.80, Z:-4.56 [[ 9.89063864e-01 1.09418591e-01 9.88951248e-02 3.67828858e+01] [-1.08842884e-01 9.93995706e-01 -1.12143690e-02 -1.80389040e+00] [-9.95283899e-02 3.27696481e-04 9.95034669e-01 -4.56326282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.889649246 meters 0.0589252136308579 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.81, Z:-4.57 [[ 9.89061315e-01 1.09764612e-01 9.85365157e-02 3.68432062e+01] [-1.09192478e-01 9.93957560e-01 -1.11969622e-02 -1.81137574e+00] [-9.91701449e-02 3.15035804e-04 9.95070441e-01 -4.57223515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949649246 meters 0.059245532236042744 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.82, Z:-4.58 [[ 9.89177199e-01 1.10596768e-01 9.64200381e-02 3.69039108e+01] [-1.10050575e-01 9.93865329e-01 -1.09808473e-02 -1.81753573e+00] [-9.70429791e-02 2.50923168e-04 9.95280160e-01 -4.58277034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.009649245999995 meters 0.05918166612994756 Centerline is valid? [True, True] Translation: X:36.97, Y:-1.82, Z:-4.59 [[ 9.89064087e-01 1.11580360e-01 9.64471607e-02 3.69665815e+01] [-1.11036461e-01 9.93755399e-01 -1.10050874e-02 -1.82300359e+00] [-9.70728382e-02 1.75585312e-04 9.95277265e-01 -4.58898931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.069649246 meters 0.059607530775456365 Centerline is valid? [True, True] Translation: X:37.03, Y:-1.83, Z:-4.60 [[ 9.88924306e-01 1.12242871e-01 9.71095036e-02 3.70262048e+01] [-1.11691842e-01 9.93680793e-01 -1.11091914e-02 -1.82888710e+00] [-9.77427761e-02 1.39810089e-04 9.95211701e-01 -4.60001557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129649246 meters 0.05967343159349116 Centerline is valid? [True, True] Translation: X:37.09, Y:-1.84, Z:-4.61 [[ 9.88744487e-01 1.13323893e-01 9.76833381e-02 3.70863035e+01] [-1.12769389e-01 9.93558097e-01 -1.11969936e-02 -1.83522672e+00] [-9.83229584e-02 5.52753264e-05 9.95154557e-01 -4.60695929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.189649245999995 meters 0.05939863178102933 Centerline is valid? [True, True] Translation: X:37.15, Y:-1.84, Z:-4.61 [[ 9.88555063e-01 1.12902978e-01 1.00059004e-01 3.71473527e+01] [-1.12316819e-01 9.93606010e-01 -1.14903973e-02 -1.84278196e+00] [-1.00716528e-01 1.20581424e-04 9.94915155e-01 -4.61253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.249649246 meters 0.05905368034659542 Centerline is valid? [True, True] Translation: X:37.21, Y:-1.85, Z:-4.62 [[ 9.88417124e-01 1.12872877e-01 1.01446059e-01 3.72085911e+01] [-1.12267868e-01 9.93609426e-01 -1.16719311e-02 -1.85055030e+00] [-1.02115205e-01 1.47603699e-04 9.94772569e-01 -4.61519866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309649246 meters 0.058838106862330826 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.86, Z:-4.62 [[ 9.88511253e-01 1.10840446e-01 1.02761363e-01 3.72695048e+01] [-1.10206059e-01 9.93838139e-01 -1.18481556e-02 -1.86087588e+00] [-1.03441417e-01 3.87110264e-04 9.94635473e-01 -4.62071834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.369649245999994 meters 0.058971745212055074 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.87, Z:-4.63 [[ 9.88462183e-01 1.10371096e-01 1.03733960e-01 3.73287466e+01] [-1.09719083e-01 9.93890337e-01 -1.19883682e-02 -1.87028270e+00] [-1.04423349e-01 4.68453632e-04 9.94532827e-01 -4.63049276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.429649246 meters 0.059233473769761305 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.88, Z:-4.64 [[ 9.88719438e-01 1.10201138e-01 1.01437579e-01 3.73880030e+01] [-1.09575621e-01 9.93909187e-01 -1.17350756e-02 -1.87756865e+00] [-1.02112960e-01 4.87611641e-04 9.94772690e-01 -4.64231615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.489649246 meters 0.05939348497466115 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.89, Z:-4.65 [[ 9.89014453e-01 1.09310034e-01 9.95074244e-02 3.74491268e+01] [-1.08701633e-01 9.94007530e-01 -1.15319133e-02 -1.88540609e+00] [-1.00171683e-01 5.88609460e-04 9.94969993e-01 -4.65089051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.549649245999994 meters 0.05934565347131041 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.89, Z:-4.66 [[ 9.89136012e-01 1.09212087e-01 9.84005565e-02 3.75105419e+01] [-1.08614428e-01 9.94018281e-01 -1.14264412e-02 -1.89133626e+00] [-9.90598575e-02 6.14584319e-04 9.95081287e-01 -4.65819488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.609649246 meters 0.059386286421677426 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.90, Z:-4.67 [[ 9.89077245e-01 1.09613483e-01 9.85448466e-02 3.75714554e+01] [-1.09013676e-01 9.93974107e-01 -1.14670398e-02 -1.89789867e+00] [-9.92079681e-02 5.99052198e-04 9.95066541e-01 -4.66659769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.669649246 meters 0.05914369470376784 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.90, Z:-4.67 [[ 9.88902638e-01 1.09759197e-01 1.00122384e-01 3.76329809e+01] [-1.09138026e-01 9.93958014e-01 -1.16772285e-02 -1.90446743e+00] [-1.00799129e-01 6.20482749e-04 9.94906604e-01 -4.67122419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.729649245999994 meters 0.059233908107559616 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.91, Z:-4.68 [[ 9.88692246e-01 1.10490400e-01 1.01387934e-01 3.76932943e+01] [-1.09854590e-01 9.93877023e-01 -1.18504129e-02 -1.91093611e+00] [-1.02076495e-01 5.78481456e-04 9.94776384e-01 -4.67868379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.789649245999996 meters 0.05910711209842703 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.92, Z:-4.68 [[ 9.88278162e-01 1.12291775e-01 1.03425486e-01 3.77556280e+01] [-1.11637248e-01 9.93675186e-01 -1.21139952e-02 -1.91684977e+00] [-1.04131641e-01 4.25860298e-04 9.94563432e-01 -4.68300005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.849649246 meters 0.059270421231739034 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.92, Z:-4.69 [[ 9.88150883e-01 1.13153041e-01 1.03702562e-01 3.78165329e+01] [-1.12498510e-01 9.93577510e-01 -1.21579886e-02 -1.92356110e+00] [-1.04412247e-01 3.47543439e-04 9.94534043e-01 -4.69429858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.909649245999994 meters 0.05965474481272357 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.93, Z:-4.71 [[ 9.88177595e-01 1.15793119e-01 1.00483802e-01 3.78774042e+01] [-1.15189649e-01 9.93273349e-01 -1.18067598e-02 -1.92860420e+00] [-1.01175024e-01 9.24815487e-05 9.94868638e-01 -4.70597824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.969649245999996 meters 0.060002213029522855 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.94, Z:-4.72 [[ 9.88324701e-01 1.16121860e-01 9.86407579e-02 3.79367069e+01] [-1.15539750e-01 9.93234971e-01 -1.16128860e-02 -1.93587431e+00] [-9.93219602e-02 8.03736329e-05 9.95055346e-01 -4.71738705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.029649246 meters 0.060055834489633295 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.94, Z:-4.72 [[ 9.88231266e-01 1.17991447e-01 9.73497985e-02 3.79988120e+01] [-1.17431669e-01 9.93014608e-01 -1.14800752e-02 -1.94079124e+00] [-9.80243227e-02 -8.69801201e-05 9.95184015e-01 -4.72170504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08964924599999 meters 0.05997508245255621 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.95, Z:-4.73 [[ 9.88068446e-01 1.18463991e-01 9.84227055e-02 3.80606852e+01] [-1.17891224e-01 9.92958343e-01 -1.16356230e-02 -1.94728404e+00] [-9.91080490e-02 -1.06381293e-04 9.95076672e-01 -4.72904134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.149649245999996 meters 0.0598988706766815 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.95, Z:-4.74 [[ 9.87991781e-01 1.18427219e-01 9.92332328e-02 3.81222673e+01] [-1.17844277e-01 9.92962730e-01 -1.17363661e-02 -1.95395784e+00] [-9.99248069e-02 -9.86353470e-05 9.94994987e-01 -4.73533625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.209649246 meters 0.05985651942320581 Centerline is valid? [True, True] Translation: X:38.18, Y:-1.97, Z:-4.74 [[ 9.88043778e-01 1.16089289e-01 1.01453284e-01 3.81817451e+01] [-1.15464875e-01 9.93238767e-01 -1.20255394e-02 -1.96533204e+00] [-1.02163371e-01 1.67468562e-04 9.94767620e-01 -4.74118951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269649246 meters 0.059769957432830124 Centerline is valid? [True, True] Translation: X:38.24, Y:-1.97, Z:-4.75 [[ 9.87970722e-01 1.16244209e-01 1.01985967e-01 3.82435164e+01] [-1.15611292e-01 9.93220646e-01 -1.21151625e-02 -1.97372906e+00] [-1.02702885e-01 1.78696485e-04 9.94712062e-01 -4.74737608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.329649245999995 meters 0.05989019083372765 Centerline is valid? [True, True] Translation: X:38.30, Y:-1.98, Z:-4.75 [[ 9.87928065e-01 1.15698040e-01 1.03015061e-01 3.83043868e+01] [-1.15048668e-01 9.93284402e-01 -1.22433536e-02 -1.98185590e+00] [-1.03739786e-01 2.43806963e-04 9.94604443e-01 -4.75446098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.389649246 meters 0.05995515897494629 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.99, Z:-4.76 [[ 9.87938270e-01 1.16121485e-01 1.02439133e-01 3.83657803e+01] [-1.15479059e-01 9.93234993e-01 -1.21998338e-02 -1.99012102e+00] [-1.03162795e-01 2.23107979e-04 9.94664460e-01 -4.76228268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449649246 meters 0.06027652582057176 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.00, Z:-4.77 [[ 9.87833665e-01 1.17046974e-01 1.02394613e-01 3.84278149e+01] [-1.16406939e-01 9.93126367e-01 -1.22246952e-02 -1.99809671e+00] [-1.03121654e-01 1.56522014e-04 9.94668739e-01 -4.77064391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.509649245999995 meters 0.06035317080411351 Centerline is valid? [True, True] Translation: X:38.49, Y:-2.01, Z:-4.78 [[ 9.88227026e-01 1.13996555e-01 1.02039844e-01 3.84868352e+01] [-1.13341568e-01 9.93481017e-01 -1.22129946e-02 -2.00919762e+00] [-1.02766887e-01 5.03855397e-04 9.94705340e-01 -4.78040382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.569649246 meters 0.06039470604728679 Centerline is valid? [True, True] Translation: X:38.55, Y:-2.02, Z:-4.79 [[ 9.88441432e-01 1.13243686e-01 1.00793861e-01 3.85470716e+01] [-1.12598385e-01 9.93567064e-01 -1.20869168e-02 -2.01851462e+00] [-1.01514227e-01 5.97983394e-04 9.94833908e-01 -4.78923518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629649246 meters 0.06045194157873976 Centerline is valid? [True, True] Translation: X:38.61, Y:-2.03, Z:-4.80 [[ 9.88363921e-01 1.13276686e-01 1.01514295e-01 3.86069552e+01] [-1.12619877e-01 9.93563287e-01 -1.21966347e-02 -2.02632300e+00] [-1.02242471e-01 6.22186201e-04 9.94759313e-01 -4.79702170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.689649245999995 meters 0.060271292011278996 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.03, Z:-4.80 [[ 9.88154124e-01 1.13383807e-01 1.03419242e-01 3.86677378e+01] [-1.12700170e-01 9.93551053e-01 -1.24489710e-02 -2.03238211e+00] [-1.04163809e-01 6.46135770e-04 9.94559945e-01 -4.80373685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.749649246 meters 0.05993450609471305 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.04, Z:-4.81 [[ 9.87745281e-01 1.14140076e-01 1.06448589e-01 3.87286834e+01] [-1.13417050e-01 9.93464478e-01 -1.28414592e-02 -2.03953983e+00] [-1.07218617e-01 6.11005849e-04 9.94235281e-01 -4.80783561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809649246 meters 0.059909579937271404 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.05, Z:-4.81 [[ 9.87552190e-01 1.13956373e-01 1.08418713e-01 3.87903224e+01] [-1.13203675e-01 9.93485538e-01 -1.30924992e-02 -2.04627202e+00] [-1.09204397e-01 6.56129580e-04 9.94019099e-01 -4.81394689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.869649245999994 meters 0.0601798277005656 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.05, Z:-4.83 [[ 9.87550970e-01 1.15476927e-01 1.06808989e-01 3.88503242e+01] [-1.14752703e-01 9.93310034e-01 -1.29225758e-02 -2.05016118e+00] [-1.07586700e-01 5.05082167e-04 9.94195578e-01 -4.82614883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.929649246 meters 0.06033179664934674 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.06, Z:-4.84 [[ 9.87726280e-01 1.16366990e-01 1.04189824e-01 3.89101555e+01] [-1.15680641e-01 9.93206196e-01 -1.26270078e-02 -2.05841336e+00] [-1.04951346e-01 4.19281743e-04 9.94477269e-01 -4.83666474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.989649246 meters 0.060415499857641296 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.07, Z:-4.84 [[ 9.87768958e-01 1.16668313e-01 1.03445595e-01 3.89709588e+01] [-1.15991247e-01 9.93170852e-01 -1.25574729e-02 -2.06541893e+00] [-1.04204209e-01 4.05098392e-04 9.94555840e-01 -4.84379488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.049649245999994 meters 0.06039749799349506 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.07, Z:-4.85 [[ 9.87697059e-01 1.17578103e-01 1.03101452e-01 3.90332719e+01] [-1.16908057e-01 9.93063583e-01 -1.25389859e-02 -2.07352472e+00] [-1.03860608e-01 3.31328999e-04 9.94591808e-01 -4.85078490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.109649246 meters 0.06028275618318142 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.08, Z:-4.86 [[ 9.87444011e-01 1.17784410e-01 1.05267079e-01 3.90939731e+01] [-1.17083780e-01 9.93039129e-01 -1.28326058e-02 -2.08158786e+00] [-1.06045810e-01 3.46412156e-04 9.94361185e-01 -4.85635168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.169649246 meters 0.06031313077954347 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.09, Z:-4.87 [[ 9.87181341e-01 1.18361548e-01 1.07067945e-01 3.91541937e+01] [-1.17637220e-01 9.92970515e-01 -1.30782227e-02 -2.08948630e+00] [-1.07863271e-01 3.15401946e-04 9.94165688e-01 -4.86534670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.229649245999994 meters 0.05994384078897929 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.09, Z:-4.87 [[ 9.86817332e-01 1.18577767e-01 1.10140212e-01 3.92168050e+01] [-1.17809560e-01 9.92944715e-01 -1.34796502e-02 -2.09479055e+00] [-1.10961529e-01 3.26382540e-04 9.93824649e-01 -4.86783905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.289649245999996 meters 0.06003378984260976 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.10, Z:-4.88 [[ 9.86641738e-01 1.19547646e-01 1.10663638e-01 3.92779658e+01] [-1.18777335e-01 9.92828439e-01 -1.35512126e-02 -2.10032325e+00] [-1.11490022e-01 2.25860029e-04 9.93765528e-01 -4.87612712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.349649246 meters 0.059976801205558865 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.11, Z:-4.89 [[ 9.86789835e-01 1.19283051e-01 1.09623794e-01 3.93385261e+01] [-1.18522742e-01 9.92860250e-01 -1.34492922e-02 -2.10892348e+00] [-1.10445380e-01 2.78712157e-04 9.93882156e-01 -4.88500218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.409649245999994 meters 0.0602947058762861 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.12, Z:-4.90 [[ 9.87190709e-01 1.18529070e-01 1.06795893e-01 3.93983493e+01] [-1.17800611e-01 9.92950511e-01 -1.31262732e-02 -2.11871907e+00] [-1.07598881e-01 3.77513632e-04 9.94194316e-01 -4.89756291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.469649245999996 meters 0.06046198466613881 Centerline is valid? [True, True] Translation: X:39.46, Y:-2.13, Z:-4.91 [[ 9.87441992e-01 1.16652785e-01 1.06538445e-01 3.94581557e+01] [-1.15914161e-01 9.93172573e-01 -1.31204903e-02 -2.13134791e+00] [-1.07341604e-01 6.06408517e-04 9.94222014e-01 -4.90615197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.529649246 meters 0.06000392205054201 Centerline is valid? [True, True] Translation: X:39.52, Y:-2.14, Z:-4.91 [[ 9.87257944e-01 1.17343533e-01 1.07481377e-01 3.95182153e+01] [-1.16594360e-01 9.93091231e-01 -1.32499709e-02 -2.13902350e+00] [-1.08293611e-01 5.49416686e-04 9.94118802e-01 -4.91162287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58964924599999 meters 0.05975809587632162 Centerline is valid? [True, True] Translation: X:39.58, Y:-2.14, Z:-4.92 [[ 9.87147624e-01 1.17937186e-01 1.07844281e-01 3.95803703e+01] [-1.17185244e-01 9.93020933e-01 -1.33058508e-02 -2.14481656e+00] [-1.08660883e-01 4.97080624e-04 9.94078752e-01 -4.91588261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.649649245999996 meters 0.0596368048688577 Centerline is valid? [True, True] Translation: X:39.64, Y:-2.15, Z:-4.92 [[ 9.86741750e-01 1.20180055e-01 1.09075537e-01 3.96409850e+01] [-1.19420889e-01 9.92752070e-01 -1.34899251e-02 -2.15006222e+00] [-1.09906185e-01 2.85174655e-04 9.93941924e-01 -4.92311961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.709649246 meters 0.0593887493903011 Centerline is valid? [True, True] Translation: X:39.70, Y:-2.16, Z:-4.93 [[ 9.86518430e-01 1.21743602e-01 1.09361247e-01 3.97020296e+01] [-1.20987309e-01 9.92561573e-01 -1.35496961e-02 -2.15644319e+00] [-1.10197360e-01 1.35701976e-04 9.93909716e-01 -4.93059963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769649246 meters 0.05914348206364722 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.16, Z:-4.94 [[ 9.86318216e-01 1.22814520e-01 1.09968043e-01 3.97637060e+01] [-1.22053202e-01 9.92429641e-01 -1.36537239e-02 -2.16201822e+00] [-1.10812421e-01 4.49648318e-05 9.93841338e-01 -4.93768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.829649245999995 meters 0.05918214156963552 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.17, Z:-4.95 [[ 9.86244728e-01 1.23339237e-01 1.10039855e-01 3.98245685e+01] [-1.22577180e-01 9.92364566e-01 -1.36895032e-02 -2.16814862e+00] [-1.10888106e-01 1.28252228e-05 9.93832897e-01 -4.94791126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.889649246 meters 0.05919383372312974 Centerline is valid? [True, True] Translation: X:39.89, Y:-2.18, Z:-4.96 [[ 9.86060760e-01 1.25065881e-01 1.09739247e-01 3.98857499e+01] [-1.24315493e-01 9.92148427e-01 -1.36805011e-02 -2.17543515e+00] [-1.10588586e-01 -1.52483262e-04 9.93866259e-01 -4.95682927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949649246 meters 0.05897709304655933 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.19, Z:-4.96 [[ 9.86013445e-01 1.24862375e-01 1.10394169e-01 3.99473549e+01] [-1.24098547e-01 9.92174066e-01 -1.37903526e-02 -2.18515186e+00] [-1.11252128e-01 -1.02282942e-04 9.93792208e-01 -4.96170907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.009649245999995 meters 0.05889184839653899 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.19, Z:-4.97 [[ 9.86001592e-01 1.24726086e-01 1.10653803e-01 4.00092274e+01] [-1.23954704e-01 9.92191211e-01 -1.38503283e-02 -2.19420560e+00] [-1.11517228e-01 -5.96136289e-05 9.93762499e-01 -4.96968273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.069649246 meters 0.058566689369169374 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.20, Z:-4.98 [[ 9.85991273e-01 1.24124455e-01 1.11419606e-01 4.00695910e+01] [-1.23334830e-01 9.92266657e-01 -1.39786214e-02 -2.20395253e+00] [-1.12293049e-01 4.08805927e-05 9.93675133e-01 -4.97717030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129649246 meters 0.058576581099361244 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.21, Z:-4.99 [[ 9.85930642e-01 1.24368254e-01 1.11683962e-01 4.01302491e+01] [-1.23573333e-01 9.92236129e-01 -1.40390731e-02 -2.21196564e+00] [-1.12562877e-01 4.03930444e-05 9.93644603e-01 -4.98559425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.189649245999995 meters 0.05852677449223336 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.22, Z:-4.99 [[ 9.85982578e-01 1.24125149e-01 1.11495750e-01 4.01922924e+01] [-1.23328142e-01 9.92266566e-01 -1.40439079e-02 -2.22024940e+00] [-1.12376707e-01 9.64848155e-05 9.93665671e-01 -4.99363412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.249649246 meters 0.058606894781924095 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.23, Z:-5.00 [[ 9.86441631e-01 1.20834207e-01 1.11049556e-01 4.02514267e+01] [-1.20019242e-01 9.92672576e-01 -1.40192106e-02 -2.23242030e+00] [-1.11929849e-01 5.01049475e-04 9.93715984e-01 -5.00447565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309649246 meters 0.058612316007501615 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.24, Z:-5.01 [[ 9.86711303e-01 1.19146046e-01 1.10476350e-01 4.03124369e+01] [-1.18326240e-01 9.92876483e-01 -1.39710387e-02 -2.24179692e+00] [-1.11353963e-01 7.13130811e-04 9.93780552e-01 -5.01024572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.369649245999994 meters 0.05846962421183159 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.25, Z:-5.02 [[ 9.86641611e-01 1.19909082e-01 1.10273042e-01 4.03746121e+01] [-1.19094078e-01 9.92784663e-01 -1.39719043e-02 -2.24851364e+00] [-1.11152743e-01 6.52395861e-04 9.93803120e-01 -5.01905551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.429649246 meters 0.05860641068014239 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.26, Z:-5.03 [[ 9.86747315e-01 1.19996131e-01 1.09227587e-01 4.04352168e+01] [-1.19193662e-01 9.92774135e-01 -1.38703878e-02 -2.25521955e+00] [-1.10102716e-01 6.67331884e-04 9.93919990e-01 -5.02780451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.489649246 meters 0.058436590968512975 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.26, Z:-5.04 [[ 9.86401429e-01 1.22823071e-01 1.09209494e-01 4.04956540e+01] [-1.22035061e-01 9.92428511e-01 -1.38958526e-02 -2.26023383e+00] [-1.10089347e-01 3.79501602e-04 9.93921622e-01 -5.03630147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.549649245999994 meters 0.05814971282300895 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.26, Z:-5.04 [[ 9.85400557e-01 1.27248779e-01 1.13108309e-01 4.05577901e+01] [-1.26429276e-01 9.91870828e-01 -1.44186815e-02 -2.26153179e+00] [-1.14023592e-01 -9.20248676e-05 9.93478038e-01 -5.03995952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609649246 meters 0.05848182297272508 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.26, Z:-5.05 [[ 9.84843247e-01 1.30848794e-01 1.13852417e-01 4.06192664e+01] [-1.30038975e-01 9.91402219e-01 -1.45431973e-02 -2.26349015e+00] [-1.14776499e-01 -4.82481903e-04 9.93391223e-01 -5.04835188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.669649246 meters 0.05845585077587876 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.27, Z:-5.06 [[ 9.84693550e-01 1.32203815e-01 1.13581528e-01 4.06812735e+01] [-1.31403260e-01 9.91222367e-01 -1.45396493e-02 -2.27099670e+00] [-1.14506748e-01 -6.07884126e-04 9.93422284e-01 -5.05706491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.729649245999994 meters 0.05847401675539466 Centerline is valid? [True, True] Translation: X:40.74, Y:-2.28, Z:-5.07 [[ 9.84929164e-01 1.30485806e-01 1.13525308e-01 4.07423381e+01] [-1.29670876e-01 9.91450107e-01 -1.45653796e-02 -2.28055210e+00] [-1.14455254e-01 -3.75058932e-04 9.93428334e-01 -5.06694366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.789649245999996 meters 0.058616040476760854 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.29, Z:-5.08 [[ 9.85117230e-01 1.30447637e-01 1.11926124e-01 4.08016841e+01] [-1.29651618e-01 9.91455144e-01 -1.43928635e-02 -2.29011949e+00] [-1.12847247e-01 -3.32745312e-04 9.93612293e-01 -5.07713975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849649246 meters 0.05859009315186083 Centerline is valid? [True, True] Translation: X:40.86, Y:-2.30, Z:-5.09 [[ 9.85549691e-01 1.28857515e-01 1.09943383e-01 4.08620940e+01] [-1.28076945e-01 9.91663111e-01 -1.41622970e-02 -2.30349835e+00] [-1.10851716e-01 -1.23565192e-04 9.93836949e-01 -5.08566028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.909649245999994 meters 0.058597428312488244 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.32, Z:-5.10 [[ 9.86019391e-01 1.26951088e-01 1.07931376e-01 4.09209699e+01] [-1.26184372e-01 9.91908971e-01 -1.39318633e-02 -2.31725593e+00] [-1.08826766e-01 1.17834388e-04 9.94060723e-01 -5.09594276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.969649245999996 meters 0.05868594667594948 Centerline is valid? [True, True] Translation: X:40.98, Y:-2.33, Z:-5.10 [[ 9.85970451e-01 1.27477666e-01 1.07757663e-01 4.09824331e+01] [-1.26715211e-01 9.91841439e-01 -1.39217744e-02 -2.32573187e+00] [-1.08653230e-01 7.19232166e-05 9.94079710e-01 -5.10366873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.029649246 meters 0.05895816690322751 Centerline is valid? [True, True] Translation: X:41.04, Y:-2.33, Z:-5.11 [[ 9.85951328e-01 1.28263230e-01 1.06997769e-01 4.10447509e+01] [-1.27512813e-01 9.91740159e-01 -1.38542050e-02 -2.33274065e+00] [-1.07890969e-01 1.59853689e-05 9.94162732e-01 -5.11231880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08964924599999 meters 0.0589674482357827 Centerline is valid? [True, True] Translation: X:41.11, Y:-2.34, Z:-5.12 [[ 9.86034069e-01 1.27964808e-01 1.06591847e-01 4.11059789e+01] [-1.27214955e-01 9.91778706e-01 -1.38330672e-02 -2.34249005e+00] [-1.07485670e-01 7.97984859e-05 9.94206631e-01 -5.12072801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.149649245999996 meters 0.059010787757052104 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.35, Z:-5.13 [[ 9.85864084e-01 1.28334129e-01 1.07714250e-01 4.11659709e+01] [-1.27566989e-01 9.91730985e-01 -1.40113190e-02 -2.34999658e+00] [-1.08621690e-01 7.24735335e-05 9.94083157e-01 -5.12787179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.209649246 meters 0.058960126855251524 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.36, Z:-5.13 [[ 9.85733217e-01 1.28554934e-01 1.08644617e-01 4.12268773e+01] [-1.27773019e-01 9.91702387e-01 -1.41574117e-02 -2.35831454e+00] [-1.09563132e-01 7.35803049e-05 9.93979836e-01 -5.13474347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26964924599999 meters 0.059042208714537234 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.37, Z:-5.14 [[ 9.85719328e-01 1.28264367e-01 1.09113051e-01 4.12880575e+01] [-1.27470919e-01 9.91740003e-01 -1.42453659e-02 -2.36885148e+00] [-1.10038950e-01 1.33191632e-04 9.93927267e-01 -5.14137257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.329649245999995 meters 0.059017578147214325 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.38, Z:-5.15 [[ 9.85962973e-01 1.26726127e-01 1.08708351e-01 4.13492481e+01] [-1.25925803e-01 9.91937688e-01 -1.42237664e-02 -2.37969973e+00] [-1.09634433e-01 3.34920632e-04 9.93971921e-01 -5.14849021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389649246 meters 0.05898624837446253 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.39, Z:-5.16 [[ 9.85973203e-01 1.27239882e-01 1.08013224e-01 4.14094736e+01] [-1.26449350e-01 9.91871926e-01 -1.41648978e-02 -2.38703948e+00] [-1.08937624e-01 3.08007817e-04 9.94048540e-01 -5.15760468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449649246 meters 0.059048416593229486 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.40, Z:-5.16 [[ 9.85884505e-01 1.27024308e-01 1.09071392e-01 4.14707589e+01] [-1.26213747e-01 9.91899538e-01 -1.43316695e-02 -2.39578909e+00] [-1.10008334e-01 3.63061797e-04 9.93930599e-01 -5.16482481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.509649245999995 meters 0.05900079540635864 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.40, Z:-5.17 [[ 9.85939172e-01 1.26277584e-01 1.09443687e-01 4.15324689e+01] [-1.25453872e-01 9.91994832e-01 -1.44076302e-02 -2.40445968e+00] [-1.10386933e-01 4.74912671e-04 9.93888575e-01 -5.17257658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.569649246 meters 0.05911628635526612 Centerline is valid? [True, True] Translation: X:41.59, Y:-2.42, Z:-5.18 [[ 9.86135042e-01 1.23853343e-01 1.10444687e-01 4.15938509e+01] [-1.22995738e-01 9.92300224e-01 -1.45710251e-02 -2.41534078e+00] [-1.11398957e-01 7.84772706e-04 9.93775456e-01 -5.17815680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629649246 meters 0.05913262158823545 Centerline is valid? [True, True] Translation: X:41.65, Y:-2.42, Z:-5.19 [[ 9.86268276e-01 1.24916263e-01 1.08031548e-01 4.16542400e+01] [-1.24098822e-01 9.92167054e-01 -1.42835160e-02 -2.42299360e+00] [-1.08969586e-01 6.80790931e-04 9.94044851e-01 -5.18786151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.689649245999995 meters 0.059197553079427076 Centerline is valid? [True, True] Translation: X:41.71, Y:-2.43, Z:-5.20 [[ 9.86719619e-01 1.22939673e-01 1.06161337e-01 4.17147396e+01] [-1.22136207e-01 9.92413730e-01 -1.40618759e-02 -2.43212416e+00] [-1.07084731e-01 9.08985702e-04 9.94249483e-01 -5.19573529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749649246 meters 0.05918994058432227 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.44, Z:-5.20 [[ 9.86906508e-01 1.22701687e-01 1.04689261e-01 4.17751160e+01] [-1.21916259e-01 9.92443145e-01 -1.38934845e-02 -2.44171250e+00] [-1.05602893e-01 9.48247187e-04 9.94407929e-01 -5.20456988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809649246 meters 0.05910619239323208 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.45, Z:-5.21 [[ 9.86833475e-01 1.23176651e-01 1.04819870e-01 4.18373165e+01] [-1.22389107e-01 9.92384329e-01 -1.39373406e-02 -2.45048423e+00] [-1.05738351e-01 9.25023941e-04 9.94393557e-01 -5.21168427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.869649245999994 meters 0.059000886858564104 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.46, Z:-5.22 [[ 9.86461639e-01 1.24436481e-01 1.06812910e-01 4.18980103e+01] [-1.23622409e-01 9.92227222e-01 -1.42351671e-02 -2.45600537e+00] [-1.07754051e-01 8.37976967e-04 9.94177229e-01 -5.21959911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.929649246 meters 0.05890510824891453 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.46, Z:-5.23 [[ 9.86108679e-01 1.28016772e-01 1.05836570e-01 4.19602462e+01] [-1.27235579e-01 9.91771894e-01 -1.41286484e-02 -2.45967116e+00] [-1.06774439e-01 4.66205586e-04 9.94283160e-01 -5.22677900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989649246 meters 0.05881017357746841 Centerline is valid? [True, True] Translation: X:42.02, Y:-2.46, Z:-5.23 [[ 9.85520858e-01 1.32742752e-01 1.05489342e-01 4.20230654e+01] [-1.31990510e-01 9.91150524e-01 -1.41118231e-02 -2.46207073e+00] [-1.06429059e-01 -1.60960361e-05 9.94320298e-01 -5.23338905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049649245999994 meters 0.05888608957323077 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.46, Z:-5.24 [[ 9.85106730e-01 1.35741178e-01 1.05541756e-01 4.20859994e+01] [-1.35002039e-01 9.90744284e-01 -1.41496453e-02 -2.46467813e+00] [-1.06485581e-01 -3.09441503e-04 9.94314198e-01 -5.24131036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.109649246 meters 0.05882391398411538 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.47, Z:-5.25 [[ 9.85060003e-01 1.35965841e-01 1.05688603e-01 4.21477302e+01] [-1.35222619e-01 9.90713479e-01 -1.42001894e-02 -2.47212282e+00] [-1.06637865e-01 -3.03451117e-04 9.94297880e-01 -5.25068414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.169649246 meters 0.05882680248341517 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.48, Z:-5.26 [[ 9.85354174e-01 1.34849293e-01 1.04368669e-01 4.22086793e+01] [-1.34115105e-01 9.90866109e-01 -1.40532206e-02 -2.48162687e+00] [-1.05310444e-01 -1.50015360e-04 9.94439384e-01 -5.25970711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.229649245999994 meters 0.058931018013918646 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.49, Z:-5.27 [[ 9.85309624e-01 1.35580220e-01 1.03840983e-01 4.22703754e+01] [-1.34854801e-01 9.90766352e-01 -1.40078310e-02 -2.48956868e+00] [-1.04781336e-01 -2.01404275e-04 9.94495264e-01 -5.26854913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.289649245999996 meters 0.058962249782356875 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.50, Z:-5.28 [[ 9.85188109e-01 1.36113105e-01 1.04295790e-01 4.23318611e+01] [-1.35381093e-01 9.90693277e-01 -1.40992827e-02 -2.50124355e+00] [-1.05244235e-01 -2.29232368e-04 9.94446378e-01 -5.27504291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.349649246 meters 0.05874237981463837 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.51, Z:-5.28 [[ 9.85506677e-01 1.32707596e-01 1.05665901e-01 4.23908405e+01] [-1.31933297e-01 9.91155218e-01 -1.43157020e-02 -2.51498443e+00] [-1.06631112e-01 1.67369256e-04 9.94298636e-01 -5.28254425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.409649245999994 meters 0.05891536162686528 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.53, Z:-5.29 [[ 9.85911684e-01 1.30145510e-01 1.05072818e-01 4.24511095e+01] [-1.29362898e-01 9.91494796e-01 -1.42587058e-02 -2.52820650e+00] [-1.06034859e-01 4.65300401e-04 9.94362304e-01 -5.29159864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.469649245999996 meters 0.05878704585327081 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.54, Z:-5.30 [[ 9.86165809e-01 1.28186982e-01 1.05095645e-01 4.25116671e+01] [-1.27390269e-01 9.91749770e-01 -1.42868167e-02 -2.53909912e+00] [-1.06059966e-01 7.01007708e-04 9.94359488e-01 -5.29693561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.529649246 meters 0.05901716350433611 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.55, Z:-5.31 [[ 9.86444908e-01 1.27244597e-01 1.03611080e-01 4.25710036e+01] [-1.26462357e-01 9.91871032e-01 -1.41112443e-02 -2.54992428e+00] [-1.04564408e-01 8.17063684e-04 9.94517781e-01 -5.30732405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58964924599999 meters 0.05918681949917043 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.56, Z:-5.32 [[ 9.86807132e-01 1.26513355e-01 1.01025027e-01 4.26321707e+01] [-1.25763696e-01 9.91964501e-01 -1.37811894e-02 -2.55841755e+00] [-1.01956745e-01 8.94095270e-04 9.94788431e-01 -5.31505426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.649649245999996 meters 0.059210542025273774 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.57, Z:-5.32 [[ 9.86780967e-01 1.26812400e-01 1.00905587e-01 4.26929227e+01] [-1.26063492e-01 9.91926322e-01 -1.37901474e-02 -2.56838308e+00] [-1.01839669e-01 8.87344306e-04 9.94800429e-01 -5.32385618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709649246 meters 0.059245934879369556 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.58, Z:-5.33 [[ 9.86689833e-01 1.27152094e-01 1.01368231e-01 4.27543992e+01] [-1.26395208e-01 9.91882838e-01 -1.38812008e-02 -2.57530069e+00] [-1.02310433e-01 8.83980924e-04 9.94752127e-01 -5.33249931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76964924599999 meters 0.05929362286861534 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.58, Z:-5.34 [[ 9.86669568e-01 1.27168020e-01 1.01545347e-01 4.28150599e+01] [-1.26405994e-01 9.91880774e-01 -1.39303915e-02 -2.58424521e+00] [-1.02492378e-01 9.08752841e-04 9.94733375e-01 -5.34027365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.829649245999995 meters 0.05919680784584705 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.59, Z:-5.35 [[ 9.86517028e-01 1.28851656e-01 1.00902947e-01 4.28766333e+01] [-1.28105384e-01 9.91663592e-01 -1.38683075e-02 -2.59043782e+00] [-1.01848733e-01 7.55110764e-04 9.94799611e-01 -5.34851985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.889649246 meters 0.05903666207224157 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.60, Z:-5.36 [[ 9.86338513e-01 1.29247627e-01 1.02134167e-01 4.29383893e+01] [-1.28481718e-01 9.91612061e-01 -1.40701141e-02 -2.59780022e+00] [-1.03096001e-01 7.55522159e-04 9.94671123e-01 -5.35537023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949649246 meters 0.059246248763724495 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.61, Z:-5.36 [[ 9.86515721e-01 1.28435536e-01 1.01444788e-01 4.29989310e+01] [-1.27675107e-01 9.91717504e-01 -1.39806931e-02 -2.60686481e+00] [-1.02400190e-01 8.40199367e-04 9.94742929e-01 -5.36332787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.009649245999995 meters 0.05971954756894961 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.62, Z:-5.37 [[ 9.86512507e-01 1.29128600e-01 1.00592633e-01 4.30589261e+01] [-1.28381988e-01 9.91627544e-01 -1.38880909e-02 -2.61503702e+00] [-1.01543775e-01 7.86493235e-04 9.94830761e-01 -5.37332667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.069649246 meters 0.059340452745485196 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.62, Z:-5.38 [[ 9.86466568e-01 1.29154807e-01 1.01008645e-01 4.31208581e+01] [-1.28399946e-01 9.91624114e-01 -1.39667898e-02 -2.62492336e+00] [-1.01966486e-01 8.08266625e-04 9.94787506e-01 -5.37663465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129649246 meters 0.05921524837345094 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.63, Z:-5.38 [[ 9.86409290e-01 1.29067807e-01 1.01677007e-01 4.31816894e+01] [-1.28299344e-01 9.91635404e-01 -1.40891436e-02 -2.63379889e+00] [-1.02644975e-01 8.52568785e-04 9.94717690e-01 -5.38427737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.189649245999995 meters 0.0593583218116506 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.64, Z:-5.39 [[ 9.86265997e-01 1.30285431e-01 1.01513988e-01 4.32423470e+01] [-1.29523296e-01 9.91476245e-01 -1.40915291e-02 -2.64033437e+00] [-1.02484629e-01 7.49569671e-04 9.94734306e-01 -5.39408695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.249649246 meters 0.05928825701097428 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.65, Z:-5.40 [[ 9.86071243e-01 1.32354983e-01 1.00725683e-01 4.33044742e+01] [-1.31612779e-01 9.91202224e-01 -1.40081132e-02 -2.64609849e+00] [-1.01693564e-01 5.56210563e-04 9.94815616e-01 -5.40123236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309649246 meters 0.05932078196063774 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.65, Z:-5.41 [[ 9.85953997e-01 1.33664034e-01 1.00143108e-01 4.33662088e+01] [-1.32934271e-01 9.91026602e-01 -1.39554060e-02 -2.65285092e+00] [-1.01109820e-01 4.46937228e-04 9.94875170e-01 -5.40975873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.369649245999994 meters 0.0594889569559284 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.66, Z:-5.42 [[ 9.86061489e-01 1.34525492e-01 9.79062379e-02 4.34256203e+01] [-1.33829111e-01 9.90910059e-01 -1.36756459e-02 -2.66008740e+00] [-9.88559990e-02 3.82322980e-04 9.95101676e-01 -5.42011670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.429649246 meters 0.05942892229449878 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.67, Z:-5.43 [[ 9.86100942e-01 1.34418875e-01 9.76549970e-02 4.34872968e+01] [-1.33725321e-01 9.90924523e-01 -1.36428742e-02 -2.67017385e+00] [-9.86025911e-02 3.94305261e-04 9.95126813e-01 -5.42600008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489649246 meters 0.059381263655699144 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.68, Z:-5.43 [[ 9.86223103e-01 1.30710988e-01 1.01383577e-01 4.35471389e+01] [-1.29940584e-01 9.91420172e-01 -1.41946512e-02 -2.68436512e+00] [-1.02369120e-01 8.25251814e-04 9.94746140e-01 -5.43110031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.549649245999994 meters 0.05923089769014603 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.69, Z:-5.44 [[ 9.86296764e-01 1.30705217e-01 1.00671942e-01 4.36089743e+01] [-1.29943115e-01 9.91420916e-01 -1.41192548e-02 -2.68992278e+00] [-1.01653729e-01 8.44149644e-04 9.94819485e-01 -5.43711734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.609649246 meters 0.05926773769281928 Centerline is valid? [True, True] Translation: X:43.67, Y:-2.70, Z:-5.44 [[ 9.86326787e-01 1.29758994e-01 1.01597606e-01 4.36705513e+01] [-1.28974693e-01 9.91545079e-01 -1.42788605e-02 -2.69928108e+00] [-1.02591417e-01 9.80102592e-04 9.94723097e-01 -5.44376477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.669649246 meters 0.05927137382732984 Centerline is valid? [True, True] Translation: X:43.73, Y:-2.71, Z:-5.45 [[ 9.86125299e-01 1.30597280e-01 1.02475583e-01 4.37315808e+01] [-1.29803197e-01 9.91435085e-01 -1.44083927e-02 -2.70697398e+00] [-1.03479585e-01 9.06822248e-04 9.94631164e-01 -5.45191009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.729649245999994 meters 0.059358711205402676 Centerline is valid? [True, True] Translation: X:43.79, Y:-2.72, Z:-5.46 [[ 9.86145672e-01 1.31529964e-01 1.01077105e-01 4.37923506e+01] [-1.30759748e-01 9.91311854e-01 -1.42371802e-02 -2.71610111e+00] [-1.02071548e-01 8.23116768e-04 9.94776719e-01 -5.45857143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.789649245999996 meters 0.059720349395514426 Centerline is valid? [True, True] Translation: X:43.85, Y:-2.72, Z:-5.47 [[ 9.86186359e-01 1.32223632e-01 9.97666102e-02 4.38514955e+01] [-1.31474268e-01 9.91219614e-01 -1.40781284e-02 -2.72408055e+00] [-1.00752082e-01 7.66916114e-04 9.94911267e-01 -5.46981169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.849649246 meters 0.05974197934808681 Centerline is valid? [True, True] Translation: X:43.91, Y:-2.73, Z:-5.48 [[ 9.85902303e-01 1.34009238e-01 1.00190679e-01 4.39114575e+01] [-1.33260280e-01 9.90979895e-01 -1.41614366e-02 -2.73086113e+00] [-1.01184712e-01 6.10355045e-04 9.94867469e-01 -5.47804372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.909649245999994 meters 0.05961875446335036 Centerline is valid? [True, True] Translation: X:43.97, Y:-2.73, Z:-5.48 [[ 9.85626862e-01 1.37375056e-01 9.83248835e-02 4.39735792e+01] [-1.36668415e-01 9.90519064e-01 -1.39186571e-02 -2.73405228e+00] [-9.93047478e-02 2.80696315e-04 9.95057028e-01 -5.48427705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.969649245999996 meters 0.05980211294346515 Centerline is valid? [True, True] Translation: X:44.03, Y:-2.74, Z:-5.50 [[ 9.85335254e-01 1.39982335e-01 9.75673259e-02 4.40338075e+01] [-1.39296843e-01 9.90154000e-01 -1.38363777e-02 -2.73718840e+00] [-9.85435265e-02 4.26502239e-05 9.95132741e-01 -5.49676814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.029649246 meters 0.059640930963456955 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.74, Z:-5.50 [[ 9.85179986e-01 1.40984685e-01 9.76919295e-02 4.40962625e+01] [-1.40300264e-01 9.90011776e-01 -1.38751099e-02 -2.74498918e+00] [-9.86723386e-02 -3.67229302e-05 9.95119977e-01 -5.50205243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08964924599999 meters 0.059532928793941745 Centerline is valid? [True, True] Translation: X:44.16, Y:-2.75, Z:-5.51 [[ 9.85030790e-01 1.41622311e-01 9.82723985e-02 4.41575841e+01] [-1.40929931e-01 9.89920762e-01 -1.39870844e-02 -2.75396830e+00] [-9.92627709e-02 -7.18135977e-05 9.95061253e-01 -5.50963491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.149649245999996 meters 0.059663514467097 Centerline is valid? [True, True] Translation: X:44.22, Y:-2.76, Z:-5.52 [[ 9.85071826e-01 1.41925125e-01 9.74205143e-02 4.42180613e+01] [-1.41243804e-01 9.89877393e-01 -1.38900975e-02 -2.76297777e+00] [-9.84057185e-02 -7.73003125e-05 9.95146375e-01 -5.51922931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.209649246 meters 0.05972844015738242 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.78, Z:-5.52 [[ 9.85234957e-01 1.40348822e-01 9.80524749e-02 4.42788099e+01] [-1.39648382e-01 9.90102114e-01 -1.40047275e-02 -2.77573103e+00] [-9.90475097e-02 1.05077640e-04 9.95082700e-01 -5.52402327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26964924599999 meters 0.059845356070479964 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.79, Z:-5.54 [[ 9.85406232e-01 1.39406086e-01 9.76754914e-02 4.43376899e+01] [-1.38703901e-01 9.90235271e-01 -1.39762278e-02 -2.78616475e+00] [-9.86700880e-02 2.24290268e-04 9.95120175e-01 -5.53541798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.329649245999995 meters 0.06014183944725631 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.80, Z:-5.54 [[ 9.85666529e-01 1.37899430e-01 9.71866312e-02 4.43980845e+01] [-1.37194775e-01 9.90446157e-01 -1.39284947e-02 -2.79799679e+00] [-9.81788570e-02 3.95353062e-04 9.95168707e-01 -5.54292579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.389649246 meters 0.06011119077451901 Centerline is valid? [True, True] Translation: X:44.46, Y:-2.81, Z:-5.55 [[ 9.85536984e-01 1.38001887e-01 9.83480163e-02 4.44591390e+01] [-1.37278244e-01 9.90431879e-01 -1.41200802e-02 -2.80954769e+00] [-9.93556083e-02 4.14818282e-04 9.95051904e-01 -5.54912575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449649246 meters 0.06010137440557253 Centerline is valid? [True, True] Translation: X:44.52, Y:-2.82, Z:-5.56 [[ 9.85638724e-01 1.37632922e-01 9.78441876e-02 4.45198615e+01] [-1.36912483e-01 9.90483192e-01 -1.40718796e-02 -2.81877059e+00] [-9.88497772e-02 4.73698856e-04 9.95102255e-01 -5.55683879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.509649245999995 meters 0.06027145598860013 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.83, Z:-5.56 [[ 9.85911658e-01 1.36358475e-01 9.68739834e-02 4.45803504e+01] [-1.35643798e-01 9.90659368e-01 -1.39562630e-02 -2.82864322e+00] [-9.78721739e-02 6.19287334e-04 9.95198801e-01 -5.56318979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.569649246 meters 0.06058365269554676 Centerline is valid? [True, True] Translation: X:44.64, Y:-2.84, Z:-5.57 [[ 9.85949192e-01 1.36592890e-01 9.61590986e-02 4.46411488e+01] [-1.35887702e-01 9.90627077e-01 -1.38753939e-02 -2.83623985e+00] [-9.71530869e-02 6.13594462e-04 9.95269261e-01 -5.57359970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629649246 meters 0.060282091665818154 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.85, Z:-5.58 [[ 9.85714872e-01 1.37273187e-01 9.75820856e-02 4.47020972e+01] [-1.36547759e-01 9.90533057e-01 -1.41057966e-02 -2.84516315e+00] [-9.85946291e-02 5.79678356e-04 9.95127511e-01 -5.57838413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.689649245999995 meters 0.05984440245168246 Centerline is valid? [True, True] Translation: X:44.76, Y:-2.85, Z:-5.58 [[ 9.85247496e-01 1.38751760e-01 1.00176450e-01 4.47639247e+01] [-1.37991690e-01 9.90327080e-01 -1.45109775e-02 -2.85343296e+00] [-1.01220875e-01 4.73386597e-04 9.94863865e-01 -5.58318535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.749649246 meters 0.0601077850991143 Centerline is valid? [True, True] Translation: X:44.82, Y:-2.86, Z:-5.59 [[ 9.85053114e-01 1.39089100e-01 1.01609965e-01 4.48249535e+01] [-1.38308227e-01 9.90279768e-01 -1.47246570e-02 -2.86211971e+00] [-1.02670332e-01 4.51075241e-04 9.94715336e-01 -5.59155438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809649246 meters 0.06020008222602572 Centerline is valid? [True, True] Translation: X:44.89, Y:-2.87, Z:-5.60 [[ 9.84996394e-01 1.40549232e-01 1.00139991e-01 4.48859969e+01] [-1.39795846e-01 9.90073639e-01 -1.45364986e-02 -2.86704136e+00] [-1.01189059e-01 3.19243817e-04 9.94867163e-01 -5.60137785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.869649245999994 meters 0.06058350345557001 Centerline is valid? [True, True] Translation: X:44.95, Y:-2.87, Z:-5.61 [[ 9.84494948e-01 1.46090838e-01 9.70935872e-02 4.49461390e+01] [-1.45406879e-01 9.89271156e-01 -1.41215693e-02 -2.86989850e+00] [-9.81149172e-02 -2.15461892e-04 9.95175068e-01 -5.61179638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.929649246 meters 0.060903926132971964 Centerline is valid? [True, True] Translation: X:45.01, Y:-2.87, Z:-5.62 [[ 9.84083626e-01 1.49834199e-01 9.55464841e-02 4.50076082e+01] [-1.49188658e-01 9.88710973e-01 -1.39052872e-02 -2.87229964e+00] [-9.65513448e-02 -5.70486248e-04 9.95327842e-01 -5.62259725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989649246 meters 0.06099002426118597 Centerline is valid? [True, True] Translation: X:45.07, Y:-2.88, Z:-5.63 [[ 9.83995558e-01 1.50485266e-01 9.54302145e-02 4.50696684e+01] [-1.49842142e-01 9.88612063e-01 -1.39111833e-02 -2.87869059e+00] [-9.64368894e-02 -6.10925176e-04 9.95338914e-01 -5.63114046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.049649245999994 meters 0.06094841150495671 Centerline is valid? [True, True] Translation: X:45.13, Y:-2.89, Z:-5.64 [[ 9.83964212e-01 1.50605001e-01 9.55644409e-02 4.51312190e+01] [-1.49957927e-01 9.88593839e-01 -1.39585679e-02 -2.89052045e+00] [-9.65766477e-02 -5.95914150e-04 9.95325372e-01 -5.63734170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.109649246 meters 0.06086718534428309 Centerline is valid? [True, True] Translation: X:45.19, Y:-2.90, Z:-5.64 [[ 9.84108756e-01 1.49150865e-01 9.63533896e-02 4.51919096e+01] [-1.48483223e-01 9.88814359e-01 -1.41030486e-02 -2.90458874e+00] [-9.73790971e-02 -4.27928232e-04 9.95247270e-01 -5.64385353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.169649246 meters 0.06056178483410461 Centerline is valid? [True, True] Translation: X:45.25, Y:-2.92, Z:-5.65 [[ 9.84255547e-01 1.46650946e-01 9.86636586e-02 4.52521928e+01] [-1.45935694e-01 9.89188291e-01 -1.44671570e-02 -2.91879653e+00] [-9.97185580e-02 -1.59169911e-04 9.95015670e-01 -5.65059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.229649245999994 meters 0.060418349777052016 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.93, Z:-5.66 [[ 9.84209901e-01 1.46436019e-01 9.94352168e-02 4.53132997e+01] [-1.45705844e-01 9.89220137e-01 -1.46057346e-02 -2.92827113e+00] [-1.00502124e-01 -1.13183625e-04 9.94936837e-01 -5.65673246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.289649245999996 meters 0.06050707703496581 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.94, Z:-5.67 [[ 9.84094243e-01 1.46925006e-01 9.98577200e-02 4.53738844e+01] [-1.46188515e-01 9.89147625e-01 -1.46933544e-02 -2.93620684e+00] [-1.00932848e-01 -1.38406307e-04 9.94893231e-01 -5.66664032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.349649246 meters 0.060351810573042126 Centerline is valid? [True, True] Translation: X:45.44, Y:-2.95, Z:-5.67 [[ 9.84169238e-01 1.46640934e-01 9.95356565e-02 4.54354418e+01] [-1.45905326e-01 9.89189784e-01 -1.46699311e-02 -2.94759729e+00] [-1.00610867e-01 -8.50874249e-05 9.94925850e-01 -5.67391396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.409649245999994 meters 0.06029122979104819 Centerline is valid? [True, True] Translation: X:45.50, Y:-2.96, Z:-5.68 [[ 9.84523471e-01 1.44581259e-01 9.90444060e-02 4.54952952e+01] [-1.43839520e-01 9.89492918e-01 -1.46272633e-02 -2.95956690e+00] [-1.00118566e-01 1.54384198e-04 9.94975502e-01 -5.68306028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.469649245999996 meters 0.060613900725355906 Centerline is valid? [True, True] Translation: X:45.56, Y:-2.97, Z:-5.69 [[ 9.84862182e-01 1.42660898e-01 9.84598931e-02 4.55555691e+01] [-1.41915884e-01 9.89771554e-01 -1.45654473e-02 -2.97096389e+00] [-9.95307212e-02 3.71935454e-04 9.95034420e-01 -5.69181054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.529649246 meters 0.06040559476644307 Centerline is valid? [True, True] Translation: X:45.62, Y:-2.98, Z:-5.70 [[ 9.84849695e-01 1.43007434e-01 9.80813556e-02 4.56173500e+01] [-1.42267490e-01 9.89721549e-01 -1.45332939e-02 -2.98337078e+00] [-9.91516003e-02 3.59321851e-04 9.95072274e-01 -5.69633786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58964924599999 meters 0.060271615520726414 Centerline is valid? [True, True] Translation: X:45.68, Y:-2.99, Z:-5.70 [[ 9.84637798e-01 1.43192055e-01 9.99221794e-02 4.56786206e+01] [-1.42421815e-01 9.89694848e-01 -1.48369098e-02 -2.99255478e+00] [-1.01016994e-01 3.77884078e-04 9.94884629e-01 -5.70172499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.649649245999996 meters 0.06029719389542611 Centerline is valid? [True, True] Translation: X:45.74, Y:-3.00, Z:-5.71 [[ 9.84390718e-01 1.43805971e-01 1.01463080e-01 4.57386075e+01] [-1.43012132e-01 9.89605842e-01 -1.50933105e-02 -2.99896321e+00] [-1.02578965e-01 3.47263308e-04 9.94724804e-01 -5.71097264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.709649246 meters 0.06038579437535613 Centerline is valid? [True, True] Translation: X:45.80, Y:-3.01, Z:-5.72 [[ 9.84365356e-01 1.44327064e-01 1.00968035e-01 4.58003696e+01] [-1.43541363e-01 9.89529989e-01 -1.50425093e-02 -3.00697747e+00] [-1.02081940e-01 3.14235542e-04 9.94775944e-01 -5.72021760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76964924599999 meters 0.06017998446523471 Centerline is valid? [True, True] Translation: X:45.86, Y:-3.02, Z:-5.73 [[ 9.84196031e-01 1.44607076e-01 1.02210400e-01 4.58597976e+01] [-1.43800086e-01 9.89489106e-01 -1.52592418e-02 -3.01816051e+00] [-1.03342671e-01 3.20221026e-04 9.94645761e-01 -5.72583232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.829649245999995 meters 0.06017819329875259 Centerline is valid? [True, True] Translation: X:45.92, Y:-3.03, Z:-5.74 [[ 9.84270271e-01 1.44770120e-01 1.01260290e-01 4.59202709e+01] [-1.43976570e-01 9.89465264e-01 -1.51406519e-02 -3.02698217e+00] [-1.02385454e-01 3.23384265e-04 9.94744748e-01 -5.73529039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.889649246 meters 0.06028490083101068 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.03, Z:-5.74 [[ 9.84104689e-01 1.46842981e-01 9.98754194e-02 4.59815646e+01] [-1.46079168e-01 9.89159806e-01 -1.49584356e-02 -3.03441551e+00] [-1.00989292e-01 1.30948413e-04 9.94887504e-01 -5.74433856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949649246 meters 0.06045562056793369 Centerline is valid? [True, True] Translation: X:46.04, Y:-3.04, Z:-5.75 [[ 9.84602564e-01 1.44131864e-01 9.89130728e-02 4.60415759e+01] [-1.43366569e-01 9.89558397e-01 -1.48393422e-02 -3.04496831e+00] [-1.00019084e-01 4.30026451e-04 9.94985426e-01 -5.75324122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.009649245999995 meters 0.060196688951077514 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.06, Z:-5.76 [[ 9.84728246e-01 1.42094321e-01 1.00595650e-01 4.61027904e+01] [-1.41289695e-01 9.89852895e-01 -1.51151792e-02 -3.05511746e+00] [-1.01722676e-01 6.71215288e-04 9.94812569e-01 -5.75995675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.069649246 meters 0.060162171160626485 Centerline is valid? [True, True] Translation: X:46.16, Y:-3.07, Z:-5.77 [[ 9.84339200e-01 1.43430706e-01 1.02488890e-01 4.61622918e+01] [-1.42599820e-01 9.89660198e-01 -1.54267327e-02 -3.06567474e+00] [-1.03641842e-01 5.70240540e-04 9.94614520e-01 -5.76752599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129649246 meters 0.059920153524374686 Centerline is valid? [True, True] Translation: X:46.22, Y:-3.08, Z:-5.77 [[ 9.84147737e-01 1.43619248e-01 1.04051639e-01 4.62229559e+01] [-1.42761221e-01 9.89632847e-01 -1.56863757e-02 -3.07691147e+00] [-1.05225785e-01 5.83172235e-04 9.94448186e-01 -5.77127172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.189649245999995 meters 0.05993729233648991 Centerline is valid? [True, True] Translation: X:46.28, Y:-3.08, Z:-5.78 [[ 9.83765995e-01 1.44813381e-01 1.05988452e-01 4.62837751e+01] [-1.43927038e-01 9.89458864e-01 -1.60051204e-02 -3.08403737e+00] [-1.07188969e-01 4.90689181e-04 9.94238545e-01 -5.77810758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.249649246 meters 0.060155390304298284 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.09, Z:-5.79 [[ 9.83561373e-01 1.47482950e-01 1.04191191e-01 4.63451991e+01] [-1.46638718e-01 9.89064573e-01 -1.57593156e-02 -3.08885772e+00] [-1.05376046e-01 2.21791453e-04 9.94432421e-01 -5.78825217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309649246 meters 0.06047694890246099 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.09, Z:-5.80 [[ 9.83397345e-01 1.51053207e-01 1.00561375e-01 4.64066487e+01] [-1.50282988e-01 9.88525625e-01 -1.52352235e-02 -3.09271124e+00] [-1.01708825e-01 -1.30385524e-04 9.94814203e-01 -5.80020426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.369649245999994 meters 0.060578264789042546 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.10, Z:-5.81 [[ 9.83043560e-01 1.53102042e-01 1.00921379e-01 4.64678638e+01] [-1.52334539e-01 9.88210333e-01 -1.53142287e-02 -3.09788388e+00] [-1.02076189e-01 -3.19257788e-04 9.94776533e-01 -5.80920761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.429649246 meters 0.06048270491520585 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.11, Z:-5.82 [[ 9.82912897e-01 1.53499210e-01 1.01588532e-01 4.65293041e+01] [-1.52720768e-01 9.88148714e-01 -1.54430243e-02 -3.10692855e+00] [-1.02755070e-01 -3.35530963e-04 9.94706632e-01 -5.81610855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489649246 meters 0.06036936163523001 Centerline is valid? [True, True] Translation: X:46.59, Y:-3.12, Z:-5.82 [[ 9.82948163e-01 1.52318049e-01 1.03015149e-01 4.65901305e+01] [-1.51508243e-01 9.88331511e-01 -1.56868057e-02 -3.11919830e+00] [-1.04202501e-01 -1.88327277e-04 9.94556084e-01 -5.82260639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.549649245999994 meters 0.060128478848399364 Centerline is valid? [True, True] Translation: X:46.65, Y:-3.13, Z:-5.83 [[ 9.82985095e-01 1.50543824e-01 1.05246664e-01 4.66503119e+01] [-1.49685386e-01 9.88603336e-01 -1.60539426e-02 -3.13385029e+00] [-1.06464025e-01 2.68988051e-05 9.94316555e-01 -5.82722225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.609649246 meters 0.06024318954951818 Centerline is valid? [True, True] Translation: X:46.71, Y:-3.15, Z:-5.84 [[ 9.83480980e-01 1.47630001e-01 1.04740370e-01 4.67087049e+01] [-1.46760474e-01 9.89042592e-01 -1.60036036e-02 -3.15001202e+00] [-1.05955299e-01 3.67493301e-04 9.94370826e-01 -5.83621002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.669649246 meters 0.0604238189283298 Centerline is valid? [True, True] Translation: X:46.77, Y:-3.17, Z:-5.84 [[ 9.84119137e-01 1.40625216e-01 1.08323925e-01 4.67696117e+01] [-1.39649824e-01 9.90062191e-01 -1.65766284e-02 -3.16863107e+00] [-1.09578515e-01 1.18596016e-03 9.93977436e-01 -5.83765269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.729649245999994 meters 0.0612342649364519 Centerline is valid? [True, True] Translation: X:46.83, Y:-3.17, Z:-5.85 [[ 9.85008714e-01 1.38793955e-01 1.02440578e-01 4.68281022e+01] [-1.37908832e-01 9.90320368e-01 -1.57074337e-02 -3.17179287e+00] [-1.03629088e-01 1.34449854e-03 9.94615104e-01 -5.85442120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.789649245999996 meters 0.06193739815209249 Centerline is valid? [True, True] Translation: X:46.89, Y:-3.17, Z:-5.87 [[ 9.85541429e-01 1.41448740e-01 9.32756442e-02 4.68887095e+01] [-1.40726249e-01 9.89945098e-01 -1.43117540e-02 -3.17156354e+00] [-9.43621463e-02 9.78494935e-04 9.95537457e-01 -5.87291528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.849649246 meters 0.06164156362690337 Centerline is valid? [True, True] Translation: X:46.95, Y:-3.18, Z:-5.88 [[ 9.85320422e-01 1.44187349e-01 9.13984330e-02 4.69503533e+01] [-1.43505653e-01 9.89550160e-01 -1.40217205e-02 -3.18011856e+00] [-9.24650887e-02 6.99695757e-04 9.95715681e-01 -5.87644726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.909649245999994 meters 0.061488716789608766 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.19, Z:-5.89 [[ 9.84904256e-01 1.46005229e-01 9.29843030e-02 4.70100803e+01] [-1.45305390e-01 9.89283658e-01 -1.42894017e-02 -3.18687028e+00] [-9.40741788e-02 5.62572171e-04 9.95565032e-01 -5.88513816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.969649245999996 meters 0.06077210451647719 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.19, Z:-5.89 [[ 9.84457070e-01 1.45963611e-01 9.76673052e-02 4.70711881e+01] [-1.45188269e-01 9.89289763e-01 -1.50376597e-02 -3.19413585e+00] [-9.88162164e-02 6.23783358e-04 9.95105505e-01 -5.88616443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.029649246 meters 0.06057058350422682 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.20, Z:-5.89 [[ 9.83939695e-01 1.48271286e-01 9.93896464e-02 4.71318081e+01] [-1.47480147e-01 9.88946645e-01 -1.53015962e-02 -3.20259117e+00] [-1.00559845e-01 3.97848235e-04 9.94930932e-01 -5.89167454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08964924599999 meters 0.06055265045389922 Centerline is valid? [True, True] Translation: X:47.19, Y:-3.21, Z:-5.90 [[ 9.83577409e-01 1.50722459e-01 9.92885712e-02 4.71941748e+01] [-1.49942993e-01 9.88576103e-01 -1.53097281e-02 -3.20875703e+00] [-1.00461829e-01 1.70677144e-04 9.94940899e-01 -5.89731328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.149649245999996 meters 0.060700313793313934 Centerline is valid? [True, True] Translation: X:47.26, Y:-3.21, Z:-5.91 [[ 9.82970087e-01 1.54913473e-01 9.88515218e-02 4.72565319e+01] [-1.54159148e-01 9.87928015e-01 -1.52706756e-02 -3.21042415e+00] [-1.00023821e-01 -2.28249031e-04 9.94985017e-01 -5.90702691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.209649246 meters 0.06117496939749316 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.21, Z:-5.92 [[ 9.82001936e-01 1.61358822e-01 9.81607241e-02 4.73183214e+01] [-1.60644238e-01 9.86895440e-01 -1.51927701e-02 -3.20957272e+00] [-9.93258584e-02 -8.49625030e-04 9.95054597e-01 -5.91705698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26964924599999 meters 0.06151296060453455 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.21, Z:-5.93 [[ 9.81134195e-01 1.66884791e-01 9.75969144e-02 4.73804204e+01] [-1.66202852e-01 9.85975447e-01 -1.51337281e-02 -3.21219053e+00] [-9.87537503e-02 -1.37266735e-03 9.95110955e-01 -5.92510335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.329649245999995 meters 0.062093480990745964 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.22, Z:-5.93 [[ 9.80391061e-01 1.70981578e-01 9.79727900e-02 4.74405333e+01] [-1.70314432e-01 9.85272602e-01 -1.51952093e-02 -3.21789734e+00] [-9.91280066e-02 -1.78893275e-03 9.95073082e-01 -5.93185508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389649246 meters 0.06183037028731479 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.23, Z:-5.94 [[ 9.80590818e-01 1.69512844e-01 9.85243318e-02 4.75017535e+01] [-1.68828475e-01 9.85526635e-01 -1.53035268e-02 -3.22501968e+00] [-9.96924975e-02 -1.62721484e-03 9.95016964e-01 -5.93862784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449649246 meters 0.061712805496711605 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.24, Z:-5.95 [[ 9.80955829e-01 1.68383968e-01 9.68116726e-02 4.75622654e+01] [-1.67715431e-01 9.85720396e-01 -1.50610120e-02 -3.23581501e+00] [-9.79652732e-02 -1.46262388e-03 9.95188759e-01 -5.94755624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.509649245999995 meters 0.06260199287524702 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.24, Z:-5.96 [[ 9.80505390e-01 1.71655938e-01 9.56212216e-02 4.76233629e+01] [-1.71016503e-01 9.85155427e-01 -1.49043902e-02 -3.24286270e+00] [-9.67601925e-02 -1.73897207e-03 9.95306205e-01 -5.95867807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569649246 meters 0.06187569099239543 Centerline is valid? [True, True] Translation: X:47.68, Y:-3.26, Z:-5.96 [[ 9.80787078e-01 1.68824661e-01 9.77493787e-02 4.76816131e+01] [-1.68141579e-01 9.85644982e-01 -1.52440108e-02 -3.25953809e+00] [-9.89197495e-02 -1.48460602e-03 9.95094307e-01 -5.96249960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629649246 meters 0.06137757160329601 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.27, Z:-5.97 [[ 9.80821192e-01 1.67130380e-01 1.00285722e-01 4.77417148e+01] [-1.66402035e-01 9.85933887e-01 -1.56439341e-02 -3.27427426e+00] [-1.01489669e-01 -1.34384628e-03 9.94835686e-01 -5.96788620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.689649245999995 meters 0.06143263226655574 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.29, Z:-5.98 [[ 9.81009474e-01 1.66544651e-01 9.94147474e-02 4.78025826e+01] [-1.65825965e-01 9.86033093e-01 -1.55077052e-02 -3.28782350e+00] [-1.00608956e-01 -1.27234067e-03 9.94925233e-01 -5.97573269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.749649246 meters 0.061601324964150585 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.30, Z:-5.98 [[ 9.81163788e-01 1.67040679e-01 9.70310965e-02 4.78630427e+01] [-1.66355725e-01 9.85949196e-01 -1.51643062e-02 -3.29948663e+00] [-9.82007876e-02 -1.26301032e-03 9.95165820e-01 -5.98465542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809649246 meters 0.06174842413094036 Centerline is valid? [True, True] Translation: X:47.92, Y:-3.31, Z:-5.99 [[ 9.80959586e-01 1.68763803e-01 9.61096787e-02 4.79236595e+01] [-1.68097725e-01 9.85655530e-01 -1.50442813e-02 -3.30792981e+00] [-9.72699665e-02 -1.39798641e-03 9.95257052e-01 -5.99299506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.869649245999994 meters 0.06190494005821407 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.31, Z:-6.00 [[ 9.80600126e-01 1.70683275e-01 9.63878226e-02 4.79848524e+01] [-1.70020176e-01 9.85324697e-01 -1.51122902e-02 -3.31477737e+00] [-9.75527173e-02 -1.56876090e-03 9.95229123e-01 -6.00223050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929649246 meters 0.06181903492370924 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.32, Z:-6.01 [[ 9.79999726e-01 1.73100082e-01 9.81677092e-02 4.80463512e+01] [-1.72421844e-01 9.84902561e-01 -1.54160122e-02 -3.32242243e+00] [-9.93541411e-02 -1.81856971e-03 9.95050475e-01 -6.00591750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989649246 meters 0.061559695098345905 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.33, Z:-6.01 [[ 9.80236421e-01 1.71030474e-01 9.94240227e-02 4.81057803e+01] [-1.70321404e-01 9.85264435e-01 -1.56400745e-02 -3.33364673e+00] [-1.00633883e-01 -1.60306856e-03 9.94922234e-01 -6.01320652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.049649245999994 meters 0.06125686636013919 Centerline is valid? [True, True] Translation: X:48.16, Y:-3.35, Z:-6.02 [[ 9.80442332e-01 1.68791707e-01 1.01203718e-01 4.81649557e+01] [-1.68042519e-01 9.85650787e-01 -1.59448629e-02 -3.34680033e+00] [-1.02442885e-01 -1.37350918e-03 9.94737940e-01 -6.02293724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.109649246 meters 0.06053244304688719 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.36, Z:-6.03 [[ 9.80634949e-01 1.66631527e-01 1.02903021e-01 4.82253533e+01] [-1.65842557e-01 9.86018573e-01 -1.62363846e-02 -3.36365626e+00] [-1.04169784e-01 -1.14373396e-03 9.94558871e-01 -6.02522359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.169649246 meters 0.060069287623550904 Centerline is valid? [True, True] Translation: X:48.28, Y:-3.38, Z:-6.03 [[ 9.81508982e-01 1.61394705e-01 1.02916794e-01 4.82846877e+01] [-1.60574060e-01 9.86889778e-01 -1.62646238e-02 -3.38241013e+00] [-1.04192557e-01 -5.61893189e-04 9.94556985e-01 -6.03300920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.229649245999994 meters 0.05975276183706823 Centerline is valid? [True, True] Translation: X:48.34, Y:-3.39, Z:-6.04 [[ 9.81595563e-01 1.60622146e-01 1.03298968e-01 4.83441636e+01] [-1.59788326e-01 9.87015865e-01 -1.63515186e-02 -3.39346292e+00] [-1.04584136e-01 -4.55391096e-04 9.94515938e-01 -6.04014564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.289649245999996 meters 0.05951975394791653 Centerline is valid? [True, True] Translation: X:48.41, Y:-3.40, Z:-6.05 [[ 9.81425379e-01 1.60507932e-01 1.05078204e-01 4.84050979e+01] [-1.59641820e-01 9.87034458e-01 -1.66573575e-02 -3.40375570e+00] [-1.06389446e-01 -4.26922337e-04 9.94324446e-01 -6.04662461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.349649246 meters 0.05947430463472001 Centerline is valid? [True, True] Translation: X:48.47, Y:-3.42, Z:-6.05 [[ 9.81609637e-01 1.58967125e-01 1.05697559e-01 4.84657864e+01] [-1.58078990e-01 9.87283849e-01 -1.67819874e-02 -3.41501400e+00] [-1.07021277e-01 -2.35202832e-04 9.94256703e-01 -6.05454709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.409649245999994 meters 0.05936677897833148 Centerline is valid? [True, True] Translation: X:48.53, Y:-3.43, Z:-6.06 [[ 9.81884644e-01 1.57416913e-01 1.05463081e-01 4.85269315e+01] [-1.56521032e-01 9.87532234e-01 -1.67705896e-02 -3.42924896e+00] [-1.06788167e-01 -4.04058720e-05 9.94281794e-01 -6.06022228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.469649245999996 meters 0.059342122892206604 Centerline is valid? [True, True] Translation: X:48.59, Y:-3.44, Z:-6.07 [[ 9.81985234e-01 1.56344135e-01 1.06120270e-01 4.85869177e+01] [-1.55427278e-01 9.87702637e-01 -1.69074429e-02 -3.44009535e+00] [-1.07458650e-01 1.08874549e-04 9.94209549e-01 -6.06896027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.529649246 meters 0.059574321695983784 Centerline is valid? [True, True] Translation: X:48.65, Y:-3.45, Z:-6.08 [[ 9.82222173e-01 1.55077653e-01 1.05785278e-01 4.86473874e+01] [-1.54156445e-01 9.87902246e-01 -1.68802664e-02 -3.45265580e+00] [-1.07123266e-01 2.72689559e-04 9.94245710e-01 -6.07829112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58964924599999 meters 0.059275702943337824 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.47, Z:-6.08 [[ 9.82192099e-01 1.54371629e-01 1.07089130e-01 4.87081977e+01] [-1.53419813e-01 9.88012779e-01 -1.71204492e-02 -3.46624277e+00] [-1.08448341e-01 3.85975650e-04 9.94102011e-01 -6.08297907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.649649245999996 meters 0.059523123347160735 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.48, Z:-6.09 [[ 9.82570407e-01 1.52627239e-01 1.06114664e-01 4.87679525e+01] [-1.51679429e-01 9.88283645e-01 -1.69937489e-02 -3.47764263e+00] [-1.07465096e-01 6.02143170e-04 9.94208676e-01 -6.09272978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.709649246 meters 0.05965762064027165 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.49, Z:-6.10 [[ 9.83234800e-01 1.50701671e-01 1.02656393e-01 4.88265739e+01] [-1.49803099e-01 9.88578965e-01 -1.64517940e-02 -3.49129394e+00] [-1.03963264e-01 7.97730504e-04 9.94580818e-01 -6.10380429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76964924599999 meters 0.059592925701025 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.50, Z:-6.11 [[ 9.83286621e-01 1.48957453e-01 1.04685707e-01 4.88871987e+01] [-1.48010408e-01 9.88843073e-01 -1.68016447e-02 -3.50271466e+00] [-1.06020466e-01 1.02625832e-03 9.94363418e-01 -6.10949322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.829649245999995 meters 0.059576265245367695 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.51, Z:-6.12 [[ 9.83272854e-01 1.48836406e-01 1.04986760e-01 4.89490000e+01] [-1.47880397e-01 9.88861256e-01 -1.68761810e-02 -3.51192142e+00] [-1.06329129e-01 1.06840689e-03 9.94330415e-01 -6.11663620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.889649246 meters 0.059443490265771455 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.52, Z:-6.13 [[ 9.82909219e-01 1.50709887e-01 1.05716586e-01 4.90096686e+01] [-1.49747899e-01 9.88577622e-01 -1.70250642e-02 -3.51932932e+00] [-1.07074896e-01 9.03255976e-04 9.94250547e-01 -6.12515054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949649246 meters 0.05935306544108652 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.52, Z:-6.13 [[ 9.82194467e-01 1.55337786e-01 1.05660783e-01 4.90715541e+01] [-1.54400613e-01 9.87861322e-01 -1.70428703e-02 -3.52143192e+00] [-1.07025603e-01 4.25323250e-04 9.94256174e-01 -6.13435344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.009649245999995 meters 0.0593925187982224 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.53, Z:-6.14 [[ 9.82078128e-01 1.57046609e-01 1.04206110e-01 4.91327401e+01] [-1.56141974e-01 9.87591157e-01 -1.68341833e-02 -3.52928042e+00] [-1.05556784e-01 2.61535476e-04 9.94413243e-01 -6.14360711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.069649246 meters 0.05958951688692199 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.54, Z:-6.15 [[ 9.82462547e-01 1.55062769e-01 1.03551347e-01 4.91927735e+01] [-1.54155774e-01 9.87904495e-01 -1.67543137e-02 -3.54116217e+00] [-1.04896811e-01 4.97447791e-04 9.94482987e-01 -6.15102564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129649246 meters 0.059765095969197754 Centerline is valid? [True, True] Translation: X:49.25, Y:-3.55, Z:-6.16 [[ 9.82943245e-01 1.53137886e-01 1.01839898e-01 4.92525204e+01] [-1.52247741e-01 9.88204571e-01 -1.65030690e-02 -3.55103050e+00] [-1.03165897e-01 7.16685848e-04 9.94663905e-01 -6.16229411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.189649245999995 meters 0.05998019879005257 Centerline is valid? [True, True] Translation: X:49.31, Y:-3.56, Z:-6.17 [[ 9.83080304e-01 1.51773176e-01 1.02557395e-01 4.93131446e+01] [-1.50860582e-01 9.88414950e-01 -1.66424770e-02 -3.56350193e+00] [-1.03895144e-01 8.89023000e-04 9.94587859e-01 -6.17016748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.249649246 meters 0.05981385462770159 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.58, Z:-6.17 [[ 9.82930602e-01 1.50663381e-01 1.05583983e-01 4.93741836e+01] [-1.49686166e-01 9.88584546e-01 -1.71652637e-02 -3.57714317e+00] [-1.06964871e-01 1.06780130e-03 9.94262227e-01 -6.17321283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309649246 meters 0.059639314994252325 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.59, Z:-6.18 [[ 9.82824316e-01 1.50997109e-01 1.06095410e-01 4.94346325e+01] [-1.50009397e-01 9.88533632e-01 -1.72753701e-02 -3.58820975e+00] [-1.07487412e-01 1.06334528e-03 9.94205877e-01 -6.18065116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.369649245999994 meters 0.05988311331604082 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.60, Z:-6.19 [[ 9.83049590e-01 1.50249345e-01 1.05064925e-01 4.94949156e+01] [-1.49273739e-01 9.88647454e-01 -1.71336404e-02 -3.59774106e+00] [-1.06446489e-01 1.15978397e-03 9.94317756e-01 -6.19050617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.429649246 meters 0.05991014732089286 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.61, Z:-6.20 [[ 9.83215392e-01 1.49414511e-01 1.04703379e-01 4.95554765e+01] [-1.48438145e-01 9.88773830e-01 -1.71005972e-02 -3.60838259e+00] [-1.06083038e-01 1.27159515e-03 9.94356461e-01 -6.19807243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489649246 meters 0.06028022162841879 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.62, Z:-6.21 [[ 9.83385725e-01 1.49216836e-01 1.03377227e-01 4.96150743e+01] [-1.48261227e-01 9.88803640e-01 -1.69106489e-02 -3.61910324e+00] [-1.04743132e-01 1.30285623e-03 9.94498456e-01 -6.20823290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.549649245999994 meters 0.0602563808849862 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.63, Z:-6.22 [[ 9.83263667e-01 1.49750726e-01 1.03765510e-01 4.96761271e+01] [-1.48788306e-01 9.88722962e-01 -1.69983901e-02 -3.62771333e+00] [-1.05140863e-01 1.27480498e-03 9.94456522e-01 -6.21563902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.609649246 meters 0.05992094888941486 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.63, Z:-6.22 [[ 9.82944806e-01 1.51658752e-01 1.04015054e-01 4.97373394e+01] [-1.50699563e-01 9.88432301e-01 -1.70653821e-02 -3.63450867e+00] [-1.05399954e-01 1.09930559e-03 9.94429304e-01 -6.22319875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669649246 meters 0.05972707314131148 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.64, Z:-6.23 [[ 9.82527899e-01 1.54633622e-01 1.03573019e-01 4.97989045e+01] [-1.53696303e-01 9.87971557e-01 -1.70190520e-02 -3.64098638e+00] [-1.04958914e-01 8.02903289e-04 9.94476235e-01 -6.23017159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.729649245999994 meters 0.05973552651618063 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.65, Z:-6.24 [[ 9.82399684e-01 1.55537438e-01 1.03435805e-01 4.98603819e+01] [-1.54604925e-01 9.87829728e-01 -1.70219114e-02 -3.65017095e+00] [-1.04824508e-01 7.30635450e-04 9.94490467e-01 -6.23906126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.789649245999996 meters 0.0597819704733127 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.66, Z:-6.25 [[ 9.82345096e-01 1.56301352e-01 1.02800778e-01 4.99219858e+01] [-1.55381382e-01 9.87709184e-01 -1.69467773e-02 -3.65929283e+00] [-1.04186077e-01 6.74256510e-04 9.94557593e-01 -6.24726370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.849649246 meters 0.05942388272012145 Centerline is valid? [True, True] Translation: X:49.98, Y:-3.67, Z:-6.25 [[ 9.81646712e-01 1.59144710e-01 1.05084227e-01 4.99835652e+01] [-1.58196100e-01 9.87255180e-01 -1.73552079e-02 -3.66671934e+00] [-1.06506937e-01 4.12767943e-04 9.94311874e-01 -6.25205573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.909649245999994 meters 0.059358208488384266 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.67, Z:-6.26 [[ 9.81088652e-01 1.61967417e-01 1.05979300e-01 5.00453636e+01] [-1.61016001e-01 9.86796097e-01 -1.75302464e-02 -3.67254018e+00] [-1.07419288e-01 1.34362786e-04 9.94213799e-01 -6.25915647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.969649245999996 meters 0.05931728022855175 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.68, Z:-6.27 [[ 9.81145322e-01 1.60820563e-01 1.07194230e-01 5.01069184e+01] [-1.59837317e-01 9.86983618e-01 -1.77586595e-02 -3.68120605e+00] [-1.08654906e-01 2.90187626e-04 9.94079487e-01 -6.26508064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.029649246 meters 0.05949793538090846 Centerline is valid? [True, True] Translation: X:50.17, Y:-3.69, Z:-6.28 [[ 9.80759459e-01 1.64638492e-01 1.04904958e-01 5.01686118e+01] [-1.63715924e-01 9.86353971e-01 -1.74051738e-02 -3.68547343e+00] [-1.06338984e-01 -1.04323362e-04 9.94329930e-01 -6.27584038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08964924599999 meters 0.05981532015505246 Centerline is valid? [True, True] Translation: X:50.23, Y:-3.69, Z:-6.29 [[ 9.81048850e-01 1.64795414e-01 1.01909891e-01 5.02274791e+01] [-1.63922863e-01 9.86327767e-01 -1.69361034e-02 -3.69404263e+00] [-1.03307547e-01 -9.02163549e-05 9.94649457e-01 -6.28893360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.149649245999996 meters 0.05987860629904373 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.71, Z:-6.30 [[ 9.81234185e-01 1.64673163e-01 1.00310634e-01 5.02874493e+01] [-1.63826253e-01 9.86348186e-01 -1.66797465e-02 -3.70752322e+00] [-1.01687918e-01 -6.67777982e-05 9.94816346e-01 -6.29560863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.209649246 meters 0.05992816391935867 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.72, Z:-6.31 [[ 9.81578149e-01 1.62119269e-01 1.01102324e-01 5.03461160e+01] [-1.61242593e-01 9.86771144e-01 -1.68384869e-02 -3.72142829e+00] [-1.02494699e-01 2.26289924e-04 9.94733525e-01 -6.30690106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26964924599999 meters 0.05983735470631739 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.73, Z:-6.31 [[ 9.81619241e-01 1.61051197e-01 1.02402038e-01 5.04071507e+01] [-1.60143416e-01 9.86945985e-01 -1.70794838e-02 -3.73377983e+00] [-1.03815951e-01 3.66537897e-04 9.94596458e-01 -6.31101248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.329649245999995 meters 0.05984293208304163 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.75, Z:-6.32 [[ 9.81684190e-01 1.61255553e-01 1.01453424e-01 5.04679077e+01] [-1.60363020e-01 9.86912616e-01 -1.69466792e-02 -3.74631351e+00] [-1.02858410e-01 3.66909586e-04 9.94695940e-01 -6.31782202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.389649246 meters 0.05995575277268148 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.76, Z:-6.33 [[ 9.81845920e-01 1.61281206e-01 9.98346766e-02 5.05285733e+01] [-1.60414625e-01 9.86908418e-01 -1.67009667e-02 -3.75601761e+00] [-1.01221235e-01 3.82833823e-04 9.94863868e-01 -6.32722763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44964924599999 meters 0.06020227975607362 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.76, Z:-6.34 [[ 9.81824225e-01 1.62175601e-01 9.85914084e-02 5.05893972e+01] [-1.61332588e-01 9.86761865e-01 -1.65172090e-02 -3.76434094e+00] [-9.99649303e-02 3.10988834e-04 9.94990913e-01 -6.33533727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.509649245999995 meters 0.06024814353151665 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.77, Z:-6.34 [[ 9.81476342e-01 1.64050833e-01 9.89520785e-02 5.06488007e+01] [-1.63208503e-01 9.86451876e-01 -1.66036692e-02 -3.77253095e+00] [-1.00335309e-01 1.46287963e-04 9.94953669e-01 -6.34421224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.569649246 meters 0.0600843827270023 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.78, Z:-6.35 [[ 9.80696433e-01 1.67394399e-01 1.01062461e-01 5.07112170e+01] [-1.66530638e-01 9.85889996e-01 -1.69841533e-02 -3.77783700e+00] [-1.02479522e-01 -1.73697649e-04 9.94735099e-01 -6.34892117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629649246 meters 0.05996547973836222 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.78, Z:-6.36 [[ 9.80260294e-01 1.69599778e-01 1.01615316e-01 5.07733350e+01] [-1.68736802e-01 9.85512944e-01 -1.70918026e-02 -3.78399630e+00] [-1.03041975e-01 -3.91827971e-04 9.94676931e-01 -6.35555417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.689649245999995 meters 0.059997075165495094 Centerline is valid? [True, True] Translation: X:50.83, Y:-3.79, Z:-6.36 [[ 9.79859315e-01 1.71647388e-01 1.02043607e-01 5.08343517e+01] [-1.70787575e-01 9.85158266e-01 -1.71695816e-02 -3.79144916e+00] [-1.03476216e-01 -6.04005721e-04 9.94631745e-01 -6.36217034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.749649246 meters 0.05998431620442206 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.80, Z:-6.37 [[ 9.79380833e-01 1.73290016e-01 1.03844856e-01 5.08953097e+01] [-1.72405634e-01 9.84870544e-01 -1.75016793e-02 -3.79839500e+00] [-1.05306606e-01 -7.62628957e-04 9.94439509e-01 -6.37044955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809649246 meters 0.05998931208499698 Centerline is valid? [True, True] Translation: X:50.96, Y:-3.81, Z:-6.38 [[ 9.79588406e-01 1.72568126e-01 1.03086360e-01 5.09566554e+01] [-1.71690068e-01 9.84997367e-01 -1.73985137e-02 -3.81092157e+00] [-1.04542222e-01 -6.55521951e-04 9.94520233e-01 -6.37857309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.869649245999994 meters 0.05974808620235721 Centerline is valid? [True, True] Translation: X:51.02, Y:-3.83, Z:-6.39 [[ 9.80086636e-01 1.69613224e-01 1.03254737e-01 5.10156678e+01] [-1.68712631e-01 9.85510659e-01 -1.74582299e-02 -3.82750445e+00] [-1.04719790e-01 -3.09800466e-04 9.94501719e-01 -6.38684432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.929649246 meters 0.05952378481496591 Centerline is valid? [True, True] Translation: X:51.08, Y:-3.84, Z:-6.39 [[ 9.80663277e-01 1.65924448e-01 1.03771934e-01 5.10755250e+01] [-1.64991375e-01 9.86138462e-01 -1.75721616e-02 -3.84474278e+00] [-1.05249146e-01 1.10899500e-04 9.94445878e-01 -6.39414528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989649246 meters 0.059619024205634225 Centerline is valid? [True, True] Translation: X:51.13, Y:-3.86, Z:-6.40 [[ 9.81214040e-01 1.63156286e-01 1.02951612e-01 5.11346440e+01] [-1.62220055e-01 9.86600143e-01 -1.74588786e-02 -3.86224030e+00] [-1.04420601e-01 4.30080709e-04 9.94533133e-01 -6.40256495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.049649245999994 meters 0.059578349493052185 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.88, Z:-6.41 [[ 9.81205728e-01 1.63081002e-01 1.03149917e-01 5.11957610e+01] [-1.62138068e-01 9.86612574e-01 -1.75178660e-02 -3.87506214e+00] [-1.04625837e-01 4.64102190e-04 9.94511548e-01 -6.40990148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.109649246 meters 0.059652641749115366 Centerline is valid? [True, True] Translation: X:51.26, Y:-3.89, Z:-6.41 [[ 9.81917460e-01 1.58157052e-01 1.04040612e-01 5.12556074e+01] [-1.57166826e-01 9.87413434e-01 -1.77002709e-02 -3.89199855e+00] [-1.05530520e-01 1.02847230e-03 9.94415533e-01 -6.41404744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169649246 meters 0.06009430757462996 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.90, Z:-6.43 [[ 9.82314486e-01 1.57209399e-01 1.01702776e-01 5.13150439e+01] [-1.56255558e-01 9.87564645e-01 -1.73283926e-02 -3.89989559e+00] [-1.03162252e-01 1.13030708e-03 9.94663899e-01 -6.42770324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.229649245999994 meters 0.06019906202305529 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.91, Z:-6.44 [[ 9.82352646e-01 1.57072134e-01 1.01546167e-01 5.13763874e+01] [-1.56118153e-01 9.87586445e-01 -1.73244355e-02 -3.90925816e+00] [-1.03006804e-01 1.16550508e-03 9.94679969e-01 -6.43784382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.289649245999996 meters 0.0600525161392986 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.92, Z:-6.44 [[ 9.82092477e-01 1.58521057e-01 1.01810808e-01 5.14376063e+01] [-1.57566755e-01 9.87355043e-01 -1.73993340e-02 -3.91909102e+00] [-1.03281576e-01 1.04575631e-03 9.94651609e-01 -6.44140274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.349649246 meters 0.05981733589491792 Centerline is valid? [True, True] Translation: X:51.50, Y:-3.93, Z:-6.45 [[ 9.81397529e-01 1.61668906e-01 1.03547356e-01 5.14982145e+01] [-1.60696245e-01 9.86844768e-01 -1.77234559e-02 -3.92514554e+00] [-1.05050498e-01 7.54084585e-04 9.94466603e-01 -6.44942448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.409649245999994 meters 0.059444456667574426 Centerline is valid? [True, True] Translation: X:51.56, Y:-3.93, Z:-6.45 [[ 9.80336909e-01 1.66190229e-01 1.06397141e-01 5.15602240e+01] [-1.65186911e-01 9.86093665e-01 -1.82364500e-02 -3.92901047e+00] [-1.07948266e-01 3.02449970e-04 9.94156467e-01 -6.45314543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.469649245999996 meters 0.05943137919545343 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.94, Z:-6.46 [[ 9.79875520e-01 1.68227494e-01 1.07440569e-01 5.16208552e+01] [-1.67213496e-01 9.85748192e-01 -1.84431017e-02 -3.93779353e+00] [-1.09011984e-01 1.06430728e-04 9.94040430e-01 -6.45972506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.529649246 meters 0.059542602858906946 Centerline is valid? [True, True] Translation: X:51.68, Y:-3.94, Z:-6.47 [[ 9.79316450e-01 1.71621140e-01 1.07170307e-01 5.16820054e+01] [-1.70629540e-01 9.85162994e-01 -1.84237735e-02 -3.94283617e+00] [-1.08742130e-01 -2.43715669e-04 9.94069962e-01 -6.46957271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58964924599999 meters 0.059788922707432614 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.95, Z:-6.48 [[ 9.79151054e-01 1.73383433e-01 1.05836659e-01 5.17419736e+01] [-1.72423567e-01 9.84854315e-01 -1.82234103e-02 -3.94970361e+00] [-1.07393328e-01 -4.05262933e-04 9.94216530e-01 -6.48074516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.649649245999996 meters 0.05970945875153581 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.96, Z:-6.49 [[ 9.79200508e-01 1.73277929e-01 1.05551525e-01 5.18036397e+01] [-1.72320154e-01 9.84872897e-01 -1.81973024e-02 -3.96135391e+00] [-1.07108027e-01 -3.69847216e-04 9.94247320e-01 -6.48652398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.709649246 meters 0.05967935023451398 Centerline is valid? [True, True] Translation: X:51.86, Y:-3.98, Z:-6.49 [[ 9.79583914e-01 1.70382662e-01 1.06701000e-01 5.18631643e+01] [-1.69383190e-01 9.85377972e-01 -1.84278795e-02 -3.97737404e+00] [-1.08280606e-01 -2.17013548e-05 9.94120370e-01 -6.49254467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76964924599999 meters 0.059732986495252764 Centerline is valid? [True, True] Translation: X:51.92, Y:-3.99, Z:-6.50 [[ 9.80325255e-01 1.66108770e-01 1.06631470e-01 5.19232017e+01] [-1.65082425e-01 9.86107321e-01 -1.84429921e-02 -3.99326370e+00] [-1.08213616e-01 4.77149270e-04 9.94127550e-01 -6.50021166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.829649245999995 meters 0.059750527696739685 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.01, Z:-6.51 [[ 9.80647100e-01 1.64160130e-01 1.06689819e-01 5.19820743e+01] [-1.63118232e-01 9.86433442e-01 -1.84799268e-02 -4.00835680e+00] [-1.08276073e-01 7.19231933e-04 9.94120604e-01 -6.50843045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.889649246 meters 0.059667542115477035 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.02, Z:-6.52 [[ 9.80484523e-01 1.64767048e-01 1.07247007e-01 5.20434036e+01] [-1.63715182e-01 9.86332276e-01 -1.86005686e-02 -4.01715847e+00] [-1.08845946e-01 6.79606342e-04 9.94058398e-01 -6.51531951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94964924599999 meters 0.059640874728059005 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.03, Z:-6.52 [[ 9.80284082e-01 1.66706955e-01 1.06075022e-01 5.21049121e+01] [-1.65686537e-01 9.86006367e-01 -1.84232319e-02 -4.02591015e+00] [-1.07661928e-01 4.84797926e-04 9.94187444e-01 -6.52437696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.009649245999995 meters 0.059389588226998344 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.03, Z:-6.53 [[ 9.79852467e-01 1.68151171e-01 1.07769783e-01 5.21663225e+01] [-1.67102969e-01 9.85761154e-01 -1.87495571e-02 -4.03434587e+00] [-1.09388026e-01 3.63149039e-04 9.93999058e-01 -6.53159812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.069649246 meters 0.059365053905374054 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.04, Z:-6.54 [[ 9.79574831e-01 1.69662869e-01 1.07924331e-01 5.22267835e+01] [-1.68617683e-01 9.85502137e-01 -1.88046702e-02 -4.04235857e+00] [-1.09550113e-01 2.22630949e-04 9.93981249e-01 -6.54023487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129649246 meters 0.05942632032345082 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.05, Z:-6.55 [[ 9.79061581e-01 1.72272823e-01 1.08445818e-01 5.22881004e+01] [-1.71231956e-01 9.85049273e-01 -1.89088900e-02 -4.04937964e+00] [-1.10081962e-01 -5.64217482e-05 9.93922511e-01 -6.54821358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.189649245999995 meters 0.059380510296572445 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.05, Z:-6.56 [[ 9.78200795e-01 1.77485229e-01 1.07806303e-01 5.23497076e+01] [-1.76485239e-01 9.84123274e-01 -1.88239839e-02 -4.05392860e+00] [-1.09435671e-01 -6.12585193e-04 9.93993691e-01 -6.55674396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.249649246 meters 0.059946300817965585 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.06, Z:-6.57 [[ 9.77593205e-01 1.81009945e-01 1.07456617e-01 5.24104798e+01] [-1.80034591e-01 9.83480781e-01 -1.87909180e-02 -4.05994901e+00] [-1.09082861e-01 -9.76034366e-04 9.94032181e-01 -6.56604942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309649246 meters 0.059747808239710674 Centerline is valid? [True, True] Translation: X:52.47, Y:-4.08, Z:-6.58 [[ 9.78263580e-01 1.78410169e-01 1.05689073e-01 5.24710246e+01] [-1.77450394e-01 9.83955980e-01 -1.84928721e-02 -4.07520816e+00] [-1.07292712e-01 -6.63664425e-04 9.94227254e-01 -6.57619242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.369649245999994 meters 0.05984158996456478 Centerline is valid? [True, True] Translation: X:52.53, Y:-4.09, Z:-6.58 [[ 9.78797631e-01 1.76288502e-01 1.04295551e-01 5.25296273e+01] [-1.75338634e-01 9.84338462e-01 -1.82799195e-02 -4.09247866e+00] [-1.05884662e-01 -3.94697533e-04 9.94378340e-01 -6.58415099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.429649246 meters 0.059823118271398565 Centerline is valid? [True, True] Translation: X:52.59, Y:-4.10, Z:-6.59 [[ 9.78678996e-01 1.77005319e-01 1.04194723e-01 5.25909541e+01] [-1.76058881e-01 9.84209792e-01 -1.82853745e-02 -4.10392101e+00] [-1.05786075e-01 -4.48894252e-04 9.94388810e-01 -6.59208877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489649246 meters 0.05974678810407342 Centerline is valid? [True, True] Translation: X:52.65, Y:-4.12, Z:-6.60 [[ 9.78796694e-01 1.76432515e-01 1.04060560e-01 5.26522926e+01] [-1.75482165e-01 9.84312674e-01 -1.82912506e-02 -4.11527870e+00] [-1.05655300e-01 -3.57356718e-04 9.94402750e-01 -6.60056509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.549649245999994 meters 0.05949312138327888 Centerline is valid? [True, True] Translation: X:52.71, Y:-4.13, Z:-6.60 [[ 9.79317688e-01 1.71597051e-01 1.07197566e-01 5.27110072e+01] [-1.70555828e-01 9.85167200e-01 -1.88758713e-02 -4.13499097e+00] [-1.08846570e-01 2.02305034e-04 9.94058541e-01 -6.60309146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.609649246 meters 0.059558086572013495 Centerline is valid? [True, True] Translation: X:52.77, Y:-4.15, Z:-6.61 [[ 9.80119485e-01 1.68368963e-01 1.04965174e-01 5.27705885e+01] [-1.67350952e-01 9.85723885e-01 -1.84954654e-02 -4.14669901e+00] [-1.06580742e-01 5.61744208e-04 9.94303892e-01 -6.61372122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669649246 meters 0.06025930552822504 Centerline is valid? [True, True] Translation: X:52.83, Y:-4.16, Z:-6.63 [[ 9.81133974e-01 1.64570878e-01 1.01452211e-01 5.28302082e+01] [-1.63597257e-01 9.86364787e-01 -1.79009567e-02 -4.15960747e+00] [-1.03014865e-01 9.65933282e-04 9.94679348e-01 -6.62853865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.729649245999994 meters 0.06050748957306491 Centerline is valid? [True, True] Translation: X:52.89, Y:-4.17, Z:-6.63 [[ 9.81523695e-01 1.62601905e-01 1.00855622e-01 5.28904966e+01] [-1.61629057e-01 9.86691064e-01 -1.77986872e-02 -4.17356781e+00] [-1.02407441e-01 1.16863421e-03 9.94741851e-01 -6.63483887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.789649245999996 meters 0.06024137214092245 Centerline is valid? [True, True] Translation: X:52.95, Y:-4.18, Z:-6.64 [[ 9.81315683e-01 1.64160541e-01 1.00353609e-01 5.29522423e+01] [-1.63203137e-01 9.86433104e-01 -1.77332333e-02 -4.18417593e+00] [-1.01903219e-01 1.02387609e-03 9.94793790e-01 -6.64241298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.849649246 meters 0.05983838309149773 Centerline is valid? [True, True] Translation: X:53.01, Y:-4.19, Z:-6.65 [[ 9.81121906e-01 1.65040593e-01 1.00803813e-01 5.30131614e+01] [-1.64076321e-01 9.86286304e-01 -1.78406380e-02 -4.19268676e+00] [-1.02365849e-01 9.64322092e-04 9.94746351e-01 -6.64747207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.909649245999994 meters 0.05977750404109749 Centerline is valid? [True, True] Translation: X:53.07, Y:-4.20, Z:-6.66 [[ 9.80716059e-01 1.66727459e-01 1.01970420e-01 5.30738379e+01] [-1.65747126e-01 9.86002676e-01 -1.80724244e-02 -4.20170755e+00] [-1.03556277e-01 8.22612736e-04 9.94623256e-01 -6.65559947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.969649245999996 meters 0.05970929805961638 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.21, Z:-6.66 [[ 9.80515442e-01 1.68207686e-01 1.01467448e-01 5.31339478e+01] [-1.67242262e-01 9.85751338e-01 -1.80090342e-02 -4.21133434e+00] [-1.03050931e-01 6.88490523e-04 9.94675843e-01 -6.66369488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.029649246 meters 0.05913595499433675 Centerline is valid? [True, True] Translation: X:53.20, Y:-4.22, Z:-6.67 [[ 9.79999359e-01 1.70075592e-01 1.03322551e-01 5.31959336e+01] [-1.69082723e-01 9.85430881e-01 -1.83578616e-02 -4.21974381e+00] [-1.04939456e-01 5.20634398e-04 9.94478476e-01 -6.66838121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08964924599999 meters 0.05915693085887714 Centerline is valid? [True, True] Translation: X:53.26, Y:-4.23, Z:-6.68 [[ 9.79513214e-01 1.72329303e-01 1.04194413e-01 5.32559215e+01] [-1.71331367e-01 9.85039353e-01 -1.85212097e-02 -4.22672285e+00] [-1.05827344e-01 2.89998405e-04 9.94384477e-01 -6.67877689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.149649245999996 meters 0.05914187329881245 Centerline is valid? [True, True] Translation: X:53.32, Y:-4.23, Z:-6.68 [[ 9.78661268e-01 1.77277557e-01 1.03897980e-01 5.33183813e+01] [-1.76311808e-01 9.84160868e-01 -1.84805989e-02 -4.23226424e+00] [-1.05528522e-01 -2.32194443e-04 9.94416249e-01 -6.68418952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.209649246 meters 0.05997312910399826 Centerline is valid? [True, True] Translation: X:53.38, Y:-4.23, Z:-6.70 [[ 9.77992664e-01 1.82766148e-01 1.00632427e-01 5.33787003e+01] [-1.81886199e-01 9.83156114e-01 -1.79294823e-02 -4.23307237e+00] [-1.02214289e-01 -7.68747569e-04 9.94762106e-01 -6.69707037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26964924599999 meters 0.059858774486792096 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.24, Z:-6.70 [[ 9.78105040e-01 1.82949445e-01 9.91969342e-02 5.34391734e+01] [-1.82094403e-01 9.83122023e-01 -1.76837580e-02 -4.24311343e+00] [-1.00757924e-01 -7.66633748e-04 9.94910676e-01 -6.70345091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.329649245999995 meters 0.059565728623109236 Centerline is valid? [True, True] Translation: X:53.50, Y:-4.26, Z:-6.71 [[ 9.78736771e-01 1.79609032e-01 9.90703264e-02 5.34987861e+01] [-1.78736486e-01 9.83737993e-01 -1.76870109e-02 -4.25542086e+00] [-1.00635991e-01 -3.96554094e-04 9.94923233e-01 -6.71109983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.389649246 meters 0.05992389212925914 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.27, Z:-6.72 [[ 9.78201895e-01 1.82138545e-01 9.97326607e-02 5.35592108e+01] [-1.81265052e-01 9.83272670e-01 -1.78280239e-02 -4.26608351e+00] [-1.01311570e-01 -6.38639177e-04 9.94854541e-01 -6.71977925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44964924599999 meters 0.059875189297976056 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.28, Z:-6.73 [[ 9.78137541e-01 1.82867517e-01 9.90273818e-02 5.36186050e+01] [-1.82007374e-01 9.83137328e-01 -1.77288012e-02 -4.27842365e+00] [-1.00599537e-01 -6.82507688e-04 9.94926765e-01 -6.72729880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.509649245999995 meters 0.05980190746578722 Centerline is valid? [True, True] Translation: X:53.68, Y:-4.29, Z:-6.73 [[ 9.77973146e-01 1.83172106e-01 1.00082489e-01 5.36793794e+01] [-1.82292806e-01 9.83080612e-01 -1.79399695e-02 -4.29113039e+00] [-1.01675257e-01 -6.99509443e-04 9.94817397e-01 -6.73218306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.569649246 meters 0.059549532005051344 Centerline is valid? [True, True] Translation: X:53.74, Y:-4.30, Z:-6.74 [[ 9.78113598e-01 1.82153866e-01 1.00567185e-01 5.37400276e+01] [-1.81257665e-01 9.83269875e-01 -1.80558100e-02 -4.30393565e+00] [-1.02173619e-01 -5.67939863e-04 9.94766419e-01 -6.74116849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629649246 meters 0.059304087672256346 Centerline is valid? [True, True] Translation: X:53.80, Y:-4.32, Z:-6.75 [[ 9.77807732e-01 1.83222502e-01 1.01595048e-01 5.38008893e+01] [-1.82313002e-01 9.83071234e-01 -1.82460526e-02 -4.31583266e+00] [-1.03218257e-01 -6.80966884e-04 9.94658498e-01 -6.74606016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.689649245999995 meters 0.059568933729567126 Centerline is valid? [True, True] Translation: X:53.86, Y:-4.32, Z:-6.75 [[ 9.77286555e-01 1.85812702e-01 1.01904998e-01 5.38617048e+01] [-1.84908937e-01 9.82584740e-01 -1.83279265e-02 -4.32357955e+00] [-1.03535857e-01 -9.31508732e-04 9.94625285e-01 -6.75452695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.749649246 meters 0.06006473231482984 Centerline is valid? [True, True] Translation: X:53.92, Y:-4.33, Z:-6.77 [[ 9.76976350e-01 1.88056968e-01 1.00756083e-01 5.39223084e+01] [-1.87182570e-01 9.82157473e-01 -1.81489096e-02 -4.33046234e+00] [-1.02371368e-01 -1.12872700e-03 9.94745610e-01 -6.76510529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809649246 meters 0.05992913194381942 Centerline is valid? [True, True] Translation: X:53.98, Y:-4.34, Z:-6.77 [[ 9.77192762e-01 1.87408873e-01 9.98610084e-02 5.39832493e+01] [-1.86544170e-01 9.82281456e-01 -1.80115050e-02 -4.34434344e+00] [-1.01467133e-01 -1.02777666e-03 9.94838361e-01 -6.77280276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.869649245999994 meters 0.05965030796152875 Centerline is valid? [True, True] Translation: X:54.04, Y:-4.36, Z:-6.78 [[ 9.77547882e-01 1.85970095e-01 9.90720041e-02 5.40432381e+01] [-1.85108805e-01 9.82555043e-01 -1.78974247e-02 -4.36010459e+00] [-1.00672083e-01 -8.43510662e-04 9.94919303e-01 -6.78151160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.929649246 meters 0.05936639146403573 Centerline is valid? [True, True] Translation: X:54.10, Y:-4.38, Z:-6.79 [[ 9.77806284e-01 1.83427474e-01 1.01238490e-01 5.41021659e+01] [-1.82511226e-01 9.83033084e-01 -1.83196275e-02 -4.37788606e+00] [-1.02881108e-01 -5.64113987e-04 9.94693500e-01 -6.78740871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989649246 meters 0.05904306399119859 Centerline is valid? [True, True] Translation: X:54.16, Y:-4.40, Z:-6.79 [[ 9.78118551e-01 1.81013195e-01 1.02558880e-01 5.41616662e+01] [-1.80056870e-01 9.83480625e-01 -1.85844941e-02 -4.39536784e+00] [-1.04228710e-01 -2.88592512e-04 9.94553313e-01 -6.79186060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.049649245999994 meters 0.05893723457655393 Centerline is valid? [True, True] Translation: X:54.22, Y:-4.41, Z:-6.80 [[ 9.78439505e-01 1.79446608e-01 1.02249943e-01 5.42211154e+01] [-1.78484893e-01 9.83767709e-01 -1.85536362e-02 -4.41032068e+00] [-1.03919579e-01 -9.64594923e-05 9.94585699e-01 -6.79946665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.109649246 meters 0.059048437013758184 Centerline is valid? [True, True] Translation: X:54.28, Y:-4.42, Z:-6.81 [[ 9.78750713e-01 1.78697477e-01 1.00569646e-01 5.42807146e+01] [-1.77760515e-01 9.83904066e-01 -1.82753284e-02 -4.42305777e+00] [-1.02216639e-01 9.67869060e-06 9.94762162e-01 -6.80826194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169649246 meters 0.0591029490800621 Centerline is valid? [True, True] Translation: X:54.34, Y:-4.44, Z:-6.82 [[ 9.79331371e-01 1.76222465e-01 9.92759189e-02 5.43404031e+01] [-1.75294510e-01 9.84350324e-01 -1.80630678e-02 -4.43693545e+00] [-1.00905401e-01 2.87205344e-04 9.94895983e-01 -6.81801504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.229649245999994 meters 0.059124312334809095 Centerline is valid? [True, True] Translation: X:54.40, Y:-4.45, Z:-6.82 [[ 9.79105127e-01 1.76944977e-01 1.00217888e-01 5.44005353e+01] [-1.76000412e-01 9.84220716e-01 -1.82602804e-02 -4.44884663e+00] [-1.01867586e-01 2.40344679e-04 9.94797938e-01 -6.82399719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.289649245999996 meters 0.05890606968618531 Centerline is valid? [True, True] Translation: X:54.46, Y:-4.46, Z:-6.83 [[ 9.78873493e-01 1.78389739e-01 9.99188938e-02 5.44618069e+01] [-1.77455858e-01 9.83959902e-01 -1.82299281e-02 -4.45861122e+00] [-1.01568217e-01 1.13600349e-04 9.94828570e-01 -6.83131150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.349649246 meters 0.05924139750380686 Centerline is valid? [True, True] Translation: X:54.52, Y:-4.47, Z:-6.84 [[ 9.79321875e-01 1.76880728e-01 9.81930362e-02 5.45211704e+01] [-1.75968352e-01 9.84232250e-01 -1.79448624e-02 -4.47181436e+00] [-9.98188532e-02 2.94929540e-04 9.95005583e-01 -6.84120662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.409649245999994 meters 0.05922893896668161 Centerline is valid? [True, True] Translation: X:54.58, Y:-4.48, Z:-6.85 [[ 9.79444860e-01 1.76765407e-01 9.71687022e-02 5.45805295e+01] [-1.75869175e-01 9.84252958e-01 -1.77805679e-02 -4.48470251e+00] [-9.87815719e-02 3.26106358e-04 9.95109087e-01 -6.84974013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.469649245999996 meters 0.05895608575571379 Centerline is valid? [True, True] Translation: X:54.64, Y:-4.49, Z:-6.85 [[ 9.79226002e-01 1.77265198e-01 9.84555004e-02 5.46417705e+01] [-1.76345202e-01 9.84163075e-01 -1.80391704e-02 -4.49445659e+00] [-1.00093985e-01 3.02269622e-04 9.94977941e-01 -6.85447001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.529649246 meters 0.05902910409284211 Centerline is valid? [True, True] Translation: X:54.70, Y:-4.51, Z:-6.86 [[ 9.79195921e-01 1.77728748e-01 9.79175153e-02 5.47011596e+01] [-1.76818529e-01 9.84079476e-01 -1.79664555e-02 -4.50557596e+00] [-9.95517727e-02 2.79048927e-04 9.95032345e-01 -6.86416990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58964924599999 meters 0.058931216201155115 Centerline is valid? [True, True] Translation: X:54.76, Y:-4.52, Z:-6.87 [[ 9.79037834e-01 1.77425010e-01 1.00026427e-01 5.47623903e+01] [-1.76470637e-01 9.84134263e-01 -1.83811565e-02 -4.51662067e+00] [-1.01700711e-01 3.44120402e-04 9.94814981e-01 -6.87074886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.649649245999996 meters 0.05895182888690737 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.53, Z:-6.88 [[ 9.78947433e-01 1.78114262e-01 9.96856694e-02 5.48237026e+01] [-1.77169486e-01 9.84009773e-01 -1.83232083e-02 -4.52820088e+00] [-1.01355298e-01 2.76198981e-04 9.94850254e-01 -6.87882922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.709649246 meters 0.059343954621653185 Centerline is valid? [True, True] Translation: X:54.88, Y:-4.54, Z:-6.89 [[ 9.79101080e-01 1.77569860e-01 9.91464615e-02 5.48831440e+01] [-1.76629502e-01 9.84108132e-01 -1.82538705e-02 -4.54192288e+00] [-1.00812176e-01 3.60194188e-04 9.94905410e-01 -6.88608602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76964924599999 meters 0.05964766256438692 Centerline is valid? [True, True] Translation: X:54.94, Y:-4.55, Z:-6.90 [[ 9.79167881e-01 1.77779696e-01 9.81052526e-02 5.49438290e+01] [-1.76857875e-01 9.84070248e-01 -1.80842355e-02 -4.55227976e+00] [-9.97574701e-02 3.56816066e-04 9.95011718e-01 -6.89663297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.829649245999995 meters 0.059296339507082775 Centerline is valid? [True, True] Translation: X:55.00, Y:-4.56, Z:-6.90 [[ 9.78946073e-01 1.78379097e-01 9.92244084e-02 5.50048108e+01] [-1.77436694e-01 9.83961785e-01 -1.83146456e-02 -4.56331501e+00] [-1.00899976e-01 3.22999420e-04 9.94896523e-01 -6.90056131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.889649246 meters 0.059155721429177785 Centerline is valid? [True, True] Translation: X:55.07, Y:-4.57, Z:-6.91 [[ 9.78812654e-01 1.78545554e-01 1.00236090e-01 5.50655508e+01] [-1.77582046e-01 9.83931590e-01 -1.85268287e-02 -4.57421805e+00] [-1.01933338e-01 3.34164426e-04 9.94791176e-01 -6.90655485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94964924599999 meters 0.059693210170372775 Centerline is valid? [True, True] Translation: X:55.12, Y:-4.58, Z:-6.92 [[ 9.78696794e-01 1.78823251e-01 1.00870362e-01 5.51246040e+01] [-1.77846153e-01 9.83881158e-01 -1.86711700e-02 -4.58494551e+00] [-1.02583288e-01 3.34008415e-04 9.94724363e-01 -6.91701677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.009649245999995 meters 0.059608215165759405 Centerline is valid? [True, True] Translation: X:55.19, Y:-4.60, Z:-6.92 [[ 9.78873018e-01 1.77835372e-01 1.00906861e-01 5.51860444e+01] [-1.76849945e-01 9.84060145e-01 -1.87010280e-02 -4.59773040e+00] [-1.02624125e-01 4.60558844e-04 9.94720100e-01 -6.92339884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.069649246 meters 0.059612128053434986 Centerline is valid? [True, True] Translation: X:55.25, Y:-4.61, Z:-6.93 [[ 9.78921379e-01 1.77469906e-01 1.01080992e-01 5.52467622e+01] [-1.76476085e-01 9.84126086e-01 -1.87626867e-02 -4.61211042e+00] [-1.02806253e-01 5.28817388e-04 9.94701259e-01 -6.93036197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129649246 meters 0.05996023278506198 Centerline is valid? [True, True] Translation: X:55.31, Y:-4.62, Z:-6.94 [[ 9.79168779e-01 1.77252048e-01 9.90465240e-02 5.53069127e+01] [-1.76293964e-01 9.84165326e-01 -1.84133120e-02 -4.62318891e+00] [-1.00741952e-01 5.68435870e-04 9.94912426e-01 -6.94019528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.189649245999995 meters 0.06018338286837093 Centerline is valid? [True, True] Translation: X:55.37, Y:-4.63, Z:-6.95 [[ 9.79221604e-01 1.77825869e-01 9.74833851e-02 5.53660627e+01] [-1.76898236e-01 9.84061829e-01 -1.81474523e-02 -4.63214162e+00] [-9.91567648e-02 5.25738462e-04 9.95071686e-01 -6.95266051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.249649246 meters 0.06032291238311836 Centerline is valid? [True, True] Translation: X:55.43, Y:-4.64, Z:-6.96 [[ 9.79590396e-01 1.76954938e-01 9.53394291e-02 5.54264787e+01] [-1.76061586e-01 9.84218758e-01 -1.77694668e-02 -4.64472520e+00] [-9.69792494e-02 6.21187850e-04 9.95286210e-01 -6.96171710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309649246 meters 0.06066991525002942 Centerline is valid? [True, True] Translation: X:55.49, Y:-4.66, Z:-6.97 [[ 9.80049938e-01 1.75431621e-01 9.34123398e-02 5.54865661e+01] [-1.74565055e-01 9.84491310e-01 -1.74327641e-02 -4.65646203e+00] [-9.50218949e-02 7.78449143e-04 9.95474878e-01 -6.97250091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.369649245999994 meters 0.06101039237081948 Centerline is valid? [True, True] Translation: X:55.55, Y:-4.67, Z:-6.98 [[ 9.80050405e-01 1.75880543e-01 9.25593736e-02 5.55469053e+01] [-1.75029654e-01 9.84411231e-01 -1.72959095e-02 -4.66636649e+00] [-9.41585008e-02 7.50227971e-04 9.95556937e-01 -6.98173784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.429649246 meters 0.06095448274032785 Centerline is valid? [True, True] Translation: X:55.61, Y:-4.68, Z:-6.99 [[ 9.79764106e-01 1.76806966e-01 9.38168061e-02 5.56072808e+01] [-1.75934773e-01 9.84245303e-01 -1.75538868e-02 -4.67603510e+00] [-9.54424003e-02 6.93029671e-04 9.95434713e-01 -6.98970011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489649246 meters 0.060686671017459504 Centerline is valid? [True, True] Translation: X:55.67, Y:-4.69, Z:-6.99 [[ 9.79683973e-01 1.76690482e-01 9.48672037e-02 5.56684182e+01] [-1.75795547e-01 9.84266188e-01 -1.77762978e-02 -4.68882048e+00] [-9.65154836e-02 7.37922142e-04 9.95331210e-01 -6.99497004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.549649245999994 meters 0.06039361046634108 Centerline is valid? [True, True] Translation: X:55.73, Y:-4.70, Z:-7.00 [[ 9.79651359e-01 1.76573613e-01 9.54199826e-02 5.57290777e+01] [-1.75666730e-01 9.84287141e-01 -1.78891878e-02 -4.69874180e+00] [-9.70794204e-02 7.63050765e-04 9.95276345e-01 -7.00060498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.609649246 meters 0.06035768828589894 Centerline is valid? [True, True] Translation: X:55.79, Y:-4.71, Z:-7.01 [[ 9.79337703e-01 1.78529922e-01 9.49985796e-02 5.57906724e+01] [-1.77638051e-01 9.83934307e-01 -1.78326311e-02 -4.70844360e+00] [-9.66560198e-02 5.88805420e-04 9.95317671e-01 -7.00605133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669649246 meters 0.06004291102051081 Centerline is valid? [True, True] Translation: X:55.85, Y:-4.72, Z:-7.01 [[ 9.78795992e-01 1.81080029e-01 9.57519099e-02 5.58519429e+01] [-1.80183219e-01 9.83468295e-01 -1.80033420e-02 -4.71611222e+00] [-9.74290133e-02 3.68711597e-04 9.95242408e-01 -7.01378013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.729649245999994 meters 0.05981838142679758 Centerline is valid? [True, True] Translation: X:55.91, Y:-4.72, Z:-7.02 [[ 9.78368144e-01 1.82633192e-01 9.71642558e-02 5.59139317e+01] [-1.81714458e-01 9.83181091e-01 -1.82975165e-02 -4.72428114e+00] [-9.88717928e-02 2.45557213e-04 9.95100150e-01 -7.01960118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.789649245999996 meters 0.06009242495046502 Centerline is valid? [True, True] Translation: X:55.97, Y:-4.74, Z:-7.03 [[ 9.78405277e-01 1.82339361e-01 9.73420356e-02 5.59746361e+01] [-1.81415401e-01 9.83235617e-01 -1.83350174e-02 -4.73824615e+00] [-9.90533518e-02 2.79733257e-04 9.95082085e-01 -7.02621504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.849649246 meters 0.05980833268731493 Centerline is valid? [True, True] Translation: X:56.04, Y:-4.75, Z:-7.03 [[ 9.78274042e-01 1.81257198e-01 1.00626672e-01 5.60356448e+01] [-1.80260363e-01 9.83435629e-01 -1.89885246e-02 -4.75130377e+00] [-1.02401662e-01 4.36980174e-04 9.94743037e-01 -7.03172322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.909649245999994 meters 0.05958557536577486 Centerline is valid? [True, True] Translation: X:56.10, Y:-4.76, Z:-7.04 [[ 9.78041680e-01 1.81658451e-01 1.02150284e-01 5.60970544e+01] [-1.80632405e-01 9.83361602e-01 -1.92845734e-02 -4.76253778e+00] [-1.03953872e-01 4.09465212e-04 9.94582035e-01 -7.03713331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.969649245999996 meters 0.05987344438385432 Centerline is valid? [True, True] Translation: X:56.16, Y:-4.77, Z:-7.05 [[ 9.77991464e-01 1.82737997e-01 1.00695189e-01 5.61572736e+01] [-1.81745602e-01 9.83161601e-01 -1.90211056e-02 -4.77252329e+00] [-1.02475522e-01 3.01571062e-04 9.94735481e-01 -7.04668758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.029649246 meters 0.05993273543507831 Centerline is valid? [True, True] Translation: X:56.22, Y:-4.78, Z:-7.06 [[ 9.77941054e-01 1.83052750e-01 1.00613048e-01 5.62175747e+01] [-1.82061039e-01 9.83103049e-01 -1.90308533e-02 -4.78440259e+00] [-1.02396644e-01 2.93336701e-04 9.94743606e-01 -7.05607551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08964924599999 meters 0.06000337889987966 Centerline is valid? [True, True] Translation: X:56.28, Y:-4.80, Z:-7.07 [[ 9.78210489e-01 1.82721118e-01 9.85760248e-02 5.62775066e+01] [-1.81764943e-01 9.83164723e-01 -1.86717166e-02 -4.79608535e+00] [-1.00328187e-01 3.47203463e-04 9.94954338e-01 -7.06510562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.149649245999996 meters 0.06030863922224278 Centerline is valid? [True, True] Translation: X:56.34, Y:-4.81, Z:-7.07 [[ 9.78598771e-01 1.81430393e-01 9.70950917e-02 5.63378266e+01] [-1.80494116e-01 9.83403664e-01 -1.84148712e-02 -4.80962717e+00] [-9.88246863e-02 4.95677600e-04 9.95104736e-01 -7.07389281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.209649246 meters 0.06040427574794838 Centerline is valid? [True, True] Translation: X:56.40, Y:-4.82, Z:-7.09 [[ 9.78551764e-01 1.82879531e-01 9.48236374e-02 5.63983242e+01] [-1.81991176e-01 9.83135263e-01 -1.80074263e-02 -4.81940599e+00] [-9.65176513e-02 3.64133537e-04 9.95331206e-01 -7.08541043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26964924599999 meters 0.06046494729081531 Centerline is valid? [True, True] Translation: X:56.46, Y:-4.83, Z:-7.10 [[ 9.78375605e-01 1.84286921e-01 9.39122234e-02 5.64575017e+01] [-1.83419776e-01 9.82872459e-01 -1.78582094e-02 -4.82895626e+00] [-9.55947723e-02 2.46677398e-04 9.95420303e-01 -7.09693264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.329649245999995 meters 0.06049815534672596 Centerline is valid? [True, True] Translation: X:56.52, Y:-4.84, Z:-7.10 [[ 9.78036159e-01 1.86832855e-01 9.24053908e-02 5.65193058e+01] [-1.86002816e-01 9.82391716e-01 -1.75917192e-02 -4.83729408e+00] [-9.40650016e-02 1.76745919e-05 9.95566058e-01 -7.10009347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.389649246 meters 0.06077180582400807 Centerline is valid? [True, True] Translation: X:56.58, Y:-4.85, Z:-7.11 [[ 9.77792319e-01 1.88006196e-01 9.26058871e-02 5.65790023e+01] [-1.87175556e-01 9.82167840e-01 -1.76535024e-02 -4.84774005e+00] [-9.42734919e-02 -7.20994085e-05 9.95546334e-01 -7.11086896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44964924599999 meters 0.06084898485576892 Centerline is valid? [True, True] Translation: X:56.64, Y:-4.86, Z:-7.12 [[ 9.78131705e-01 1.85607623e-01 9.38518885e-02 5.66370040e+01] [-1.84740548e-01 9.82623923e-01 -1.79208287e-02 -4.86269877e+00] [-9.55473532e-02 1.90681450e-04 9.95424868e-01 -7.12186517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.509649245999995 meters 0.06016025219196856 Centerline is valid? [True, True] Translation: X:56.70, Y:-4.88, Z:-7.12 [[ 9.78391299e-01 1.83221932e-01 9.58133048e-02 5.66984429e+01] [-1.82305292e-01 9.83071474e-01 -1.83100180e-02 -4.87918239e+00] [-9.75461237e-02 4.47089755e-04 9.95230905e-01 -7.11937253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.569649246 meters 0.06006272152164634 Centerline is valid? [True, True] Translation: X:56.76, Y:-4.89, Z:-7.13 [[ 9.78075409e-01 1.84058118e-01 9.74222894e-02 5.67585835e+01] [-1.83113974e-01 9.82915291e-01 -1.86226760e-02 -4.89266875e+00] [-9.91855126e-02 3.74998840e-04 9.95068889e-01 -7.12622236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62964924599999 meters 0.059984968485001094 Centerline is valid? [True, True] Translation: X:56.82, Y:-4.90, Z:-7.13 [[ 9.77656788e-01 1.85992401e-01 9.79491296e-02 5.68190479e+01] [-1.85045152e-01 9.82551162e-01 -1.87485106e-02 -4.90271018e+00] [-9.97271115e-02 2.04597040e-04 9.95014805e-01 -7.13348278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.689649245999995 meters 0.05968253188865744 Centerline is valid? [True, True] Translation: X:56.88, Y:-4.91, Z:-7.14 [[ 9.77505893e-01 1.86457451e-01 9.85690004e-02 5.68803030e+01] [-1.85498014e-01 9.82463020e-01 -1.88918208e-02 -4.91199820e+00] [-1.00362919e-01 1.82512367e-04 9.94950879e-01 -7.13878837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.749649246 meters 0.05978761020117583 Centerline is valid? [True, True] Translation: X:56.94, Y:-4.93, Z:-7.15 [[ 9.78126586e-01 1.81995571e-01 1.00727321e-01 5.69388892e+01] [-1.80967045e-01 9.83299114e-01 -1.93334355e-02 -4.92967744e+00] [-1.02563685e-01 6.82221670e-04 9.94726206e-01 -7.14730136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809649246 meters 0.06002721857431074 Centerline is valid? [True, True] Translation: X:57.00, Y:-4.94, Z:-7.16 [[ 9.78158737e-01 1.82862586e-01 9.88269201e-02 5.70001087e+01] [-1.81874415e-01 9.83138295e-01 -1.89944519e-02 -4.93820931e+00] [-1.00633904e-01 6.05500845e-04 9.94923339e-01 -7.15692403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.869649245999994 meters 0.05991952002636109 Centerline is valid? [True, True] Translation: X:57.06, Y:-4.95, Z:-7.17 [[ 9.77851995e-01 1.84586460e-01 9.86575657e-02 5.70609010e+01] [-1.83607687e-01 9.82816174e-01 -1.89890661e-02 -4.94802001e+00] [-1.00467376e-01 4.54208694e-04 9.94940250e-01 -7.16510858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.929649246 meters 0.06005576186472838 Centerline is valid? [True, True] Translation: X:57.12, Y:-4.95, Z:-7.17 [[ 9.76995716e-01 1.88898158e-01 9.89790778e-02 5.71220142e+01] [-1.87933369e-01 9.81996683e-01 -1.90673394e-02 -4.95399246e+00] [-1.00798911e-01 2.72372921e-05 9.94906819e-01 -7.17320442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989649246 meters 0.059978597717600286 Centerline is valid? [True, True] Translation: X:57.18, Y:-4.96, Z:-7.18 [[ 9.76541228e-01 1.90471940e-01 1.00437398e-01 5.71816056e+01] [-1.89484028e-01 9.81692634e-01 -1.93746121e-02 -4.96428464e+00] [-1.02288973e-01 -1.11175176e-04 9.94754720e-01 -7.17995098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.049649245999994 meters 0.059842479636938326 Centerline is valid? [True, True] Translation: X:57.24, Y:-4.97, Z:-7.19 [[ 9.76135633e-01 1.92490113e-01 1.00532498e-01 5.72431397e+01] [-1.91508687e-01 9.81298867e-01 -1.94153815e-02 -4.97383178e+00] [-1.02389695e-01 -3.00800987e-04 9.94744319e-01 -7.18783340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.109649246 meters 0.05985396447614049 Centerline is valid? [True, True] Translation: X:57.30, Y:-4.98, Z:-7.20 [[ 9.75695448e-01 1.94485250e-01 1.00964751e-01 5.73046730e+01] [-1.93503022e-01 9.80905323e-01 -1.95275935e-02 -4.98251018e+00] [-1.02834691e-01 -4.84000401e-04 9.94698342e-01 -7.19527923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169649246 meters 0.06006043088820902 Centerline is valid? [True, True] Translation: X:57.36, Y:-5.00, Z:-7.21 [[ 9.76278900e-01 1.92601613e-01 9.89147527e-02 5.73632294e+01] [-1.91646321e-01 9.81277003e-01 -1.91606803e-02 -4.99686926e+00] [-1.00753150e-01 -2.50480541e-04 9.94911423e-01 -7.20518854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.229649245999994 meters 0.06016503531147783 Centerline is valid? [True, True] Translation: X:57.42, Y:-5.01, Z:-7.22 [[ 9.76697221e-01 1.90647244e-01 9.85706174e-02 5.74224808e+01] [-1.89686434e-01 9.81658610e-01 -1.91162026e-02 -5.01308439e+00] [-1.00407147e-01 -2.67669834e-05 9.94946433e-01 -7.21706667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.289649245999996 meters 0.05976621191374605 Centerline is valid? [True, True] Translation: X:57.48, Y:-5.03, Z:-7.22 [[ 9.76964564e-01 1.88648593e-01 9.97594601e-02 5.74821733e+01] [-1.87651208e-01 9.82044635e-01 -1.93741807e-02 -5.03017431e+00] [-1.01623154e-01 2.07904753e-04 9.94822945e-01 -7.22326174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349649246 meters 0.05982057757642836 Centerline is valid? [True, True] Translation: X:57.54, Y:-5.05, Z:-7.23 [[ 9.77252049e-01 1.86862921e-01 1.00302948e-01 5.75432410e+01] [-1.85842896e-01 9.82385909e-01 -1.95024162e-02 -5.04670538e+00] [-1.02180481e-01 4.18185854e-04 9.94765789e-01 -7.22890404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.409649245999994 meters 0.05975631548798773 Centerline is valid? [True, True] Translation: X:57.60, Y:-5.06, Z:-7.24 [[ 9.77241658e-01 1.86986968e-01 1.00172933e-01 5.76042465e+01] [-1.85967410e-01 9.82362299e-01 -1.95047474e-02 -5.06090063e+00] [-1.02053246e-01 4.31950756e-04 9.94778844e-01 -7.23699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.469649245999996 meters 0.05956369736909847 Centerline is valid? [True, True] Translation: X:57.67, Y:-5.07, Z:-7.25 [[ 9.77333803e-01 1.86334275e-01 1.00489676e-01 5.76653730e+01] [-1.85301960e-01 9.82486264e-01 -1.95940113e-02 -5.07193304e+00] [-1.02380762e-01 5.28955637e-04 9.94745143e-01 -7.24662302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.529649246 meters 0.05960814742442089 Centerline is valid? [True, True] Translation: X:57.73, Y:-5.08, Z:-7.25 [[ 9.77145685e-01 1.87350228e-01 1.00430085e-01 5.77261711e+01] [-1.86321707e-01 9.82293078e-01 -1.96094618e-02 -5.08319282e+00] [-1.02325614e-01 4.48996159e-04 9.94750857e-01 -7.25481342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58964924599999 meters 0.05961464708295681 Centerline is valid? [True, True] Translation: X:57.79, Y:-5.09, Z:-7.26 [[ 9.77063927e-01 1.88348265e-01 9.93529709e-02 5.77865092e+01] [-1.87344175e-01 9.82102233e-01 -1.94258588e-02 -5.09474597e+00] [-1.01233601e-01 3.67105575e-04 9.94862615e-01 -7.26468774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.649649245999996 meters 0.05928897420842445 Centerline is valid? [True, True] Translation: X:57.85, Y:-5.11, Z:-7.27 [[ 9.77100174e-01 1.88619686e-01 9.84777338e-02 5.78478168e+01] [-1.87632446e-01 9.82050145e-01 -1.92763805e-02 -5.10561443e+00] [-1.00345978e-01 3.57336639e-04 9.94952540e-01 -7.26877088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709649246 meters 0.05957407989938927 Centerline is valid? [True, True] Translation: X:57.91, Y:-5.12, Z:-7.28 [[ 9.77159261e-01 1.89057837e-01 9.70407810e-02 5.79071300e+01] [-1.88098971e-01 9.81965898e-01 -1.90198048e-02 -5.11884972e+00] [-9.88865807e-02 3.32107405e-04 9.95098655e-01 -7.27822470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76964924599999 meters 0.05965624970760243 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.13, Z:-7.29 [[ 9.77321263e-01 1.89299955e-01 9.49140423e-02 5.79671246e+01] [-1.88381861e-01 9.81919255e-01 -1.86239286e-02 -5.13062747e+00] [-9.67234346e-02 3.21477485e-04 9.95311245e-01 -7.28657813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.829649245999995 meters 0.059759914701297955 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.15, Z:-7.29 [[ 9.77739881e-01 1.86607026e-01 9.59298815e-02 5.80268394e+01] [-1.85653799e-01 9.82434443e-01 -1.88475796e-02 -5.14507432e+00] [-9.77619105e-02 6.18283268e-04 9.95209640e-01 -7.29414551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889649246 meters 0.059557167661344106 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.16, Z:-7.30 [[ 9.78045827e-01 1.84075947e-01 9.76852422e-02 5.80870373e+01] [-1.83072341e-01 9.82911600e-01 -1.92172816e-02 -5.15905683e+00] [-9.95533971e-02 9.11916139e-04 9.95031803e-01 -7.29997849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94964924599999 meters 0.0590758785010394 Centerline is valid? [True, True] Translation: X:58.15, Y:-5.17, Z:-7.30 [[ 9.77669793e-01 1.85515373e-01 9.87209353e-02 5.81479432e+01] [-1.84495162e-01 9.82641038e-01 -1.94454427e-02 -5.16941643e+00] [-1.00614671e-01 7.97686982e-04 9.94925149e-01 -7.30424194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.009649245999995 meters 0.05892165409418162 Centerline is valid? [True, True] Translation: X:58.21, Y:-5.18, Z:-7.31 [[ 9.77363453e-01 1.87179431e-01 9.86130899e-02 5.82090434e+01] [-1.86167438e-01 9.82325526e-01 -1.94485612e-02 -5.17980022e+00] [-1.00510526e-01 6.49766642e-04 9.94935783e-01 -7.31133208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069649246 meters 0.058578548333671605 Centerline is valid? [True, True] Translation: X:58.27, Y:-5.19, Z:-7.32 [[ 9.77275149e-01 1.87827845e-01 9.82546920e-02 5.82705318e+01] [-1.86823637e-01 9.82201777e-01 -1.94061523e-02 -5.19045420e+00] [-1.00150949e-01 6.08851457e-04 9.94972068e-01 -7.31865769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12964924599999 meters 0.058499657040368636 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.20, Z:-7.33 [[ 9.76798402e-01 1.89760045e-01 9.92774246e-02 5.83321800e+01] [-1.88741242e-01 9.81830395e-01 -1.96422885e-02 -5.19881208e+00] [-1.01200915e-01 4.48811570e-04 9.94865907e-01 -7.32613461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.189649245999995 meters 0.058405924316698984 Centerline is valid? [True, True] Translation: X:58.39, Y:-5.21, Z:-7.33 [[ 9.76370304e-01 1.92300305e-01 9.85982834e-02 5.83933741e+01] [-1.91307859e-01 9.81336108e-01 -1.95127153e-02 -5.20864466e+00] [-1.00510357e-01 1.89009208e-04 9.94935994e-01 -7.33311341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249649246 meters 0.05824965993752249 Centerline is valid? [True, True] Translation: X:58.45, Y:-5.22, Z:-7.34 [[ 9.75471481e-01 1.95826412e-01 1.00535597e-01 5.84548793e+01] [-1.94810202e-01 9.80638564e-01 -1.99246391e-02 -5.21539369e+00] [-1.02490854e-01 -1.49442705e-04 9.94733936e-01 -7.34058090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309649246 meters 0.05804147146053951 Centerline is valid? [True, True] Translation: X:58.52, Y:-5.23, Z:-7.35 [[ 9.75634655e-01 1.94981296e-01 1.00594801e-01 5.85157209e+01] [-1.93956877e-01 9.80806960e-01 -1.99608898e-02 -5.22843226e+00] [-1.02556081e-01 -3.65175448e-05 9.94727223e-01 -7.34804632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.369649245999994 meters 0.05847796206677981 Centerline is valid? [True, True] Translation: X:58.58, Y:-5.24, Z:-7.36 [[ 9.76026125e-01 1.94478568e-01 9.77296813e-02 5.85750579e+01] [-1.93506466e-01 9.80906767e-01 -1.94206828e-02 -5.24179555e+00] [-9.96406122e-02 4.37685117e-05 9.95023490e-01 -7.35868914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429649246 meters 0.058573429132889765 Centerline is valid? [True, True] Translation: X:58.63, Y:-5.26, Z:-7.37 [[ 9.76462860e-01 1.93273900e-01 9.57365269e-02 5.86341285e+01] [-1.92333177e-01 9.81144824e-01 -1.90468834e-02 -5.25775704e+00] [-9.76126633e-02 1.85263840e-04 9.95224464e-01 -7.36694386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489649246 meters 0.05859869223460794 Centerline is valid? [True, True] Translation: X:58.69, Y:-5.27, Z:-7.38 [[ 9.76900134e-01 1.91807932e-01 9.42117091e-02 5.86922124e+01] [-1.90888044e-01 9.81432420e-01 -1.87659026e-02 -5.27334968e+00] [-9.60618747e-02 3.48523921e-04 9.95375303e-01 -7.37680807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.549649245999994 meters 0.05883474318386613 Centerline is valid? [True, True] Translation: X:58.75, Y:-5.29, Z:-7.39 [[ 9.76960712e-01 1.91097952e-01 9.50228389e-02 5.87502332e+01] [-1.90156526e-01 9.81570871e-01 -1.89504777e-02 -5.28790358e+00] [-9.68930482e-02 4.44659290e-04 9.95294700e-01 -7.38723321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609649246 meters 0.05871789620119891 Centerline is valid? [True, True] Translation: X:58.81, Y:-5.30, Z:-7.39 [[ 9.76904662e-01 1.92188533e-01 9.33854838e-02 5.88109857e+01] [-1.91282320e-01 9.81357959e-01 -1.86448216e-02 -5.29789967e+00] [-9.52279088e-02 3.51221115e-04 9.95455434e-01 -7.39183764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669649246 meters 0.0588085385553761 Centerline is valid? [True, True] Translation: X:58.87, Y:-5.31, Z:-7.40 [[ 9.76548297e-01 1.93902708e-01 9.35690272e-02 5.88710589e+01] [-1.92998514e-01 9.81020742e-01 -1.87049999e-02 -5.30709578e+00] [-9.54201067e-02 2.07652671e-04 9.95437070e-01 -7.40077781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.729649245999994 meters 0.05851669851322423 Centerline is valid? [True, True] Translation: X:58.93, Y:-5.32, Z:-7.41 [[ 9.76142359e-01 1.95319732e-01 9.48488142e-02 5.89323137e+01] [-1.94395171e-01 9.80739616e-01 -1.89821885e-02 -5.31684966e+00] [-9.67295855e-02 9.11667947e-05 9.95310695e-01 -7.40768137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.789649245999996 meters 0.05833775361120035 Centerline is valid? [True, True] Translation: X:58.99, Y:-5.33, Z:-7.41 [[ 9.76097316e-01 1.94530763e-01 9.69113638e-02 5.89925964e+01] [-1.93559187e-01 9.80896398e-01 -1.94190030e-02 -5.33050489e+00] [-9.88376012e-02 1.96751989e-04 9.95103557e-01 -7.41466572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849649246 meters 0.058269098897579814 Centerline is valid? [True, True] Translation: X:59.05, Y:-5.35, Z:-7.42 [[ 9.76346063e-01 1.93288850e-01 9.68905859e-02 5.90526820e+01] [-1.92309410e-01 9.81141836e-01 -1.94367876e-02 -5.34696037e+00] [-9.88203217e-02 3.44059640e-04 9.95105233e-01 -7.42068387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.909649245999994 meters 0.058133599798198175 Centerline is valid? [True, True] Translation: X:59.11, Y:-5.36, Z:-7.43 [[ 9.75991462e-01 1.94043303e-01 9.89336315e-02 5.91124275e+01] [-1.93022916e-01 9.80992918e-01 -1.98758255e-02 -5.35821100e+00] [-1.00909963e-01 3.02177948e-04 9.94895516e-01 -7.42681317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.969649245999996 meters 0.057871812879244776 Centerline is valid? [True, True] Translation: X:59.17, Y:-5.37, Z:-7.43 [[ 9.75680609e-01 1.95421677e-01 9.92860413e-02 5.91736201e+01] [-1.94398962e-01 9.80719295e-01 -1.99676782e-02 -5.36812157e+00] [-1.01273854e-01 1.80973107e-04 9.94858570e-01 -7.43034188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.029649246 meters 0.05832613030623218 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.38, Z:-7.44 [[ 9.75997807e-01 1.95329823e-01 9.63044212e-02 5.92335257e+01] [-1.94364529e-01 9.80737587e-01 -1.93962595e-02 -5.38093537e+00] [-9.82380336e-02 2.12543249e-04 9.95162923e-01 -7.44091096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08964924599999 meters 0.058258308318346434 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.40, Z:-7.45 [[ 9.76485292e-01 1.93838023e-01 9.43572799e-02 5.92936083e+01] [-1.92904372e-01 9.81033482e-01 -1.90055161e-02 -5.39561889e+00] [-9.62516425e-02 3.56675092e-04 9.95356968e-01 -7.44906360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.149649245999996 meters 0.05847722445156967 Centerline is valid? [True, True] Translation: X:59.35, Y:-5.41, Z:-7.46 [[ 9.76392460e-01 1.94862077e-01 9.32015868e-02 5.93525985e+01] [-1.93953515e-01 9.80830615e-01 -1.87973330e-02 -5.40844774e+00] [-9.50778570e-02 2.76798822e-04 9.95469801e-01 -7.45746654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.209649246 meters 0.058536611285934355 Centerline is valid? [True, True] Translation: X:59.41, Y:-5.42, Z:-7.46 [[ 9.77071906e-01 1.91200602e-01 9.36633380e-02 5.94134704e+01] [-1.90264180e-01 9.81550762e-01 -1.89114707e-02 -5.42357390e+00] [-9.55512054e-02 6.57088514e-04 9.95424299e-01 -7.46471107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26964924599999 meters 0.05880717863927639 Centerline is valid? [True, True] Translation: X:59.47, Y:-5.43, Z:-7.47 [[ 9.77034549e-01 1.91863407e-01 9.26926302e-02 5.94738994e+01] [-1.90946698e-01 9.81421447e-01 -1.87430396e-02 -5.43490616e+00] [-9.45666388e-02 6.13245602e-04 9.95518345e-01 -7.47444315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.329649245999995 meters 0.058873111324217214 Centerline is valid? [True, True] Translation: X:59.53, Y:-5.45, Z:-7.48 [[ 9.77017962e-01 1.91531249e-01 9.35504229e-02 5.95340210e+01] [-1.90593622e-01 9.81486283e-01 -1.89406134e-02 -5.44813914e+00] [-9.54461762e-02 6.75205622e-04 9.95434363e-01 -7.48240348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.389649246 meters 0.058867459817695124 Centerline is valid? [True, True] Translation: X:59.59, Y:-5.46, Z:-7.49 [[ 9.76604333e-01 1.93125574e-01 9.45858809e-02 5.95931136e+01] [-1.92172111e-01 9.81173894e-01 -1.91746914e-02 -5.46041090e+00] [-9.65083204e-02 5.49318317e-04 9.95332026e-01 -7.48944700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44964924599999 meters 0.05857561678570272 Centerline is valid? [True, True] Translation: X:59.65, Y:-5.47, Z:-7.50 [[ 9.76336033e-01 1.93892681e-01 9.57788000e-02 5.96543247e+01] [-1.92916101e-01 9.81022616e-01 -1.94423496e-02 -5.47127071e+00] [-9.77308982e-02 5.04993910e-04 9.95212749e-01 -7.49711948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.509649245999995 meters 0.058527715299667 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.48, Z:-7.50 [[ 9.76030192e-01 1.95712956e-01 9.51919305e-02 5.97164967e+01] [-1.94756686e-01 9.80661172e-01 -1.93261242e-02 -5.48130502e+00] [-9.71334030e-02 3.23615823e-04 9.95271318e-01 -7.50347101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.569649246 meters 0.058683721038504694 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.49, Z:-7.51 [[ 9.75671072e-01 1.97769844e-01 9.46205528e-02 5.97761733e+01] [-1.96832038e-01 9.80248473e-01 -1.92374926e-02 -5.49241670e+00] [-9.65562482e-02 1.45108839e-04 9.95327519e-01 -7.51336104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62964924599999 meters 0.05845285459320093 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.50, Z:-7.52 [[ 9.75945945e-01 1.96691854e-01 9.40309873e-02 5.98366335e+01] [-1.95758347e-01 9.80465318e-01 -1.91423642e-02 -5.50477075e+00] [-9.59592689e-02 2.74562035e-04 9.95385224e-01 -7.51702001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.689649245999995 meters 0.05880370071911681 Centerline is valid? [True, True] Translation: X:59.90, Y:-5.52, Z:-7.53 [[ 9.76009537e-01 1.96388805e-01 9.40043631e-02 5.98960862e+01] [-1.95452163e-01 9.80526048e-01 -1.91604255e-02 -5.51841740e+00] [-9.59366197e-02 3.27401894e-04 9.95387391e-01 -7.52947412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.749649246 meters 0.058588042687365734 Centerline is valid? [True, True] Translation: X:59.96, Y:-5.54, Z:-7.53 [[ 9.76621984e-01 1.91769943e-01 9.71276915e-02 5.99556018e+01] [-1.90744296e-01 9.81439551e-01 -1.98247655e-02 -5.53871772e+00] [-9.91267521e-02 8.34748657e-04 9.95074465e-01 -7.53201948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809649246 meters 0.05853583734781866 Centerline is valid? [True, True] Translation: X:60.02, Y:-5.55, Z:-7.54 [[ 9.76591818e-01 1.91625223e-01 9.77148703e-02 6.00159274e+01] [-1.90583964e-01 9.81467780e-01 -1.99687333e-02 -5.55340044e+00] [-9.97305097e-02 8.78414226e-04 9.95014097e-01 -7.53780401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.869649245999994 meters 0.0584777911359391 Centerline is valid? [True, True] Translation: X:60.08, Y:-5.57, Z:-7.54 [[ 9.76828367e-01 1.89751176e-01 9.89991522e-02 6.00764496e+01] [-1.88670231e-01 9.81831586e-01 -2.02553645e-02 -5.56852274e+00] [-1.01043974e-01 1.10782169e-03 9.94881344e-01 -7.54242362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.929649246 meters 0.05837024148375173 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.58, Z:-7.55 [[ 9.76512605e-01 1.91172698e-01 9.93787307e-02 6.01358150e+01] [-1.90088172e-01 9.81555918e-01 -2.03584601e-02 -5.57836815e+00] [-1.01437763e-01 9.89571694e-04 9.94841395e-01 -7.55124109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989649246 meters 0.05847715042250228 Centerline is valid? [True, True] Translation: X:60.20, Y:-5.59, Z:-7.56 [[ 9.76194651e-01 1.93948138e-01 9.70985235e-02 6.01964677e+01] [-1.92924516e-01 9.81011530e-01 -1.99125513e-02 -5.58528410e+00] [-9.91167733e-02 7.05840406e-04 9.95075558e-01 -7.56223843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.049649245999994 meters 0.05845093347212713 Centerline is valid? [True, True] Translation: X:60.26, Y:-5.59, Z:-7.57 [[ 9.75528620e-01 1.97159368e-01 9.73246891e-02 6.02566894e+01] [-1.96144441e-01 9.80371368e-01 -1.99834559e-02 -5.59318135e+00] [-9.93542641e-02 4.04736440e-04 9.95052042e-01 -7.56998099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.109649246 meters 0.05819232798982135 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.60, Z:-7.58 [[ 9.74890765e-01 1.99354127e-01 9.92266522e-02 6.03178677e+01] [-1.98308066e-01 9.79927492e-01 -2.03966108e-02 -5.60209210e+00] [-1.01301073e-01 2.07022000e-04 9.94855793e-01 -7.57588722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169649246 meters 0.058117803733420285 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.61, Z:-7.58 [[ 9.74221975e-01 2.01977717e-01 1.00481564e-01 6.03797575e+01] [-2.00916394e-01 9.79390116e-01 -2.06785597e-02 -5.61039375e+00] [-1.02587259e-01 -4.28862126e-05 9.94724008e-01 -7.58000451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.229649245999994 meters 0.05816536763773096 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.62, Z:-7.59 [[ 9.74082233e-01 2.03037437e-01 9.96975580e-02 6.04407368e+01] [-2.01995718e-01 9.79170967e-01 -2.05413580e-02 -5.62024574e+00] [-1.01791619e-01 -1.29507925e-04 9.94805735e-01 -7.58710143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.289649245999996 meters 0.05816864004988734 Centerline is valid? [True, True] Translation: X:60.50, Y:-5.63, Z:-7.60 [[ 9.74136374e-01 2.03102061e-01 9.90347309e-02 6.04995184e+01] [-2.02071687e-01 9.79157567e-01 -2.04326305e-02 -5.63060553e+00] [-1.01120516e-01 -1.07946548e-04 9.94874178e-01 -7.59814727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349649246 meters 0.05784721257557928 Centerline is valid? [True, True] Translation: X:60.56, Y:-5.64, Z:-7.60 [[ 9.73915543e-01 2.03350415e-01 1.00683281e-01 6.05604327e+01] [-2.02285606e-01 9.79106017e-01 -2.07831831e-02 -5.64292308e+00] [-1.02805876e-01 -1.25713541e-04 9.94701431e-01 -7.60159269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.409649245999994 meters 0.05758358278080129 Centerline is valid? [True, True] Translation: X:60.62, Y:-5.65, Z:-7.61 [[ 9.73778477e-01 2.03755588e-01 1.01188627e-01 6.06215289e+01] [-2.02679658e-01 9.79021777e-01 -2.09121237e-02 -5.65493218e+00] [-1.03326831e-01 -1.45100250e-04 9.94647448e-01 -7.60550502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.469649245999996 meters 0.05759725525944488 Centerline is valid? [True, True] Translation: X:60.68, Y:-5.66, Z:-7.61 [[ 9.73515748e-01 2.04256772e-01 1.02694984e-01 6.06809436e+01] [-2.03148305e-01 9.78917331e-01 -2.12514784e-02 -5.66474661e+00] [-1.04870658e-01 -1.73662868e-04 9.94485855e-01 -7.61483341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529649246 meters 0.057787568474052024 Centerline is valid? [True, True] Translation: X:60.74, Y:-5.67, Z:-7.63 [[ 9.73389782e-01 2.05703498e-01 1.00987143e-01 6.07398450e+01] [-2.04636950e-01 9.78614317e-01 -2.09221943e-02 -5.67468077e+00] [-1.03131232e-01 -3.00250659e-04 9.94667713e-01 -7.62638627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58964924599999 meters 0.05749831732212213 Centerline is valid? [True, True] Translation: X:60.80, Y:-5.69, Z:-7.63 [[ 9.73678015e-01 2.05022412e-01 9.95838006e-02 6.07999756e+01] [-2.03979585e-01 9.78757257e-01 -2.06533285e-02 -5.69012189e+00] [-1.01702763e-01 -2.03370395e-04 9.94814810e-01 -7.62984545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.649649245999996 meters 0.05745106948288517 Centerline is valid? [True, True] Translation: X:60.86, Y:-5.70, Z:-7.64 [[ 9.73566818e-01 2.04725714e-01 1.01267137e-01 6.08592620e+01] [-2.03642772e-01 9.78819370e-01 -2.10300130e-02 -5.70311887e+00] [-1.03427620e-01 -1.48197698e-04 9.94636972e-01 -7.63950948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709649246 meters 0.05731739054907689 Centerline is valid? [True, True] Translation: X:60.92, Y:-5.72, Z:-7.64 [[ 9.74474135e-01 1.99551434e-01 1.02856139e-01 6.09186575e+01] [-1.98402745e-01 9.79887258e-01 -2.13848635e-02 -5.72431446e+00] [-1.05054800e-01 4.32056137e-04 9.94466340e-01 -7.64235443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76964924599999 meters 0.05755763466884347 Centerline is valid? [True, True] Translation: X:60.98, Y:-5.74, Z:-7.65 [[ 9.74995174e-01 1.96412962e-01 1.03953640e-01 6.09788149e+01] [-1.95218929e-01 9.80520933e-01 -2.16395242e-02 -5.74106273e+00] [-1.06179003e-01 8.04713421e-04 9.94346706e-01 -7.65065870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.829649245999995 meters 0.05779932938655601 Centerline is valid? [True, True] Translation: X:61.04, Y:-5.76, Z:-7.66 [[ 9.75619362e-01 1.93512772e-01 1.03535829e-01 6.10382714e+01] [-1.92308794e-01 9.81097087e-01 -2.15831963e-02 -5.75717985e+00] [-1.05755324e-01 1.14613375e-03 9.94391521e-01 -7.65653486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889649246 meters 0.05810705581382034 Centerline is valid? [True, True] Translation: X:61.10, Y:-5.77, Z:-7.67 [[ 9.75576696e-01 1.94591891e-01 1.01902431e-01 6.10963996e+01] [-1.93428792e-01 9.80883742e-01 -2.12693747e-02 -5.77065946e+00] [-1.04093285e-01 1.03904233e-03 9.94566995e-01 -7.66813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94964924599999 meters 0.058138986945299974 Centerline is valid? [True, True] Translation: X:61.16, Y:-5.79, Z:-7.67 [[ 9.75650392e-01 1.94579529e-01 1.01218175e-01 6.11562794e+01] [-1.93429524e-01 9.80886176e-01 -2.11501485e-02 -5.78510208e+00] [-1.03398894e-01 1.05656734e-03 9.94639408e-01 -7.67459484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.009649245999995 meters 0.05820829252889068 Centerline is valid? [True, True] Translation: X:61.22, Y:-5.80, Z:-7.68 [[ 9.75448053e-01 1.96110353e-01 1.00208907e-01 6.12172156e+01] [-1.94988734e-01 9.80581410e-01 -2.09640570e-02 -5.79622055e+00] [-1.02374260e-01 9.09740749e-04 9.94745537e-01 -7.68188480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069649246 meters 0.05818597519585828 Centerline is valid? [True, True] Translation: X:61.28, Y:-5.80, Z:-7.69 [[ 9.74637712e-01 2.00414296e-01 9.95763079e-02 6.12793396e+01] [-1.99325952e-01 9.79711117e-01 -2.08636393e-02 -5.80095828e+00] [-1.01737387e-01 4.86347327e-04 9.94811172e-01 -7.69221121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12964924599999 meters 0.0581796953302161 Centerline is valid? [True, True] Translation: X:61.34, Y:-5.81, Z:-7.70 [[ 9.74241126e-01 2.02462093e-01 9.93143001e-02 6.13405919e+01] [-2.01389617e-01 9.79290062e-01 -2.08133987e-02 -5.81104519e+00] [-1.01471431e-01 2.76400099e-04 9.94838415e-01 -7.70117191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.189649245999995 meters 0.05836886831985477 Centerline is valid? [True, True] Translation: X:61.40, Y:-5.82, Z:-7.71 [[ 9.73287156e-01 2.07342739e-01 9.85956425e-02 6.14014775e+01] [-2.06307649e-01 9.78268342e-01 -2.06931312e-02 -5.81639950e+00] [-1.00743566e-01 -2.00676470e-04 9.94912405e-01 -7.71041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249649246 meters 0.058448665774197536 Centerline is valid? [True, True] Translation: X:61.46, Y:-5.82, Z:-7.72 [[ 9.72415356e-01 2.11137450e-01 9.91430948e-02 6.14635849e+01] [-2.10108169e-01 9.77456212e-01 -2.08305212e-02 -5.82405053e+00] [-1.01306137e-01 -5.74855418e-04 9.94855133e-01 -7.71926444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309649246 meters 0.058668079099861645 Centerline is valid? [True, True] Translation: X:61.52, Y:-5.83, Z:-7.73 [[ 9.72188059e-01 2.12328559e-01 9.88279333e-02 6.15235006e+01] [-2.11308866e-01 9.77198106e-01 -2.07948196e-02 -5.83459861e+00] [-1.00989803e-01 -6.66743172e-04 9.94887237e-01 -7.72813102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.369649245999994 meters 0.058391756068339906 Centerline is valid? [True, True] Translation: X:61.58, Y:-5.85, Z:-7.74 [[ 9.73124151e-01 2.08444970e-01 9.78778918e-02 6.15836362e+01] [-2.07423063e-01 9.78034067e-01 -2.06163973e-02 -5.85296954e+00] [-1.00025297e-01 -2.39817979e-04 9.94984865e-01 -7.73532303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429649246 meters 0.05874411753089001 Centerline is valid? [True, True] Translation: X:61.64, Y:-5.87, Z:-7.75 [[ 9.73570126e-01 2.07748351e-01 9.48779904e-02 6.16425362e+01] [-2.06782247e-01 9.78182296e-01 -2.00124544e-02 -5.86599312e+00] [-9.69655249e-02 -1.35556329e-04 9.95287732e-01 -7.74841257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489649246 meters 0.058803218475561525 Centerline is valid? [True, True] Translation: X:61.70, Y:-5.88, Z:-7.76 [[ 9.73681280e-01 2.06985195e-01 9.54038462e-02 6.17026474e+01] [-2.06002511e-01 9.78344074e-01 -2.01454194e-02 -5.88129184e+00] [-9.75075911e-02 -3.82140373e-05 9.95234780e-01 -7.75534752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.549649245999994 meters 0.0587602501096208 Centerline is valid? [True, True] Translation: X:61.76, Y:-5.90, Z:-7.76 [[ 9.73846185e-01 2.05604675e-01 9.66970831e-02 6.17607128e+01] [-2.04585471e-01 9.78635121e-01 -2.04471112e-02 -5.90092627e+00] [-9.88351833e-02 1.29522956e-04 9.95103809e-01 -7.76145601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609649246 meters 0.059010616116089924 Centerline is valid? [True, True] Translation: X:61.82, Y:-5.92, Z:-7.77 [[ 9.74215942e-01 2.03769230e-01 9.68576276e-02 6.18198954e+01] [-2.02736444e-01 9.79018893e-01 -2.04924501e-02 -5.91682938e+00] [-9.90011782e-02 3.27500586e-04 9.95087262e-01 -7.77254567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669649246 meters 0.05883990179949917 Centerline is valid? [True, True] Translation: X:61.88, Y:-5.93, Z:-7.78 [[ 9.74127807e-01 2.04554216e-01 9.60863566e-02 6.18808288e+01] [-2.03539088e-01 9.78855198e-01 -2.03553567e-02 -5.92891552e+00] [-9.82184037e-02 2.71389609e-04 9.95164846e-01 -7.77929474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.729649245999994 meters 0.05880887638579995 Centerline is valid? [True, True] Translation: X:61.94, Y:-5.94, Z:-7.79 [[ 9.73565539e-01 2.06773285e-01 9.70306626e-02 6.19416732e+01] [-2.05746549e-01 9.78388881e-01 -2.05804349e-02 -5.93952692e+00] [-9.91892056e-02 7.26782620e-05 9.95068589e-01 -7.78559474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.789649245999996 meters 0.05913154448917068 Centerline is valid? [True, True] Translation: X:62.00, Y:-5.94, Z:-7.80 [[ 9.72537241e-01 2.11818470e-01 9.64585416e-02 6.20023980e+01] [-2.10826080e-01 9.77308940e-01 -2.04841362e-02 -5.94364769e+00] [-9.86087134e-02 -4.14390897e-04 9.95126198e-01 -7.79647367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849649246 meters 0.05891223300500667 Centerline is valid? [True, True] Translation: X:62.06, Y:-5.95, Z:-7.80 [[ 9.71833266e-01 2.14417885e-01 9.78011922e-02 6.20640497e+01] [-2.13408443e-01 9.76741792e-01 -2.07920296e-02 -5.95222104e+00] [-9.99846947e-02 -6.65214023e-04 9.94988753e-01 -7.80228497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.909649245999994 meters 0.05901510238651299 Centerline is valid? [True, True] Translation: X:62.12, Y:-5.97, Z:-7.81 [[ 9.72178470e-01 2.12470259e-01 9.86175042e-02 6.21228767e+01] [-2.11431213e-01 9.77167433e-01 -2.09916511e-02 -5.96789178e+00] [-1.00825915e-01 -4.43187331e-04 9.94903985e-01 -7.80976151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.969649245999996 meters 0.05893911898919753 Centerline is valid? [True, True] Translation: X:62.18, Y:-5.99, Z:-7.82 [[ 9.72385691e-01 2.11406597e-01 9.88600928e-02 6.21825364e+01] [-2.10354637e-01 9.77398155e-01 -2.10659193e-02 -5.98620815e+00] [-1.01079147e-01 -3.11480423e-04 9.94878339e-01 -7.81586989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029649246 meters 0.0587960664024259 Centerline is valid? [True, True] Translation: X:62.24, Y:-6.01, Z:-7.82 [[ 9.72925867e-01 2.08225652e-01 1.00286264e-01 6.22412030e+01] [-2.07123475e-01 9.78080813e-01 -2.13960308e-02 -6.00512065e+00] [-1.02543273e-01 4.51122594e-05 9.94728543e-01 -7.82249149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08964924599999 meters 0.058798662532858585 Centerline is valid? [True, True] Translation: X:62.30, Y:-6.02, Z:-7.83 [[ 9.72943359e-01 2.07712915e-01 1.01175909e-01 6.23010162e+01] [-2.06585527e-01 9.78189823e-01 -2.16122804e-02 -6.02119441e+00] [-1.03458394e-01 1.26046194e-04 9.94633774e-01 -7.83014694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.149649245999996 meters 0.058819965087506476 Centerline is valid? [True, True] Translation: X:62.36, Y:-6.04, Z:-7.84 [[ 9.73256078e-01 2.06058247e-01 1.01550995e-01 6.23617691e+01] [-2.04910848e-01 9.78539673e-01 -2.17175746e-02 -6.03694393e+00] [-1.03846763e-01 3.27860926e-04 9.94593255e-01 -7.83623284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209649246 meters 0.059118013244236704 Centerline is valid? [True, True] Translation: X:62.42, Y:-6.04, Z:-7.85 [[ 9.72886458e-01 2.08368734e-01 1.00371363e-01 6.24213089e+01] [-2.07257028e-01 9.78050335e-01 -2.14957157e-02 -6.04366677e+00] [-1.02647280e-01 1.10220311e-04 9.94717811e-01 -7.84891712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26964924599999 meters 0.05927381608985749 Centerline is valid? [True, True] Translation: X:62.48, Y:-6.05, Z:-7.86 [[ 9.73057830e-01 2.08446147e-01 9.85325485e-02 6.24815393e+01] [-2.07373049e-01 9.78033838e-01 -2.11241544e-02 -6.05419850e+00] [-1.00771415e-01 1.22028926e-04 9.94909597e-01 -7.85801804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.329649245999995 meters 0.05947980921460203 Centerline is valid? [True, True] Translation: X:62.54, Y:-6.06, Z:-7.87 [[ 9.73160911e-01 2.09034505e-01 9.62414497e-02 6.25415711e+01] [-2.08011375e-01 9.77908262e-01 -2.06567003e-02 -6.06446071e+00] [-9.84332720e-02 8.29770257e-05 9.95143650e-01 -7.86838722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389649246 meters 0.059725455663164444 Centerline is valid? [True, True] Translation: X:62.60, Y:-6.08, Z:-7.88 [[ 9.74365743e-01 2.03836708e-01 9.51945156e-02 6.26009702e+01] [-2.02808679e-01 9.79004702e-01 -2.04556482e-02 -6.08148386e+00] [-9.73654904e-02 6.25008862e-04 9.95248497e-01 -7.87696141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44964924599999 meters 0.05991073987922696 Centerline is valid? [True, True] Translation: X:62.66, Y:-6.09, Z:-7.89 [[ 9.73992521e-01 2.06850103e-01 9.24748786e-02 6.26603211e+01] [-2.05891190e-01 9.78372587e-01 -1.98972091e-02 -6.08826822e+00] [-9.45906260e-02 3.39970104e-04 9.95516197e-01 -7.88968157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.509649245999995 meters 0.05965602194656059 Centerline is valid? [True, True] Translation: X:62.72, Y:-6.10, Z:-7.89 [[ 9.73676139e-01 2.07685523e-01 9.39228429e-02 6.27210965e+01] [-2.06699519e-01 9.78195610e-01 -2.02152951e-02 -6.10045512e+00] [-9.60733367e-02 2.69344050e-04 9.95374222e-01 -7.89285622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569649246 meters 0.05945029477650669 Centerline is valid? [True, True] Translation: X:62.78, Y:-6.11, Z:-7.90 [[ 9.73262126e-01 2.08890970e-01 9.55269474e-02 6.27819015e+01] [-2.07874306e-01 9.77938920e-01 -2.05849881e-02 -6.11426318e+00] [-9.77195379e-02 1.76991437e-04 9.95213977e-01 -7.89705143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62964924599999 meters 0.05909582111781243 Centerline is valid? [True, True] Translation: X:62.84, Y:-6.13, Z:-7.90 [[ 9.72662320e-01 2.10197304e-01 9.87172954e-02 6.28429474e+01] [-2.09115462e-01 9.77658983e-01 -2.12987215e-02 -6.12591620e+00] [-1.00988784e-01 7.31509897e-05 9.94887562e-01 -7.90204616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.689649245999995 meters 0.05898974879959602 Centerline is valid? [True, True] Translation: X:62.90, Y:-6.14, Z:-7.91 [[ 9.72163167e-01 2.11256498e-01 1.01338388e-01 6.29030986e+01] [-2.10119237e-01 9.77430658e-01 -2.18909617e-02 -6.13606867e+00] [-1.03675855e-01 -1.15580576e-05 9.94611139e-01 -7.90983507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749649246 meters 0.05875251576538732 Centerline is valid? [True, True] Translation: X:62.96, Y:-6.15, Z:-7.92 [[ 9.71547776e-01 2.13869658e-01 1.01757985e-01 6.29644384e+01] [-2.12734578e-01 9.76862170e-01 -2.20068358e-02 -6.14801514e+00] [-1.04110121e-01 -2.66749712e-04 9.94565740e-01 -7.91574015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809649246 meters 0.05889446680162383 Centerline is valid? [True, True] Translation: X:63.02, Y:-6.16, Z:-7.92 [[ 9.70962416e-01 2.15915909e-01 1.03016055e-01 6.30238964e+01] [-2.14760723e-01 9.76411853e-01 -2.23097459e-02 -6.15804084e+00] [-1.05403127e-01 -4.61877777e-04 9.94429468e-01 -7.92419068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.869649245999994 meters 0.058824287996736654 Centerline is valid? [True, True] Translation: X:63.08, Y:-6.17, Z:-7.93 [[ 9.70996826e-01 2.15771009e-01 1.02995323e-01 6.30848620e+01] [-2.14613116e-01 9.76443901e-01 -2.23275265e-02 -6.17035038e+00] [-1.05386788e-01 -4.24189781e-04 9.94431217e-01 -7.93241111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929649246 meters 0.05863419355227557 Centerline is valid? [True, True] Translation: X:63.14, Y:-6.19, Z:-7.94 [[ 9.71035884e-01 2.15394179e-01 1.03414990e-01 6.31443905e+01] [-2.14221397e-01 9.76527123e-01 -2.24493022e-02 -6.18717059e+00] [-1.05822992e-01 -3.54625648e-04 9.94384920e-01 -7.93773404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989649246 meters 0.0582938935751963 Centerline is valid? [True, True] Translation: X:63.20, Y:-6.21, Z:-7.94 [[ 9.71086700e-01 2.12705020e-01 1.08384481e-01 6.32037966e+01] [-2.11396210e-01 9.77116458e-01 -2.35599068e-02 -6.20642037e+00] [-1.10915571e-01 -3.33564661e-05 9.93829832e-01 -7.93898392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.049649246 meters 0.058151433794055234 Centerline is valid? [True, True] Translation: X:63.26, Y:-6.22, Z:-7.95 [[ 9.70777162e-01 2.13637703e-01 1.09318953e-01 6.32632633e+01] [-2.12311527e-01 9.76912951e-01 -2.37676708e-02 -6.21864037e+00] [-1.11872771e-01 -1.36561694e-04 9.93722529e-01 -7.94573635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.109649246 meters 0.05857043808844234 Centerline is valid? [True, True] Translation: X:63.32, Y:-6.23, Z:-7.96 [[ 9.70970529e-01 2.13931922e-01 1.07001708e-01 6.33235172e+01] [-2.12660623e-01 9.76848562e-01 -2.32883420e-02 -6.22766165e+00] [-1.09506584e-01 -1.42756145e-04 9.93986060e-01 -7.96035282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.169649246 meters 0.05888264726893545 Centerline is valid? [True, True] Translation: X:63.38, Y:-6.24, Z:-7.97 [[ 9.71142061e-01 2.14251594e-01 1.04782406e-01 6.33831841e+01] [-2.13031508e-01 9.76778497e-01 -2.28329632e-02 -6.23954698e+00] [-1.07241200e-01 -1.47903047e-04 9.94233023e-01 -7.97025375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22964924600001 meters 0.0591896714181088 Centerline is valid? [True, True] Translation: X:63.44, Y:-6.25, Z:-7.98 [[ 9.71508161e-01 2.14843508e-01 1.00070774e-01 6.34430142e+01] [-2.13732583e-01 9.76648469e-01 -2.18209024e-02 -6.25317503e+00] [-1.02422047e-01 -1.89200086e-04 9.94741016e-01 -7.98066228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.289649246 meters 0.05947260828432092 Centerline is valid? [True, True] Translation: X:63.50, Y:-6.27, Z:-7.99 [[ 9.71879586e-01 2.14390341e-01 9.74004744e-02 6.35029672e+01] [-2.13335532e-01 9.76748055e-01 -2.12411728e-02 -6.26720799e+00] [-9.96896262e-02 -1.35119812e-04 9.95018573e-01 -7.99118231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.349649246 meters 0.05942062534887022 Centerline is valid? [True, True] Translation: X:63.56, Y:-6.28, Z:-8.00 [[ 9.72715789e-01 2.10020554e-01 9.85665316e-02 6.35607909e+01] [-2.08915151e-01 9.77696911e-01 -2.15223257e-02 -6.28389148e+00] [-1.00888324e-01 3.43064199e-04 9.94897697e-01 -7.99974188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.409649246 meters 0.05936109795613073 Centerline is valid? [True, True] Translation: X:63.62, Y:-6.30, Z:-8.01 [[ 9.72625935e-01 2.10168282e-01 9.91366900e-02 6.36211427e+01] [-2.09048395e-01 9.77665162e-01 -2.16702481e-02 -6.29660613e+00] [-1.01476887e-01 3.52679377e-04 9.94837835e-01 -8.00646693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.469649246 meters 0.05905803448287412 Centerline is valid? [True, True] Translation: X:63.68, Y:-6.31, Z:-8.01 [[ 9.71610630e-01 2.13181687e-01 1.02598008e-01 6.36820172e+01] [-2.11995879e-01 9.77012571e-01 -2.24540292e-02 -6.30891612e+00] [-1.05026332e-01 6.62184309e-05 9.94469439e-01 -8.01174968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.529649246 meters 0.05878590770208703 Centerline is valid? [True, True] Translation: X:63.74, Y:-6.32, Z:-8.02 [[ 9.71344124e-01 2.12924017e-01 1.05612292e-01 6.37412930e+01] [-2.11662638e-01 9.77068753e-01 -2.31426152e-02 -6.32452088e+00] [-1.08118089e-01 1.25266938e-04 9.94138050e-01 -8.01673144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58964924600001 meters 0.05883550742303718 Centerline is valid? [True, True] Translation: X:63.80, Y:-6.34, Z:-8.02 [[ 9.71307585e-01 2.13306865e-01 1.05174882e-01 6.38017812e+01] [-2.12056819e-01 9.76985247e-01 -2.30593403e-02 -6.33895295e+00] [-1.07673023e-01 9.46612689e-05 9.94186356e-01 -8.02481051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64964924600001 meters 0.05923235144809706 Centerline is valid? [True, True] Translation: X:63.86, Y:-6.35, Z:-8.04 [[ 9.71595429e-01 2.12996337e-01 1.03125565e-01 6.38600746e+01] [-2.11789861e-01 9.77052986e-01 -2.26388624e-02 -6.35291193e+00] [-1.05581135e-01 1.54866237e-04 9.94410680e-01 -8.03562133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.709649246 meters 0.05922701168493486 Centerline is valid? [True, True] Translation: X:63.92, Y:-6.36, Z:-8.04 [[ 9.71483026e-01 2.13635215e-01 1.02862653e-01 6.39213415e+01] [-2.12436208e-01 9.76913499e-01 -2.26025214e-02 -6.36415788e+00] [-1.05316609e-01 1.06213789e-04 9.94438736e-01 -8.04114843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.769649246 meters 0.059086002608824906 Centerline is valid? [True, True] Translation: X:63.98, Y:-6.38, Z:-8.05 [[ 9.71087896e-01 2.14335056e-01 1.05113187e-01 6.39815855e+01] [-2.13083365e-01 9.76760196e-01 -2.31300638e-02 -6.37861641e+00] [-1.07627960e-01 6.34534704e-05 9.94191238e-01 -8.04668228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.829649246 meters 0.058974645310583496 Centerline is valid? [True, True] Translation: X:64.04, Y:-6.39, Z:-8.05 [[ 9.70698649e-01 2.15532705e-01 1.06253408e-01 6.40423948e+01] [-2.14257754e-01 9.76496621e-01 -2.34086211e-02 -6.38990009e+00] [-1.08801417e-01 -4.28997179e-05 9.94063504e-01 -8.05399306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.889649246 meters 0.05904518281854599 Centerline is valid? [True, True] Translation: X:64.10, Y:-6.40, Z:-8.06 [[ 9.69995302e-01 2.18590257e-01 1.06430325e-01 6.41040253e+01] [-2.17326459e-01 9.75816668e-01 -2.34742476e-02 -6.40025701e+00] [-1.08987727e-01 -3.60215871e-04 9.94043030e-01 -8.06191314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.949649246 meters 0.059034770440820256 Centerline is valid? [True, True] Translation: X:64.16, Y:-6.41, Z:-8.07 [[ 9.69670791e-01 2.19768410e-01 1.06959816e-01 6.41642357e+01] [-2.18495590e-01 9.75551962e-01 -2.36229963e-02 -6.41435384e+00] [-1.09536447e-01 -4.63718593e-04 9.93982672e-01 -8.07005033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00964924600001 meters 0.05919883649799341 Centerline is valid? [True, True] Translation: X:64.22, Y:-6.43, Z:-8.08 [[ 9.69543503e-01 2.20636478e-01 1.06324692e-01 6.42243447e+01] [-2.19380531e-01 9.75355969e-01 -2.35141675e-02 -6.42758224e+00] [-1.08892506e-01 -5.27558991e-04 9.94053391e-01 -8.07822780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.069649246 meters 0.05929332131777801 Centerline is valid? [True, True] Translation: X:64.28, Y:-6.44, Z:-8.09 [[ 9.69712761e-01 2.20895421e-01 1.04222713e-01 6.42839058e+01] [-2.19687394e-01 9.75297362e-01 -2.30760814e-02 -6.44058583e+00] [-1.06745537e-01 -5.19245491e-04 9.94286237e-01 -8.08963152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.129649246 meters 0.05939911625003837 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.46, Z:-8.10 [[ 9.69969528e-01 2.20414561e-01 1.02842291e-01 6.43435127e+01] [-2.19232932e-01 9.75406189e-01 -2.27966842e-02 -6.45624438e+00] [-1.05337728e-01 -4.34328028e-04 9.94436410e-01 -8.09810385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.189649246 meters 0.05974567872382649 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.47, Z:-8.11 [[ 9.69506831e-01 2.22554185e-01 1.02596974e-01 6.44027752e+01] [-2.21387355e-01 9.74920113e-01 -2.27686882e-02 -6.46591807e+00] [-1.05091121e-01 -6.39274038e-04 9.94462391e-01 -8.10949665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.249649246 meters 0.059690125645006815 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.48, Z:-8.12 [[ 9.70053676e-01 2.20610928e-01 1.01620293e-01 6.44630686e+01] [-2.19453284e-01 9.75361808e-01 -2.25743141e-02 -6.48117487e+00] [-1.04096693e-01 -4.02610544e-04 9.94567100e-01 -8.11743218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.309649246 meters 0.059879375758921126 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.50, Z:-8.13 [[ 9.71389203e-01 2.15283253e-01 1.00280298e-01 6.45211667e+01] [-2.14124654e-01 9.76551628e-01 -2.23058210e-02 -6.49971875e+00] [-1.02730958e-01 1.95149504e-04 9.94709160e-01 -8.12750664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36964924600001 meters 0.05976436364534701 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.52, Z:-8.14 [[ 9.71518222e-01 2.14905808e-01 9.98390572e-02 6.45815167e+01] [-2.13753253e-01 9.76634747e-01 -2.22287710e-02 -6.51615255e+00] [-1.02283384e-01 2.54732885e-04 9.94755269e-01 -8.13512285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.429649246 meters 0.059576004407772165 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.54, Z:-8.14 [[ 9.71691078e-01 2.13919847e-01 1.00273363e-01 6.46414996e+01] [-2.12749024e-01 9.76851139e-01 -2.23540690e-02 -6.53508454e+00] [-1.02734128e-01 3.88189390e-04 9.94708776e-01 -8.13931226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.489649246 meters 0.059813793547274605 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.55, Z:-8.15 [[ 9.72276860e-01 2.11373522e-01 9.99947081e-02 6.46985641e+01] [-2.10192393e-01 9.77405116e-01 -2.23247970e-02 -6.55428773e+00] [-1.02454210e-01 6.87756511e-04 9.94737484e-01 -8.14872598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.549649246 meters 0.059881723888987784 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.57, Z:-8.16 [[ 9.72808777e-01 2.08917726e-01 9.99823321e-02 6.47574134e+01] [-2.07722916e-01 9.77932753e-01 -2.23320570e-02 -6.57177198e+00] [-1.02441560e-01 9.56199530e-04 9.94738565e-01 -8.15534305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.609649246 meters 0.06013043483236824 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.59, Z:-8.16 [[ 9.73303326e-01 2.06380946e-01 1.00436749e-01 6.48164623e+01] [-2.05159135e-01 9.78470916e-01 -2.24587639e-02 -6.59061693e+00] [-1.02909499e-01 1.25367309e-03 9.94689933e-01 -8.16300229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.669649246 meters 0.059917653839426654 Centerline is valid? [True, True] Translation: X:64.88, Y:-6.60, Z:-8.17 [[ 9.72787181e-01 2.08864075e-01 1.00304031e-01 6.48763385e+01] [-2.07656072e-01 9.77944155e-01 -2.24540965e-02 -6.60065641e+00] [-1.02781595e-01 1.01431611e-03 9.94703431e-01 -8.17132425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72964924600001 meters 0.059512186550948455 Centerline is valid? [True, True] Translation: X:64.94, Y:-6.60, Z:-8.18 [[ 9.71325464e-01 2.16124129e-01 9.90818071e-02 6.49392108e+01] [-2.14980883e-01 9.76365859e-01 -2.22020045e-02 -6.60304786e+00] [-1.01538483e-01 2.64677964e-04 9.94831577e-01 -8.17840650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.789649246 meters 0.059736256933071184 Centerline is valid? [True, True] Translation: X:65.00, Y:-6.60, Z:-8.19 [[ 9.69601975e-01 2.23675891e-01 9.92023427e-02 6.50018801e+01] [-2.22566689e-01 9.74663452e-01 -2.22536539e-02 -6.60372585e+00] [-1.01666504e-01 -5.01950223e-04 9.94818411e-01 -8.18791378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.849649246 meters 0.059782046918052396 Centerline is valid? [True, True] Translation: X:65.06, Y:-6.61, Z:-8.20 [[ 9.68937073e-01 2.26382504e-01 9.95585828e-02 6.50637794e+01] [-2.25276859e-01 9.74038182e-01 -2.23597190e-02 -6.61403027e+00] [-1.02035710e-01 -7.63084113e-04 9.94780444e-01 -8.19555500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.909649246 meters 0.05965279501451759 Centerline is valid? [True, True] Translation: X:65.12, Y:-6.63, Z:-8.20 [[ 9.68726335e-01 2.26628721e-01 1.01038166e-01 6.51234136e+01] [-2.25488153e-01 9.73980917e-01 -2.27214867e-02 -6.62915421e+00] [-1.03558587e-01 -7.72007001e-04 9.94623056e-01 -8.20177803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.969649246 meters 0.05941833309174552 Centerline is valid? [True, True] Translation: X:65.18, Y:-6.65, Z:-8.21 [[ 9.68781158e-01 2.26373067e-01 1.01085623e-01 6.51841467e+01] [-2.25227603e-01 9.74040406e-01 -2.27555240e-02 -6.64533168e+00] [-1.03612719e-01 -7.22149714e-04 9.94617456e-01 -8.20800212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.029649246 meters 0.05941785200366408 Centerline is valid? [True, True] Translation: X:65.24, Y:-6.66, Z:-8.22 [[ 9.68975053e-01 2.25102289e-01 1.02060312e-01 6.52438580e+01] [-2.23924387e-01 9.74334975e-01 -2.30049076e-02 -6.66136109e+00] [-1.04619389e-01 -5.62611194e-04 9.94512175e-01 -8.21513879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08964924600001 meters 0.05924380401330075 Centerline is valid? [True, True] Translation: X:65.30, Y:-6.68, Z:-8.22 [[ 9.69365006e-01 2.24137126e-01 1.00469069e-01 6.53033591e+01] [-2.22988090e-01 9.74557523e-01 -2.26703721e-02 -6.67840124e+00] [-1.02994159e-01 -4.27540319e-04 9.94681869e-01 -8.22269991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14964924600001 meters 0.0596539253297152 Centerline is valid? [True, True] Translation: X:65.36, Y:-6.69, Z:-8.23 [[ 9.69640518e-01 2.23436850e-01 9.93641784e-02 6.53614754e+01] [-2.22306881e-01 9.74718353e-01 -2.24451044e-02 -6.69244016e+00] [-1.01867152e-01 -3.25657903e-04 9.94797958e-01 -8.23435739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.209649246 meters 0.05973627701905465 Centerline is valid? [True, True] Translation: X:65.42, Y:-6.71, Z:-8.24 [[ 9.69915067e-01 2.22925605e-01 9.78209461e-02 6.54209495e+01] [-2.21825860e-01 9.74835429e-01 -2.21172865e-02 -6.70920773e+00] [-1.00289833e-01 -2.47326039e-04 9.94958234e-01 -8.24199834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.269649246 meters 0.060086041820400234 Centerline is valid? [True, True] Translation: X:65.48, Y:-6.72, Z:-8.25 [[ 9.70106416e-01 2.22586192e-01 9.66898535e-02 6.54793680e+01] [-2.21507733e-01 9.74912997e-01 -2.18854228e-02 -6.72421588e+00] [-9.91355878e-02 -1.86361249e-04 9.95073917e-01 -8.25283388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.329649246 meters 0.0598476999274781 Centerline is valid? [True, True] Translation: X:65.54, Y:-6.74, Z:-8.26 [[ 9.70180011e-01 2.22454989e-01 9.62523951e-02 6.55404675e+01] [-2.21383663e-01 9.74942949e-01 -2.18064027e-02 -6.73994033e+00] [-9.86915371e-02 -1.52571868e-04 9.95118062e-01 -8.25621562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.389649246 meters 0.06018957346971111 Centerline is valid? [True, True] Translation: X:65.60, Y:-6.75, Z:-8.27 [[ 9.69912061e-01 2.23670270e-01 9.61363835e-02 6.56002246e+01] [-2.22604674e-01 9.74664839e-01 -2.18084981e-02 -6.75225096e+00] [-9.85786655e-02 -2.48082956e-04 9.95129230e-01 -8.26719661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.449649246 meters 0.06056830010043922 Centerline is valid? [True, True] Translation: X:65.66, Y:-6.77, Z:-8.28 [[ 9.71016202e-01 2.20205498e-01 9.29358561e-02 6.56572736e+01] [-2.19191314e-01 9.75453496e-01 -2.11103266e-02 -6.77173731e+00] [-9.53032157e-02 1.27736766e-04 9.95448281e-01 -8.27755930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50964924600001 meters 0.06071236854635579 Centerline is valid? [True, True] Translation: X:65.72, Y:-6.79, Z:-8.28 [[ 9.72232749e-01 2.15125671e-01 9.21109499e-02 6.57159034e+01] [-2.14106009e-01 9.76586172e-01 -2.09300046e-02 -6.79035177e+00] [-9.44568613e-02 6.27328066e-04 9.95528758e-01 -8.28450822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.569649246 meters 0.06080807635044205 Centerline is valid? [True, True] Translation: X:65.78, Y:-6.81, Z:-8.29 [[ 9.72182415e-01 2.15317557e-01 9.21938262e-02 6.57766768e+01] [-2.14294856e-01 9.76543881e-01 -2.09705126e-02 -6.80562828e+00] [-9.45466364e-02 6.30500835e-04 9.95520234e-01 -8.29258907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.629649246 meters 0.06030576149948315 Centerline is valid? [True, True] Translation: X:65.84, Y:-6.82, Z:-8.29 [[ 9.71490128e-01 2.16534443e-01 9.65389351e-02 6.58372472e+01] [-2.15415468e-01 9.76274813e-01 -2.19923973e-02 -6.81885468e+00] [-9.90106423e-02 5.69417032e-04 9.95086212e-01 -8.29304673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.689649246 meters 0.059777958278667366 Centerline is valid? [True, True] Translation: X:65.90, Y:-6.83, Z:-8.30 [[ 9.70489599e-01 2.19815611e-01 9.91515750e-02 6.58987842e+01] [-2.18651769e-01 9.75541407e-01 -2.25912903e-02 -6.82842115e+00] [-1.01692385e-01 2.44944948e-04 9.94815862e-01 -8.29946424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.749649246 meters 0.059708317859647704 Centerline is valid? [True, True] Translation: X:65.96, Y:-6.84, Z:-8.31 [[ 9.69764859e-01 2.22924925e-01 9.93005293e-02 6.59601003e+01] [-2.21772788e-01 9.74835613e-01 -2.26353212e-02 -6.83858625e+00] [-1.01847670e-01 -7.12161749e-05 9.94800004e-01 -8.30812434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.809649246 meters 0.06013509282002337 Centerline is valid? [True, True] Translation: X:66.02, Y:-6.85, Z:-8.32 [[ 9.70236693e-01 2.21891317e-01 9.69793899e-02 6.60198627e+01] [-2.20784699e-01 9.75071402e-01 -2.21331751e-02 -6.85276918e+00] [-9.94729891e-02 6.28532661e-05 9.95040261e-01 -8.31993901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86964924600001 meters 0.06035653154631211 Centerline is valid? [True, True] Translation: X:66.08, Y:-6.88, Z:-8.33 [[ 9.71745279e-01 2.15563587e-01 9.61428776e-02 6.60783247e+01] [-2.14442864e-01 9.76489535e-01 -2.19646705e-02 -6.87561334e+00] [-9.86172970e-02 7.26910893e-04 9.95125168e-01 -8.32500888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.929649246 meters 0.0606444945281379 Centerline is valid? [True, True] Translation: X:66.14, Y:-6.89, Z:-8.34 [[ 9.72360073e-01 2.13221920e-01 9.51435860e-02 6.61363583e+01] [-2.12110624e-01 9.77003302e-01 -2.17630827e-02 -6.89314487e+00] [-9.75959639e-02 9.80587245e-04 9.95225636e-01 -8.33583243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.989649246 meters 0.06068465117356054 Centerline is valid? [True, True] Translation: X:66.20, Y:-6.91, Z:-8.34 [[ 9.72268850e-01 2.12765903e-01 9.70770547e-02 6.61953206e+01] [-2.11605536e-01 9.77102631e-01 -2.22158784e-02 -6.90938457e+00] [-9.95810270e-02 1.05776430e-03 9.95028894e-01 -8.34193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.049649246 meters 0.06019563309002937 Centerline is valid? [True, True] Translation: X:66.26, Y:-6.92, Z:-8.35 [[ 9.71548343e-01 2.15110314e-01 9.91028238e-02 6.62561267e+01] [-2.13910389e-01 9.76589378e-01 -2.27053427e-02 -6.92346949e+00] [-1.01666918e-01 8.60214506e-04 9.94818123e-01 -8.34637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.109649246 meters 0.059620497407814596 Centerline is valid? [True, True] Translation: X:66.32, Y:-6.93, Z:-8.35 [[ 9.70389087e-01 2.19567568e-01 1.00673249e-01 6.63186175e+01] [-2.18352198e-01 9.75597210e-01 -2.30738283e-02 -6.93082454e+00] [-1.03282805e-01 4.08366084e-04 9.94651947e-01 -8.35066250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.169649246 meters 0.05988227916519026 Centerline is valid? [True, True] Translation: X:66.38, Y:-6.93, Z:-8.36 [[ 9.69181957e-01 2.25069391e-01 1.00150400e-01 6.63802583e+01] [-2.23895363e-01 9.74342722e-01 -2.29592440e-02 -6.93324747e+00] [-1.02748237e-01 -1.71525087e-04 9.94707379e-01 -8.36164340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22964924600001 meters 0.060561800139882 Centerline is valid? [True, True] Translation: X:66.44, Y:-6.94, Z:-8.37 [[ 9.68999780e-01 2.27720250e-01 9.58275261e-02 6.64416176e+01] [-2.26655716e-01 9.73726514e-01 -2.19968856e-02 -6.93883819e+00] [-9.83189392e-02 -4.04879179e-04 9.95154874e-01 -8.37370710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.289649246 meters 0.06037710914038533 Centerline is valid? [True, True] Translation: X:66.50, Y:-6.95, Z:-8.38 [[ 9.69298884e-01 2.25820212e-01 9.72877432e-02 6.65008466e+01] [-2.24713044e-01 9.74168972e-01 -2.23351998e-02 -6.95061007e+00] [-9.98184403e-02 -2.12340690e-04 9.95005645e-01 -8.38207018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.349649246 meters 0.06006026027815744 Centerline is valid? [True, True] Translation: X:66.56, Y:-6.96, Z:-8.38 [[ 9.68584221e-01 2.27787690e-01 9.97866462e-02 6.65627624e+01] [-2.26630548e-01 9.73710741e-01 -2.29344094e-02 -6.96224044e+00] [-1.02387505e-01 -4.00795268e-04 9.94744509e-01 -8.38284730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.409649246 meters 0.060132211718437106 Centerline is valid? [True, True] Translation: X:66.62, Y:-6.97, Z:-8.39 [[ 9.67600037e-01 2.31800301e-01 1.00093897e-01 6.66245509e+01] [-2.30656810e-01 9.72763046e-01 -2.30106878e-02 -6.96932938e+00] [-1.02701529e-01 -8.22196596e-04 9.94711878e-01 -8.39046454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.469649246 meters 0.06061605596721026 Centerline is valid? [True, True] Translation: X:66.69, Y:-6.98, Z:-8.40 [[ 9.66862626e-01 2.35364784e-01 9.88942866e-02 6.66853285e+01] [-2.34264751e-01 9.71906408e-01 -2.27587433e-02 -6.97769667e+00] [-1.01472598e-01 -1.16286708e-03 9.94837655e-01 -8.39948463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.529649246 meters 0.0607283069630208 Centerline is valid? [True, True] Translation: X:66.75, Y:-6.99, Z:-8.41 [[ 9.66350747e-01 2.37735028e-01 9.82257071e-02 6.67461348e+01] [-2.36659680e-01 9.71329066e-01 -2.26283276e-02 -6.98839853e+00] [-1.00789030e-01 -1.37916315e-03 9.94906865e-01 -8.40717397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58964924600001 meters 0.06096720930997487 Centerline is valid? [True, True] Translation: X:66.81, Y:-7.00, Z:-8.42 [[ 9.65905440e-01 2.39263205e-01 9.88928670e-02 6.68057794e+01] [-2.38178351e-01 9.70953553e-01 -2.28094665e-02 -7.00057511e+00] [-1.01477847e-01 -1.52235215e-03 9.94836634e-01 -8.41539820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64964924600001 meters 0.061310592261960936 Centerline is valid? [True, True] Translation: X:66.87, Y:-7.01, Z:-8.42 [[ 9.65315218e-01 2.41886516e-01 9.82722894e-02 6.68664629e+01] [-2.40827399e-01 9.70302927e-01 -2.26802543e-02 -7.01156558e+00] [-1.00839938e-01 -1.77306522e-03 9.94901082e-01 -8.42266127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.709649246 meters 0.061285312657070136 Centerline is valid? [True, True] Translation: X:66.93, Y:-7.02, Z:-8.43 [[ 9.64871231e-01 2.43294511e-01 9.91528525e-02 6.69280198e+01] [-2.42221238e-01 9.69950575e-01 -2.29075212e-02 -7.02350312e+00] [-1.01746640e-01 -1.91411855e-03 9.94808503e-01 -8.42947289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.769649246 meters 0.06058994098193117 Centerline is valid? [True, True] Translation: X:66.99, Y:-7.04, Z:-8.44 [[ 9.65775318e-01 2.39509531e-01 9.95651532e-02 6.69873776e+01] [-2.38403781e-01 9.70892871e-01 -2.30362673e-02 -7.04413551e+00] [-1.02184503e-01 -1.48885053e-03 9.94764349e-01 -8.43527594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.829649246 meters 0.06019003737822111 Centerline is valid? [True, True] Translation: X:67.04, Y:-7.06, Z:-8.45 [[ 9.67254063e-01 2.33552375e-01 9.93622983e-02 6.70448928e+01] [-2.32419134e-01 9.72343850e-01 -2.29952821e-02 -7.06276153e+00] [-1.01984922e-01 -8.51419272e-04 9.94785580e-01 -8.44706135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.889649246 meters 0.05999761628459582 Centerline is valid? [True, True] Translation: X:67.10, Y:-7.08, Z:-8.45 [[ 9.67608256e-01 2.32612937e-01 9.81095529e-02 6.71043141e+01] [-2.31501133e-01 9.72569124e-01 -2.27271761e-02 -7.07954921e+00] [-1.00704957e-01 -7.21469381e-04 9.94916072e-01 -8.45253331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.949649246 meters 0.06033222698910475 Centerline is valid? [True, True] Translation: X:67.16, Y:-7.09, Z:-8.46 [[ 9.67519367e-01 2.33741692e-01 9.62865313e-02 6.71643760e+01] [-2.32674184e-01 9.72298401e-01 -2.23280904e-02 -7.09120238e+00] [-9.88382461e-02 -8.00530251e-04 9.95103191e-01 -8.46427418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00964924600001 meters 0.06004836608929125 Centerline is valid? [True, True] Translation: X:67.22, Y:-7.11, Z:-8.47 [[ 9.67032248e-01 2.34945872e-01 9.82296734e-02 6.72236433e+01] [-2.33838465e-01 9.72008021e-01 -2.28030531e-02 -7.10859980e+00] [-1.00837514e-01 -9.18588361e-04 9.94902484e-01 -8.46868982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.069649246 meters 0.05948750074535171 Centerline is valid? [True, True] Translation: X:67.28, Y:-7.13, Z:-8.47 [[ 9.67091789e-01 2.33557784e-01 1.00916958e-01 6.72833186e+01] [-2.32378663e-01 9.72342618e-01 -2.34518623e-02 -7.12616414e+00] [-1.03603224e-01 -7.70844309e-04 9.94618408e-01 -8.47236141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.129649246 meters 0.05930852371086275 Centerline is valid? [True, True] Translation: X:67.34, Y:-7.14, Z:-8.48 [[ 9.66984155e-01 2.33345059e-01 1.02429130e-01 6.73435094e+01] [-2.32126222e-01 9.72393720e-01 -2.38300459e-02 -7.14070027e+00] [-1.05162067e-01 -7.33210267e-04 9.94454827e-01 -8.47925470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.189649246 meters 0.05945056503756093 Centerline is valid? [True, True] Translation: X:67.40, Y:-7.16, Z:-8.49 [[ 9.66894265e-01 2.34082162e-01 1.01592427e-01 6.74019653e+01] [-2.32884530e-01 9.72216504e-01 -2.36614532e-02 -7.15532319e+00] [-1.04308558e-01 -7.81181227e-04 9.94544677e-01 -8.48797746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.249649246 meters 0.059970348132062694 Centerline is valid? [True, True] Translation: X:67.46, Y:-7.17, Z:-8.50 [[ 9.66508623e-01 2.36660530e-01 9.92616466e-02 6.74615348e+01] [-2.35528585e-01 9.71591873e-01 -2.31412520e-02 -7.16520830e+00] [-1.01918430e-01 -1.01273562e-03 9.94792244e-01 -8.50106034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.309649246 meters 0.06008112466531884 Centerline is valid? [True, True] Translation: X:67.52, Y:-7.18, Z:-8.51 [[ 9.66680163e-01 2.36645481e-01 9.76134176e-02 6.75207662e+01] [-2.35548619e-01 9.71595579e-01 -2.27788918e-02 -7.17812104e+00] [-1.00231287e-01 -9.72802908e-04 9.94963689e-01 -8.51253974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36964924600001 meters 0.060043785829665915 Centerline is valid? [True, True] Translation: X:67.58, Y:-7.19, Z:-8.52 [[ 9.66695567e-01 2.36941046e-01 9.67399680e-02 6.75798429e+01] [-2.35863172e-01 9.71523542e-01 -2.25958490e-02 -7.19439315e+00] [-9.93390404e-02 -9.74088674e-04 9.95053168e-01 -8.51919025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.429649246 meters 0.06001589443244046 Centerline is valid? [True, True] Translation: X:67.64, Y:-7.21, Z:-8.53 [[ 9.66756219e-01 2.36922833e-01 9.61768346e-02 6.76376012e+01] [-2.35854692e-01 9.71528017e-01 -2.24916928e-02 -7.21184495e+00] [-9.87672849e-02 -9.39773828e-04 9.95110115e-01 -8.52614075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.489649246 meters 0.0595297054722378 Centerline is valid? [True, True] Translation: X:67.70, Y:-7.23, Z:-8.53 [[ 9.67105225e-01 2.35009514e-01 9.73550856e-02 6.76965306e+01] [-2.33904372e-01 9.71992785e-01 -2.27765332e-02 -7.23072596e+00] [-9.99811428e-02 -7.44475871e-04 9.94989054e-01 -8.53132385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.549649246 meters 0.05938540959809353 Centerline is valid? [True, True] Translation: X:67.75, Y:-7.25, Z:-8.54 [[ 9.67413322e-01 2.33696457e-01 9.74547570e-02 6.77544318e+01] [-2.32579813e-01 9.72309429e-01 -2.28255491e-02 -7.24701048e+00] [-1.00090429e-01 -5.84268898e-04 9.94978173e-01 -8.54019934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.609649246 meters 0.0595963593655628 Centerline is valid? [True, True] Translation: X:67.81, Y:-7.27, Z:-8.55 [[ 9.68006529e-01 2.31787961e-01 9.61129565e-02 6.78135724e+01] [-2.30690368e-01 9.72766268e-01 -2.25331452e-02 -7.26536410e+00] [-9.87183537e-02 -3.60101642e-04 9.95115349e-01 -8.54893273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.669649246 meters 0.059441543162619355 Centerline is valid? [True, True] Translation: X:67.87, Y:-7.28, Z:-8.56 [[ 9.68505734e-01 2.30050616e-01 9.52541680e-02 6.78719832e+01] [-2.28961902e-01 9.73178652e-01 -2.23552796e-02 -7.28395360e+00] [-9.78421687e-02 -1.58359040e-04 9.95201932e-01 -8.55834605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72964924600001 meters 0.059370246276482026 Centerline is valid? [True, True] Translation: X:67.93, Y:-7.31, Z:-8.56 [[ 9.69741700e-01 2.24882615e-01 9.50202363e-02 6.79306977e+01] [-2.23772182e-01 9.74385786e-01 -2.23237488e-02 -7.30595237e+00] [-9.76065907e-02 3.85384537e-04 9.95225002e-01 -8.56406000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.789649246 meters 0.05983737008853567 Centerline is valid? [True, True] Translation: X:67.99, Y:-7.32, Z:-8.57 [[ 9.70303558e-01 2.22785019e-01 9.42222944e-02 6.79902543e+01] [-2.21681126e-01 9.74867406e-01 -2.21589683e-02 -7.31909347e+00] [-9.67909299e-02 6.13621479e-04 9.95304546e-01 -8.57382986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.849649246 meters 0.059418725319719035 Centerline is valid? [True, True] Translation: X:68.05, Y:-7.33, Z:-8.58 [[ 9.69086841e-01 2.28066817e-01 9.41074977e-02 6.80518563e+01] [-2.26988260e-01 9.73645477e-01 -2.21543308e-02 -7.32501738e+00] [-9.66800072e-02 1.08173266e-04 9.95315510e-01 -8.58030238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.909649246 meters 0.05869811145530031 Centerline is valid? [True, True] Translation: X:68.11, Y:-7.34, Z:-8.58 [[ 9.68263243e-01 2.30628097e-01 9.63170495e-02 6.81135530e+01] [-2.29508432e-01 9.73041964e-01 -2.26983492e-02 -7.33847779e+00] [-9.89554081e-02 -1.27597749e-04 9.95091861e-01 -8.57776678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.969649246 meters 0.05872824647220762 Centerline is valid? [True, True] Translation: X:68.17, Y:-7.35, Z:-8.59 [[ 9.67922869e-01 2.31104905e-01 9.85689732e-02 6.81728177e+01] [-2.29931885e-01 9.72928825e-01 -2.32557352e-02 -7.34888044e+00] [-1.01275110e-01 -1.54391908e-04 9.94858446e-01 -8.58754098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.029649246 meters 0.05911038506609591 Centerline is valid? [True, True] Translation: X:68.23, Y:-7.36, Z:-8.60 [[ 9.67980688e-01 2.32029523e-01 9.57898099e-02 6.82325651e+01] [-2.30924072e-01 9.72708719e-01 -2.26234679e-02 -7.36189366e+00] [-9.84248957e-02 -2.21092955e-04 9.95144457e-01 -8.59764621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08964924600001 meters 0.05916724588921781 Centerline is valid? [True, True] Translation: X:68.29, Y:-7.37, Z:-8.60 [[ 9.67301158e-01 2.34484164e-01 9.66728877e-02 6.82924786e+01] [-2.33368971e-01 9.72119830e-01 -2.28464254e-02 -7.37417086e+00] [-9.93347562e-02 -4.61078517e-04 9.95053965e-01 -8.60474939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14964924600001 meters 0.059026265231928984 Centerline is valid? [True, True] Translation: X:68.35, Y:-7.38, Z:-8.61 [[ 9.66505507e-01 2.37666134e-01 9.68602750e-02 6.83534462e+01] [-2.36560193e-01 9.71346602e-01 -2.29140636e-02 -7.38385322e+00] [-9.95307959e-02 -7.66716679e-04 9.95034187e-01 -8.61010553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.209649246 meters 0.05922246647560008 Centerline is valid? [True, True] Translation: X:68.41, Y:-7.40, Z:-8.62 [[ 9.65760253e-01 2.39919867e-01 9.87197560e-02 6.84145175e+01] [-2.38779971e-01 9.70792188e-01 -2.33806057e-02 -7.39502261e+00] [-1.01445840e-01 -9.92240812e-04 9.94840569e-01 -8.61702596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.269649246 meters 0.05986841090421451 Centerline is valid? [True, True] Translation: X:68.47, Y:-7.40, Z:-8.63 [[ 9.65187855e-01 2.42860723e-01 9.71137200e-02 6.84742075e+01] [-2.41770004e-01 9.70060356e-01 -2.30254572e-02 -7.40392436e+00] [-9.97981489e-02 -1.25529282e-03 9.95006911e-01 -8.62985235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.329649246 meters 0.059842597201774886 Centerline is valid? [True, True] Translation: X:68.53, Y:-7.42, Z:-8.64 [[ 9.65245721e-01 2.43198294e-01 9.56832709e-02 6.85335871e+01] [-2.42139030e-01 9.69975787e-01 -2.27081933e-02 -7.42071970e+00] [-9.83330499e-02 -1.24966802e-03 9.95152777e-01 -8.63675710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.389649246 meters 0.059580388973406444 Centerline is valid? [True, True] Translation: X:68.59, Y:-7.44, Z:-8.65 [[ 9.66891611e-01 2.37432602e-01 9.35220380e-02 6.85925536e+01] [-2.36391674e-01 9.71403813e-01 -2.22173111e-02 -7.44224168e+00] [-9.61227783e-02 -6.26099315e-04 9.95369288e-01 -8.64756529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.449649246 meters 0.05985153418074185 Centerline is valid? [True, True] Translation: X:68.65, Y:-7.46, Z:-8.66 [[ 9.67525121e-01 2.35262434e-01 9.24485119e-02 6.86503281e+01] [-2.34232531e-01 9.71931811e-01 -2.19926228e-02 -7.45994193e+00] [-9.50276876e-02 -3.76033880e-04 9.95474559e-01 -8.65878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50964924600001 meters 0.05957111716833688 Centerline is valid? [True, True] Translation: X:68.71, Y:-7.48, Z:-8.66 [[ 9.67644275e-01 2.34683023e-01 9.26738109e-02 6.87102925e+01] [-2.33644116e-01 9.72071903e-01 -2.20599642e-02 -7.47787885e+00] [-9.52627068e-02 -3.06492568e-04 9.95452120e-01 -8.66362529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.569649246 meters 0.05941460947489577 Centerline is valid? [True, True] Translation: X:68.77, Y:-7.49, Z:-8.67 [[ 9.67251993e-01 2.35745603e-01 9.40616434e-02 6.87703838e+01] [-2.34679864e-01 9.71814715e-01 -2.23946735e-02 -7.49211863e+00] [-9.66899350e-02 -4.13081058e-04 9.95314466e-01 -8.66946714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.629649246 meters 0.059337436760426875 Centerline is valid? [True, True] Translation: X:68.83, Y:-7.51, Z:-8.68 [[ 9.66915092e-01 2.36601041e-01 9.53685066e-02 6.88293539e+01] [-2.35507099e-01 9.71606770e-01 -2.27308345e-02 -7.50585977e+00] [-9.80388258e-02 -4.81173373e-04 9.95182474e-01 -8.67568590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.689649246 meters 0.05942410231434611 Centerline is valid? [True, True] Translation: X:68.89, Y:-7.52, Z:-8.68 [[ 9.66345597e-01 2.38611357e-01 9.61291166e-02 6.88891830e+01] [-2.37507584e-01 9.71114912e-01 -2.29341463e-02 -7.51961653e+00] [-9.88247664e-02 -6.69082852e-04 9.95104627e-01 -8.68322913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.749649246 meters 0.05963274642143351 Centerline is valid? [True, True] Translation: X:68.95, Y:-7.53, Z:-8.69 [[ 9.66334554e-01 2.39238535e-01 9.46702352e-02 6.89486019e+01] [-2.38168854e-01 9.70960573e-01 -2.26089175e-02 -7.53350974e+00] [-9.73299901e-02 -6.99723269e-04 9.95251920e-01 -8.69318466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.809649246 meters 0.05975718221523636 Centerline is valid? [True, True] Translation: X:69.01, Y:-7.55, Z:-8.70 [[ 9.66653294e-01 2.38743458e-01 9.26443212e-02 6.90074428e+01] [-2.37714675e-01 9.71082481e-01 -2.21483244e-02 -7.54912009e+00] [-9.52530448e-02 -6.13163970e-04 9.95452903e-01 -8.70178910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86964924600001 meters 0.05999232692505593 Centerline is valid? [True, True] Translation: X:69.07, Y:-7.57, Z:-8.71 [[ 9.67234000e-01 2.37105375e-01 9.07713101e-02 6.90652899e+01] [-2.36108682e-01 9.71483846e-01 -2.17215893e-02 -7.56616526e+00] [-9.33331671e-02 -4.22034685e-04 9.95634844e-01 -8.71093677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.929649246 meters 0.059832966089781746 Centerline is valid? [True, True] Translation: X:69.12, Y:-7.58, Z:-8.72 [[ 9.67062236e-01 2.37310030e-01 9.20574874e-02 6.91249133e+01] [-2.36283718e-01 9.71433872e-01 -2.20507908e-02 -7.57930375e+00] [-9.46606353e-02 -4.27198257e-04 9.95509509e-01 -8.71895802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.989649246 meters 0.05948620553846171 Centerline is valid? [True, True] Translation: X:69.19, Y:-7.59, Z:-8.72 [[ 9.66939360e-01 2.37565174e-01 9.26879848e-02 6.91857544e+01] [-2.36523755e-01 9.71371505e-01 -2.22241467e-02 -7.59266278e+00] [-9.53141505e-02 -4.33508092e-04 9.95447148e-01 -8.72345685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.049649246 meters 0.05921550421581544 Centerline is valid? [True, True] Translation: X:69.25, Y:-7.61, Z:-8.73 [[ 9.66907721e-01 2.36806885e-01 9.49313318e-02 6.92455166e+01] [-2.35707772e-01 9.71556681e-01 -2.27917031e-02 -7.61101116e+00] [-9.76284019e-02 -3.38579007e-04 9.95222880e-01 -8.72856860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.109649246 meters 0.059147429318186916 Centerline is valid? [True, True] Translation: X:69.30, Y:-7.63, Z:-8.74 [[ 9.67751710e-01 2.33536073e-01 9.44326798e-02 6.93034450e+01] [-2.32432567e-01 9.72348139e-01 -2.26759553e-02 -7.63135657e+00] [-9.71170940e-02 -4.53572201e-06 9.95272963e-01 -8.73784576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.169649246 meters 0.0591519687139083 Centerline is valid? [True, True] Translation: X:69.36, Y:-7.65, Z:-8.75 [[ 9.68401879e-01 2.30996858e-01 9.40119757e-02 6.93623292e+01] [-2.29888737e-01 9.72954458e-01 -2.26007135e-02 -7.64928103e+00] [-9.66900646e-02 2.74279059e-04 9.95314501e-01 -8.74587377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22964924600001 meters 0.05908374634803851 Centerline is valid? [True, True] Translation: X:69.42, Y:-7.67, Z:-8.75 [[ 9.68359488e-01 2.30239144e-01 9.62799982e-02 6.94206781e+01] [-2.29070120e-01 9.73134002e-01 -2.31752782e-02 -7.66676389e+00] [-9.90291962e-02 3.87129794e-04 9.95084453e-01 -8.75205089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.289649246 meters 0.058967765841641324 Centerline is valid? [True, True] Translation: X:69.48, Y:-7.68, Z:-8.76 [[ 9.68382447e-01 2.29356273e-01 9.81383556e-02 6.94798394e+01] [-2.28135757e-01 9.73342412e-01 -2.36352588e-02 -7.68281731e+00] [-1.00943119e-01 4.99101649e-04 9.94892073e-01 -8.75945715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.349649246 meters 0.0589934831077953 Centerline is valid? [True, True] Translation: X:69.54, Y:-7.70, Z:-8.77 [[ 9.68366567e-01 2.28837580e-01 9.94964995e-02 6.95384823e+01] [-2.27577525e-01 9.73464441e-01 -2.39885850e-02 -7.69915381e+00] [-1.02345794e-01 5.86576655e-04 9.94748709e-01 -8.76878889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.409649246 meters 0.059086220137658595 Centerline is valid? [True, True] Translation: X:69.60, Y:-7.72, Z:-8.77 [[ 9.69000873e-01 2.26160718e-01 9.94416302e-02 6.95982659e+01] [-2.24885375e-01 9.74089591e-01 -2.40007821e-02 -7.71741928e+00] [-1.02293091e-01 8.93810589e-04 9.94753902e-01 -8.77138589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.469649246 meters 0.059257943043670394 Centerline is valid? [True, True] Translation: X:69.66, Y:-7.73, Z:-8.78 [[ 9.69052772e-01 2.26454240e-01 9.82608938e-02 6.96568533e+01] [-2.25208063e-01 9.74021411e-01 -2.37406832e-02 -7.73056958e+00] [-1.01084393e-01 8.76829284e-04 9.94877468e-01 -8.78256564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.529649246 meters 0.059249817130549005 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.74, Z:-8.79 [[ 9.69156642e-01 2.26309409e-01 9.75676917e-02 6.97170814e+01] [-2.25077869e-01 9.74055044e-01 -2.35950001e-02 -7.74371233e+00] [-1.00376073e-01 9.06923035e-04 9.94949155e-01 -8.79082550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58964924600001 meters 0.05896226613714945 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.76, Z:-8.79 [[ 9.68746119e-01 2.26806083e-01 1.00448781e-01 6.97772805e+01] [-2.25500473e-01 9.73939515e-01 -2.43178524e-02 -7.75684674e+00] [-1.03346474e-01 9.06577428e-04 9.94645004e-01 -8.79449882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.649649246 meters 0.05857322581722868 Centerline is valid? [True, True] Translation: X:69.84, Y:-7.77, Z:-8.80 [[ 9.68027206e-01 2.29131074e-01 1.02089568e-01 6.98387791e+01] [-2.27792548e-01 9.73395330e-01 -2.47403709e-02 -7.76634068e+00] [-1.05042297e-01 6.94109156e-04 9.94467513e-01 -8.79748134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.709649246 meters 0.058156467174607186 Centerline is valid? [True, True] Translation: X:69.90, Y:-7.77, Z:-8.80 [[ 9.66906781e-01 2.33103364e-01 1.03701968e-01 6.99002650e+01] [-2.31741858e-01 9.72451919e-01 -2.51590166e-02 -7.77462638e+00] [-1.06709829e-01 2.94337119e-04 9.94290162e-01 -8.80315779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.769649246 meters 0.05839206377560167 Centerline is valid? [True, True] Translation: X:69.96, Y:-7.78, Z:-8.81 [[ 9.65333356e-01 2.39448795e-01 1.03902771e-01 6.99634231e+01] [-2.38115714e-01 9.70908919e-01 -2.52344518e-02 -7.77867248e+00] [-1.06922486e-01 -3.81224332e-04 9.94267286e-01 -8.81132489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.829649246 meters 0.059153238218206936 Centerline is valid? [True, True] Translation: X:70.02, Y:-7.78, Z:-8.82 [[ 9.63924988e-01 2.45713316e-01 1.02340533e-01 7.00245608e+01] [-2.44451701e-01 9.69342000e-01 -2.48888100e-02 -7.78423738e+00] [-1.05318489e-01 -1.02637152e-03 9.94438013e-01 -8.82075220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.889649246 meters 0.05962207559120983 Centerline is valid? [True, True] Translation: X:70.09, Y:-7.79, Z:-8.83 [[ 9.62360413e-01 2.51667711e-01 1.02595316e-01 7.00862758e+01] [-2.50432228e-01 9.67812262e-01 -2.49624848e-02 -7.78893647e+00] [-1.05575257e-01 -1.67026650e-03 9.94409913e-01 -8.82863870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.949649246 meters 0.06005523459381467 Centerline is valid? [True, True] Translation: X:70.15, Y:-7.80, Z:-8.84 [[ 9.62046532e-01 2.52810694e-01 1.02728880e-01 7.01458232e+01] [-2.51575607e-01 9.67514142e-01 -2.50219848e-02 -7.80121528e+00] [-1.05717470e-01 -1.77176665e-03 9.94394629e-01 -8.83757660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00964924600001 meters 0.06003248929683098 Centerline is valid? [True, True] Translation: X:70.21, Y:-7.82, Z:-8.84 [[ 9.62035339e-01 2.53045903e-01 1.02253499e-01 7.02063475e+01] [-2.51822343e-01 9.67452640e-01 -2.49178177e-02 -7.81734522e+00] [-1.05230769e-01 -1.77789455e-03 9.94446240e-01 -8.84454612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.069649246 meters 0.060538544331621126 Centerline is valid? [True, True] Translation: X:70.27, Y:-7.83, Z:-8.86 [[ 9.61856652e-01 2.54653192e-01 9.99176320e-02 7.02664402e+01] [-2.53490545e-01 9.67030620e-01 -2.43787461e-02 -7.82994901e+00] [-1.02831535e-01 -1.87931597e-03 9.94697011e-01 -8.85557088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.129649246 meters 0.0602121518980412 Centerline is valid? [True, True] Translation: X:70.32, Y:-7.85, Z:-8.86 [[ 9.62409451e-01 2.52674938e-01 9.96163866e-02 7.03242232e+01] [-2.51505869e-01 9.67549844e-01 -2.43330662e-02 -7.84738596e+00] [-1.02532175e-01 -1.63573298e-03 9.94728344e-01 -8.86297375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.189649246 meters 0.059811143850408865 Centerline is valid? [True, True] Translation: X:70.38, Y:-7.87, Z:-8.87 [[ 9.63134565e-01 2.49874100e-01 9.96731876e-02 7.03832018e+01] [-2.48687441e-01 9.68277427e-01 -2.43594156e-02 -7.86670106e+00] [-1.02598085e-01 -1.32607479e-03 9.94722009e-01 -8.86963621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.249649246 meters 0.0595036978505857 Centerline is valid? [True, True] Translation: X:70.44, Y:-7.89, Z:-8.88 [[ 9.63432100e-01 2.47835358e-01 1.01863752e-01 7.04420153e+01] [-2.46581600e-01 9.68801533e-01 -2.49219723e-02 -7.88538549e+00] [-1.04862305e-01 -1.10709874e-03 9.94486134e-01 -8.87565223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.309649246 meters 0.059066157077513434 Centerline is valid? [True, True] Translation: X:70.50, Y:-7.91, Z:-8.88 [[ 9.63952219e-01 2.44882138e-01 1.04061796e-01 7.05002058e+01] [-2.43553364e-01 9.69552545e-01 -2.54876782e-02 -7.90693433e+00] [-1.07134856e-01 -7.75696443e-04 9.94244196e-01 -8.87996697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36964924600001 meters 0.059263977043664706 Centerline is valid? [True, True] Translation: X:70.56, Y:-7.92, Z:-8.89 [[ 9.63858002e-01 2.45812544e-01 1.02732401e-01 7.05579846e+01] [-2.44519919e-01 9.69317021e-01 -2.51897297e-02 -7.92201148e+00] [-1.05772217e-01 -8.40796017e-04 9.94390030e-01 -8.89107380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.429649246 meters 0.05951381437217594 Centerline is valid? [True, True] Translation: X:70.62, Y:-7.94, Z:-8.90 [[ 9.64094253e-01 2.45779229e-01 1.00572569e-01 7.06166059e+01] [-2.44537586e-01 9.69325508e-01 -2.46865987e-02 -7.93808952e+00] [-1.03555009e-01 -7.93565246e-04 9.94623411e-01 -8.90139574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.489649246 meters 0.05954999372809198 Centerline is valid? [True, True] Translation: X:70.68, Y:-7.95, Z:-8.91 [[ 9.63757111e-01 2.47327777e-01 1.00006003e-01 7.06770813e+01] [-2.46107274e-01 9.68931411e-01 -2.45586979e-02 -7.95031380e+00] [-1.02973006e-01 -9.43585024e-04 9.94683703e-01 -8.90988454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.549649246 meters 0.0594822159092131 Centerline is valid? [True, True] Translation: X:70.74, Y:-7.97, Z:-8.92 [[ 9.64720239e-01 2.43438531e-01 1.00262362e-01 7.07351498e+01] [-2.42188000e-01 9.69916196e-01 -2.46484196e-02 -7.96858365e+00] [-1.03246464e-01 -5.03511796e-04 9.94655676e-01 -8.91833006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.609649246 meters 0.05972534857371384 Centerline is valid? [True, True] Translation: X:70.79, Y:-7.98, Z:-8.93 [[ 9.64895402e-01 2.43508541e-01 9.83892987e-02 7.07949792e+01] [-2.42302455e-01 9.69898634e-01 -2.42107287e-02 -7.98392153e+00] [-1.01323166e-01 -4.79147876e-04 9.94853450e-01 -8.92766074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.669649246 meters 0.05929810216060907 Centerline is valid? [True, True] Translation: X:70.85, Y:-8.00, Z:-8.93 [[ 9.64881990e-01 2.42014905e-01 1.02134863e-01 7.08533751e+01] [-2.40703698e-01 9.70272483e-01 -2.51602617e-02 -8.00268007e+00] [-1.05187806e-01 -3.07555952e-04 9.94452327e-01 -8.93195564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72964924600001 meters 0.058998574792472856 Centerline is valid? [True, True] Translation: X:70.91, Y:-8.02, Z:-8.94 [[ 9.64855882e-01 2.42009523e-01 1.02393930e-01 7.09141514e+01] [-2.40689115e-01 9.70273832e-01 -2.52475826e-02 -8.01900533e+00] [-1.05460306e-01 -2.84825675e-04 9.94423473e-01 -8.93858741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.789649246 meters 0.058982159918151034 Centerline is valid? [True, True] Translation: X:70.98, Y:-8.03, Z:-8.95 [[ 9.64499106e-01 2.43404489e-01 1.02448669e-01 7.09751440e+01] [-2.42087420e-01 9.69924784e-01 -2.52901890e-02 -8.03346144e+00] [-1.05523249e-01 -4.09169252e-04 9.94416752e-01 -8.94631134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.849649246 meters 0.05967365474651022 Centerline is valid? [True, True] Translation: X:71.04, Y:-8.04, Z:-8.96 [[ 9.64087345e-01 2.45971202e-01 1.00168652e-01 7.10357098e+01] [-2.44722965e-01 9.69276922e-01 -2.47571997e-02 -8.04463932e+00] [-1.03180721e-01 -6.45466581e-04 9.94662416e-01 -8.95716357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.909649246 meters 0.05987468789705672 Centerline is valid? [True, True] Translation: X:71.09, Y:-8.06, Z:-8.97 [[ 9.64030827e-01 2.46640318e-01 9.90611827e-02 7.10944735e+01] [-2.45420361e-01 9.69106850e-01 -2.45103876e-02 -8.05685740e+00] [-1.02046121e-01 -6.82861922e-04 9.94779434e-01 -8.96669888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.969649246 meters 0.059433418242629245 Centerline is valid? [True, True] Translation: X:71.15, Y:-8.08, Z:-8.97 [[ 9.65326904e-01 2.41879747e-01 9.81741149e-02 7.11534083e+01] [-2.40654693e-01 9.70306222e-01 -2.43136822e-02 -8.07645185e+00] [-1.01139942e-01 -1.55409914e-04 9.94872197e-01 -8.97467669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.029649246 meters 0.05992983104295366 Centerline is valid? [True, True] Translation: X:71.21, Y:-8.09, Z:-8.99 [[ 9.65129478e-01 2.43593847e-01 9.58495075e-02 7.12135442e+01] [-2.42431824e-01 9.69877285e-01 -2.37668400e-02 -8.08807182e+00] [-9.87517161e-02 -2.98893012e-04 9.95112059e-01 -8.98555519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08964924600001 meters 0.060240433214187886 Centerline is valid? [True, True] Translation: X:71.28, Y:-8.10, Z:-8.99 [[ 9.64251632e-01 2.47014629e-01 9.59299965e-02 7.12752520e+01] [-2.45865128e-01 9.69011548e-01 -2.38108732e-02 -8.09850885e+00] [-9.88389084e-02 -6.26167549e-04 9.95103250e-01 -8.99368411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.149649246 meters 0.06028315843269185 Centerline is valid? [True, True] Translation: X:71.34, Y:-8.11, Z:-9.00 [[ 9.62995204e-01 2.51311720e-01 9.73789327e-02 7.13360536e+01] [-2.50146028e-01 9.67905630e-01 -2.42003418e-02 -8.10811742e+00] [-1.00335447e-01 -1.05414011e-03 9.94953108e-01 -8.99926661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.209649246 meters 0.059839083423753235 Centerline is valid? [True, True] Translation: X:71.40, Y:-8.12, Z:-9.01 [[ 9.63565358e-01 2.49041702e-01 9.75706518e-02 7.13960868e+01] [-2.47857055e-01 9.68492438e-01 -2.42750615e-02 -8.12375120e+00] [-1.00541941e-01 -7.92966100e-04 9.94932505e-01 -9.00541587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.269649246 meters 0.06041004705939837 Centerline is valid? [True, True] Translation: X:71.46, Y:-8.13, Z:-9.02 [[ 9.62923288e-01 2.52041740e-01 9.61961653e-02 7.14558414e+01] [-2.50902663e-01 9.67715778e-01 -2.39588613e-02 -8.13367756e+00] [-9.91291800e-02 -1.06532851e-03 9.95074003e-01 -9.01533519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.329649246 meters 0.06062234899463536 Centerline is valid? [True, True] Translation: X:71.52, Y:-8.15, Z:-9.02 [[ 9.62013042e-01 2.55337776e-01 9.66101833e-02 7.15159915e+01] [-2.54203119e-01 9.66850915e-01 -2.40848995e-02 -8.14833802e+00] [-9.95574288e-02 -1.38862246e-03 9.95030849e-01 -9.02002028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.389649246 meters 0.06081051748436426 Centerline is valid? [True, True] Translation: X:71.58, Y:-8.16, Z:-9.03 [[ 9.61352083e-01 2.57700877e-01 9.69145566e-02 7.15758329e+01] [-2.56568095e-01 9.66223403e-01 -2.41898174e-02 -8.15706130e+00] [-9.98748499e-02 -1.61025190e-03 9.94998704e-01 -9.02982980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.449649246 meters 0.06123012987691653 Centerline is valid? [True, True] Translation: X:71.64, Y:-8.17, Z:-9.04 [[ 9.60879593e-01 2.59388178e-01 9.70988146e-02 7.16354823e+01] [-2.58258528e-01 9.65771511e-01 -2.42470877e-02 -8.17109007e+00] [-1.00064677e-01 -1.77806513e-03 9.94979346e-01 -9.03814673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50964924600001 meters 0.06128481671327081 Centerline is valid? [True, True] Translation: X:71.69, Y:-8.19, Z:-9.05 [[ 9.60812031e-01 2.59435545e-01 9.76393313e-02 7.16941659e+01] [-2.58290916e-01 9.65758806e-01 -2.44076098e-02 -8.18849440e+00] [-1.00628246e-01 -1.76822720e-03 9.94922524e-01 -9.04538562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.569649246 meters 0.0600776293713998 Centerline is valid? [True, True] Translation: X:71.75, Y:-8.21, Z:-9.05 [[ 9.61789009e-01 2.55450103e-01 9.85248516e-02 7.17511577e+01] [-2.54261037e-01 9.66821315e-01 -2.46550370e-02 -8.21285836e+00] [-1.01554058e-01 -1.33808730e-03 9.94829122e-01 -9.05134530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.629649246 meters 0.059751341038733405 Centerline is valid? [True, True] Translation: X:71.81, Y:-8.24, Z:-9.06 [[ 9.63072112e-01 2.50695212e-01 9.82039588e-02 7.18073719e+01] [-2.49486551e-01 9.68065730e-01 -2.46008850e-02 -8.23729277e+00] [-1.01235211e-01 -8.08140674e-04 9.94862191e-01 -9.06064911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.689649246 meters 0.05919671158398832 Centerline is valid? [True, True] Translation: X:71.86, Y:-8.26, Z:-9.07 [[ 9.64846806e-01 2.43441998e-01 9.90284537e-02 7.18645079e+01] [-2.42173459e-01 9.69915456e-01 -2.48198238e-02 -8.26488306e+00] [-1.02091415e-01 -3.47354766e-05 9.94775021e-01 -9.06661493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.749649246 meters 0.05933304119350447 Centerline is valid? [True, True] Translation: X:71.92, Y:-8.29, Z:-9.08 [[ 9.65826388e-01 2.40094920e-01 9.76412686e-02 7.19222197e+01] [-2.38842299e-01 9.70749358e-01 -2.44957347e-02 -8.28599606e+00] [-1.00666500e-01 3.37761925e-04 9.94920168e-01 -9.07769690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.809649246 meters 0.05937839676830532 Centerline is valid? [True, True] Translation: X:71.98, Y:-8.30, Z:-9.09 [[ 9.66046476e-01 2.39870923e-01 9.60007611e-02 7.19810372e+01] [-2.38656734e-01 9.70804717e-01 -2.41073736e-02 -8.30250256e+00] [-9.89806496e-02 3.77615115e-04 9.95089287e-01 -9.08526123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86964924600001 meters 0.059582244145889106 Centerline is valid? [True, True] Translation: X:72.04, Y:-8.32, Z:-9.10 [[ 9.65912720e-01 2.41324169e-01 9.36763694e-02 7.20407344e+01] [-2.40172982e-01 9.70444530e-01 -2.35446888e-02 -8.31535295e+00] [-9.65896227e-02 2.43581390e-04 9.95324261e-01 -9.09605065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.929649246 meters 0.059617201095887404 Centerline is valid? [True, True] Translation: X:72.10, Y:-8.32, Z:-9.10 [[ 9.65552144e-01 2.43082734e-01 9.28431033e-02 7.21021142e+01] [-2.41957901e-01 9.70005555e-01 -2.33580361e-02 -8.32353858e+00] [-9.57362612e-02 8.92794901e-05 9.95406731e-01 -9.10423863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.989649246 meters 0.05940897874150524 Centerline is valid? [True, True] Translation: X:72.16, Y:-8.33, Z:-9.11 [[ 9.64581869e-01 2.46195777e-01 9.47072139e-02 7.21632342e+01] [-2.45037705e-01 9.69220099e-01 -2.38521209e-02 -8.33221327e+00] [-9.76644266e-02 -1.99515008e-04 9.95219383e-01 -9.11040289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.049649246 meters 0.05948389989574095 Centerline is valid? [True, True] Translation: X:72.23, Y:-8.34, Z:-9.11 [[ 9.62653358e-01 2.52857189e-01 9.67561584e-02 7.22259309e+01] [-2.51679373e-01 9.67503222e-01 -2.43927827e-02 -8.33833576e+00] [-9.97797855e-02 -8.69735126e-04 9.95009165e-01 -9.11223471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.109649246 meters 0.059859173741067806 Centerline is valid? [True, True] Translation: X:72.29, Y:-8.34, Z:-9.12 [[ 9.61072476e-01 2.58150122e-01 9.84794953e-02 7.22882062e+01] [-2.56954885e-01 9.66103774e-01 -2.48532879e-02 -8.34428802e+00] [-1.01557291e-01 -1.41897640e-03 9.94828680e-01 -9.11717070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.169649246 meters 0.06047061113281597 Centerline is valid? [True, True] Translation: X:72.35, Y:-8.35, Z:-9.13 [[ 9.60455569e-01 2.60478041e-01 9.83681392e-02 7.23479864e+01] [-2.59295037e-01 9.65478383e-01 -2.48510921e-02 -8.35408287e+00] [-1.01445476e-01 -1.63800047e-03 9.94839752e-01 -9.12737832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22964924600001 meters 0.06045003533589964 Centerline is valid? [True, True] Translation: X:72.41, Y:-8.37, Z:-9.14 [[ 9.60645563e-01 2.59593447e-01 9.88501154e-02 7.24070407e+01] [-2.58391734e-01 9.65716782e-01 -2.49961740e-02 -8.37008939e+00] [-1.01950058e-01 -1.52958910e-03 9.94788342e-01 -9.13599668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.289649246 meters 0.05999249444094032 Centerline is valid? [True, True] Translation: X:72.47, Y:-8.39, Z:-9.14 [[ 9.61123964e-01 2.58247320e-01 9.77192258e-02 7.24660030e+01] [-2.57063713e-01 9.66077898e-01 -2.47334409e-02 -8.39085123e+00] [-1.00791729e-01 -1.34816423e-03 9.94906634e-01 -9.14140769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.349649246 meters 0.059380329471228496 Centerline is valid? [True, True] Translation: X:72.52, Y:-8.41, Z:-9.15 [[ 9.61246357e-01 2.56920963e-01 9.99852973e-02 7.25247628e+01] [-2.55671348e-01 9.66431664e-01 -2.53377456e-02 -8.40997269e+00] [-1.03138755e-01 -1.20756003e-03 9.94666245e-01 -9.14552542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.409649246 meters 0.05923872801748916 Centerline is valid? [True, True] Translation: X:72.58, Y:-8.43, Z:-9.15 [[ 9.61824263e-01 2.54698900e-01 1.00112722e-01 7.25821956e+01] [-2.53431275e-01 9.67019947e-01 -2.53970506e-02 -8.42799092e+00] [-1.03279600e-01 -9.44195215e-04 9.94651915e-01 -9.15468274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.469649246 meters 0.058914226679666344 Centerline is valid? [True, True] Translation: X:72.64, Y:-8.45, Z:-9.16 [[ 9.61825732e-01 2.53993803e-01 1.01874475e-01 7.26408359e+01] [-2.52674472e-01 9.67205464e-01 -2.58689409e-02 -8.44839557e+00] [-1.05104099e-01 -8.59666088e-04 9.94460854e-01 -9.15846871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.529649246 meters 0.05893428510973228 Centerline is valid? [True, True] Translation: X:72.70, Y:-8.46, Z:-9.17 [[ 9.61534993e-01 2.54767128e-01 1.02684801e-01 7.27003509e+01] [-2.53428180e-01 9.67001993e-01 -2.61017984e-02 -8.46152329e+00] [-1.05946287e-01 -9.25429579e-04 9.94371423e-01 -9.16669173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58964924600001 meters 0.058904872541501986 Centerline is valid? [True, True] Translation: X:72.76, Y:-8.48, Z:-9.17 [[ 9.61552089e-01 2.54804413e-01 1.02431892e-01 7.27607945e+01] [-2.53469854e-01 9.66992188e-01 -2.60603312e-02 -8.47742038e+00] [-1.05691126e-01 -9.05030749e-04 9.94398595e-01 -9.17420095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.649649246 meters 0.058810078599348635 Centerline is valid? [True, True] Translation: X:72.82, Y:-8.49, Z:-9.18 [[ 9.61977498e-01 2.53219532e-01 1.02367773e-01 7.28184368e+01] [-2.51874328e-01 9.67408590e-01 -2.60757354e-02 -8.49443747e+00] [-1.05634349e-01 -6.99543432e-04 9.94404794e-01 -9.18312877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.709649246 meters 0.05896562653033448 Centerline is valid? [True, True] Translation: X:72.88, Y:-8.51, Z:-9.19 [[ 9.62305303e-01 2.52845423e-01 1.00188300e-01 7.28774875e+01] [-2.51552583e-01 9.67506489e-01 -2.55439206e-02 -8.51096300e+00] [-1.03391493e-01 -6.21575346e-04 9.94640544e-01 -9.19387164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.769649246 meters 0.05912177925894419 Centerline is valid? [True, True] Translation: X:72.94, Y:-8.53, Z:-9.20 [[ 9.62627591e-01 2.52509880e-01 9.79126174e-02 7.29357992e+01] [-2.51271087e-01 9.67594160e-01 -2.49876270e-02 -8.52878021e+00] [-1.01049300e-01 -5.48830620e-04 9.94881268e-01 -9.20313560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.829649246 meters 0.05936183184240066 Centerline is valid? [True, True] Translation: X:72.99, Y:-8.55, Z:-9.21 [[ 9.63403897e-01 2.50571003e-01 9.52213356e-02 7.29942304e+01] [-2.49388044e-01 9.68098173e-01 -2.43214139e-02 -8.54616816e+00] [-9.82778421e-02 -3.15717686e-04 9.95158965e-01 -9.21246397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.889649246 meters 0.059238087020380595 Centerline is valid? [True, True] Translation: X:73.05, Y:-8.56, Z:-9.22 [[ 9.63453445e-01 2.50289357e-01 9.54604472e-02 7.30544244e+01] [-2.49097010e-01 9.68171042e-01 -2.44031455e-02 -8.56242133e+00] [-9.85298882e-02 -2.67617375e-04 9.95134056e-01 -9.22169583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.949649246 meters 0.05900088930367247 Centerline is valid? [True, True] Translation: X:73.12, Y:-8.58, Z:-9.23 [[ 9.63409653e-01 2.50428843e-01 9.55365628e-02 7.31151456e+01] [-2.49232666e-01 9.68134974e-01 -2.44489174e-02 -8.57902781e+00] [-9.86150019e-02 -2.56509245e-04 9.95125628e-01 -9.22651045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00964924600001 meters 0.0594729035326428 Centerline is valid? [True, True] Translation: X:73.17, Y:-8.60, Z:-9.24 [[ 9.63688540e-01 2.49536986e-01 9.50562462e-02 7.31726651e+01] [-2.48345381e-01 9.68365259e-01 -2.43576794e-02 -8.59522691e+00] [-9.81273083e-02 -1.33563186e-04 9.95173861e-01 -9.23802713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.069649246 meters 0.059410037908849 Centerline is valid? [True, True] Translation: X:73.23, Y:-8.61, Z:-9.24 [[ 9.63445299e-01 2.50601429e-01 9.47210581e-02 7.32336128e+01] [-2.49422462e-01 9.68090321e-01 -2.42809696e-02 -8.60967926e+00] [-9.77833852e-02 -2.32173462e-04 9.95207695e-01 -9.24144053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.129649246 meters 0.05957720086107672 Centerline is valid? [True, True] Translation: X:73.29, Y:-8.62, Z:-9.25 [[ 9.63433580e-01 2.50842794e-01 9.41999501e-02 7.32922942e+01] [-2.49675073e-01 9.68027810e-01 -2.41767759e-02 -8.62381680e+00] [-9.72527414e-02 -2.26661713e-04 9.95259691e-01 -9.25168991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.189649246 meters 0.0601056979877864 Centerline is valid? [True, True] Translation: X:73.35, Y:-8.64, Z:-9.26 [[ 9.63457593e-01 2.52016139e-01 9.07597456e-02 7.33501022e+01] [-2.50935276e-01 9.67722982e-01 -2.33177455e-02 -8.63786871e+00] [-9.37067399e-02 -3.09162857e-04 9.95599795e-01 -9.26364906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.249649246 meters 0.06015312833074347 Centerline is valid? [True, True] Translation: X:73.41, Y:-8.66, Z:-9.27 [[ 9.64072516e-01 2.50062825e-01 8.96257046e-02 7.34089964e+01] [-2.48999794e-01 9.68229607e-01 -2.30332580e-02 -8.65552755e+00] [-9.25380223e-02 -1.11051028e-04 9.95709145e-01 -9.26967098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.309649246 meters 0.06013122713945422 Centerline is valid? [True, True] Translation: X:73.47, Y:-8.67, Z:-9.28 [[ 9.64303589e-01 2.49276091e-01 8.93309509e-02 7.34692155e+01] [-2.48214642e-01 9.68432460e-01 -2.29795799e-02 -8.67276753e+00] [-9.22392524e-02 -1.39586150e-05 9.95736873e-01 -9.27823422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36964924600001 meters 0.060158076643415666 Centerline is valid? [True, True] Translation: X:73.53, Y:-8.69, Z:-9.29 [[ 9.64696177e-01 2.47432872e-01 9.02123010e-02 7.35271037e+01] [-2.46339580e-01 9.68905020e-01 -2.32351949e-02 -8.69130728e+00] [-9.31563023e-02 1.92043358e-04 9.95651478e-01 -9.28570006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.429649246 meters 0.05962816206662681 Centerline is valid? [True, True] Translation: X:73.58, Y:-8.71, Z:-9.29 [[ 9.64714773e-01 2.45776418e-01 9.44423574e-02 7.35843608e+01] [-2.44567643e-01 9.69326467e-01 -2.43489042e-02 -8.71280609e+00] [-9.75298631e-02 3.92202845e-04 9.95232522e-01 -9.28799936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.489649246 meters 0.06031612774423747 Centerline is valid? [True, True] Translation: X:73.64, Y:-8.73, Z:-9.30 [[ 9.66207408e-01 2.39710907e-01 9.47730249e-02 7.36422212e+01] [-2.38462552e-01 9.70843770e-01 -2.44537591e-02 -8.73493561e+00] [-9.78716336e-02 1.02758583e-03 9.95198517e-01 -9.29749112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.549649246 meters 0.06104883287903537 Centerline is valid? [True, True] Translation: X:73.70, Y:-8.75, Z:-9.31 [[ 9.67084202e-01 2.37030015e-01 9.25468472e-02 7.36999381e+01] [-2.35825062e-01 9.71501467e-01 -2.39048165e-02 -8.75362054e+00] [-9.55755568e-02 1.29310433e-03 9.95421338e-01 -9.30850934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.609649246 meters 0.06108178367174381 Centerline is valid? [True, True] Translation: X:73.76, Y:-8.77, Z:-9.32 [[ 9.66711899e-01 2.38170117e-01 9.35045389e-02 7.37585337e+01] [-2.36944363e-01 9.71222708e-01 -2.41623674e-02 -8.76887631e+00] [-9.65684854e-02 1.20267462e-03 9.95325616e-01 -9.31606600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.669649246 meters 0.06052164727183646 Centerline is valid? [True, True] Translation: X:73.82, Y:-8.78, Z:-9.32 [[ 9.66448715e-01 2.39278396e-01 9.33955541e-02 7.38207753e+01] [-2.38059839e-01 9.70950381e-01 -2.41427325e-02 -8.77952004e+00] [-9.64592831e-02 1.09898227e-03 9.95336325e-01 -9.31936190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72964924600001 meters 0.06032609409871167 Centerline is valid? [True, True] Translation: X:73.88, Y:-8.79, Z:-9.33 [[ 9.65908141e-01 2.40900545e-01 9.48071227e-02 7.38801536e+01] [-2.39649655e-01 9.70549312e-01 -2.45372506e-02 -8.79301758e+00] [-9.79260247e-02 9.80235921e-04 9.95193214e-01 -9.32559353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.789649246 meters 0.060211316858333405 Centerline is valid? [True, True] Translation: X:73.94, Y:-8.81, Z:-9.33 [[ 9.65531188e-01 2.41696006e-01 9.66052052e-02 7.39401891e+01] [-2.40398783e-01 9.70351565e-01 -2.50253128e-02 -8.80813174e+00] [-9.97895302e-02 9.38946256e-04 9.95008125e-01 -9.33250710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.849649246 meters 0.06036535161947007 Centerline is valid? [True, True] Translation: X:74.00, Y:-8.82, Z:-9.34 [[ 9.65135408e-01 2.43204613e-01 9.67737597e-02 7.40004639e+01] [-2.41907992e-01 9.69974672e-01 -2.50930191e-02 -8.81998061e+00] [-9.99708338e-02 8.07815265e-04 9.94990040e-01 -9.34241081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.909649246 meters 0.06029297861592301 Centerline is valid? [True, True] Translation: X:74.06, Y:-8.83, Z:-9.35 [[ 9.64819021e-01 2.44618633e-01 9.63637967e-02 7.40606447e+01] [-2.43337722e-01 9.69619132e-01 -2.50098473e-02 -8.83420066e+00] [-9.95540556e-02 6.81029676e-04 9.95031922e-01 -9.35035957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.969649246 meters 0.06025513214873154 Centerline is valid? [True, True] Translation: X:74.12, Y:-8.84, Z:-9.36 [[ 9.63834527e-01 2.48556711e-01 9.61382651e-02 7.41215469e+01] [-2.47298792e-01 9.68617299e-01 -2.49766893e-02 -8.84450047e+00] [-9.93293104e-02 2.98518646e-04 9.95054571e-01 -9.35971163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.029649246 meters 0.06054498821564173 Centerline is valid? [True, True] Translation: X:74.18, Y:-8.85, Z:-9.37 [[ 9.62386955e-01 2.54387043e-01 9.53864812e-02 7.41816723e+01] [-2.53175017e-01 9.67102453e-01 -2.48043535e-02 -8.85009953e+00] [-9.85584061e-02 -2.78087818e-04 9.95131229e-01 -9.37228159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08964924600001 meters 0.06061252527900144 Centerline is valid? [True, True] Translation: X:74.24, Y:-8.86, Z:-9.38 [[ 9.61675685e-01 2.57054783e-01 9.54081467e-02 7.42427211e+01] [-2.55853349e-01 9.66396686e-01 -2.48296010e-02 -8.86244977e+00] [-9.85846845e-02 -5.32470234e-04 9.95128523e-01 -9.37904686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.149649246 meters 0.06004630786512371 Centerline is valid? [True, True] Translation: X:74.30, Y:-8.88, Z:-9.38 [[ 9.62084866e-01 2.54558651e-01 9.79418421e-02 7.43023869e+01] [-2.53276699e-01 9.67057303e-01 -2.55163959e-02 -8.88082714e+00] [-1.01210793e-01 -2.57448148e-04 9.94864970e-01 -9.38198858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.209649246 meters 0.06007643851143982 Centerline is valid? [True, True] Translation: X:74.36, Y:-8.90, Z:-9.39 [[ 9.62539471e-01 2.52380006e-01 9.91065034e-02 7.43616735e+01] [-2.51053157e-01 9.67628199e-01 -2.58453052e-02 -8.89849080e+00] [-1.02421086e-01 -3.87422151e-06 9.94741133e-01 -9.38881061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.269649246 meters 0.0600989499147283 Centerline is valid? [True, True] Translation: X:74.42, Y:-8.91, Z:-9.40 [[ 9.62212878e-01 2.53730909e-01 9.88281496e-02 7.44211371e+01] [-2.52416123e-01 9.67274837e-01 -2.57970965e-02 -8.91182406e+00] [-1.02139503e-01 -1.23519923e-04 9.94770077e-01 -9.39806565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.329649246 meters 0.0599666142812564 Centerline is valid? [True, True] Translation: X:74.48, Y:-8.93, Z:-9.40 [[ 9.62103710e-01 2.53853354e-01 9.95737172e-02 7.44812151e+01] [-2.52516505e-01 9.67242711e-01 -2.60183042e-02 -8.92902273e+00] [-1.02916786e-01 -1.11700076e-04 9.94689963e-01 -9.40188804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.389649246 meters 0.06042434898584843 Centerline is valid? [True, True] Translation: X:74.54, Y:-8.94, Z:-9.41 [[ 9.61667111e-01 2.56092041e-01 9.80470982e-02 7.45403077e+01] [-2.54805024e-01 9.66652349e-01 -2.56444301e-02 -8.94115004e+00] [-1.01344792e-01 -3.21488153e-04 9.94851310e-01 -9.41450239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.449649246 meters 0.060882525450953205 Centerline is valid? [True, True] Translation: X:74.60, Y:-8.95, Z:-9.42 [[ 9.60597108e-01 2.60366916e-01 9.72741790e-02 7.46002321e+01] [-2.59119703e-01 9.65509459e-01 -2.54649561e-02 -8.95014314e+00] [-1.00549372e-01 -7.44093173e-04 9.94931792e-01 -9.42442694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50964924600001 meters 0.060819131497840004 Centerline is valid? [True, True] Translation: X:74.66, Y:-8.96, Z:-9.43 [[ 9.60107301e-01 2.62269474e-01 9.69984203e-02 7.46610431e+01] [-2.61036820e-01 9.64994237e-01 -2.54145765e-02 -8.96331651e+00] [-1.00268384e-01 -9.19438796e-04 9.94960002e-01 -9.42926979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.569649246 meters 0.0614973619379359 Centerline is valid? [True, True] Translation: X:74.72, Y:-8.97, Z:-9.44 [[ 9.58826298e-01 2.66780100e-01 9.73679027e-02 7.47211995e+01] [-2.65558500e-01 9.63756453e-01 -2.55378717e-02 -8.97041273e+00] [-1.00651940e-01 -1.37049117e-03 9.94920755e-01 -9.43793871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.629649246 meters 0.06168595449794559 Centerline is valid? [True, True] Translation: X:74.78, Y:-8.98, Z:-9.44 [[ 9.58072166e-01 2.69143092e-01 9.82838776e-02 7.47822830e+01] [-2.67909550e-01 9.63098833e-01 -2.57897381e-02 -8.98485031e+00] [-1.01598218e-01 -1.62275918e-03 9.94824190e-01 -9.44414475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.689649246 meters 0.06155529066108506 Centerline is valid? [True, True] Translation: X:74.84, Y:-9.00, Z:-9.45 [[ 9.58099794e-01 2.69543919e-01 9.69064508e-02 7.48420624e+01] [-2.68343993e-01 9.62986744e-01 -2.54564770e-02 -9.00140415e+00] [-1.00181266e-01 -1.61441854e-03 9.94967893e-01 -9.45147661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.749649246 meters 0.061354246426191146 Centerline is valid? [True, True] Translation: X:74.90, Y:-9.02, Z:-9.46 [[ 9.58367466e-01 2.68220787e-01 9.79255274e-02 7.49009254e+01] [-2.66985897e-01 9.63356351e-01 -2.57501885e-02 -9.01946742e+00] [-1.01243915e-01 -1.46659179e-03 9.94860552e-01 -9.45950629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.809649246 meters 0.061345318491718356 Centerline is valid? [True, True] Translation: X:74.96, Y:-9.04, Z:-9.47 [[ 9.58541044e-01 2.67621446e-01 9.78663865e-02 7.49588949e+01] [-2.66382313e-01 9.63523152e-01 -2.57604163e-02 -9.03752205e+00] [-1.01190569e-01 -1.37745803e-03 9.94866107e-01 -9.46709376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86964924600001 meters 0.06113100303867061 Centerline is valid? [True, True] Translation: X:75.02, Y:-9.06, Z:-9.47 [[ 9.59146431e-01 2.65278241e-01 9.83136734e-02 7.50166872e+01] [-2.64013099e-01 9.64171258e-01 -2.59011155e-02 -9.05817271e+00] [-1.01662221e-01 -1.11313515e-03 9.94818352e-01 -9.47484891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.929649246 meters 0.06093351578889041 Centerline is valid? [True, True] Translation: X:75.08, Y:-9.08, Z:-9.48 [[ 9.59395373e-01 2.64450609e-01 9.81141862e-02 7.50757718e+01] [-2.63183842e-01 9.64398712e-01 -2.58725694e-02 -9.07745216e+00] [-1.01463211e-01 -1.00004510e-03 9.94838789e-01 -9.48170052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.989649246 meters 0.060274349644408955 Centerline is valid? [True, True] Translation: X:75.13, Y:-9.10, Z:-9.49 [[ 9.60448204e-01 2.59807180e-01 1.00197191e-01 7.51322383e+01] [-2.58457473e-01 9.65660390e-01 -2.64527090e-02 -9.10134320e+00] [-1.03629062e-01 -4.90255866e-04 9.94615894e-01 -9.48676370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.049649246 meters 0.06061097687533732 Centerline is valid? [True, True] Translation: X:75.19, Y:-9.12, Z:-9.50 [[ 9.60479762e-01 2.59761328e-01 1.00013398e-01 7.51921249e+01] [-2.58414312e-01 9.65672737e-01 -2.64236244e-02 -9.11756110e+00] [-1.03444048e-01 -4.65536961e-04 9.94635165e-01 -9.49831982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.109649246 meters 0.06042817973306022 Centerline is valid? [True, True] Translation: X:75.25, Y:-9.14, Z:-9.50 [[ 9.60714139e-01 2.59148652e-01 9.93494801e-02 7.52518429e+01] [-2.57813432e-01 9.65837377e-01 -2.62753836e-02 -9.13581147e+00] [-1.02764672e-01 -3.70497859e-04 9.94705627e-01 -9.50497728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.169649246 meters 0.06028441617352673 Centerline is valid? [True, True] Translation: X:75.31, Y:-9.15, Z:-9.51 [[ 9.60324113e-01 2.59774874e-01 1.01462371e-01 7.53103935e+01] [-2.58382310e-01 9.65669116e-01 -2.68652312e-02 -9.15290884e+00] [-1.04957990e-01 -4.16752555e-04 9.94476569e-01 -9.50896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22964924600001 meters 0.060242148426284656 Centerline is valid? [True, True] Translation: X:75.37, Y:-9.17, Z:-9.52 [[ 9.59888534e-01 2.60866193e-01 1.02775639e-01 7.53703869e+01] [-2.59440929e-01 9.65374828e-01 -2.72368303e-02 -9.16658636e+00] [-1.06322183e-01 -5.19886109e-04 9.94331596e-01 -9.51749719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.289649246 meters 0.060476753404112515 Centerline is valid? [True, True] Translation: X:75.43, Y:-9.18, Z:-9.52 [[ 9.59789049e-01 2.61355672e-01 1.02460695e-01 7.54308777e+01] [-2.59939350e-01 9.65242411e-01 -2.71776072e-02 -9.18293605e+00] [-1.06002430e-01 -5.48796739e-04 9.94365719e-01 -9.52478356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.349649246 meters 0.060135861306255846 Centerline is valid? [True, True] Translation: X:75.49, Y:-9.20, Z:-9.53 [[ 9.59944210e-01 2.60246986e-01 1.03820136e-01 7.54889727e+01] [-2.58782907e-01 9.65541995e-01 -2.75692203e-02 -9.20040800e+00] [-1.07417508e-01 -4.01963189e-04 9.94213919e-01 -9.53152508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.409649246 meters 0.06012016991085042 Centerline is valid? [True, True] Translation: X:75.55, Y:-9.22, Z:-9.54 [[ 9.59978088e-01 2.60525790e-01 1.02802640e-01 7.55479798e+01] [-2.59089527e-01 9.65466803e-01 -2.73215925e-02 -9.21750110e+00] [-1.06370516e-01 -4.06957402e-04 9.94326479e-01 -9.53865477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.469649246 meters 0.06035706978728136 Centerline is valid? [True, True] Translation: X:75.60, Y:-9.24, Z:-9.55 [[ 9.62062253e-01 2.52844810e-01 1.02497433e-01 7.56035875e+01] [-2.51370484e-01 9.67506735e-01 -2.72689993e-02 -9.24367207e+00] [-1.06061782e-01 4.69645552e-04 9.94359431e-01 -9.54952642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.529649246 meters 0.06068720980376429 Centerline is valid? [True, True] Translation: X:75.66, Y:-9.26, Z:-9.55 [[ 9.64174204e-01 2.44776376e-01 1.02238102e-01 7.56627436e+01] [-2.43262865e-01 9.69578598e-01 -2.72125111e-02 -9.26442828e+00] [-1.05788855e-01 1.36686761e-03 9.94387676e-01 -9.55213681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58964924600001 meters 0.06047608199561893 Centerline is valid? [True, True] Translation: X:75.72, Y:-9.28, Z:-9.56 [[ 9.63614661e-01 2.46875143e-01 1.02466822e-01 7.57225197e+01] [-2.45363947e-01 9.69046598e-01 -2.72987984e-02 -9.27814181e+00] [-1.06034520e-01 1.16385851e-03 9.94361768e-01 -9.55826304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.649649246 meters 0.06034003524957854 Centerline is valid? [True, True] Translation: X:75.78, Y:-9.29, Z:-9.57 [[ 9.63094474e-01 2.48426918e-01 1.03600673e-01 7.57818177e+01] [-2.46887856e-01 9.68650092e-01 -2.76294336e-02 -9.29251430e+00] [-1.07216696e-01 1.03200689e-03 9.94235141e-01 -9.56526437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.709649246 meters 0.06026837335147519 Centerline is valid? [True, True] Translation: X:75.84, Y:-9.30, Z:-9.57 [[ 9.62298399e-01 2.51028538e-01 1.04720883e-01 7.58428467e+01] [-2.49468461e-01 9.67979376e-01 -2.79538017e-02 -9.30131756e+00] [-1.08384857e-01 7.75341160e-04 9.94108707e-01 -9.57298784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.769649246 meters 0.059798551109233794 Centerline is valid? [True, True] Translation: X:75.90, Y:-9.31, Z:-9.58 [[ 9.60732094e-01 2.56847607e-01 1.04991188e-01 7.59034763e+01] [-2.55310884e-01 9.66451905e-01 -2.80547276e-02 -9.30914783e+00] [-1.08674724e-01 1.47684112e-04 9.94077352e-01 -9.58089390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.829649246 meters 0.06002115283239515 Centerline is valid? [True, True] Translation: X:75.97, Y:-9.31, Z:-9.59 [[ 9.58684351e-01 2.64544090e-01 1.04597992e-01 7.59656026e+01] [-2.63061655e-01 9.64373341e-01 -2.79754521e-02 -9.31203670e+00] [-1.08272255e-01 -6.96092581e-04 9.94121036e-01 -9.58987455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.889649246 meters 0.06094510797133408 Centerline is valid? [True, True] Translation: X:76.03, Y:-9.31, Z:-9.60 [[ 9.56219434e-01 2.73536825e-01 1.04028842e-01 7.60289008e+01] [-2.72120437e-01 9.61860070e-01 -2.78509278e-02 -9.31185354e+00] [-1.07679444e-01 -1.67677560e-03 9.94184251e-01 -9.60144563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.949649246 meters 0.061827337769281905 Centerline is valid? [True, True] Translation: X:76.09, Y:-9.32, Z:-9.61 [[ 9.55028655e-01 2.77825923e-01 1.03600316e-01 7.60893851e+01] [-2.76445805e-01 9.60629039e-01 -2.77410769e-02 -9.32224587e+00] [-1.07228662e-01 -2.14634937e-03 9.94232069e-01 -9.60902400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00964924600001 meters 0.06194085734454138 Centerline is valid? [True, True] Translation: X:76.15, Y:-9.34, Z:-9.62 [[ 9.54524938e-01 2.79495513e-01 1.03751633e-01 7.61489656e+01] [-2.78118580e-01 9.60144210e-01 -2.78056170e-02 -9.33947575e+00] [-1.07388075e-01 -2.31410182e-03 9.94214487e-01 -9.61563343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.069649246 meters 0.06224462771635486 Centerline is valid? [True, True] Translation: X:76.21, Y:-9.35, Z:-9.62 [[ 9.53644672e-01 2.82805097e-01 1.02874274e-01 7.62087590e+01] [-2.81467749e-01 9.59173768e-01 -2.75968994e-02 -9.35403469e+00] [-1.06478849e-01 -2.63815421e-03 9.94311468e-01 -9.62379804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.129649246 meters 0.062178768785456605 Centerline is valid? [True, True] Translation: X:76.27, Y:-9.37, Z:-9.63 [[ 9.53867932e-01 2.82330377e-01 1.02105467e-01 7.62685902e+01] [-2.81007989e-01 9.59313860e-01 -2.74121921e-02 -9.37182389e+00] [-1.05690484e-01 -2.54484107e-03 9.94395819e-01 -9.63453224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.189649246 meters 0.06162645654057577 Centerline is valid? [True, True] Translation: X:76.33, Y:-9.39, Z:-9.64 [[ 9.54485233e-01 2.80415926e-01 1.01611261e-01 7.63273936e+01] [-2.79091942e-01 9.59875862e-01 -2.73133268e-02 -9.39293743e+00] [-1.05193288e-01 -2.28871708e-03 9.94449161e-01 -9.64163241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.249649246 meters 0.06130649462395995 Centerline is valid? [True, True] Translation: X:76.39, Y:-9.41, Z:-9.65 [[ 9.54730547e-01 2.79994955e-01 1.00460973e-01 7.63865408e+01] [-2.78697976e-01 9.59998924e-01 -2.70093333e-02 -9.41329649e+00] [-1.04004903e-01 -2.21163439e-03 9.94574325e-01 -9.64880704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.309649246 meters 0.06077704499262813 Centerline is valid? [True, True] Translation: X:76.44, Y:-9.43, Z:-9.66 [[ 9.55619316e-01 2.76433153e-01 1.01864786e-01 7.64444687e+01] [-2.75075606e-01 9.61031434e-01 -2.74225003e-02 -9.43495859e+00] [-1.05475750e-01 -1.81504671e-03 9.94420219e-01 -9.65555181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36964924600001 meters 0.06042858052350109 Centerline is valid? [True, True] Translation: X:76.50, Y:-9.45, Z:-9.66 [[ 9.56038736e-01 2.75008012e-01 1.01786680e-01 7.65019279e+01] [-2.73644186e-01 9.61440512e-01 -2.74043886e-02 -9.45433870e+00] [-1.05398264e-01 -1.65367617e-03 9.94428716e-01 -9.66271501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.429649246 meters 0.06044209657165638 Centerline is valid? [True, True] Translation: X:76.56, Y:-9.47, Z:-9.67 [[ 9.56153305e-01 2.74780101e-01 1.01324988e-01 7.65615445e+01] [-2.73424929e-01 9.61505767e-01 -2.73032558e-02 -9.47065335e+00] [-1.04926951e-01 -1.59867925e-03 9.94478647e-01 -9.67121225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.489649246 meters 0.06043736338852038 Centerline is valid? [True, True] Translation: X:76.62, Y:-9.49, Z:-9.68 [[ 9.56481791e-01 2.73989297e-01 1.00361592e-01 7.66195378e+01] [-2.72652409e-01 9.61731619e-01 -2.70731607e-02 -9.48899323e+00] [-1.03938673e-01 -1.46884467e-03 9.94582623e-01 -9.68089450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.549649246 meters 0.060238580179177284 Centerline is valid? [True, True] Translation: X:76.68, Y:-9.51, Z:-9.69 [[ 9.56844207e-01 2.72395091e-01 1.01242665e-01 7.66787078e+01] [-2.71022391e-01 9.62184641e-01 -2.73419110e-02 -9.50922382e+00] [-1.04861940e-01 -1.27708011e-03 9.94485969e-01 -9.68666082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.609649246 meters 0.06011114908043581 Centerline is valid? [True, True] Translation: X:76.74, Y:-9.53, Z:-9.69 [[ 9.56754827e-01 2.72428282e-01 1.01995253e-01 7.67369201e+01] [-2.71034522e-01 9.62175235e-01 -2.75518576e-02 -9.52612690e+00] [-1.05643212e-01 -1.28386188e-03 9.94403270e-01 -9.69389111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.669649246 meters 0.059882022078381114 Centerline is valid? [True, True] Translation: X:76.80, Y:-9.54, Z:-9.70 [[ 9.56665640e-01 2.72081528e-01 1.03742448e-01 7.67967122e+01] [-2.70634882e-01 9.62273399e-01 -2.80475737e-02 -9.54370846e+00] [-1.07459825e-01 -1.24417520e-03 9.94208649e-01 -9.69876374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72964924600001 meters 0.05970544339106367 Centerline is valid? [True, True] Translation: X:76.85, Y:-9.56, Z:-9.71 [[ 9.57208725e-01 2.70404376e-01 1.03116101e-01 7.68545364e+01] [-2.68962643e-01 9.62746293e-01 -2.79046906e-02 -9.56115092e+00] [-1.06820194e-01 -1.02376564e-03 9.94277827e-01 -9.70775169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.789649246 meters 0.05930116551780517 Centerline is valid? [True, True] Translation: X:76.91, Y:-9.59, Z:-9.71 [[ 9.58809951e-01 2.64892825e-01 1.02543983e-01 7.69124282e+01] [-2.63432829e-01 9.64277784e-01 -2.77758706e-02 -9.58581857e+00] [-1.06238514e-01 -3.81670471e-04 9.94340602e-01 -9.71416345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.849649246 meters 0.05933048518709954 Centerline is valid? [True, True] Translation: X:76.97, Y:-9.60, Z:-9.72 [[ 9.58910912e-01 2.64831190e-01 1.01756098e-01 7.69720938e+01] [-2.63392646e-01 9.64294720e-01 -2.75682367e-02 -9.59997764e+00] [-1.05423797e-01 -3.66324893e-04 9.94427317e-01 -9.72376241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.909649246 meters 0.059417552520199694 Centerline is valid? [True, True] Translation: X:77.03, Y:-9.61, Z:-9.73 [[ 9.58371803e-01 2.66340553e-01 1.02889244e-01 7.70311190e+01] [-2.64875328e-01 9.63878856e-01 -2.79036093e-02 -9.61312946e+00] [-1.06604629e-01 -5.10789935e-04 9.94301359e-01 -9.73246670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.969649246 meters 0.05940975375474753 Centerline is valid? [True, True] Translation: X:77.09, Y:-9.63, Z:-9.74 [[ 9.58104532e-01 2.67715566e-01 1.01804130e-01 7.70907489e+01] [-2.66287578e-01 9.63497774e-01 -2.76218356e-02 -9.62955815e+00] [-1.05482848e-01 -6.44569433e-04 9.94420914e-01 -9.73885894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.029649246 meters 0.05964649458882975 Centerline is valid? [True, True] Translation: X:77.15, Y:-9.64, Z:-9.75 [[ 9.57809023e-01 2.69484004e-01 9.99011879e-02 7.71499837e+01] [-2.68116081e-01 9.63004534e-01 -2.71299690e-02 -9.64186047e+00] [-1.03516390e-01 -7.99785920e-04 9.94627426e-01 -9.74944910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08964924600001 meters 0.05962845314236936 Centerline is valid? [True, True] Translation: X:77.21, Y:-9.66, Z:-9.76 [[ 9.57496435e-01 2.70816209e-01 9.92932883e-02 7.72095418e+01] [-2.69469811e-01 9.62630635e-01 -2.69866814e-02 -9.65710450e+00] [-1.02891192e-01 -9.16892364e-04 9.94692195e-01 -9.75650002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.149649246 meters 0.0593940271573265 Centerline is valid? [True, True] Translation: X:77.27, Y:-9.67, Z:-9.76 [[ 9.57570479e-01 2.70394362e-01 9.97279593e-02 7.72676100e+01] [-2.69031212e-01 9.62749274e-01 -2.71301016e-02 -9.67492586e+00] [-1.03348847e-01 -8.50949315e-04 9.94644807e-01 -9.76460269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.209649246 meters 0.05928991150960792 Centerline is valid? [True, True] Translation: X:77.33, Y:-9.69, Z:-9.77 [[ 9.57376862e-01 2.70848829e-01 1.00351662e-01 7.73269002e+01] [-2.69468676e-01 9.62621489e-01 -2.73221979e-02 -9.69478860e+00] [-1.04000851e-01 -8.83989392e-04 9.94576815e-01 -9.76716876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.269649246 meters 0.05952315735042734 Centerline is valid? [True, True] Translation: X:77.39, Y:-9.71, Z:-9.78 [[ 9.56322547e-01 2.73632074e-01 1.02823514e-01 7.73870323e+01] [-2.72196030e-01 9.61833703e-01 -2.80222877e-02 -9.70536430e+00] [-1.06566917e-01 -1.18980671e-03 9.94304821e-01 -9.77634309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.329649246 meters 0.059942672189762555 Centerline is valid? [True, True] Translation: X:77.45, Y:-9.72, Z:-9.79 [[ 9.56138572e-01 2.75011640e-01 1.00834666e-01 7.74455552e+01] [-2.73635975e-01 9.61440025e-01 -2.75033208e-02 -9.71860481e+00] [-1.04510217e-01 -1.29500616e-03 9.94522970e-01 -9.78878752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.389649246 meters 0.059658428980309396 Centerline is valid? [True, True] Translation: X:77.50, Y:-9.74, Z:-9.80 [[ 9.57168085e-01 2.71885211e-01 9.95373716e-02 7.75018737e+01] [-2.70525694e-01 9.62329250e-01 -2.71710049e-02 -9.74105332e+00] [-1.03175119e-01 -9.20197787e-04 9.94662781e-01 -9.79879000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.449649246 meters 0.059196309392914606 Centerline is valid? [True, True] Translation: X:77.56, Y:-9.77, Z:-9.80 [[ 9.58667121e-01 2.66441504e-01 9.98312379e-02 7.75590747e+01] [-2.65041925e-01 9.63851040e-01 -2.72754404e-02 -9.76858587e+00] [-1.03489752e-01 -3.11395544e-04 9.94630471e-01 -9.80361353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50964924600001 meters 0.05889334851694866 Centerline is valid? [True, True] Translation: X:77.62, Y:-9.79, Z:-9.81 [[ 9.59451975e-01 2.63619653e-01 9.97826950e-02 7.76178741e+01] [-2.62205728e-01 9.64626704e-01 -2.72667819e-02 -9.78883090e+00] [-1.03441112e-01 -2.42648325e-06 9.94635580e-01 -9.80979684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.569649246 meters 0.05895108257842959 Centerline is valid? [True, True] Translation: X:77.68, Y:-9.80, Z:-9.82 [[ 9.59537967e-01 2.63368391e-01 9.96191721e-02 7.76781139e+01] [-2.61954838e-01 9.64695334e-01 -2.72502302e-02 -9.80366323e+00] [-1.03279000e-01 5.19063787e-05 9.94652424e-01 -9.81850398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.629649246 meters 0.05910075634711165 Centerline is valid? [True, True] Translation: X:77.74, Y:-9.82, Z:-9.83 [[ 9.59447649e-01 2.64047460e-01 9.86871176e-02 7.77362591e+01] [-2.62660829e-01 9.64509688e-01 -2.70249853e-02 -9.82118249e+00] [-1.02320560e-01 7.81847959e-06 9.94751478e-01 -9.82629416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.689649246 meters 0.05915723418329357 Centerline is valid? [True, True] Translation: X:77.79, Y:-9.84, Z:-9.84 [[ 9.59227618e-01 2.64291883e-01 1.00160756e-01 7.77946664e+01] [-2.62862251e-01 9.64442741e-01 -2.74524425e-02 -9.83693649e+00] [-1.03854772e-01 4.65926195e-06 9.94592472e-01 -9.83506509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.749649246 meters 0.058833836970383684 Centerline is valid? [True, True] Translation: X:77.85, Y:-9.85, Z:-9.84 [[ 9.58914335e-01 2.65022105e-01 1.01225403e-01 7.78542268e+01] [-2.63563427e-01 9.64242335e-01 -2.77675906e-02 -9.85202765e+00] [-1.04964845e-01 -5.25735424e-05 9.94475932e-01 -9.84137303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.809649246 meters 0.05902365938851923 Centerline is valid? [True, True] Translation: X:77.91, Y:-9.86, Z:-9.85 [[ 9.57841540e-01 2.69018731e-01 1.00839013e-01 7.79148884e+01] [-2.67590659e-01 9.63134833e-01 -2.76863234e-02 -9.86254292e+00] [-1.04569706e-01 -4.64467266e-04 9.94517451e-01 -9.84952243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86964924600001 meters 0.05918394896727112 Centerline is valid? [True, True] Translation: X:77.98, Y:-9.88, Z:-9.86 [[ 9.57400375e-01 2.70844628e-01 1.00138448e-01 7.79751949e+01] [-2.69443761e-01 9.62622867e-01 -2.75186440e-02 -9.87548257e+00] [-1.03848837e-01 -6.35319837e-04 9.94592889e-01 -9.85839907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.929649246 meters 0.0592767226553826 Centerline is valid? [True, True] Translation: X:78.03, Y:-9.89, Z:-9.87 [[ 9.56731202e-01 2.73203599e-01 1.00125926e-01 7.80346766e+01] [-2.71813280e-01 9.61955843e-01 -2.75408408e-02 -9.88690785e+00] [-1.03840977e-01 -8.66374681e-04 9.94593536e-01 -9.86768714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.989649246 meters 0.05910647659122827 Centerline is valid? [True, True] Translation: X:78.09, Y:-9.90, Z:-9.88 [[ 9.56877285e-01 2.72951784e-01 9.94142107e-02 7.80941897e+01] [-2.71577530e-01 9.62027372e-01 -2.73675018e-02 -9.90417947e+00] [-1.03109200e-01 -8.11324930e-04 9.94669711e-01 -9.87570110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.049649246 meters 0.059007186282947384 Centerline is valid? [True, True] Translation: X:78.15, Y:-9.92, Z:-9.88 [[ 9.56812366e-01 2.72674996e-01 1.00789100e-01 7.81540434e+01] [-2.71257876e-01 9.62105899e-01 -2.77741544e-02 -9.92244240e+00] [-1.04543105e-01 -7.65182735e-04 9.94520062e-01 -9.88026991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.109649246 meters 0.05878414566760334 Centerline is valid? [True, True] Translation: X:78.21, Y:-9.94, Z:-9.89 [[ 9.57508608e-01 2.69489671e-01 1.02725766e-01 7.82115020e+01] [-2.67998176e-01 9.63003190e-01 -2.83166726e-02 -9.94273473e+00] [-1.06556291e-01 -4.16860119e-04 9.94306584e-01 -9.88857426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.169649246 meters 0.05850618137117954 Centerline is valid? [True, True] Translation: X:78.27, Y:-9.96, Z:-9.89 [[ 9.57651658e-01 2.68481463e-01 1.04024064e-01 7.82700625e+01] [-2.66944480e-01 9.63284806e-01 -2.86884558e-02 -9.96182392e+00] [-1.07907119e-01 -2.95102449e-04 9.94160936e-01 -9.89274662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22964924600001 meters 0.05862054945231363 Centerline is valid? [True, True] Translation: X:78.33, Y:-9.98, Z:-9.90 [[ 9.58070014e-01 2.67467298e-01 1.02776913e-01 7.83283795e+01] [-2.65958501e-01 9.63566926e-01 -2.83699606e-02 -9.97999441e+00] [-1.06620471e-01 -1.53985114e-04 9.94299780e-01 -9.90283259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.289649246 meters 0.05857218452630854 Centerline is valid? [True, True] Translation: X:78.39, Y:-10.00, Z:-9.91 [[ 9.58064984e-01 2.67457507e-01 1.02849254e-01 7.83880545e+01] [-2.65943853e-01 9.63569647e-01 -2.84148148e-02 -9.99875223e+00] [-1.06702175e-01 -1.28887838e-04 9.94291018e-01 -9.90837117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.349649246 meters 0.058897085556658145 Centerline is valid? [True, True] Translation: X:78.45, Y:-10.02, Z:-9.92 [[ 9.58419178e-01 2.66419084e-01 1.02242603e-01 7.84462363e+01] [-2.64914103e-01 9.63857288e-01 -2.82780271e-02 -1.00172000e+01] [-1.06081084e-01 1.66960509e-05 9.94357483e-01 -9.91978957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.409649246 meters 0.05887703529693518 Centerline is valid? [True, True] Translation: X:78.51, Y:-10.04, Z:-9.92 [[ 9.58405701e-01 2.66124059e-01 1.03133394e-01 7.85055889e+01] [-2.64587796e-01 9.63938784e-01 -2.85537960e-02 -1.00352827e+01] [-1.07013130e-01 7.82835874e-05 9.94257604e-01 -9.92416384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.469649246 meters 0.0587812389154555 Centerline is valid? [True, True] Translation: X:78.56, Y:-10.05, Z:-9.94 [[ 9.58012543e-01 2.67254349e-01 1.03860869e-01 7.85644200e+01] [-2.65700008e-01 9.63626023e-01 -2.87818285e-02 -1.00487275e+01] [-1.07775105e-01 -2.24810372e-05 9.94175300e-01 -9.93509016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.529649246 meters 0.059055311276819324 Centerline is valid? [True, True] Translation: X:78.62, Y:-10.06, Z:-9.94 [[ 9.57872657e-01 2.68705199e-01 1.01377947e-01 7.86235948e+01] [-2.67230199e-01 9.63222451e-01 -2.81163754e-02 -1.00635608e+01] [-1.05204531e-01 -1.59341791e-04 9.94450593e-01 -9.94303515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58964924600001 meters 0.05952107988338812 Centerline is valid? [True, True] Translation: X:78.68, Y:-10.08, Z:-9.96 [[ 9.58298271e-01 2.68074789e-01 9.89966230e-02 7.86812659e+01] [-2.66662578e-01 9.63398102e-01 -2.74802950e-02 -1.00810752e+01] [-1.02739933e-01 -6.43754534e-05 9.94708250e-01 -9.95506972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.649649246 meters 0.05982310906794957 Centerline is valid? [True, True] Translation: X:78.74, Y:-10.10, Z:-9.96 [[ 9.58938531e-01 2.66207541e-01 9.78286161e-02 7.87390494e+01] [-2.64817833e-01 9.63915725e-01 -2.71659879e-02 -1.01017874e+01] [-1.01530332e-01 1.43750433e-04 9.94832434e-01 -9.96490764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.709649246 meters 0.05976626849932368 Centerline is valid? [True, True] Translation: X:78.80, Y:-10.12, Z:-9.97 [[ 9.58999923e-01 2.66402968e-01 9.66881864e-02 7.87986460e+01] [-2.65044222e-01 9.63861732e-01 -2.68723406e-02 -1.01185979e+01] [-1.00352914e-01 1.43927452e-04 9.94951894e-01 -9.97187179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.769649246 meters 0.059974024508730496 Centerline is valid? [True, True] Translation: X:78.86, Y:-10.14, Z:-9.98 [[ 9.59317644e-01 2.64721980e-01 9.81424031e-02 7.88559129e+01] [-2.63310551e-01 9.64324713e-01 -2.73020617e-02 -1.01366801e+01] [-1.01868600e-01 3.49419306e-04 9.94797802e-01 -9.98325342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.829649246 meters 0.06022118657109267 Centerline is valid? [True, True] Translation: X:78.91, Y:-10.16, Z:-9.99 [[ 9.60089239e-01 2.61634895e-01 9.88728248e-02 7.89141281e+01] [-2.60183685e-01 9.65166663e-01 -2.75275074e-02 -1.01598512e+01] [-1.02630911e-01 7.03767738e-04 9.94719257e-01 -9.98905435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.889649246 meters 0.060083828971809985 Centerline is valid? [True, True] Translation: X:78.97, Y:-10.18, Z:-9.99 [[ 9.60692020e-01 2.60333432e-01 9.64227525e-02 7.89732298e+01] [-2.58944359e-01 9.65518404e-01 -2.68706285e-02 -1.01795350e+01] [-1.00093265e-01 8.46270507e-04 9.94977699e-01 -9.99393658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.949649246 meters 0.06036080386171474 Centerline is valid? [True, True] Translation: X:79.03, Y:-10.20, Z:-10.00 [[ 9.60802542e-01 2.59487841e-01 9.75937243e-02 7.90318005e+01] [-2.58057946e-01 9.65745889e-01 -2.72208521e-02 -1.01954676e+01] [-1.01314218e-01 9.69027810e-04 9.94854004e-01 -1.00044336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00964924600001 meters 0.05993974513404303 Centerline is valid? [True, True] Translation: X:79.09, Y:-10.21, Z:-10.01 [[ 9.60625361e-01 2.60045618e-01 9.78529079e-02 7.90909040e+01] [-2.58608507e-01 9.65595878e-01 -2.73173913e-02 -1.02124991e+01] [-1.01590132e-01 9.36184448e-04 9.94825899e-01 -1.00094022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.069649246 meters 0.059804679418158514 Centerline is valid? [True, True] Translation: X:79.15, Y:-10.23, Z:-10.02 [[ 9.60464665e-01 2.60189082e-01 9.90417555e-02 7.91503734e+01] [-2.58714879e-01 9.65557210e-01 -2.76746342e-02 -1.02283376e+01] [-1.02831119e-01 9.56932420e-04 9.94698369e-01 -1.00162743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.129649246 meters 0.05961109616710829 Centerline is valid? [True, True] Translation: X:79.21, Y:-10.24, Z:-10.03 [[ 9.60073320e-01 2.61444895e-01 9.95278197e-02 7.92104033e+01] [-2.59960166e-01 9.65218028e-01 -2.78365059e-02 -1.02415908e+01] [-1.03343758e-01 8.51818096e-04 9.94645335e-01 -1.00252805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.189649246 meters 0.05960610528203923 Centerline is valid? [True, True] Translation: X:79.27, Y:-10.25, Z:-10.03 [[ 9.59399860e-01 2.64278631e-01 9.85328040e-02 7.92701305e+01] [-2.62835863e-01 9.64446207e-01 -2.75830272e-02 -1.02546699e+01] [-1.02319194e-01 5.65197936e-04 9.94751458e-01 -1.00330411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.249649246 meters 0.05986306256225011 Centerline is valid? [True, True] Translation: X:79.33, Y:-10.27, Z:-10.04 [[ 9.59202424e-01 2.65643776e-01 9.67682497e-02 7.93299323e+01] [-2.64256612e-01 9.64071155e-01 -2.71155008e-02 -1.02698309e+01] [-1.00494542e-01 4.37604307e-04 9.94937513e-01 -1.00427776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.309649246 meters 0.06008843134255778 Centerline is valid? [True, True] Translation: X:79.39, Y:-10.29, Z:-10.05 [[ 9.59405184e-01 2.64935316e-01 9.67004181e-02 7.93896935e+01] [-2.63544121e-01 9.64266038e-01 -2.71201702e-02 -1.02879342e+01] [-1.00430020e-01 5.34405236e-04 9.94943981e-01 -1.00527001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36964924600001 meters 0.05999987730353936 Centerline is valid? [True, True] Translation: X:79.45, Y:-10.31, Z:-10.06 [[ 9.59947529e-01 2.62426526e-01 9.81481476e-02 7.94474823e+01] [-2.60976931e-01 9.64951612e-01 -2.75577273e-02 -1.03090232e+01] [-1.01940092e-01 8.39569921e-04 9.94790185e-01 -1.00581625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.429649246 meters 0.05999166568479717 Centerline is valid? [True, True] Translation: X:79.51, Y:-10.33, Z:-10.06 [[ 9.59894657e-01 2.61647405e-01 1.00711877e-01 7.95051957e+01] [-2.60115228e-01 9.65163051e-01 -2.82905103e-02 -1.03278749e+01] [-1.04605522e-01 9.59216766e-04 9.94513331e-01 -1.00644214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.489649246 meters 0.059586964604351984 Centerline is valid? [True, True] Translation: X:79.57, Y:-10.34, Z:-10.07 [[ 9.59367114e-01 2.63086448e-01 1.01981672e-01 7.95650281e+01] [-2.61520963e-01 9.64771903e-01 -2.86698780e-02 -1.03430316e+01] [-1.05931708e-01 8.34593038e-04 9.94373057e-01 -1.00681207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.549649246 meters 0.05969177084697818 Centerline is valid? [True, True] Translation: X:79.63, Y:-10.36, Z:-10.08 [[ 9.58911407e-01 2.65358017e-01 1.00369500e-01 7.96252297e+01] [-2.63851570e-01 9.64149763e-01 -2.82415308e-02 -1.03550737e+01] [-1.04265347e-01 5.98475721e-04 9.94549335e-01 -1.00776775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.609649246 meters 0.06010906255002702 Centerline is valid? [True, True] Translation: X:79.68, Y:-10.37, Z:-10.09 [[ 9.58789738e-01 2.66832623e-01 9.75837519e-02 7.96835978e+01] [-2.65413814e-01 9.63742781e-01 -2.74838071e-02 -1.03678343e+01] [-1.01379213e-01 4.51116443e-04 9.94847753e-01 -1.00904055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.669649246 meters 0.060265427126408984 Centerline is valid? [True, True] Translation: X:79.74, Y:-10.39, Z:-10.10 [[ 9.59594875e-01 2.64739005e-01 9.53463983e-02 7.97425877e+01] [-2.63373466e-01 9.64319872e-01 -2.68626380e-02 -1.03872228e+01] [-9.90560147e-02 6.65538437e-04 9.95081636e-01 -1.00962079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72964924600001 meters 0.06026937152599708 Centerline is valid? [True, True] Translation: X:79.80, Y:-10.40, Z:-10.10 [[ 9.60078168e-01 2.63098195e-01 9.50223735e-02 7.98020903e+01] [-2.61731680e-01 9.64768682e-01 -2.67939716e-02 -1.04024190e+01] [-9.87240556e-02 8.53941653e-04 9.95114482e-01 -1.01012473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.789649246 meters 0.06048612210812657 Centerline is valid? [True, True] Translation: X:79.86, Y:-10.42, Z:-10.11 [[ 9.59895260e-01 2.63863869e-01 9.47467572e-02 7.98609123e+01] [-2.62506761e-01 9.64559602e-01 -2.67389892e-02 -1.04184081e+01] [-9.84443476e-02 7.94964670e-04 9.95142240e-01 -1.01122829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.849649246 meters 0.060528440130465606 Centerline is valid? [True, True] Translation: X:79.92, Y:-10.44, Z:-10.12 [[ 9.59848923e-01 2.64461081e-01 9.35434744e-02 7.99184364e+01] [-2.63138447e-01 9.64396066e-01 -2.64269766e-02 -1.04372096e+01] [-9.72018656e-02 7.51020431e-04 9.95264404e-01 -1.01203917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.909649246 meters 0.06050155096909147 Centerline is valid? [True, True] Translation: X:79.98, Y:-10.45, Z:-10.12 [[ 9.60058790e-01 2.62753492e-01 9.61650761e-02 7.99787126e+01] [-2.61344243e-01 9.64862503e-01 -2.71944297e-02 -1.04546781e+01] [-9.99315074e-02 9.76062299e-04 9.94993840e-01 -1.01235966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.969649246 meters 0.0610094325736573 Centerline is valid? [True, True] Translation: X:80.04, Y:-10.48, Z:-10.12 [[ 9.62150744e-01 2.53497705e-01 1.00024299e-01 8.00365111e+01] [-2.51922022e-01 9.67333872e-01 -2.82926772e-02 -1.04786265e+01] [-1.03929021e-01 2.02349682e-03 9.94582658e-01 -1.01227716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.029649246 meters 0.06138581136018422 Centerline is valid? [True, True] Translation: X:80.10, Y:-10.48, Z:-10.14 [[ 9.61364959e-01 2.58848231e-01 9.36750144e-02 8.00961916e+01] [-2.57489759e-01 9.65917026e-01 -2.65202206e-02 -1.04828638e+01] [-9.73470035e-02 1.37525392e-03 9.95249551e-01 -1.01434491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08964924600001 meters 0.06077095411364666 Centerline is valid? [True, True] Translation: X:80.16, Y:-10.50, Z:-10.15 [[ 9.60726411e-01 2.61806446e-01 9.19899315e-02 8.01566774e+01] [-2.60509317e-01 9.65119813e-01 -2.60507576e-02 -1.04955510e+01] [-9.56015618e-02 1.06341670e-03 9.95419113e-01 -1.01477841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.149649246 meters 0.060235706658417 Centerline is valid? [True, True] Translation: X:80.22, Y:-10.51, Z:-10.15 [[ 9.59571387e-01 2.65417695e-01 9.36813760e-02 8.02171911e+01] [-2.64086975e-01 9.64133236e-01 -2.65550742e-02 -1.05097750e+01] [-9.73695148e-02 7.41458177e-04 9.95248023e-01 -1.01532724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.209649246 meters 0.06041301751504481 Centerline is valid? [True, True] Translation: X:80.28, Y:-10.52, Z:-10.16 [[ 9.59079024e-01 2.66812636e-01 9.47546498e-02 8.02755433e+01] [-2.65455189e-01 9.63748212e-01 -2.68873039e-02 -1.05234999e+01] [-9.84934967e-02 6.33935640e-04 9.95137493e-01 -1.01647907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.269649246 meters 0.05973748253281408 Centerline is valid? [True, True] Translation: X:80.34, Y:-10.54, Z:-10.17 [[ 9.57703839e-01 2.70575318e-01 9.79405665e-02 8.03365546e+01] [-2.69142670e-01 9.62698771e-01 -2.78082717e-02 -1.05360802e+01] [-1.01811495e-01 2.72102983e-04 9.94803672e-01 -1.01652948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.329649246 meters 0.059990555872647726 Centerline is valid? [True, True] Translation: X:80.40, Y:-10.55, Z:-10.18 [[ 9.56488382e-01 2.75117569e-01 9.71611936e-02 8.03955031e+01] [-2.73730621e-01 9.61410568e-01 -2.75910515e-02 -1.05464674e+01] [-1.01002581e-01 -2.05473593e-04 9.94886142e-01 -1.01776238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.389649246 meters 0.059949719809241714 Centerline is valid? [True, True] Translation: X:80.46, Y:-10.56, Z:-10.18 [[ 9.56101466e-01 2.76679863e-01 9.65310302e-02 8.04558405e+01] [-2.75317911e-01 9.60962083e-01 -2.74212182e-02 -1.05621107e+01] [-1.00349559e-01 -3.59254675e-04 9.94952178e-01 -1.01828286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.449649246 meters 0.06030381442751524 Centerline is valid? [True, True] Translation: X:80.52, Y:-10.57, Z:-10.19 [[ 9.54131783e-01 2.83261935e-01 9.69289238e-02 8.05171982e+01] [-2.81920011e-01 9.59042029e-01 -2.75589293e-02 -1.05716641e+01] [-1.00765307e-01 -1.03135287e-03 9.94909689e-01 -1.01898986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50964924600001 meters 0.06122971886788823 Centerline is valid? [True, True] Translation: X:80.58, Y:-10.58, Z:-10.20 [[ 9.52253894e-01 2.89877332e-01 9.58313812e-02 8.05787121e+01] [-2.88596384e-01 9.57062324e-01 -2.72733488e-02 -1.05789791e+01] [-9.96225300e-02 -1.68543747e-03 9.95023874e-01 -1.01993583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.569649246 meters 0.06116173152324382 Centerline is valid? [True, True] Translation: X:80.64, Y:-10.60, Z:-10.21 [[ 9.52472668e-01 2.89061905e-01 9.61198832e-02 8.06374744e+01] [-2.87767377e-01 9.57309088e-01 -2.73723503e-02 -1.05958232e+01] [-9.99287415e-02 -1.58875119e-03 9.94993328e-01 -1.02078341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.629649246 meters 0.06022046580547117 Centerline is valid? [True, True] Translation: X:80.69, Y:-10.62, Z:-10.21 [[ 9.53618902e-01 2.84779717e-01 9.75269279e-02 8.06942894e+01] [-2.83421923e-01 9.58592318e-01 -2.77989488e-02 -1.06210776e+01] [-1.01405141e-01 -1.13166642e-03 9.94844569e-01 -1.02130054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.689649246 meters 0.0607756169444287 Centerline is valid? [True, True] Translation: X:80.75, Y:-10.64, Z:-10.23 [[ 9.54049387e-01 2.83512320e-01 9.70078993e-02 8.07521301e+01] [-2.82159978e-01 9.58968105e-01 -2.76752557e-02 -1.06400846e+01] [-1.00873757e-01 -9.68185981e-04 9.94898763e-01 -1.02269306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.749649246 meters 0.0602675759850133 Centerline is valid? [True, True] Translation: X:80.81, Y:-10.66, Z:-10.23 [[ 9.54086256e-01 2.83836330e-01 9.56888377e-02 8.08111026e+01] [-2.82520625e-01 9.58872249e-01 -2.73149428e-02 -1.06606871e+01] [-9.95063441e-02 -9.73258694e-04 9.95036452e-01 -1.02299988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.809649246 meters 0.06041014194615527 Centerline is valid? [True, True] Translation: X:80.87, Y:-10.68, Z:-10.24 [[ 9.54283229e-01 2.83966735e-01 9.33081523e-02 8.08699104e+01] [-2.82714140e-01 9.58833672e-01 -2.66590357e-02 -1.06791739e+01] [-9.70372777e-02 -9.39263329e-04 9.95280305e-01 -1.02398842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86964924600001 meters 0.06106845108703894 Centerline is valid? [True, True] Translation: X:80.93, Y:-10.70, Z:-10.25 [[ 9.54620338e-01 2.83818273e-01 9.02618295e-02 8.09269648e+01] [-2.82643399e-01 9.58877693e-01 -2.58123909e-02 -1.06959547e+01] [-9.38760831e-02 -8.70876915e-04 9.95583509e-01 -1.02548133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.929649246 meters 0.06122861376058408 Centerline is valid? [True, True] Translation: X:80.99, Y:-10.71, Z:-10.26 [[ 9.54491527e-01 2.84357351e-01 8.99267553e-02 8.09856711e+01] [-2.83191555e-01 9.58717940e-01 -2.57382140e-02 -1.07134652e+01] [-9.35332439e-02 -8.99590452e-04 9.95615751e-01 -1.02616011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.989649246 meters 0.06102587971482773 Centerline is valid? [True, True] Translation: X:81.04, Y:-10.73, Z:-10.27 [[ 9.54295169e-01 2.84881723e-01 9.03500623e-02 8.10449607e+01] [-2.83705079e-01 9.58562222e-01 -2.58823325e-02 -1.07317881e+01] [-9.39795599e-02 -9.33386745e-04 9.95573689e-01 -1.02673241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.049649246 meters 0.059774131031435834 Centerline is valid? [True, True] Translation: X:81.10, Y:-10.77, Z:-10.26 [[ 9.57950844e-01 2.69291873e-01 9.90558846e-02 8.10982893e+01] [-2.67790461e-01 9.63058367e-01 -2.84051139e-02 -1.07693761e+01] [-1.03045865e-01 6.84481863e-04 9.94676370e-01 -1.02645235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.109649246 meters 0.0604776408990203 Centerline is valid? [True, True] Translation: X:81.16, Y:-10.78, Z:-10.28 [[ 9.58279389e-01 2.70225000e-01 9.31614782e-02 8.11578110e+01] [-2.68899560e-01 9.62797031e-01 -2.67376829e-02 -1.07813904e+01] [-9.69207850e-02 5.71090011e-04 9.95291935e-01 -1.02803505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.169649246 meters 0.060089448226328515 Centerline is valid? [True, True] Translation: X:81.22, Y:-10.80, Z:-10.29 [[ 9.57871034e-01 2.71197764e-01 9.45243590e-02 8.12176632e+01] [-2.69837696e-01 9.62523528e-01 -2.71307329e-02 -1.07984544e+01] [-9.83397136e-02 4.81507981e-04 9.95152787e-01 -1.02851256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22964924600001 meters 0.05985673453747459 Centerline is valid? [True, True] Translation: X:81.28, Y:-10.82, Z:-10.29 [[ 9.57445017e-01 2.72451084e-01 9.52336412e-02 8.12767905e+01] [-2.71074078e-01 9.62169560e-01 -2.73602310e-02 -1.08171222e+01] [-9.90852352e-02 3.80545369e-04 9.95078877e-01 -1.02904437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.289649246 meters 0.059573687712093995 Centerline is valid? [True, True] Translation: X:81.34, Y:-10.83, Z:-10.30 [[ 9.57011728e-01 2.73499696e-01 9.65736396e-02 8.13357515e+01] [-2.72086181e-01 9.61872042e-01 -2.77720182e-02 -1.08336728e+01] [-1.00487122e-01 3.01794352e-04 9.94938313e-01 -1.02978118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.349649246 meters 0.059503452628773566 Centerline is valid? [True, True] Translation: X:81.39, Y:-10.85, Z:-10.31 [[ 9.56722334e-01 2.74448489e-01 9.67491731e-02 8.13941259e+01] [-2.73032017e-01 9.61601776e-01 -2.78485680e-02 -1.08510625e+01] [-1.00677174e-01 2.27725059e-04 9.94919120e-01 -1.03056077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.409649246 meters 0.05925469096323077 Centerline is valid? [True, True] Translation: X:81.45, Y:-10.86, Z:-10.31 [[ 9.54781933e-01 2.80510639e-01 9.85151888e-02 8.14546509e+01] [-2.79070888e-01 9.59850837e-01 -2.83867863e-02 -1.08608977e+01] [-1.02522682e-01 -3.89530478e-04 9.94730591e-01 -1.03125001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.469649246 meters 0.05920902648560116 Centerline is valid? [True, True] Translation: X:81.52, Y:-10.87, Z:-10.32 [[ 9.53326599e-01 2.85252764e-01 9.89911938e-02 8.15151438e+01] [-2.83822003e-01 9.58451921e-01 -2.85479367e-02 -1.08736740e+01] [-1.03021678e-01 -8.80371527e-04 9.94678721e-01 -1.03182412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.529649246 meters 0.06028636371503836 Centerline is valid? [True, True] Translation: X:81.58, Y:-10.88, Z:-10.33 [[ 9.51485263e-01 2.91606760e-01 9.81900857e-02 8.15761262e+01] [-2.90230061e-01 9.56537066e-01 -2.83434732e-02 -1.08792812e+01] [-1.02187605e-01 -1.52931759e-03 9.94763969e-01 -1.03295219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58964924600001 meters 0.060940715800588616 Centerline is valid? [True, True] Translation: X:81.64, Y:-10.89, Z:-10.34 [[ 9.50496250e-01 2.95671474e-01 9.55785445e-02 8.16374343e+01] [-2.94384988e-01 9.55287818e-01 -2.76163478e-02 -1.08892179e+01] [-9.94703856e-02 -1.88765373e-03 9.95038732e-01 -1.03388889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.649649246 meters 0.060730057386176164 Centerline is valid? [True, True] Translation: X:81.69, Y:-10.91, Z:-10.35 [[ 9.51613151e-01 2.92318739e-01 9.47742883e-02 8.16941864e+01] [-2.91036651e-01 9.56319743e-01 -2.73900898e-02 -1.09098445e+01] [-9.86411595e-02 -1.51802185e-03 9.95121911e-01 -1.03484812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.709649246 meters 0.06040004396098688 Centerline is valid? [True, True] Translation: X:81.75, Y:-10.93, Z:-10.35 [[ 9.52118545e-01 2.90466145e-01 9.53923226e-02 8.17509159e+01] [-2.89156757e-01 9.56884355e-01 -2.75808221e-02 -1.09312465e+01] [-9.92907161e-02 -1.32312239e-03 9.95057588e-01 -1.03549745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.769649246 meters 0.059866560952139464 Centerline is valid? [True, True] Translation: X:81.81, Y:-10.96, Z:-10.36 [[ 9.53567014e-01 2.85968378e-01 9.45094554e-02 8.18062154e+01] [-2.84658949e-01 9.58238700e-01 -2.73473374e-02 -1.09605774e+01] [-9.83830914e-02 -8.25443425e-04 9.95148273e-01 -1.03621490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.829649246 meters 0.0594696538599736 Centerline is valid? [True, True] Translation: X:81.86, Y:-10.98, Z:-10.37 [[ 9.53942015e-01 2.84331340e-01 9.56573110e-02 8.18638958e+01] [-2.82979215e-01 9.58725862e-01 -2.77035469e-02 -1.09843274e+01] [-9.95861245e-02 -6.41453416e-04 9.95028739e-01 -1.03672266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.889649246 meters 0.0593663908126491 Centerline is valid? [True, True] Translation: X:81.92, Y:-11.00, Z:-10.37 [[ 9.54037472e-01 2.83633891e-01 9.67694056e-02 8.19230615e+01] [-2.82243934e-01 9.58932486e-01 -2.80508391e-02 -1.10029281e+01] [-1.00751495e-01 -5.51026052e-04 9.94911470e-01 -1.03743659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.949649246 meters 0.05946360087950367 Centerline is valid? [True, True] Translation: X:81.98, Y:-11.02, Z:-10.38 [[ 9.54043284e-01 2.83719595e-01 9.64603747e-02 8.19824802e+01] [-2.82336308e-01 9.58907142e-01 -2.79875222e-02 -1.10195504e+01] [-1.00437151e-01 -5.32958511e-04 9.94943262e-01 -1.03839895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00964924600001 meters 0.0593635502501755 Centerline is valid? [True, True] Translation: X:82.04, Y:-11.04, Z:-10.39 [[ 9.54412509e-01 2.82441236e-01 9.65593659e-02 8.20406759e+01] [-2.81046957e-01 9.59284526e-01 -2.80322443e-02 -1.10394187e+01] [-1.00545367e-01 -3.83391407e-04 9.94932401e-01 -1.03925904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.069649246 meters 0.05925073719489256 Centerline is valid? [True, True] Translation: X:82.10, Y:-11.06, Z:-10.40 [[ 9.54917586e-01 2.81170401e-01 9.52659953e-02 8.20985059e+01] [-2.79804692e-01 9.59657833e-01 -2.76799307e-02 -1.10599781e+01] [-9.92055358e-02 -2.23819896e-04 9.95066938e-01 -1.03990191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.129649246 meters 0.05926604621179721 Centerline is valid? [True, True] Translation: X:82.16, Y:-11.08, Z:-10.41 [[ 9.55029446e-01 2.81021302e-01 9.45821640e-02 8.21570257e+01] [-2.79672069e-01 9.59701513e-01 -2.75052655e-02 -1.10777239e+01] [-9.85002114e-02 -1.83651055e-04 9.95137013e-01 -1.04072805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.189649246 meters 0.05943281157066591 Centerline is valid? [True, True] Translation: X:82.22, Y:-11.09, Z:-10.42 [[ 9.54843253e-01 2.82255254e-01 9.27703276e-02 8.22162985e+01] [-2.80960921e-01 9.59339300e-01 -2.70012827e-02 -1.10939643e+01] [-9.66194750e-02 -2.82844073e-04 9.95321354e-01 -1.04153021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.249649246 meters 0.059583321315857286 Centerline is valid? [True, True] Translation: X:82.27, Y:-11.11, Z:-10.42 [[ 9.54984907e-01 2.81654064e-01 9.31386909e-02 8.22738142e+01] [-2.80344082e-01 9.59515997e-01 -2.71338670e-02 -1.11128156e+01] [-9.70104278e-02 -1.98447311e-04 9.95283345e-01 -1.04240560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.309649246 meters 0.05929890550626297 Centerline is valid? [True, True] Translation: X:82.33, Y:-11.13, Z:-10.43 [[ 9.54801191e-01 2.81919330e-01 9.42134660e-02 8.23329855e+01] [-2.80577907e-01 9.59438090e-01 -2.74697853e-02 -1.11293234e+01] [-9.81362513e-02 -2.06033420e-04 9.95172967e-01 -1.04317343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36964924600001 meters 0.05949013260967407 Centerline is valid? [True, True] Translation: X:82.39, Y:-11.15, Z:-10.44 [[ 9.55128017e-01 2.80737819e-01 9.44285386e-02 8.23918600e+01] [-2.79382125e-01 9.59784493e-01 -2.75563941e-02 -1.11479650e+01] [-9.83671691e-02 -6.17617350e-05 9.95150188e-01 -1.04396870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.429649246 meters 0.05906892070777359 Centerline is valid? [True, True] Translation: X:82.45, Y:-11.16, Z:-10.45 [[ 9.54754624e-01 2.81921060e-01 9.46790594e-02 8.24498367e+01] [-2.80561093e-01 9.59437591e-01 -2.76583001e-02 -1.11639387e+01] [-9.86361060e-02 -1.56370527e-04 9.95123557e-01 -1.04491512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.489649246 meters 0.05867886499997946 Centerline is valid? [True, True] Translation: X:82.51, Y:-11.18, Z:-10.46 [[ 9.53946135e-01 2.84347621e-01 9.55677906e-02 8.25106109e+01] [-2.82972977e-01 9.58721164e-01 -2.79289151e-02 -1.11759840e+01] [-9.95643840e-02 -4.00421647e-04 9.95031041e-01 -1.04568810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.549649246 meters 0.05885166679530572 Centerline is valid? [True, True] Translation: X:82.57, Y:-11.19, Z:-10.46 [[ 9.53214875e-01 2.86242186e-01 9.71947204e-02 8.25704402e+01] [-2.84827222e-01 9.58157123e-01 -2.84320460e-02 -1.11893899e+01] [-1.01266265e-01 -5.81853045e-04 9.94859189e-01 -1.04629386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.609649246 meters 0.058962235447239913 Centerline is valid? [True, True] Translation: X:82.63, Y:-11.20, Z:-10.47 [[ 9.52745881e-01 2.87823773e-01 9.71224030e-02 8.26317374e+01] [-2.86418032e-01 9.57683105e-01 -2.84215035e-02 -1.12024469e+01] [-1.01192869e-01 -7.39137119e-04 9.94866552e-01 -1.04696609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.669649246 meters 0.05897284469540375 Centerline is valid? [True, True] Translation: X:82.69, Y:-11.22, Z:-10.48 [[ 9.52803831e-01 2.88149641e-01 9.55753338e-02 8.26901897e+01] [-2.86787192e-01 9.57585112e-01 -2.79975094e-02 -1.12204068e+01] [-9.95889890e-02 -7.33647471e-04 9.95028389e-01 -1.04779513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72964924600001 meters 0.05942730337647719 Centerline is valid? [True, True] Translation: X:82.75, Y:-11.24, Z:-10.49 [[ 9.52709955e-01 2.88945386e-01 9.40973242e-02 8.27489871e+01] [-2.87626377e-01 9.57345264e-01 -2.75882853e-02 -1.12362384e+01] [-9.80551354e-02 -7.81238423e-04 9.95180677e-01 -1.04879333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.789649246 meters 0.05980044813841584 Centerline is valid? [True, True] Translation: X:82.81, Y:-11.25, Z:-10.50 [[ 9.53145776e-01 2.88126540e-01 9.21749739e-02 8.28069643e+01] [-2.86854927e-01 9.57592116e-01 -2.70479197e-02 -1.12545849e+01] [-9.60592519e-02 -6.60234915e-04 9.95375399e-01 -1.04977398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.849649246 meters 0.05962962244532749 Centerline is valid? [True, True] Translation: X:82.86, Y:-11.28, Z:-10.51 [[ 9.53928018e-01 2.85484974e-01 9.23020388e-02 8.28639039e+01] [-2.84195396e-01 9.58383112e-01 -2.71069548e-02 -1.12769711e+01] [-9.61993435e-02 -3.73730838e-04 9.95362018e-01 -1.05050023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.909649246 meters 0.05927139172583125 Centerline is valid? [True, True] Translation: X:82.92, Y:-11.30, Z:-10.51 [[ 9.55269567e-01 2.80727948e-01 9.30154438e-02 8.29206588e+01] [-2.79393747e-01 9.59787374e-01 -2.73373541e-02 -1.13025524e+01] [-9.69494079e-02 1.26608985e-04 9.95289303e-01 -1.05090914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.969649246 meters 0.059258587358779403 Centerline is valid? [True, True] Translation: X:82.98, Y:-11.33, Z:-10.51 [[ 9.56017314e-01 2.77834526e-01 9.40152724e-02 8.29779192e+01] [-2.76455071e-01 9.60628844e-01 -2.76553535e-02 -1.13261774e+01] [-9.79973944e-02 4.47998039e-04 9.95186570e-01 -1.05141840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.029649246 meters 0.05931696220855991 Centerline is valid? [True, True] Translation: X:83.03, Y:-11.35, Z:-10.52 [[ 9.56861372e-01 2.75410072e-01 9.25505621e-02 8.30332867e+01] [-2.74059377e-01 9.61326576e-01 -2.72520188e-02 -1.13503193e+01] [-9.64767954e-02 7.12054627e-04 9.95334979e-01 -1.05228515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08964924600001 meters 0.05939448050805082 Centerline is valid? [True, True] Translation: X:83.09, Y:-11.37, Z:-10.53 [[ 9.57192365e-01 2.73686064e-01 9.42269307e-02 8.30909343e+01] [-2.72276604e-01 9.61818646e-01 -2.77550493e-02 -1.13726481e+01] [-9.82253891e-02 9.11132615e-04 9.95163777e-01 -1.05270079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.149649246 meters 0.0596224944963319 Centerline is valid? [True, True] Translation: X:83.15, Y:-11.39, Z:-10.54 [[ 9.57152419e-01 2.74272839e-01 9.29174728e-02 8.31485224e+01] [-2.72902690e-01 9.61651530e-01 -2.73944714e-02 -1.13894067e+01] [-9.68677893e-02 8.63256263e-04 9.95296883e-01 -1.05352280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.209649246 meters 0.05954085518612165 Centerline is valid? [True, True] Translation: X:83.21, Y:-11.40, Z:-10.55 [[ 9.56414281e-01 2.76886079e-01 9.27675754e-02 8.32073902e+01] [-2.75530876e-01 9.60902556e-01 -2.73681341e-02 -1.14021856e+01] [-9.67184557e-02 6.14942971e-04 9.95311591e-01 -1.05461545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.269649246 meters 0.05928056363871121 Centerline is valid? [True, True] Translation: X:83.27, Y:-11.41, Z:-10.55 [[ 9.55459672e-01 2.79876343e-01 9.36271775e-02 8.32677278e+01] [-2.78508003e-01 9.60035999e-01 -2.76436718e-02 -1.14128155e+01] [-9.76222706e-02 3.36495324e-04 9.95223482e-01 -1.05536878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.329649246 meters 0.05895873958638893 Centerline is valid? [True, True] Translation: X:83.33, Y:-11.43, Z:-10.56 [[ 9.55181831e-01 2.79682760e-01 9.69805347e-02 8.33275460e+01] [-2.78210662e-01 9.60092390e-01 -2.86605930e-02 -1.14300565e+01] [-1.01126147e-01 3.95058907e-04 9.94873533e-01 -1.05555150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.389649246 meters 0.05884452170390223 Centerline is valid? [True, True] Translation: X:83.39, Y:-11.45, Z:-10.56 [[ 9.56510076e-01 2.75593965e-01 9.55847319e-02 8.33868963e+01] [-2.74143570e-01 9.61273790e-01 -2.82489478e-02 -1.14466405e+01] [-9.96683370e-02 8.16463530e-04 9.95020380e-01 -1.05625753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.449649246 meters 0.059084251504262504 Centerline is valid? [True, True] Translation: X:83.45, Y:-11.46, Z:-10.58 [[ 9.56151768e-01 2.76920282e-01 9.53360068e-02 8.34459864e+01] [-2.75481342e-01 9.60892639e-01 -2.82022410e-02 -1.14615147e+01] [-9.94174398e-02 7.02331555e-04 9.95045566e-01 -1.05751506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.509649246 meters 0.05878812518438947 Centerline is valid? [True, True] Translation: X:83.51, Y:-11.48, Z:-10.58 [[ 9.55580174e-01 2.79221782e-01 9.43489632e-02 8.35061799e+01] [-2.77822211e-01 9.60226521e-01 -2.79257326e-02 -1.14763044e+01] [-9.83938496e-02 4.73038810e-04 9.95147440e-01 -1.05819105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.569649246 meters 0.0590902427698903 Centerline is valid? [True, True] Translation: X:83.56, Y:-11.49, Z:-10.59 [[ 9.55133411e-01 2.81550468e-01 9.19211734e-02 8.35648248e+01] [-2.80230673e-01 9.59546389e-01 -2.72304653e-02 -1.14902984e+01] [-9.58693803e-02 2.49594939e-04 9.95393892e-01 -1.05930644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.629649246 meters 0.059143118900216125 Centerline is valid? [True, True] Translation: X:83.63, Y:-11.51, Z:-10.60 [[ 9.54504644e-01 2.83669778e-01 9.19366135e-02 8.36252827e+01] [-2.82357395e-01 9.58922027e-01 -2.72552295e-02 -1.15055158e+01] [-9.58915286e-02 5.62603645e-05 9.95391788e-01 -1.06015409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.689649246 meters 0.05902001373547628 Centerline is valid? [True, True] Translation: X:83.69, Y:-11.52, Z:-10.61 [[ 9.53819913e-01 2.85889327e-01 9.21675985e-02 8.36861915e+01] [-2.84578151e-01 9.58262632e-01 -2.73496482e-02 -1.15193938e+01] [-9.61397381e-02 -1.42245703e-04 9.95367837e-01 -1.06075348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.749649246 meters 0.0590835388006479 Centerline is valid? [True, True] Translation: X:83.75, Y:-11.53, Z:-10.61 [[ 9.52486646e-01 2.90040470e-01 9.29823397e-02 8.37455494e+01] [-2.88722839e-01 9.57014230e-01 -2.76203821e-02 -1.15311485e+01] [-9.69964508e-02 -5.38080056e-04 9.95284582e-01 -1.06141586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.809649246 meters 0.05941179301576194 Centerline is valid? [True, True] Translation: X:83.81, Y:-11.54, Z:-10.62 [[ 9.50868070e-01 2.95118912e-01 9.35667786e-02 8.38070142e+01] [-2.93806975e-01 9.55459964e-01 -2.78157861e-02 -1.15411477e+01] [-9.76082755e-02 -1.04142944e-03 9.95224367e-01 -1.06226044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86964924600001 meters 0.059006374140458256 Centerline is valid? [True, True] Translation: X:83.87, Y:-11.56, Z:-10.63 [[ 9.51278786e-01 2.93654624e-01 9.39980510e-02 8.38656833e+01] [-2.92321111e-01 9.55911188e-01 -2.79672792e-02 -1.15611742e+01] [-9.80665095e-02 -8.72935238e-04 9.95179480e-01 -1.06259715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.929649246 meters 0.05896881578441348 Centerline is valid? [True, True] Translation: X:83.92, Y:-11.58, Z:-10.63 [[ 9.51115395e-01 2.94317162e-01 9.35783856e-02 8.39247434e+01] [-2.92996420e-01 9.55707368e-01 -2.78662032e-02 -1.15772759e+01] [-9.76350544e-02 -9.14157167e-04 9.95221865e-01 -1.06347087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.989649246 meters 0.059292314663229075 Centerline is valid? [True, True] Translation: X:83.98, Y:-11.59, Z:-10.65 [[ 9.51303043e-01 2.93581626e-01 9.39805759e-02 8.39821730e+01] [-2.92243341e-01 9.55933659e-01 -2.80119460e-02 -1.15940469e+01] [-9.80629884e-02 -8.17347996e-04 9.95179874e-01 -1.06454421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.049649246 meters 0.059374248682566286 Centerline is valid? [True, True] Translation: X:84.04, Y:-11.61, Z:-10.65 [[ 9.50664425e-01 2.95768192e-01 9.35859383e-02 8.40407287e+01] [-2.94449420e-01 9.55259203e-01 -2.79176356e-02 -1.16107857e+01] [-9.76559774e-02 -1.01602228e-03 9.95219713e-01 -1.06529343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.109649246 meters 0.05955947962183977 Centerline is valid? [True, True] Translation: X:84.10, Y:-11.63, Z:-10.66 [[ 9.49701879e-01 2.98501922e-01 9.46728289e-02 8.41015938e+01] [-2.97163732e-01 9.54408158e-01 -2.82627550e-02 -1.16277871e+01] [-9.87930069e-02 -1.29213967e-03 9.95107166e-01 -1.06576845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.169649246 meters 0.05912416326824585 Centerline is valid? [True, True] Translation: X:84.16, Y:-11.65, Z:-10.66 [[ 9.50479322e-01 2.95567833e-01 9.60662009e-02 8.41597686e+01] [-2.94171901e-01 9.55321260e-01 -2.87085896e-02 -1.16493418e+01] [-1.00259420e-01 -9.73056197e-04 9.94960854e-01 -1.06649223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22964924600001 meters 0.05866880998255452 Centerline is valid? [True, True] Translation: X:84.22, Y:-11.67, Z:-10.67 [[ 9.51508662e-01 2.91766811e-01 9.74853577e-02 8.42172635e+01] [-2.90306707e-01 9.56489320e-01 -2.91581423e-02 -1.16720779e+01] [-1.01751082e-01 -5.56428227e-04 9.94809734e-01 -1.06713159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.289649246 meters 0.05831248997567726 Centerline is valid? [True, True] Translation: X:84.27, Y:-11.70, Z:-10.68 [[ 9.53592945e-01 2.83959985e-01 1.00136021e-01 8.42727554e+01] [-2.82373350e-01 9.58836081e-01 -2.99776721e-02 -1.17001142e+01] [-1.04526489e-01 3.10752804e-04 9.94522054e-01 -1.06759596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.349649246 meters 0.058418342694078494 Centerline is valid? [True, True] Translation: X:84.33, Y:-11.72, Z:-10.68 [[ 9.53312163e-01 2.84854415e-01 1.00269046e-01 8.43333992e+01] [-2.83266156e-01 9.58570763e-01 -3.00396023e-02 -1.17170265e+01] [-1.04671889e-01 2.34291064e-04 9.94506783e-01 -1.06828499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.409649246 meters 0.058301238271118834 Centerline is valid? [True, True] Translation: X:84.39, Y:-11.73, Z:-10.69 [[ 9.52236316e-01 2.87960757e-01 1.01610043e-01 8.43918178e+01] [-2.86343896e-01 9.57642207e-01 -3.04725561e-02 -1.17332960e+01] [-1.06080967e-01 -7.83411632e-05 9.94357492e-01 -1.06900606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.469649246 meters 0.05837715697567798 Centerline is valid? [True, True] Translation: X:84.45, Y:-11.75, Z:-10.70 [[ 9.51466822e-01 2.91384474e-01 9.90251249e-02 8.44514144e+01] [-2.89864974e-01 9.56605931e-01 -2.97218607e-02 -1.17470752e+01] [-1.03388511e-01 -4.24550903e-04 9.94640958e-01 -1.06975569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.529649246 meters 0.05855797297194305 Centerline is valid? [True, True] Translation: X:84.51, Y:-11.76, Z:-10.71 [[ 9.51286419e-01 2.92239277e-01 9.82362116e-02 8.45105537e+01] [-2.90747399e-01 9.56345101e-01 -2.94957275e-02 -1.17612338e+01] [-1.02567530e-01 -5.03037994e-04 9.94725916e-01 -1.07078727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58964924600001 meters 0.05883765891459298 Centerline is valid? [True, True] Translation: X:84.57, Y:-11.78, Z:-10.72 [[ 9.51299478e-01 2.92645274e-01 9.68919299e-02 8.45691411e+01] [-2.91193653e-01 9.56220936e-01 -2.91166423e-02 -1.17768305e+01] [-1.01170940e-01 -5.15668373e-04 9.94868924e-01 -1.07171270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.649649246 meters 0.058575980146863195 Centerline is valid? [True, True] Translation: X:84.63, Y:-11.80, Z:-10.72 [[ 9.53335731e-01 2.84708086e-01 1.00460385e-01 8.46266740e+01] [-2.83101597e-01 9.58614198e-01 -3.02043960e-02 -1.18014514e+01] [-1.04902187e-01 3.54434520e-04 9.94482481e-01 -1.07201073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.709649246 meters 0.05822722793770984 Centerline is valid? [True, True] Translation: X:84.69, Y:-11.81, Z:-10.73 [[ 9.52326371e-01 2.87626277e-01 1.01713366e-01 8.46876832e+01] [-2.85995587e-01 9.57742723e-01 -3.05843174e-02 -1.18115605e+01] [-1.06212089e-01 3.66781758e-05 9.94343497e-01 -1.07279034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.769649246 meters 0.05831276189717224 Centerline is valid? [True, True] Translation: X:84.75, Y:-11.82, Z:-10.73 [[ 9.49903161e-01 2.94692129e-01 1.04117882e-01 8.47497546e+01] [-2.93022509e-01 9.55591960e-01 -3.13339276e-02 -1.18200286e+01] [-1.08728073e-01 -7.44686084e-04 9.94071251e-01 -1.07324583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.829649246 meters 0.059136636148045825 Centerline is valid? [True, True] Translation: X:84.81, Y:-11.83, Z:-10.74 [[ 9.48341633e-01 3.00358118e-01 1.02142779e-01 8.48093588e+01] [-2.98781203e-01 9.53825562e-01 -3.07667036e-02 -1.18301381e+01] [-1.06667423e-01 -1.34099658e-03 9.94293851e-01 -1.07409885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.889649246 meters 0.05952610166985337 Centerline is valid? [True, True] Translation: X:84.87, Y:-11.84, Z:-10.75 [[ 9.47453049e-01 3.04343233e-01 9.85287592e-02 8.48684599e+01] [-3.02896705e-01 9.52560890e-01 -2.96873231e-02 -1.18444762e+01] [-1.02889778e-01 -1.71669165e-03 9.94691282e-01 -1.07501578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.949649246 meters 0.06052722379112333 Centerline is valid? [True, True] Translation: X:84.93, Y:-11.86, Z:-10.77 [[ 9.47373341e-01 3.05980997e-01 9.41242936e-02 8.49276758e+01] [-3.04666648e-01 9.52035948e-01 -2.83863873e-02 -1.18576159e+01] [-9.82954062e-02 -1.78402650e-03 9.95155681e-01 -1.07655638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.009649246 meters 0.06143782090567376 Centerline is valid? [True, True] Translation: X:84.99, Y:-11.87, Z:-10.78 [[ 9.46943027e-01 3.07565932e-01 9.32850557e-02 8.49858394e+01] [-3.06282324e-01 9.51524819e-01 -2.81364127e-02 -1.18737613e+01] [-9.74168477e-02 -1.92798384e-03 9.95241800e-01 -1.07761373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.069649246 meters 0.062003589129747815 Centerline is valid? [True, True] Translation: X:85.04, Y:-11.89, Z:-10.78 [[ 9.46336632e-01 3.09343524e-01 9.35604787e-02 8.50438430e+01] [-3.08058427e-01 9.50948056e-01 -2.82453559e-02 -1.18908890e+01] [-9.77086732e-02 -2.09247890e-03 9.95212860e-01 -1.07826183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.129649246 meters 0.060984840670173 Centerline is valid? [True, True] Translation: X:85.10, Y:-11.91, Z:-10.79 [[ 9.46051155e-01 3.09395223e-01 9.62382887e-02 8.51025501e+01] [-3.08034573e-01 9.50931112e-01 -2.90641123e-02 -1.19112957e+01] [-1.00508280e-01 -2.14858313e-03 9.94933902e-01 -1.07862212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.189649246 meters 0.06201699410079505 Centerline is valid? [True, True] Translation: X:85.16, Y:-11.93, Z:-10.79 [[ 9.45215649e-01 3.11906035e-01 9.63431510e-02 8.51606415e+01] [-3.10552748e-01 9.50109940e-01 -2.91220225e-02 -1.19273476e+01] [-1.00619920e-01 -2.39303886e-03 9.94922060e-01 -1.07942517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.249649246 meters 0.060741109513030314 Centerline is valid? [True, True] Translation: X:85.22, Y:-11.95, Z:-10.80 [[ 9.47270674e-01 3.05507403e-01 9.66617640e-02 8.52153753e+01] [-3.04109379e-01 9.52188192e-01 -2.92426405e-02 -1.19540507e+01] [-1.00974033e-01 -1.69505328e-03 9.94887617e-01 -1.08019325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.309649246 meters 0.06049317985469679 Centerline is valid? [True, True] Translation: X:85.27, Y:-11.98, Z:-10.81 [[ 9.47623505e-01 3.04769520e-01 9.55260793e-02 8.52726383e+01] [-3.03398548e-01 9.52424825e-01 -2.89183987e-02 -1.19760796e+01] [-9.97948558e-02 -1.57871940e-03 9.95006781e-01 -1.08107561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36964924600001 meters 0.06047376471122879 Centerline is valid? [True, True] Translation: X:85.33, Y:-12.00, Z:-10.82 [[ 9.48457977e-01 3.02313947e-01 9.50460005e-02 8.53283176e+01] [-3.00941936e-01 9.53207540e-01 -2.87982073e-02 -1.20021070e+01] [-9.93046641e-02 -1.28943789e-03 9.95056240e-01 -1.08190240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.429649246 meters 0.060660937354429394 Centerline is valid? [True, True] Translation: X:85.39, Y:-12.02, Z:-10.83 [[ 9.48216710e-01 3.02759896e-01 9.60287243e-02 8.53880157e+01] [-3.01358880e-01 9.53065943e-01 -2.91227530e-02 -1.20187676e+01] [-1.00338908e-01 -1.32442774e-03 9.94952436e-01 -1.08279639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.489649246 meters 0.06016758843097251 Centerline is valid? [True, True] Translation: X:85.45, Y:-12.04, Z:-10.83 [[ 9.48871406e-01 3.00837248e-01 9.56033708e-02 8.54463598e+01] [-2.99438443e-01 9.53674847e-01 -2.89983515e-02 -1.20403298e+01] [-9.98983143e-02 -1.11161793e-03 9.94997031e-01 -1.08348870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.549649246 meters 0.06053803874578143 Centerline is valid? [True, True] Translation: X:85.50, Y:-12.06, Z:-10.85 [[ 9.49382236e-01 2.99720511e-01 9.40265185e-02 8.55031693e+01] [-2.98359688e-01 9.54026575e-01 -2.85445553e-02 -1.20596628e+01] [-9.82591861e-02 -9.54028980e-04 9.95160400e-01 -1.08482323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.609649246 meters 0.0601475214920963 Centerline is valid? [True, True] Translation: X:85.56, Y:-12.08, Z:-10.85 [[ 9.50081223e-01 2.97724861e-01 9.33036761e-02 8.55613593e+01] [-2.96373299e-01 9.54651447e-01 -2.83457602e-02 -1.20824062e+01] [-9.75117270e-02 -7.21943716e-04 9.95234114e-01 -1.08541783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.669649246 meters 0.05997892279704904 Centerline is valid? [True, True] Translation: X:85.62, Y:-12.10, Z:-10.86 [[ 9.49848536e-01 2.98230477e-01 9.40549871e-02 8.56199985e+01] [-2.96856690e-01 9.54493591e-01 -2.86022738e-02 -1.21006573e+01] [-9.83049522e-02 -7.53024265e-04 9.95156053e-01 -1.08601316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72964924600001 meters 0.059906640299387505 Centerline is valid? [True, True] Translation: X:85.68, Y:-12.12, Z:-10.87 [[ 9.49841284e-01 2.98016537e-01 9.48033708e-02 8.56795213e+01] [-2.96617208e-01 9.54560441e-01 -2.88547490e-02 -1.21181085e+01] [-9.90947398e-02 -7.12879341e-04 9.95077748e-01 -1.08668054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.789649246 meters 0.06001832049223875 Centerline is valid? [True, True] Translation: X:85.74, Y:-12.14, Z:-10.88 [[ 9.50209119e-01 2.96741256e-01 9.51170725e-02 8.57364068e+01] [-2.95323395e-01 9.54957758e-01 -2.89788385e-02 -1.21381670e+01] [-9.94320033e-02 -5.54340121e-04 9.95044205e-01 -1.08781115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.849649246 meters 0.05950862300575394 Centerline is valid? [True, True] Translation: X:85.79, Y:-12.16, Z:-10.88 [[ 9.50635840e-01 2.95011180e-01 9.62283885e-02 8.57942461e+01] [-2.93549819e-01 9.55493731e-01 -2.93297456e-02 -1.21610050e+01] [-1.00598225e-01 -3.65918680e-04 9.94927064e-01 -1.08810115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.909649246 meters 0.05958269859970531 Centerline is valid? [True, True] Translation: X:85.85, Y:-12.18, Z:-10.89 [[ 9.50653187e-01 2.94882673e-01 9.64506442e-02 8.58540476e+01] [-2.93411372e-01 9.55533411e-01 -2.94222078e-02 -1.21798686e+01] [-1.00837912e-01 -3.29400220e-04 9.94902813e-01 -1.08893766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.969649246 meters 0.059673345017241614 Centerline is valid? [True, True] Translation: X:85.91, Y:-12.20, Z:-10.90 [[ 9.50607368e-01 2.95216025e-01 9.58808133e-02 8.59123603e+01] [-2.93760787e-01 9.55430472e-01 -2.92781948e-02 -1.21975680e+01] [-1.00250843e-01 -3.33955493e-04 9.94962138e-01 -1.08980605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.029649246 meters 0.05968969135852941 Centerline is valid? [True, True] Translation: X:85.97, Y:-12.22, Z:-10.91 [[ 9.50458846e-01 2.96112103e-01 9.45812017e-02 8.59694389e+01] [-2.94698334e-01 9.55153109e-01 -2.89038162e-02 -1.22163542e+01] [-9.88982987e-02 -4.01034781e-04 9.95097465e-01 -1.09074084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08964924600001 meters 0.05963232671424728 Centerline is valid? [True, True] Translation: X:86.03, Y:-12.23, Z:-10.92 [[ 9.50109742e-01 2.96781286e-01 9.59809703e-02 8.60278875e+01] [-2.95326364e-01 9.54945370e-01 -2.93543543e-02 -1.22340588e+01] [-1.00368406e-01 -4.55852972e-04 9.94950238e-01 -1.09150950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.149649246 meters 0.059416151439713766 Centerline is valid? [True, True] Translation: X:86.09, Y:-12.25, Z:-10.92 [[ 9.49912127e-01 2.96875766e-01 9.76305793e-02 8.60870997e+01] [-2.95368232e-01 9.54916005e-01 -2.98836188e-02 -1.22526182e+01] [-1.02100725e-01 -4.50159761e-04 9.94773964e-01 -1.09198423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.209649246 meters 0.05914406724872077 Centerline is valid? [True, True] Translation: X:86.14, Y:-12.28, Z:-10.92 [[ 9.50615034e-01 2.94083341e-01 9.92272397e-02 8.61448732e+01] [-2.92508031e-01 9.55779772e-01 -3.03986751e-02 -1.22764704e+01] [-1.03779132e-01 -1.27326874e-04 9.94600360e-01 -1.09231222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.269649246 meters 0.059210910886869354 Centerline is valid? [True, True] Translation: X:86.20, Y:-12.30, Z:-10.94 [[ 9.50868143e-01 2.93436342e-01 9.87162000e-02 8.62021064e+01] [-2.91871111e-01 9.55978615e-01 -3.02678411e-02 -1.22963725e+01] [-1.03252261e-01 -3.16811349e-05 9.94655201e-01 -1.09356466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.329649246 meters 0.05945592297693428 Centerline is valid? [True, True] Translation: X:86.26, Y:-12.32, Z:-10.94 [[ 9.51394934e-01 2.92349564e-01 9.68473638e-02 8.62599278e+01] [-2.90834524e-01 9.56311518e-01 -2.97247397e-02 -1.23158094e+01] [-1.01306264e-01 1.13409882e-04 9.94855280e-01 -1.09444630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.389649246 meters 0.05947948253459375 Centerline is valid? [True, True] Translation: X:86.32, Y:-12.33, Z:-10.95 [[ 9.51103073e-01 2.93063759e-01 9.75529477e-02 8.63177341e+01] [-2.91529090e-01 9.56092899e-01 -2.99526168e-02 -1.23335302e+01] [-1.02047707e-01 4.85038464e-05 9.94779505e-01 -1.09524438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.449649246 meters 0.05933230219885165 Centerline is valid? [True, True] Translation: X:86.38, Y:-12.35, Z:-10.96 [[ 9.50889899e-01 2.93886734e-01 9.71544531e-02 8.63771981e+01] [-2.92366682e-01 9.55840252e-01 -2.98519034e-02 -1.23537816e+01] [-1.01637215e-01 -1.88516639e-05 9.94821530e-01 -1.09598628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.509649246 meters 0.05945349511116733 Centerline is valid? [True, True] Translation: X:86.44, Y:-12.37, Z:-10.97 [[ 9.51152688e-01 2.93106325e-01 9.69393931e-02 8.64363569e+01] [-2.91586164e-01 9.56079847e-01 -2.98133396e-02 -1.23714783e+01] [-1.01420279e-01 9.08523695e-05 9.94843666e-01 -1.09692300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.569649246 meters 0.05971342041894024 Centerline is valid? [True, True] Translation: X:86.50, Y:-12.39, Z:-10.98 [[ 9.51244711e-01 2.92963020e-01 9.64684824e-02 8.64951838e+01] [-2.91453896e-01 9.56123763e-01 -2.96980751e-02 -1.23892428e+01] [-1.00936246e-01 1.34021805e-04 9.94892887e-01 -1.09785175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.629649246 meters 0.060311393366484396 Centerline is valid? [True, True] Translation: X:86.55, Y:-12.41, Z:-10.98 [[ 9.54328537e-01 2.82605703e-01 9.69074821e-02 8.65516081e+01] [-2.81026741e-01 9.59235334e-01 -2.98587529e-02 -1.24137819e+01] [-1.01395335e-01 1.26146606e-03 9.94845413e-01 -1.09828873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.689649246 meters 0.060648186152463916 Centerline is valid? [True, True] Translation: X:86.61, Y:-12.42, Z:-11.00 [[ 9.53964244e-01 2.84354754e-01 9.53655917e-02 8.66123692e+01] [-2.82832309e-01 9.58718525e-01 -2.94053679e-02 -1.24235602e+01] [-9.97903155e-02 1.07919905e-03 9.95007904e-01 -1.09985453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.749649246 meters 0.06030366021762467 Centerline is valid? [True, True] Translation: X:86.67, Y:-12.44, Z:-11.00 [[ 9.53541995e-01 2.85520838e-01 9.61015816e-02 8.66704435e+01] [-2.83978164e-01 9.58371992e-01 -2.96568377e-02 -1.24427665e+01] [-1.00568709e-01 9.88289453e-04 9.94929625e-01 -1.10019167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.809649246 meters 0.05986059581002871 Centerline is valid? [True, True] Translation: X:86.73, Y:-12.46, Z:-11.01 [[ 9.52687138e-01 2.88036791e-01 9.70671138e-02 8.67311861e+01] [-2.86473668e-01 9.57619049e-01 -2.99765655e-02 -1.24573302e+01] [-1.01587671e-01 7.51116185e-04 9.94826307e-01 -1.10062995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86964924600001 meters 0.0598373007110771 Centerline is valid? [True, True] Translation: X:86.79, Y:-12.47, Z:-11.01 [[ 9.52169424e-01 2.89713132e-01 9.71580607e-02 8.67912408e+01] [-2.88153244e-01 9.57113340e-01 -3.00293658e-02 -1.24725314e+01] [-1.01691178e-01 5.96633648e-04 9.94815836e-01 -1.10135553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.929649246 meters 0.059751932474050196 Centerline is valid? [True, True] Translation: X:86.85, Y:-12.49, Z:-11.02 [[ 9.51844470e-01 2.90768593e-01 9.71891469e-02 8.68516602e+01] [-2.89210797e-01 9.56793274e-01 -3.00623677e-02 -1.24896857e+01] [-1.01731114e-01 5.06547790e-04 9.94811803e-01 -1.10192965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.989649246 meters 0.059925941167295604 Centerline is valid? [True, True] Translation: X:86.91, Y:-12.50, Z:-11.03 [[ 9.50699089e-01 2.94316186e-01 9.77201353e-02 8.69113938e+01] [-2.92756805e-01 9.55708092e-01 -3.02571538e-02 -1.25011437e+01] [-1.02297094e-01 1.57213996e-04 9.94753879e-01 -1.10272710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.049649246 meters 0.06011698138477511 Centerline is valid? [True, True] Translation: X:86.97, Y:-12.51, Z:-11.03 [[ 9.48388561e-01 3.01282084e-01 9.89355534e-02 8.69740271e+01] [-2.99718818e-01 9.53534882e-01 -3.06571110e-02 -1.25086797e+01] [-1.03574940e-01 -5.77993713e-04 9.94621485e-01 -1.10337326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.109649246 meters 0.06000018822054779 Centerline is valid? [True, True] Translation: X:87.03, Y:-12.52, Z:-11.04 [[ 9.47167470e-01 3.04090149e-01 1.01994925e-01 8.70341493e+01] [-3.02441598e-01 9.52642849e-01 -3.16335677e-02 -1.25218494e+01] [-1.06784192e-01 -8.85221693e-04 9.94281828e-01 -1.10363996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.169649246 meters 0.06031203274532215 Centerline is valid? [True, True] Translation: X:87.09, Y:-12.54, Z:-11.05 [[ 9.46982988e-01 3.05044908e-01 1.00850506e-01 8.70945008e+01] [-3.03437336e-01 9.52337474e-01 -3.12908830e-02 -1.25350433e+01] [-1.05588840e-01 -9.69874968e-04 9.94409401e-01 -1.10470347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22964924600001 meters 0.060510431742672136 Centerline is valid? [True, True] Translation: X:87.15, Y:-12.55, Z:-11.06 [[ 9.46721062e-01 3.06271029e-01 9.95855735e-02 8.71540829e+01] [-3.04707804e-01 9.51943756e-01 -3.09231375e-02 -1.25506696e+01] [-1.04270726e-01 -1.06891582e-03 9.94548376e-01 -1.10570964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.289649246 meters 0.060874745405109044 Centerline is valid? [True, True] Translation: X:87.21, Y:-12.57, Z:-11.07 [[ 9.45992961e-01 3.08567867e-01 9.94142315e-02 8.72130076e+01] [-3.07019970e-01 9.51201448e-01 -3.08956928e-02 -1.25657171e+01] [-1.04096379e-01 -1.29504654e-03 9.94566371e-01 -1.10662477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.349649246 meters 0.062107620359913 Centerline is valid? [True, True] Translation: X:87.27, Y:-12.58, Z:-11.07 [[ 9.44562504e-01 3.13631467e-01 9.71441176e-02 8.72729103e+01] [-3.12177917e-01 9.49543104e-01 -3.02132816e-02 -1.25760113e+01] [-1.01718363e-01 -1.78791531e-03 9.94811629e-01 -1.10742066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.409649246 meters 0.06158240364082732 Centerline is valid? [True, True] Translation: X:87.33, Y:-12.59, Z:-11.08 [[ 9.43302679e-01 3.16806900e-01 9.90628291e-02 8.73328850e+01] [-3.15310819e-01 9.48487607e-01 -3.08276874e-02 -1.25931194e+01] [-1.03726290e-01 -2.15574175e-03 9.94603544e-01 -1.10766835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.469649246 meters 0.06314383211524813 Centerline is valid? [True, True] Translation: X:87.39, Y:-12.61, Z:-11.08 [[ 9.42152537e-01 3.19211942e-01 1.02236654e-01 8.73930371e+01] [-3.17629229e-01 9.47680130e-01 -3.18440741e-02 -1.26053629e+01] [-1.07052654e-01 -2.47137422e-03 9.94250281e-01 -1.10840379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.529649246 meters 0.06338079888495396 Centerline is valid? [True, True] Translation: X:87.45, Y:-12.62, Z:-11.09 [[ 9.41988708e-01 3.19662057e-01 1.02339846e-01 8.74523318e+01] [-3.18075842e-01 9.47528324e-01 -3.19035189e-02 -1.26246428e+01] [-1.07168247e-01 -2.49907812e-03 9.94237759e-01 -1.10925624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58964924600001 meters 0.0625477665751373 Centerline is valid? [True, True] Translation: X:87.51, Y:-12.65, Z:-11.10 [[ 9.41585486e-01 3.21045547e-01 1.01717894e-01 8.75100850e+01] [-3.19483687e-01 9.47060148e-01 -3.17372043e-02 -1.26477591e+01] [-1.06522052e-01 -2.61391675e-03 9.94306904e-01 -1.10978926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.649649246 meters 0.06272216573478434 Centerline is valid? [True, True] Translation: X:87.57, Y:-12.67, Z:-11.11 [[ 9.41570196e-01 3.21556524e-01 1.00234563e-01 8.75676420e+01] [-3.20040137e-01 9.46886795e-01 -3.13003034e-02 -1.26685981e+01] [-1.04975601e-01 -2.60765032e-03 9.94471379e-01 -1.11069008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.709649246 meters 0.061658607691556885 Centerline is valid? [True, True] Translation: X:87.62, Y:-12.69, Z:-11.11 [[ 9.42052418e-01 3.20016627e-01 1.00631006e-01 8.76242475e+01] [-3.18476670e-01 9.47408833e-01 -3.14501735e-02 -1.26938793e+01] [-1.05403283e-01 -2.42091577e-03 9.94426612e-01 -1.11128697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.769649246 meters 0.061143679440348514 Centerline is valid? [True, True] Translation: X:87.68, Y:-12.72, Z:-11.12 [[ 9.42942059e-01 3.16451504e-01 1.03531248e-01 8.76797881e+01] [-3.14796556e-01 9.48606469e-01 -3.23866570e-02 -1.27184540e+01] [-1.08459218e-01 -2.05253922e-03 9.94098780e-01 -1.11193143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.829649246 meters 0.06100756867369941 Centerline is valid? [True, True] Translation: X:87.74, Y:-12.74, Z:-11.13 [[ 9.43707079e-01 3.14073491e-01 1.03801697e-01 8.77367440e+01] [-3.12393123e-01 9.49397037e-01 -3.24931069e-02 -1.27402715e+01] [-1.08754247e-01 -1.76296149e-03 9.94067103e-01 -1.11282619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.889649246 meters 0.06039379128613572 Centerline is valid? [True, True] Translation: X:87.79, Y:-12.77, Z:-11.13 [[ 9.43960007e-01 3.13746771e-01 1.02481553e-01 8.77932750e+01] [-3.12104188e-01 9.49505213e-01 -3.21064941e-02 -1.27651640e+01] [-1.07380078e-01 -1.67767548e-03 9.94216628e-01 -1.11341853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.949649246 meters 0.06049058515013969 Centerline is valid? [True, True] Translation: X:87.85, Y:-12.78, Z:-11.15 [[ 9.44046335e-01 3.13825889e-01 1.01438791e-01 8.78518584e+01] [-3.12214294e-01 9.49479125e-01 -3.18060766e-02 -1.27834609e+01] [-1.06295585e-01 -1.64423061e-03 9.94333216e-01 -1.11451514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.009649246 meters 0.06056910198291482 Centerline is valid? [True, True] Translation: X:87.91, Y:-12.80, Z:-11.15 [[ 9.44286604e-01 3.13431460e-01 1.00416780e-01 8.79095787e+01] [-3.11847307e-01 9.49609546e-01 -3.15113905e-02 -1.28035082e+01] [-1.05233394e-01 -1.55891838e-03 9.94446330e-01 -1.11548936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.069649246 meters 0.060032045922804096 Centerline is valid? [True, True] Translation: X:87.97, Y:-12.82, Z:-11.16 [[ 9.44978585e-01 3.11073439e-01 1.01236307e-01 8.79682580e+01] [-3.09446408e-01 9.50385019e-01 -3.17999273e-02 -1.28238617e+01] [-1.06105582e-01 -1.27696130e-03 9.94354049e-01 -1.11637481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.129649246 meters 0.05986457006615308 Centerline is valid? [True, True] Translation: X:88.03, Y:-12.84, Z:-11.17 [[ 9.45520015e-01 3.09346969e-01 1.01470953e-01 8.80250282e+01] [-3.07701725e-01 9.50948625e-01 -3.18804091e-02 -1.28432321e+01] [-1.06355771e-01 -1.07922233e-03 9.94327554e-01 -1.11735436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.189649246 meters 0.06008176286631876 Centerline is valid? [True, True] Translation: X:88.08, Y:-12.86, Z:-11.18 [[ 9.45225489e-01 3.10412936e-01 1.00958327e-01 8.80836373e+01] [-3.08787920e-01 9.50601093e-01 -3.17424342e-02 -1.28624618e+01] [-1.05824358e-01 -1.17095380e-03 9.94384148e-01 -1.11815802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.249649246 meters 0.05955765112849392 Centerline is valid? [True, True] Translation: X:88.14, Y:-12.89, Z:-11.19 [[ 9.46029799e-01 3.08341934e-01 9.97640763e-02 8.81416234e+01] [-3.06741317e-01 9.51275161e-01 -3.13900184e-02 -1.28866898e+01] [-1.04581947e-01 -9.05871357e-04 9.94515860e-01 -1.11875424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.309649246 meters 0.05957638828290517 Centerline is valid? [True, True] Translation: X:88.20, Y:-12.91, Z:-11.20 [[ 9.46895522e-01 3.06512121e-01 9.71554952e-02 8.81984158e+01] [-3.04981447e-01 9.51866530e-01 -3.06010706e-02 -1.29070494e+01] [-1.01858663e-01 -6.54606870e-04 9.94798665e-01 -1.12005546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36964924600001 meters 0.059536709482025524 Centerline is valid? [True, True] Translation: X:88.26, Y:-12.93, Z:-11.21 [[ 9.47036585e-01 3.05820049e-01 9.79581760e-02 8.82569132e+01] [-3.04258727e-01 9.52089161e-01 -3.08683577e-02 -1.29279896e+01] [-1.02705080e-01 -5.71165926e-04 9.94711687e-01 -1.12084578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.429649246 meters 0.058822617844681895 Centerline is valid? [True, True] Translation: X:88.31, Y:-12.95, Z:-11.21 [[ 9.47026227e-01 3.04786189e-01 1.01226010e-01 8.83147405e+01] [-3.03112079e-01 9.52420684e-01 -3.19046696e-02 -1.29533518e+01] [-1.06133848e-01 -4.68267410e-04 9.94351742e-01 -1.12082271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.489649246 meters 0.058722218928558105 Centerline is valid? [True, True] Translation: X:88.37, Y:-12.97, Z:-11.22 [[ 9.47673287e-01 3.02539626e-01 1.01907386e-01 8.83716705e+01] [-3.00826900e-01 9.53136789e-01 -3.21471350e-02 -1.29726930e+01] [-1.06857461e-01 -1.91502071e-04 9.94274332e-01 -1.12186327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.549649246 meters 0.05896873431788925 Centerline is valid? [True, True] Translation: X:88.43, Y:-12.99, Z:-11.23 [[ 9.48361245e-01 3.01398032e-01 9.88441984e-02 8.84287562e+01] [-2.99778403e-01 9.53498414e-01 -3.12039149e-02 -1.29943396e+01] [-1.03652585e-01 -3.87723702e-05 9.94613563e-01 -1.12297832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.609649246 meters 0.05928377910323091 Centerline is valid? [True, True] Translation: X:88.48, Y:-13.02, Z:-11.24 [[ 9.49633953e-01 2.98251662e-01 9.61316908e-02 8.84831990e+01] [-2.96701359e-01 9.54487215e-01 -3.03720161e-02 -1.30204560e+01] [-1.00814974e-01 3.19894403e-04 9.94905141e-01 -1.12414959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.669649246 meters 0.05923908944591404 Centerline is valid? [True, True] Translation: X:88.54, Y:-13.04, Z:-11.25 [[ 9.50317925e-01 2.96176444e-01 9.57880768e-02 8.85411090e+01] [-2.94624469e-01 9.55133080e-01 -3.02856640e-02 -1.30409507e+01] [-1.00460261e-01 5.59498115e-04 9.94940914e-01 -1.12492322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72964924600001 meters 0.05878139895492068 Centerline is valid? [True, True] Translation: X:88.60, Y:-13.06, Z:-11.26 [[ 9.49870069e-01 2.96309921e-01 9.97360682e-02 8.85994536e+01] [-2.94624926e-01 9.55091660e-01 -3.15606571e-02 -1.30568962e+01] [-1.04608823e-01 5.93791905e-04 9.94513269e-01 -1.12553030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.789649246 meters 0.058339018376155446 Centerline is valid? [True, True] Translation: X:88.66, Y:-13.08, Z:-11.26 [[ 9.49151736e-01 2.97605397e-01 1.02674293e-01 8.86590132e+01] [-2.95824451e-01 9.54688845e-01 -3.25131209e-02 -1.30752719e+01] [-1.07698083e-01 4.86318741e-04 9.94183528e-01 -1.12557786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.849649246 meters 0.05809852351013818 Centerline is valid? [True, True] Translation: X:88.72, Y:-13.09, Z:-11.26 [[ 9.48920171e-01 2.97634066e-01 1.04711371e-01 8.87167215e+01] [-2.95778549e-01 9.54679890e-01 -3.31867146e-02 -1.30937068e+01] [-1.09843337e-01 5.20165562e-04 9.93948777e-01 -1.12613320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.909649246 meters 0.05817632500067919 Centerline is valid? [True, True] Translation: X:88.78, Y:-13.11, Z:-11.27 [[ 9.48578217e-01 2.99066436e-01 1.03723829e-01 8.87766590e+01] [-2.97253024e-01 9.54232223e-01 -3.28862382e-02 -1.31098209e+01] [-1.08811790e-01 3.62947430e-04 9.94062303e-01 -1.12697035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.969649246 meters 0.05857924163316181 Centerline is valid? [True, True] Translation: X:88.83, Y:-13.14, Z:-11.27 [[ 9.51120503e-01 2.90317854e-01 1.05286902e-01 8.88312711e+01] [-2.88391974e-01 9.56929221e-01 -3.34145836e-02 -1.31382376e+01] [-1.10452964e-01 1.41739802e-03 9.93880342e-01 -1.12728050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.029649246 meters 0.058870792512837465 Centerline is valid? [True, True] Translation: X:88.89, Y:-13.15, Z:-11.29 [[ 9.51253694e-01 2.91161471e-01 1.01692716e-01 8.88897298e+01] [-2.89368008e-01 9.56673052e-01 -3.22928384e-02 -1.31527058e+01] [-1.06689112e-01 1.29206303e-03 9.94291589e-01 -1.12877763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08964924600001 meters 0.05885846945032456 Centerline is valid? [True, True] Translation: X:88.95, Y:-13.16, Z:-11.30 [[ 9.49645500e-01 2.96976195e-01 9.98927589e-02 8.89497639e+01] [-2.95275501e-01 9.54884662e-01 -3.17436630e-02 -1.31609395e+01] [-1.04813176e-01 6.49342303e-04 9.94491718e-01 -1.13035497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.149649246 meters 0.05831192971563311 Centerline is valid? [True, True] Translation: X:89.01, Y:-13.18, Z:-11.30 [[ 9.48455437e-01 3.00925708e-01 9.93780728e-02 8.90100421e+01] [-2.99261675e-01 9.53647557e-01 -3.16035900e-02 -1.31786374e+01] [-1.04281989e-01 2.34548231e-04 9.94547742e-01 -1.13036866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.209649246 meters 0.058236154221237776 Centerline is valid? [True, True] Translation: X:89.07, Y:-13.19, Z:-11.31 [[ 9.47239896e-01 3.04870866e-01 9.89461224e-02 8.90695320e+01] [-3.03239452e-01 9.52393683e-01 -3.14977493e-02 -1.31924961e+01] [-1.03838408e-01 -1.68443200e-04 9.94594167e-01 -1.13118281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.269649246 meters 0.05821517108983876 Centerline is valid? [True, True] Translation: X:89.13, Y:-13.21, Z:-11.32 [[ 9.46664621e-01 3.06167686e-01 1.00436267e-01 8.91294632e+01] [-3.04490819e-01 9.51977555e-01 -3.20011821e-02 -1.32079746e+01] [-1.05410800e-01 -2.87534435e-04 9.94428721e-01 -1.13191830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.329649246 meters 0.05812917199757889 Centerline is valid? [True, True] Translation: X:89.19, Y:-13.23, Z:-11.33 [[ 9.47251794e-01 3.03990044e-01 1.01509070e-01 8.91853413e+01] [-3.02261581e-01 9.52675208e-01 -3.23710351e-02 -1.32312972e+01] [-1.06545647e-01 -1.87709735e-05 9.94307812e-01 -1.13261486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.389649246 meters 0.05805641965706914 Centerline is valid? [True, True] Translation: X:89.24, Y:-13.25, Z:-11.33 [[ 9.47523972e-01 3.03064127e-01 1.01737203e-01 8.92429579e+01] [-3.01319931e-01 9.52970159e-01 -3.24680764e-02 -1.32545225e+01] [-1.06792428e-01 1.08833700e-04 9.94281331e-01 -1.13335508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.449649246 meters 0.057937722419854405 Centerline is valid? [True, True] Translation: X:89.30, Y:-13.27, Z:-11.34 [[ 9.47301694e-01 3.03961615e-01 1.01127823e-01 8.93019674e+01] [-3.02240220e-01 9.52684279e-01 -3.23034720e-02 -1.32749615e+01] [-1.06161902e-01 3.62382722e-05 9.94348857e-01 -1.13385708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.509649246 meters 0.05817183034528601 Centerline is valid? [True, True] Translation: X:89.36, Y:-13.29, Z:-11.35 [[ 9.46966595e-01 3.05302070e-01 1.00224319e-01 8.93595419e+01] [-3.03615399e-01 9.52255554e-01 -3.20476179e-02 -1.32917708e+01] [-1.05223368e-01 -8.16229523e-05 9.94448609e-01 -1.13482259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.569649246 meters 0.058677973437245595 Centerline is valid? [True, True] Translation: X:89.42, Y:-13.31, Z:-11.36 [[ 9.46538607e-01 3.07276249e-01 9.82139156e-02 8.94187633e+01] [-3.05664851e-01 9.51620320e-01 -3.14287457e-02 -1.33073450e+01] [-1.03119665e-01 -2.72020652e-04 9.94668920e-01 -1.13587987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.629649246 meters 0.058497189985689854 Centerline is valid? [True, True] Translation: X:89.48, Y:-13.33, Z:-11.36 [[ 9.46418077e-01 3.07885851e-01 9.74634561e-02 8.94770906e+01] [-3.06299594e-01 9.51423253e-01 -3.12146207e-02 -1.33279943e+01] [-1.02339538e-01 -3.10935795e-04 9.94749477e-01 -1.13647718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.689649246 meters 0.05859843613371859 Centerline is valid? [True, True] Translation: X:89.53, Y:-13.35, Z:-11.38 [[ 9.46857383e-01 3.06491368e-01 9.75916843e-02 8.95342478e+01] [-3.04890519e-01 9.51873428e-01 -3.12849398e-02 -1.33464751e+01] [-1.02483495e-01 -1.32403052e-04 9.94734696e-01 -1.13754161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.749649246 meters 0.058809725805634046 Centerline is valid? [True, True] Translation: X:89.59, Y:-13.36, Z:-11.38 [[ 9.47075096e-01 3.06182403e-01 9.64422034e-02 8.95925821e+01] [-3.04616065e-01 9.51972861e-01 -3.09309552e-02 -1.33641360e+01] [-1.01280874e-01 -8.39071458e-05 9.94857868e-01 -1.13848983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.809649246 meters 0.05875151540566768 Centerline is valid? [True, True] Translation: X:89.65, Y:-13.39, Z:-11.39 [[ 9.46775260e-01 3.07215279e-01 9.61008776e-02 8.96518679e+01] [-3.05664302e-01 9.51640026e-01 -3.08317403e-02 -1.33851263e+01] [-1.00925423e-01 -1.83878703e-04 9.94893977e-01 -1.13903134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86964924600001 meters 0.058761233187053966 Centerline is valid? [True, True] Translation: X:89.71, Y:-13.40, Z:-11.40 [[ 9.46716016e-01 3.06941625e-01 9.75480630e-02 8.97112319e+01] [-3.05338458e-01 9.51728335e-01 -3.13305413e-02 -1.34031503e+01] [-1.02455903e-01 -1.24049907e-04 9.94737540e-01 -1.13990398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.929649246 meters 0.05859108698166777 Centerline is valid? [True, True] Translation: X:89.77, Y:-13.42, Z:-11.41 [[ 9.46471969e-01 3.07609895e-01 9.78108611e-02 8.97704753e+01] [-3.06001124e-01 9.51512541e-01 -3.14196876e-02 -1.34228325e+01] [-1.02733268e-01 -1.92379854e-04 9.94708922e-01 -1.14053046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.989649246 meters 0.05880269670015807 Centerline is valid? [True, True] Translation: X:89.83, Y:-13.44, Z:-11.41 [[ 9.46301446e-01 3.08578736e-01 9.63988379e-02 8.98278921e+01] [-3.07018025e-01 9.51198767e-01 -3.09973855e-02 -1.34424083e+01] [-1.01259590e-01 -2.63310173e-04 9.94860003e-01 -1.14139181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.049649246 meters 0.05903167416096596 Centerline is valid? [True, True] Translation: X:89.89, Y:-13.46, Z:-11.42 [[ 9.46192469e-01 3.09287898e-01 9.51882719e-02 8.98859403e+01] [-3.07767465e-01 9.50968400e-01 -3.06315051e-02 -1.34600917e+01] [-9.99949925e-02 -3.12553716e-04 9.94987891e-01 -1.14240345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.109649246 meters 0.05876092317361619 Centerline is valid? [True, True] Translation: X:89.94, Y:-13.48, Z:-11.43 [[ 9.46065050e-01 3.09918766e-01 9.43995756e-02 8.99442798e+01] [-3.08424409e-01 9.50762974e-01 -3.03998573e-02 -1.34796020e+01] [-9.91731075e-02 -3.54890821e-04 9.95070133e-01 -1.14295018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.169649246 meters 0.05846300788516403 Centerline is valid? [True, True] Translation: X:90.00, Y:-13.50, Z:-11.44 [[ 9.45903637e-01 3.09629786e-01 9.69314467e-02 9.00029765e+01] [-3.08049686e-01 9.50857140e-01 -3.12424341e-02 -1.34982730e+01] [-1.01841546e-01 -3.07369672e-04 9.94800586e-01 -1.14366406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22964924600001 meters 0.058448418856305265 Centerline is valid? [True, True] Translation: X:90.06, Y:-13.52, Z:-11.44 [[ 9.47425166e-01 3.04313448e-01 9.88882249e-02 9.00604299e+01] [-3.02636939e-01 9.52571907e-01 -3.19005514e-02 -1.35230934e+01] [-1.03905912e-01 2.96155476e-04 9.94587087e-01 -1.14408320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.289649246 meters 0.05864318228015358 Centerline is valid? [True, True] Translation: X:90.12, Y:-13.54, Z:-11.45 [[ 9.47480698e-01 3.04591099e-01 9.74914780e-02 9.01180315e+01] [-3.02960495e-01 9.52483165e-01 -3.14763239e-02 -1.35409929e+01] [-1.02446400e-01 2.87142943e-04 9.94738485e-01 -1.14507247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.349649246 meters 0.05868641108819616 Centerline is valid? [True, True] Translation: X:90.18, Y:-13.56, Z:-11.46 [[ 9.47340459e-01 3.04738192e-01 9.83904895e-02 9.01772517e+01] [-3.03075564e-01 9.52436111e-01 -3.17908200e-02 -1.35584340e+01] [-1.03398532e-01 2.96976865e-04 9.94639963e-01 -1.14600081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.409649246 meters 0.058802811229996345 Centerline is valid? [True, True] Translation: X:90.24, Y:-13.58, Z:-11.47 [[ 9.47387595e-01 3.04565251e-01 9.84720918e-02 9.02350156e+01] [-3.02896278e-01 9.52491413e-01 -3.18426246e-02 -1.35789308e+01] [-1.03491979e-01 3.40477461e-04 9.94630230e-01 -1.14676985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.469649246 meters 0.05857642379938582 Centerline is valid? [True, True] Translation: X:90.29, Y:-13.60, Z:-11.48 [[ 9.47559487e-01 3.04280014e-01 9.76969350e-02 9.02935675e+01] [-3.02632970e-01 9.52582552e-01 -3.16191069e-02 -1.35975741e+01] [-1.02685458e-01 3.94671097e-04 9.94713799e-01 -1.14767960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.529649246 meters 0.05836638656404333 Centerline is valid? [True, True] Translation: X:90.35, Y:-13.62, Z:-11.49 [[ 9.46989901e-01 3.05555654e-01 9.92263556e-02 9.03527086e+01] [-3.03860786e-01 9.52174176e-01 -3.21397215e-02 -1.36151357e+01] [-1.04301247e-01 2.84993294e-04 9.94545710e-01 -1.14853837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58964924600001 meters 0.058464718315317576 Centerline is valid? [True, True] Translation: X:90.41, Y:-13.63, Z:-11.49 [[ 9.46195849e-01 3.08176168e-01 9.86958157e-02 9.04135208e+01] [-3.06511205e-01 9.51329306e-01 -3.19911293e-02 -1.36304105e+01] [-1.03751126e-01 1.85003887e-05 9.94603290e-01 -1.14917486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.649649246 meters 0.05872775981185665 Centerline is valid? [True, True] Translation: X:90.47, Y:-13.65, Z:-11.50 [[ 9.46134274e-01 3.08839924e-01 9.71999811e-02 9.04714515e+01] [-3.07225503e-01 9.51114031e-01 -3.15371150e-02 -1.36479137e+01] [-1.02188186e-01 -2.39677378e-05 9.94765085e-01 -1.15016084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.709649246 meters 0.05856272968511161 Centerline is valid? [True, True] Translation: X:90.53, Y:-13.67, Z:-11.51 [[ 9.45404050e-01 3.10883902e-01 9.77874289e-02 9.05305996e+01] [-3.09257938e-01 9.50447869e-01 -3.17549499e-02 -1.36654185e+01] [-1.02813956e-01 -2.20280300e-04 9.94700579e-01 -1.15081848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.769649246 meters 0.0587524763943007 Centerline is valid? [True, True] Translation: X:90.59, Y:-13.68, Z:-11.51 [[ 9.44647959e-01 3.12660397e-01 9.94168511e-02 9.05894006e+01] [-3.10988742e-01 9.49864888e-01 -3.22908249e-02 -1.36819052e+01] [-1.04528638e-01 -4.14059652e-04 9.94521791e-01 -1.15149588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.829649246 meters 0.058658995041900926 Centerline is valid? [True, True] Translation: X:90.65, Y:-13.70, Z:-11.52 [[ 9.44089265e-01 3.13489476e-01 1.02077462e-01 9.06485145e+01] [-3.11728964e-01 9.49591545e-01 -3.31805662e-02 -1.37004087e+01] [-1.07333653e-01 -4.95084940e-04 9.94222934e-01 -1.15186636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.889649246 meters 0.05862253353906567 Centerline is valid? [True, True] Translation: X:90.71, Y:-13.72, Z:-11.52 [[ 9.42343992e-01 3.18155867e-01 1.03752806e-01 9.07098170e+01] [-3.16362195e-01 9.48037873e-01 -3.37513491e-02 -1.37152746e+01] [-1.09099779e-01 -1.01808442e-03 9.94030282e-01 -1.15240623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.949649246 meters 0.05872717657928214 Centerline is valid? [True, True] Translation: X:90.77, Y:-13.73, Z:-11.53 [[ 9.41922705e-01 3.19703819e-01 1.02815788e-01 9.07675262e+01] [-3.17948198e-01 9.47516824e-01 -3.34785242e-02 -1.37331307e+01] [-1.08122901e-01 -1.15591255e-03 9.94136863e-01 -1.15336124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.009649246 meters 0.05906476288787407 Centerline is valid? [True, True] Translation: X:90.83, Y:-13.75, Z:-11.54 [[ 9.42366341e-01 3.19239206e-01 1.00159918e-01 9.08251558e+01] [-3.17568284e-01 9.47673585e-01 -3.26368208e-02 -1.37543922e+01] [-1.05337861e-01 -1.05177184e-03 9.94435935e-01 -1.15426888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.069649246 meters 0.058901738353376705 Centerline is valid? [True, True] Translation: X:90.88, Y:-13.78, Z:-11.55 [[ 9.43116014e-01 3.16346150e-01 1.02260931e-01 9.08822223e+01] [-3.14584189e-01 9.48643557e-01 -3.33495037e-02 -1.37773286e+01] [-1.07559161e-01 -7.17221096e-04 9.94198427e-01 -1.15507813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.129649246 meters 0.058413941063000976 Centerline is valid? [True, True] Translation: X:90.94, Y:-13.80, Z:-11.56 [[ 9.44117096e-01 3.12941635e-01 1.03491267e-01 9.09392114e+01] [-3.11113436e-01 9.49772309e-01 -3.37785481e-02 -1.38035674e+01] [-1.08863854e-01 -3.06618985e-04 9.94056622e-01 -1.15551613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.189649246 meters 0.05874428260058536 Centerline is valid? [True, True] Translation: X:91.00, Y:-13.82, Z:-11.56 [[ 9.43874530e-01 3.13890130e-01 1.02829266e-01 9.09979778e+01] [-3.12087989e-01 9.49459234e-01 -3.35894508e-02 -1.38225734e+01] [-1.08175594e-01 -3.87551856e-04 9.94131727e-01 -1.15642936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.249649246 meters 0.058950879980642856 Centerline is valid? [True, True] Translation: X:91.06, Y:-13.84, Z:-11.57 [[ 9.43497779e-01 3.15385745e-01 1.01704342e-01 9.10574330e+01] [-3.13628797e-01 9.48963410e-01 -3.32479297e-02 -1.38388206e+01] [-1.06999622e-01 -5.28062636e-04 9.94258921e-01 -1.15739638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.309649246 meters 0.058947715729683 Centerline is valid? [True, True] Translation: X:91.12, Y:-13.86, Z:-11.59 [[ 9.43275759e-01 3.16669532e-01 9.97559528e-02 9.11150200e+01] [-3.14983933e-01 9.48535715e-01 -3.26361730e-02 -1.38555428e+01] [-1.04956966e-01 -6.36611550e-04 9.94476561e-01 -1.15851226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36964924600001 meters 0.05930194920065141 Centerline is valid? [True, True] Translation: X:91.17, Y:-13.87, Z:-11.60 [[ 9.43536566e-01 3.16433116e-01 9.80246523e-02 9.11736874e+01] [-3.14802111e-01 9.48614647e-01 -3.20917844e-02 -1.38742950e+01] [-1.03142524e-01 -5.78595400e-04 9.94666419e-01 -1.15952688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.429649246 meters 0.05920602063916754 Centerline is valid? [True, True] Translation: X:91.23, Y:-13.89, Z:-11.60 [[ 9.43168364e-01 3.17757284e-01 9.72817903e-02 9.12321811e+01] [-3.16155583e-01 9.48171833e-01 -3.18719656e-02 -1.38928474e+01] [-1.02367403e-01 -6.95551573e-04 9.94746415e-01 -1.16012161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.489649246 meters 0.0593230104990412 Centerline is valid? [True, True] Translation: X:91.29, Y:-13.91, Z:-11.61 [[ 9.43184471e-01 3.18077607e-01 9.60712732e-02 9.12899486e+01] [-3.16514651e-01 9.48064423e-01 -3.15011893e-02 -1.39104918e+01] [-1.01101579e-01 -6.96532957e-04 9.94875864e-01 -1.16111780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.549649246 meters 0.0591996782493498 Centerline is valid? [True, True] Translation: X:91.35, Y:-13.93, Z:-11.62 [[ 9.43254783e-01 3.17640391e-01 9.68245683e-02 9.13484102e+01] [-3.16048014e-01 9.48211043e-01 -3.17721618e-02 -1.39296153e+01] [-1.01902247e-01 -6.31968854e-04 9.94794216e-01 -1.16192406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.609649246 meters 0.05925697684423759 Centerline is valid? [True, True] Translation: X:91.41, Y:-13.95, Z:-11.63 [[ 9.43467648e-01 3.17394190e-01 9.55495976e-02 9.14059097e+01] [-3.15839941e-01 9.48293519e-01 -3.13772848e-02 -1.39526307e+01] [-1.00568032e-01 -5.74926163e-04 9.94930018e-01 -1.16250715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.669649246 meters 0.05935137829538761 Centerline is valid? [True, True] Translation: X:91.47, Y:-13.97, Z:-11.63 [[ 9.43461364e-01 3.17357381e-01 9.57337296e-02 9.14650081e+01] [-3.15794519e-01 9.48305853e-01 -3.14615814e-02 -1.39717239e+01] [-1.00769421e-01 -5.49400539e-04 9.94909655e-01 -1.16341095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72964924600001 meters 0.05918501214616923 Centerline is valid? [True, True] Translation: X:91.52, Y:-13.99, Z:-11.64 [[ 9.43428529e-01 3.17360217e-01 9.60473964e-02 9.15232856e+01] [-3.15784132e-01 9.48304918e-01 -3.15937299e-02 -1.39914821e+01] [-1.01108811e-01 -5.23817605e-04 9.94875235e-01 -1.16415812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.789649246 meters 0.059214756863192004 Centerline is valid? [True, True] Translation: X:91.58, Y:-14.01, Z:-11.65 [[ 9.44375249e-01 3.15024000e-01 9.44207021e-02 9.15788119e+01] [-3.13486934e-01 9.49083673e-01 -3.10825262e-02 -1.40143240e+01] [-9.94048886e-02 -2.46087937e-04 9.95047038e-01 -1.16523328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.849649246 meters 0.0592418924492929 Centerline is valid? [True, True] Translation: X:91.64, Y:-14.03, Z:-11.66 [[ 9.44242325e-01 3.15217188e-01 9.51028748e-02 9.16375513e+01] [-3.13656608e-01 9.49019527e-01 -3.13284139e-02 -1.40347620e+01] [-1.00129740e-01 -2.48030694e-04 9.94974358e-01 -1.16555877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.909649246 meters 0.05895788278268418 Centerline is valid? [True, True] Translation: X:91.70, Y:-14.06, Z:-11.66 [[ 9.44407045e-01 3.14360458e-01 9.62955621e-02 9.16950136e+01] [-3.12753249e-01 9.49303684e-01 -3.17477755e-02 -1.40553607e+01] [-1.01393977e-01 -1.33927075e-04 9.94846342e-01 -1.16636557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.969649246 meters 0.05871363272414354 Centerline is valid? [True, True] Translation: X:91.75, Y:-14.08, Z:-11.67 [[ 9.44262246e-01 3.14640420e-01 9.67998802e-02 9.17536206e+01] [-3.13015093e-01 9.49210928e-01 -3.19400167e-02 -1.40753997e+01] [-1.01933124e-01 -1.40071651e-04 9.94791244e-01 -1.16703133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.029649246 meters 0.0588429029141352 Centerline is valid? [True, True] Translation: X:91.81, Y:-14.10, Z:-11.68 [[ 9.44842535e-01 3.13212121e-01 9.57640389e-02 9.18111224e+01] [-3.11611651e-01 9.49683192e-01 -3.16229914e-02 -1.40979229e+01] [-1.00850202e-01 3.75571020e-05 9.94901621e-01 -1.16802123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08964924600001 meters 0.05899054921585961 Centerline is valid? [True, True] Translation: X:91.87, Y:-14.12, Z:-11.69 [[ 9.45397742e-01 3.11787535e-01 9.49296667e-02 9.18669886e+01] [-3.10205204e-01 9.50151824e-01 -3.13726547e-02 -1.41203594e+01] [-9.99791986e-02 2.11960333e-04 9.94989505e-01 -1.16886032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.149649246 meters 0.05884153992073839 Centerline is valid? [True, True] Translation: X:91.93, Y:-14.14, Z:-11.70 [[ 9.45170211e-01 3.12175513e-01 9.59151766e-02 9.19253142e+01] [-3.10559729e-01 9.50024427e-01 -3.17213421e-02 -1.41396807e+01] [-1.01024387e-01 1.94676419e-04 9.94883931e-01 -1.16977796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.209649246 meters 0.05869814090669339 Centerline is valid? [True, True] Translation: X:91.98, Y:-14.16, Z:-11.70 [[ 9.44207033e-01 3.14924659e-01 9.64133703e-02 9.19849184e+01] [-3.13303805e-01 9.49116670e-01 -3.19103824e-02 -1.41553896e+01] [-1.01556903e-01 -7.66682598e-05 9.94829729e-01 -1.17039222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.269649246 meters 0.05866884237057145 Centerline is valid? [True, True] Translation: X:92.05, Y:-14.17, Z:-11.71 [[ 9.43259472e-01 3.17655648e-01 9.67287815e-02 9.20457822e+01] [-3.16035953e-01 9.48206079e-01 -3.20391705e-02 -1.41701572e+01] [-1.01896242e-01 -3.48521656e-04 9.94794971e-01 -1.17105122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.329649246 meters 0.058215530529335986 Centerline is valid? [True, True] Translation: X:92.10, Y:-14.19, Z:-11.72 [[ 9.43002569e-01 3.18239553e-01 9.73126010e-02 9.21041085e+01] [-3.16600147e-01 9.48010252e-01 -3.22631117e-02 -1.41897057e+01] [-1.02520742e-01 -3.84986555e-04 9.94730792e-01 -1.17180198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.389649246 meters 0.058384593095283446 Centerline is valid? [True, True] Translation: X:92.16, Y:-14.21, Z:-11.73 [[ 9.43133083e-01 3.17654657e-01 9.79566580e-02 9.21614082e+01] [-3.15987541e-01 9.48206428e-01 -3.25029860e-02 -1.42089605e+01] [-1.03207858e-01 -2.98442014e-04 9.94659765e-01 -1.17264877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.449649246 meters 0.058527790759260366 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.23, Z:-11.73 [[ 9.43347090e-01 3.16722707e-01 9.89090195e-02 9.22194969e+01] [-3.15015327e-01 9.48518158e-01 -3.28427741e-02 -1.42295375e+01] [-1.04219053e-01 -1.75721709e-04 9.94554351e-01 -1.17320243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.509649246 meters 0.05849877090238204 Centerline is valid? [True, True] Translation: X:92.28, Y:-14.25, Z:-11.74 [[ 9.44882075e-01 3.12546860e-01 9.75311429e-02 9.22773213e+01] [-3.10862088e-01 9.49902294e-01 -3.24097942e-02 -1.42519888e+01] [-1.02774636e-01 3.04698821e-04 9.94704620e-01 -1.17383088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.569649246 meters 0.058716137543393734 Centerline is valid? [True, True] Translation: X:92.34, Y:-14.27, Z:-11.75 [[ 9.44221931e-01 3.15461000e-01 9.44949837e-02 9.23354149e+01] [-3.13891823e-01 9.48938543e-01 -3.14255644e-02 -1.42662740e+01] [-9.95834721e-02 1.15044438e-05 9.95029212e-01 -1.17531627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.629649246 meters 0.059118152897330994 Centerline is valid? [True, True] Translation: X:92.40, Y:-14.28, Z:-11.76 [[ 9.43549687e-01 3.17308703e-01 9.50219664e-02 9.23954168e+01] [-3.15728588e-01 9.48322288e-01 -3.16274786e-02 -1.42825797e+01] [-1.00147123e-01 -1.59053653e-04 9.94972627e-01 -1.17613841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.689649246 meters 0.05851636196181379 Centerline is valid? [True, True] Translation: X:92.46, Y:-14.30, Z:-11.76 [[ 9.42496441e-01 3.19987984e-01 9.64787477e-02 9.24560923e+01] [-3.18372453e-01 9.47421496e-01 -3.21168260e-02 -1.42991405e+01] [-1.01683038e-01 -4.46181318e-04 9.94816747e-01 -1.17612092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.749649246 meters 0.058201748041293896 Centerline is valid? [True, True] Translation: X:92.52, Y:-14.32, Z:-11.77 [[ 9.41164589e-01 3.23267768e-01 9.85249524e-02 9.25159766e+01] [-3.21597755e-01 9.46307205e-01 -3.28261901e-02 -1.43152721e+01] [-1.03846521e-01 -7.90555712e-04 9.94593020e-01 -1.17654429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.809649246 meters 0.0586290892528674 Centerline is valid? [True, True] Translation: X:92.58, Y:-14.33, Z:-11.77 [[ 9.39602446e-01 3.27555287e-01 9.92712271e-02 9.25759438e+01] [-3.25880699e-01 9.44831190e-01 -3.31027417e-02 -1.43279758e+01] [-1.04637530e-01 -1.24715983e-03 9.94509644e-01 -1.17746312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86964924600001 meters 0.05971041990247843 Centerline is valid? [True, True] Translation: X:92.64, Y:-14.34, Z:-11.79 [[ 9.38087750e-01 3.32182804e-01 9.82138380e-02 9.26359449e+01] [-3.30566490e-01 9.43213456e-01 -3.27745604e-02 -1.43394630e+01] [-1.03523759e-01 -1.72079011e-03 9.94625492e-01 -1.17860312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.929649246 meters 0.05982996589100049 Centerline is valid? [True, True] Translation: X:92.69, Y:-14.36, Z:-11.79 [[ 9.38138266e-01 3.32435634e-01 9.68666234e-02 9.26943591e+01] [-3.30862388e-01 9.43124410e-01 -3.23485407e-02 -1.43573010e+01] [-1.02111085e-01 -1.70211841e-03 9.94771546e-01 -1.17943623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.989649246 meters 0.05999375608851116 Centerline is valid? [True, True] Translation: X:92.75, Y:-14.38, Z:-11.80 [[ 9.37850597e-01 3.33720585e-01 9.52198945e-02 9.27528932e+01] [-3.32204593e-01 9.42670344e-01 -3.18234184e-02 -1.43754593e+01] [-1.00381101e-01 -1.78687434e-03 9.94947457e-01 -1.18039718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.049649246 meters 0.0601485302392082 Centerline is valid? [True, True] Translation: X:92.81, Y:-14.40, Z:-11.81 [[ 9.38292014e-01 3.32397488e-01 9.54987309e-02 9.28097807e+01] [-3.30863116e-01 9.43137990e-01 -3.19426133e-02 -1.43955579e+01] [-1.00686125e-01 -1.62550874e-03 9.94916912e-01 -1.18133010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.109649246 meters 0.05966514063757807 Centerline is valid? [True, True] Translation: X:92.87, Y:-14.42, Z:-11.82 [[ 9.38288224e-01 3.32348802e-01 9.57051798e-02 9.28671176e+01] [-3.30805243e-01 9.43155186e-01 -3.20341329e-02 -1.44190775e+01] [-1.00911342e-01 -1.60252555e-03 9.94894132e-01 -1.18162969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.169649246 meters 0.059160640314161676 Centerline is valid? [True, True] Translation: X:92.92, Y:-14.44, Z:-11.82 [[ 9.39292373e-01 3.28997486e-01 9.74191614e-02 9.29234748e+01] [-3.27377188e-01 9.44329985e-01 -3.26352095e-02 -1.44424519e+01] [-1.02732737e-01 -1.23880780e-03 9.94708224e-01 -1.18243519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22964924600001 meters 0.058819027994109825 Centerline is valid? [True, True] Translation: X:92.98, Y:-14.47, Z:-11.83 [[ 9.40126015e-01 3.26768354e-01 9.68788861e-02 9.29803659e+01] [-3.25151665e-01 9.45103968e-01 -3.24789950e-02 -1.44657581e+01] [-1.02173727e-01 -9.65983026e-04 9.94766101e-01 -1.18324878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.289649246 meters 0.05886979657940165 Centerline is valid? [True, True] Translation: X:93.04, Y:-14.49, Z:-11.84 [[ 9.40394913e-01 3.25602644e-01 9.81851643e-02 9.30362024e+01] [-3.23932655e-01 9.45506340e-01 -3.29453316e-02 -1.44891720e+01] [-1.03561782e-01 -8.23758795e-04 9.94622682e-01 -1.18399354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.349649246 meters 0.05862844689635607 Centerline is valid? [True, True] Translation: X:93.09, Y:-14.51, Z:-11.85 [[ 9.40547506e-01 3.24932474e-01 9.89407724e-02 9.30938375e+01] [-3.23231580e-01 9.45736927e-01 -3.32116216e-02 -1.45127547e+01] [-1.04363476e-01 -7.43674247e-04 9.94538944e-01 -1.18450908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.409649246 meters 0.058401916270991075 Centerline is valid? [True, True] Translation: X:93.15, Y:-14.53, Z:-11.85 [[ 9.40715645e-01 3.24555113e-01 9.85801855e-02 9.31525118e+01] [-3.22861923e-01 9.45866546e-01 -3.31158015e-02 -1.45334117e+01] [-1.03991602e-01 -6.75235653e-04 9.94577946e-01 -1.18547326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.469649246 meters 0.05887983236377386 Centerline is valid? [True, True] Translation: X:93.21, Y:-14.55, Z:-11.87 [[ 9.40560165e-01 3.25353170e-01 9.74263333e-02 9.32096411e+01] [-3.23700412e-01 9.45592297e-01 -3.27605247e-02 -1.45507987e+01] [-1.02784331e-01 -7.23699752e-04 9.94703402e-01 -1.18658962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.529649246 meters 0.059063109918937165 Centerline is valid? [True, True] Translation: X:93.27, Y:-14.57, Z:-11.88 [[ 9.41516555e-01 3.23694130e-01 9.36412612e-02 9.32660100e+01] [-3.22158567e-01 9.46161639e-01 -3.14962114e-02 -1.45735852e+01] [-9.87949079e-02 -5.13129977e-04 9.95107684e-01 -1.18790786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58964924600001 meters 0.058972601229307565 Centerline is valid? [True, True] Translation: X:93.32, Y:-14.60, Z:-11.88 [[ 9.41911580e-01 3.22798056e-01 9.27576915e-02 9.33240876e+01] [-3.21284812e-01 9.46467781e-01 -3.12219371e-02 -1.45959920e+01] [-9.78705470e-02 -3.93333378e-04 9.95199076e-01 -1.18846224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.649649246 meters 0.05891667043659954 Centerline is valid? [True, True] Translation: X:93.38, Y:-14.62, Z:-11.89 [[ 9.42567453e-01 3.20560653e-01 9.38480965e-02 9.33800423e+01] [-3.18997830e-01 9.47227982e-01 -3.16154358e-02 -1.46195628e+01] [-9.90302078e-02 -1.37658293e-04 9.95084418e-01 -1.18934496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.709649246 meters 0.05902532978454203 Centerline is valid? [True, True] Translation: X:93.44, Y:-14.65, Z:-11.90 [[ 9.43074457e-01 3.18758621e-01 9.48868310e-02 9.34361365e+01] [-3.17149431e-01 9.47835922e-01 -3.19891009e-02 -1.46456931e+01] [-1.00133949e-01 7.47994363e-05 9.94973963e-01 -1.18996683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.769649246 meters 0.05876650175420203 Centerline is valid? [True, True] Translation: X:93.49, Y:-14.67, Z:-11.90 [[ 9.44054798e-01 3.15187313e-01 9.70437863e-02 9.34921755e+01] [-3.13482453e-01 9.49029356e-01 -3.27419112e-02 -1.46733977e+01] [-1.02417237e-01 4.88634200e-04 9.94741409e-01 -1.19022027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.829649246 meters 0.05893237652720575 Centerline is valid? [True, True] Translation: X:93.55, Y:-14.70, Z:-11.91 [[ 9.45007333e-01 3.12718056e-01 9.57525835e-02 9.35478344e+01] [-3.11043117e-01 9.49845684e-01 -3.23319612e-02 -1.46977139e+01] [-1.01060966e-01 7.70758365e-04 9.94879936e-01 -1.19116031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.889649246 meters 0.05927304628130666 Centerline is valid? [True, True] Translation: X:93.60, Y:-14.72, Z:-11.92 [[ 9.44661741e-01 3.13542359e-01 9.64644161e-02 9.36047974e+01] [-3.11844200e-01 9.49573949e-01 -3.25961687e-02 -1.47170713e+01] [-1.01820376e-01 7.10484762e-04 9.94802546e-01 -1.19197620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.949649246 meters 0.05918779629122078 Centerline is valid? [True, True] Translation: X:93.66, Y:-14.73, Z:-11.93 [[ 9.44349260e-01 3.14566609e-01 9.61889963e-02 9.36639008e+01] [-3.12881219e-01 9.49235200e-01 -3.25250284e-02 -1.47349331e+01] [-1.01537269e-01 6.19256082e-04 9.94831543e-01 -1.19294415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.009649246 meters 0.059448071330034026 Centerline is valid? [True, True] Translation: X:93.72, Y:-14.75, Z:-11.94 [[ 9.44763209e-01 3.13896208e-01 9.42955398e-02 9.37221580e+01] [-3.12270577e-01 9.49457042e-01 -3.19125649e-02 -1.47544885e+01] [-9.95467974e-02 7.04094619e-04 9.95032632e-01 -1.19398003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.069649246 meters 0.0594700378779527 Centerline is valid? [True, True] Translation: X:93.78, Y:-14.77, Z:-11.95 [[ 9.44244061e-01 3.15108688e-01 9.54445784e-02 9.37811840e+01] [-3.13446812e-01 9.49055397e-01 -3.23256692e-02 -1.47730723e+01] [-1.00768291e-01 6.06522319e-04 9.94909736e-01 -1.19452014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.129649246 meters 0.060331358492960487 Centerline is valid? [True, True] Translation: X:93.84, Y:-14.80, Z:-11.95 [[ 9.46741674e-01 3.07376987e-01 9.59144969e-02 9.38362395e+01] [-3.05656404e-01 9.51586702e-01 -3.25101875e-02 -1.48011325e+01] [-1.01263843e-01 1.46186918e-03 9.94858531e-01 -1.19505308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.189649246 meters 0.05968500059379487 Centerline is valid? [True, True] Translation: X:93.90, Y:-14.81, Z:-11.96 [[ 9.45849316e-01 3.09830598e-01 9.68197902e-02 9.38975076e+01] [-3.08087764e-01 9.50790977e-01 -3.28397312e-02 -1.48130920e+01] [-1.02230136e-01 1.23244459e-03 9.94760011e-01 -1.19572656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.249649246 meters 0.059305408462552264 Centerline is valid? [True, True] Translation: X:93.96, Y:-14.83, Z:-11.96 [[ 9.44969171e-01 3.12465516e-01 9.69462091e-02 9.39574728e+01] [-3.10729047e-01 9.49928602e-01 -3.29106376e-02 -1.48297431e+01] [-1.02375416e-01 9.75534745e-04 9.94745356e-01 -1.19648195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.309649246 meters 0.05946471788068775 Centerline is valid? [True, True] Translation: X:94.02, Y:-14.84, Z:-11.98 [[ 9.43726291e-01 3.17031139e-01 9.41910050e-02 9.40165888e+01] [-3.15413829e-01 9.48415009e-01 -3.19857288e-02 -1.48422793e+01] [-9.94726349e-02 4.76627667e-04 9.95040184e-01 -1.19773764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36964924600001 meters 0.05937011944185894 Centerline is valid? [True, True] Translation: X:94.08, Y:-14.85, Z:-11.99 [[ 9.42861280e-01 3.19585073e-01 9.42230720e-02 9.40766505e+01] [-3.17977174e-01 9.47557560e-01 -3.20185527e-02 -1.48548126e+01] [-9.95144357e-02 2.28267413e-04 9.95036092e-01 -1.19866247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.429649246 meters 0.0595341536356071 Centerline is valid? [True, True] Translation: X:94.14, Y:-14.87, Z:-12.00 [[ 9.41994158e-01 3.22307046e-01 9.36225079e-02 9.41360481e+01] [-3.20730687e-01 9.46635182e-01 -3.18380219e-02 -1.48710827e+01] [-9.88879786e-02 -3.63806505e-05 9.95098571e-01 -1.19956268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.489649246 meters 0.05941387145704362 Centerline is valid? [True, True] Translation: X:94.19, Y:-14.89, Z:-12.00 [[ 9.41333879e-01 3.24249803e-01 9.35553010e-02 9.41946072e+01] [-3.22682781e-01 9.45971468e-01 -3.18402968e-02 -1.48908393e+01] [-9.88248554e-02 -2.16334550e-04 9.95104819e-01 -1.20020066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.549649246 meters 0.05922365862498954 Centerline is valid? [True, True] Translation: X:94.25, Y:-14.91, Z:-12.01 [[ 9.40926871e-01 3.25660493e-01 9.27462555e-02 9.42531881e+01] [-3.24125960e-01 9.45486712e-01 -3.15790974e-02 -1.49091537e+01] [-9.79744166e-02 -3.47847850e-04 9.95188873e-01 -1.20093668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.609649246 meters 0.05957380163509163 Centerline is valid? [True, True] Translation: X:94.31, Y:-14.92, Z:-12.02 [[ 9.39954065e-01 3.28810004e-01 9.14895447e-02 9.43117701e+01] [-3.27329291e-01 9.44395875e-01 -3.11763862e-02 -1.49231458e+01] [-9.66534563e-02 -6.42836920e-04 9.95317887e-01 -1.20189702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.669649246 meters 0.05956668378546395 Centerline is valid? [True, True] Translation: X:94.37, Y:-14.94, Z:-12.02 [[ 9.38816856e-01 3.31619696e-01 9.30123030e-02 9.43707538e+01] [-3.30101397e-01 9.43412692e-01 -3.17105809e-02 -1.49403530e+01] [-9.82648403e-02 -9.33063311e-04 9.95159862e-01 -1.20245622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72964924600001 meters 0.05946236682930557 Centerline is valid? [True, True] Translation: X:94.43, Y:-14.96, Z:-12.03 [[ 9.39049487e-01 3.30375741e-01 9.50680324e-02 9.44276180e+01] [-3.28780565e-01 9.43849159e-01 -3.24361803e-02 -1.49609740e+01] [-1.00446009e-01 -7.97342924e-04 9.94942191e-01 -1.20318468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.789649246 meters 0.059263982312667725 Centerline is valid? [True, True] Translation: X:94.49, Y:-14.98, Z:-12.04 [[ 9.38872237e-01 3.31034663e-01 9.45249948e-02 9.44858192e+01] [-3.29458936e-01 9.43618218e-01 -3.22717844e-02 -1.49834374e+01] [-9.98785864e-02 -8.43021832e-04 9.94999275e-01 -1.20366653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.849649246 meters 0.05931541156527311 Centerline is valid? [True, True] Translation: X:94.54, Y:-15.01, Z:-12.05 [[ 9.39301467e-01 3.30114651e-01 9.34723025e-02 9.45417003e+01] [-3.28566782e-01 9.43940575e-01 -3.19383780e-02 -1.50060869e+01] [-9.87756256e-02 -7.12128358e-04 9.95109476e-01 -1.20461373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.909649246 meters 0.05940135047516116 Centerline is valid? [True, True] Translation: X:94.60, Y:-15.03, Z:-12.06 [[ 9.40091481e-01 3.28160786e-01 9.24040397e-02 9.45984335e+01] [-3.26637797e-01 9.44621753e-01 -3.15831088e-02 -1.50286294e+01] [-9.76512038e-02 -4.91640470e-04 9.95220579e-01 -1.20567362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.969649246 meters 0.05917890014420282 Centerline is valid? [True, True] Translation: X:94.66, Y:-15.05, Z:-12.06 [[ 9.40053859e-01 3.27959078e-01 9.34964437e-02 9.46564644e+01] [-3.26396458e-01 9.44691821e-01 -3.19799165e-02 -1.50479082e+01] [-9.88134296e-02 -4.54064159e-04 9.95105874e-01 -1.20648023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.029649246 meters 0.05905016594907874 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.07, Z:-12.07 [[ 9.40052666e-01 3.27838269e-01 9.39311115e-02 9.47148407e+01] [-3.26258168e-01 9.44733767e-01 -3.21514607e-02 -1.50697710e+01] [-9.92803721e-02 -4.21725979e-04 9.95059410e-01 -1.20691733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08964924600001 meters 0.05932236137452204 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.09, Z:-12.08 [[ 9.39921512e-01 3.27998148e-01 9.46824516e-02 9.47726537e+01] [-3.26391004e-01 9.44678273e-01 -3.24325984e-02 -1.50903696e+01] [-1.00082287e-01 -4.19403566e-04 9.94979075e-01 -1.20775785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.149649246 meters 0.05921531319854413 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.11, Z:-12.08 [[ 9.40189828e-01 3.27414320e-01 9.40369665e-02 9.48300157e+01] [-3.25823863e-01 9.44880814e-01 -3.22344310e-02 -1.51124828e+01] [-9.94077397e-02 -3.33003545e-04 9.95046728e-01 -1.20835735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.209649246 meters 0.059351202042839946 Centerline is valid? [True, True] Translation: X:94.89, Y:-15.13, Z:-12.09 [[ 9.40148121e-01 3.27469911e-01 9.42601117e-02 9.48872679e+01] [-3.25869770e-01 9.44861554e-01 -3.23347447e-02 -1.51344327e+01] [-9.96514117e-02 -3.17071480e-04 9.95022359e-01 -1.20914626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.269649246 meters 0.059469896047799835 Centerline is valid? [True, True] Translation: X:94.95, Y:-15.16, Z:-12.10 [[ 9.40057847e-01 3.27925033e-01 9.35757307e-02 9.49452500e+01] [-3.26347834e-01 9.44703688e-01 -3.21252753e-02 -1.51555285e+01] [-9.89360199e-02 -3.38619905e-04 9.95093739e-01 -1.20982458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.329649246 meters 0.059592120294093776 Centerline is valid? [True, True] Translation: X:95.00, Y:-15.18, Z:-12.11 [[ 9.40630188e-01 3.26853799e-01 9.15502251e-02 9.50018505e+01] [-3.25336923e-01 9.45074894e-01 -3.14536453e-02 -1.51769832e+01] [-9.68025628e-02 -1.98420211e-04 9.95303584e-01 -1.21091103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.389649246 meters 0.05938668308124267 Centerline is valid? [True, True] Translation: X:95.06, Y:-15.20, Z:-12.11 [[ 9.40558147e-01 3.27340886e-01 9.05445499e-02 9.50600275e+01] [-3.25857488e-01 9.44906288e-01 -3.11288354e-02 -1.51981496e+01] [-9.57458551e-02 -2.26139842e-04 9.95405787e-01 -1.21142310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.449649246 meters 0.05950739297401622 Centerline is valid? [True, True] Translation: X:95.12, Y:-15.22, Z:-12.12 [[ 9.40404905e-01 3.27608657e-01 9.11656867e-02 9.51177763e+01] [-3.26103708e-01 9.44813481e-01 -3.13665114e-02 -1.52189451e+01] [-9.64105105e-02 -2.32247285e-04 9.95341630e-01 -1.21218414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.509649246 meters 0.05953595611904666 Centerline is valid? [True, True] Translation: X:95.17, Y:-15.25, Z:-12.12 [[ 9.42519589e-01 3.20793829e-01 9.35315131e-02 9.51730198e+01] [-3.19173508e-01 9.47148915e-01 -3.22056561e-02 -1.52482134e+01] [-9.89196469e-02 5.01680671e-04 9.95095298e-01 -1.21249933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.569649246 meters 0.05998315742306124 Centerline is valid? [True, True] Translation: X:95.23, Y:-15.27, Z:-12.13 [[ 9.44391889e-01 3.14246457e-01 9.68148958e-02 9.52302653e+01] [-3.12472971e-01 9.49340607e-01 -3.33624664e-02 -1.52729445e+01] [-1.02394349e-01 1.25520457e-03 9.94743093e-01 -1.21282887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.629649246 meters 0.06026752130780189 Centerline is valid? [True, True] Translation: X:95.29, Y:-15.28, Z:-12.14 [[ 9.44743755e-01 3.14287447e-01 9.31806731e-02 9.52914994e+01] [-3.12642776e-01 9.49327076e-01 -3.21340617e-02 -1.52830784e+01] [-9.85582681e-02 1.22618984e-03 9.95130526e-01 -1.21417484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.689649246 meters 0.060435266647203174 Centerline is valid? [True, True] Translation: X:95.35, Y:-15.28, Z:-12.16 [[ 9.41914320e-01 3.24442361e-01 8.68018969e-02 9.53546973e+01] [-3.23057159e-01 9.45905453e-01 -2.99490523e-02 -1.52830658e+01] [-9.18231288e-02 1.67467015e-04 9.95775319e-01 -1.21608053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.749649246 meters 0.06042132755218694 Centerline is valid? [True, True] Translation: X:95.41, Y:-15.30, Z:-12.17 [[ 9.39993918e-01 3.29795521e-01 8.74433987e-02 9.54144035e+01] [-3.28410843e-01 9.44052329e-01 -3.01913487e-02 -1.52964788e+01] [-9.25081158e-02 -3.37676121e-04 9.95711873e-01 -1.21677055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.809649246 meters 0.05980598717673181 Centerline is valid? [True, True] Translation: X:95.48, Y:-15.31, Z:-12.17 [[ 9.38089126e-01 3.34853711e-01 8.86667018e-02 9.54760323e+01] [-3.33450512e-01 9.42269763e-01 -3.06341385e-02 -1.53100534e+01] [-9.38059070e-02 -8.28404883e-04 9.95590159e-01 -1.21676586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86964924600001 meters 0.06030624710571811 Centerline is valid? [True, True] Translation: X:95.54, Y:-15.32, Z:-12.18 [[ 9.37207702e-01 3.36871522e-01 9.03288480e-02 9.55353891e+01] [-3.35422030e-01 9.41550065e-01 -3.12335871e-02 -1.53232428e+01] [-9.55708388e-02 -1.02592718e-03 9.95422103e-01 -1.21782775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.929649246 meters 0.060254479232203895 Centerline is valid? [True, True] Translation: X:95.59, Y:-15.34, Z:-12.18 [[ 9.36107294e-01 3.39514611e-01 9.18311620e-02 9.55942771e+01] [-3.38026887e-01 9.40599888e-01 -3.17753904e-02 -1.53441215e+01] [-9.71645900e-02 -1.29622707e-03 9.95267483e-01 -1.21789498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.989649246 meters 0.059957300478820114 Centerline is valid? [True, True] Translation: X:95.65, Y:-15.36, Z:-12.18 [[ 9.35137321e-01 3.41183515e-01 9.54567985e-02 9.56529600e+01] [-3.39581738e-01 9.39995504e-01 -3.30559391e-02 -1.53623254e+01] [-1.01007103e-01 -1.50354316e-03 9.94884568e-01 -1.21832651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.049649246 meters 0.059844585209743735 Centerline is valid? [True, True] Translation: X:95.71, Y:-15.38, Z:-12.19 [[ 9.34717953e-01 3.41906924e-01 9.69639303e-02 9.57101579e+01] [-3.40255280e-01 9.39732489e-01 -3.36034781e-02 -1.53826246e+01] [-1.02609417e-01 -1.58271503e-03 9.94720464e-01 -1.21904055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.109649246 meters 0.0598303748862871 Centerline is valid? [True, True] Translation: X:95.77, Y:-15.41, Z:-12.20 [[ 9.34527256e-01 3.42224057e-01 9.76806151e-02 9.57673666e+01] [-3.40547237e-01 9.39617001e-01 -3.38743431e-02 -1.54062872e+01] [-1.03374982e-01 -1.60836674e-03 9.94641155e-01 -1.21969295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.169649246 meters 0.060000434784328316 Centerline is valid? [True, True] Translation: X:95.83, Y:-15.43, Z:-12.20 [[ 9.33707742e-01 3.44417150e-01 9.78094009e-02 9.58256400e+01] [-3.42745244e-01 9.38814933e-01 -3.39443430e-02 -1.54259771e+01] [-1.03515940e-01 -1.82961111e-03 9.94626112e-01 -1.22047217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22964924600001 meters 0.0604545455416856 Centerline is valid? [True, True] Translation: X:95.88, Y:-15.44, Z:-12.21 [[ 9.32795599e-01 3.46682964e-01 9.85052928e-02 9.58832445e+01] [-3.44996992e-01 9.37980080e-01 -3.42117492e-02 -1.54440198e+01] [-1.04256633e-01 -2.07146063e-03 9.94548271e-01 -1.22134772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.289649246 meters 0.05981191081292853 Centerline is valid? [True, True] Translation: X:95.94, Y:-15.47, Z:-12.22 [[ 9.34011817e-01 3.44071027e-01 9.61095910e-02 9.59397363e+01] [-3.42450350e-01 9.38942054e-01 -3.34002424e-02 -1.54713126e+01] [-1.01733393e-01 -1.71654204e-03 9.94810218e-01 -1.22221050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.349649246 meters 0.05974270818718679 Centerline is valid? [True, True] Translation: X:96.00, Y:-15.49, Z:-12.23 [[ 9.34559938e-01 3.42664595e-01 9.58055237e-02 9.59964150e+01] [-3.41043835e-01 9.39456562e-01 -3.33237304e-02 -1.54938599e+01] [-1.01423990e-01 -1.53085978e-03 9.94842113e-01 -1.22306881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.409649246 meters 0.05943888463864304 Centerline is valid? [True, True] Translation: X:96.05, Y:-15.52, Z:-12.24 [[ 9.34971433e-01 3.41355152e-01 9.64628383e-02 9.60543151e+01] [-3.39702517e-01 9.39933386e-01 -3.35772252e-02 -1.55154409e+01] [-1.02130401e-01 -1.37492258e-03 9.94770069e-01 -1.22386526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.469649246 meters 0.05901913721249975 Centerline is valid? [True, True] Translation: X:96.11, Y:-15.54, Z:-12.24 [[ 9.34834541e-01 3.40902655e-01 9.93466639e-02 9.61115348e+01] [-3.39143981e-01 9.40097647e-01 -3.46088749e-02 -1.55372802e+01] [-1.05193822e-01 -1.33925137e-03 9.94450836e-01 -1.22427591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.529649246 meters 0.05906535596360871 Centerline is valid? [True, True] Translation: X:96.17, Y:-15.56, Z:-12.25 [[ 9.34051057e-01 3.42569626e-01 1.00968677e-01 9.61696367e+01] [-3.40761230e-01 9.39491181e-01 -3.51867105e-02 -1.55582943e+01] [-1.06913080e-01 -1.54002633e-03 9.94267178e-01 -1.22463262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58964924600001 meters 0.05930493290753389 Centerline is valid? [True, True] Translation: X:96.23, Y:-15.58, Z:-12.26 [[ 9.33850252e-01 3.43524335e-01 9.95727753e-02 9.62267959e+01] [-3.41768295e-01 9.39142411e-01 -3.47270033e-02 -1.55778297e+01] [-1.05442587e-01 -1.60099680e-03 9.94424104e-01 -1.22564054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.649649246 meters 0.05976624076010898 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.60, Z:-12.27 [[ 9.33689623e-01 3.44532512e-01 9.75758016e-02 9.62851931e+01] [-3.42849449e-01 9.38772922e-01 -3.40537336e-02 -1.55959733e+01] [-1.03334139e-01 -1.65819215e-03 9.94645317e-01 -1.22673669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.709649246 meters 0.060095537787892846 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.62, Z:-12.28 [[ 9.34708177e-01 3.43327267e-01 9.19076306e-02 9.63415882e+01] [-3.41826415e-01 9.39214773e-01 -3.20984877e-02 -1.56152516e+01] [-9.73412904e-02 -1.41373690e-03 9.95250056e-01 -1.22819245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.769649246 meters 0.05995207279510388 Centerline is valid? [True, True] Translation: X:96.40, Y:-15.64, Z:-12.29 [[ 9.35682204e-01 3.41080210e-01 9.03498893e-02 9.63985515e+01] [-3.39617570e-01 9.40033504e-01 -3.15740116e-02 -1.56394911e+01] [-9.57011935e-02 -1.14116901e-03 9.95409453e-01 -1.22909108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.829649246 meters 0.059173117678922596 Centerline is valid? [True, True] Translation: X:96.45, Y:-15.67, Z:-12.30 [[ 9.37262586e-01 3.35838183e-01 9.35497662e-02 9.64533494e+01] [-3.34240677e-01 9.41919507e-01 -3.27232729e-02 -1.56686483e+01] [-9.91060742e-02 -5.97837858e-04 9.95076695e-01 -1.22950145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.889649246 meters 0.058887072884758696 Centerline is valid? [True, True] Translation: X:96.51, Y:-15.69, Z:-12.30 [[ 9.37834768e-01 3.33679971e-01 9.55176685e-02 9.65093242e+01] [-3.32000898e-01 9.42686348e-01 -3.34343101e-02 -1.56935336e+01] [-1.01199562e-01 -3.56093330e-04 9.94866082e-01 -1.23015370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.949649246 meters 0.05850946671109669 Centerline is valid? [True, True] Translation: X:96.56, Y:-15.72, Z:-12.31 [[ 9.39231801e-01 3.29377158e-01 9.67176891e-02 9.65645529e+01] [-3.27630150e-01 9.44198427e-01 -3.38794155e-02 -1.57230659e+01] [-1.02479796e-01 1.32993508e-04 9.94735077e-01 -1.23053748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.009649246 meters 0.058689428719860416 Centerline is valid? [True, True] Translation: X:96.62, Y:-15.75, Z:-12.32 [[ 9.39565485e-01 3.28565587e-01 9.62359347e-02 9.66204050e+01] [-3.26829096e-01 9.44481125e-01 -3.37364256e-02 -1.57457837e+01] [-1.01977652e-01 2.44877476e-04 9.94786660e-01 -1.23159552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.069649246 meters 0.058901549237378455 Centerline is valid? [True, True] Translation: X:96.68, Y:-15.77, Z:-12.32 [[ 9.40316842e-01 3.27150146e-01 9.36857485e-02 9.66759702e+01] [-3.25495497e-01 9.44972283e-01 -3.28643633e-02 -1.57719684e+01] [-9.92820169e-02 4.08625085e-04 9.95059252e-01 -1.23227178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.129649246 meters 0.058933658330179266 Centerline is valid? [True, True] Translation: X:96.73, Y:-15.79, Z:-12.33 [[ 9.40352379e-01 3.26640160e-01 9.50978885e-02 9.67333563e+01] [-3.24930202e-01 9.45148647e-01 -3.33826222e-02 -1.57938316e+01] [-1.00785746e-01 4.91252117e-04 9.94908032e-01 -1.23294820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.189649246 meters 0.05887744924467624 Centerline is valid? [True, True] Translation: X:96.79, Y:-15.81, Z:-12.34 [[ 9.39752408e-01 3.28178996e-01 9.57285619e-02 9.67923373e+01] [-3.26451683e-01 9.44615489e-01 -3.36284964e-02 -1.58112004e+01] [-1.01462849e-01 3.51710293e-04 9.94839267e-01 -1.23375247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.249649246 meters 0.05876731836058284 Centerline is valid? [True, True] Translation: X:96.85, Y:-15.82, Z:-12.34 [[ 9.38489235e-01 3.32115686e-01 9.45363819e-02 9.68529588e+01] [-3.30448807e-01 9.43238659e-01 -3.32327795e-02 -1.58237448e+01] [-1.00207497e-01 -5.08287922e-05 9.94966560e-01 -1.23447617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.309649246 meters 0.05934244983119089 Centerline is valid? [True, True] Translation: X:96.91, Y:-15.84, Z:-12.36 [[ 9.37792317e-01 3.34408387e-01 9.33627388e-02 9.69122740e+01] [-3.32791688e-01 9.42428224e-01 -3.28440941e-02 -1.58381174e+01] [-9.89710207e-02 -2.69404321e-04 9.95090280e-01 -1.23571707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36964924600001 meters 0.05967965129749858 Centerline is valid? [True, True] Translation: X:96.97, Y:-15.86, Z:-12.37 [[ 9.37474861e-01 3.35490326e-01 9.26667535e-02 9.69688969e+01] [-3.33900594e-01 9.42043583e-01 -3.26233049e-02 -1.58567405e+01] [-9.82409237e-02 -3.57955828e-04 9.95162596e-01 -1.23690145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.429649246 meters 0.05960037320954914 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.88, Z:-12.38 [[ 9.36910602e-01 3.37400023e-01 9.14316576e-02 9.70276526e+01] [-3.35859538e-01 9.41361218e-01 -3.22091344e-02 -1.58765784e+01] [-9.69375792e-02 -5.31114752e-04 9.95290321e-01 -1.23754713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.489649246 meters 0.06000672218880954 Centerline is valid? [True, True] Translation: X:97.09, Y:-15.89, Z:-12.38 [[ 9.36496936e-01 3.38897124e-01 9.01234081e-02 9.70872300e+01] [-3.37405294e-01 9.40823209e-01 -3.17703862e-02 -1.58932233e+01] [-9.55570865e-02 -6.55245765e-04 9.95423736e-01 -1.23849315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.549649246 meters 0.05990667375253559 Centerline is valid? [True, True] Translation: X:97.14, Y:-15.92, Z:-12.39 [[ 9.36847705e-01 3.37911555e-01 9.01784817e-02 9.71439703e+01] [-3.36410788e-01 9.41177720e-01 -3.18163773e-02 -1.59159037e+01] [-9.56250993e-02 -5.29914065e-04 9.95417279e-01 -1.23907312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.609649246 meters 0.05986058241146991 Centerline is valid? [True, True] Translation: X:97.20, Y:-15.94, Z:-12.40 [[ 9.37024127e-01 3.37117113e-01 9.13117560e-02 9.72020586e+01] [-3.35573493e-01 9.41462615e-01 -3.22269492e-02 -1.59377558e+01] [-9.68308606e-02 -4.44375899e-04 9.95300752e-01 -1.23974396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.669649246 meters 0.059391367939407705 Centerline is valid? [True, True] Translation: X:97.26, Y:-15.96, Z:-12.40 [[ 9.38114914e-01 3.33405863e-01 9.37066661e-02 9.72591973e+01] [-3.31759108e-01 9.42783394e-01 -3.30963127e-02 -1.59624377e+01] [-9.93795935e-02 -3.98953797e-05 9.95049594e-01 -1.24007343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72964924600001 meters 0.05979061921594655 Centerline is valid? [True, True] Translation: X:97.31, Y:-15.99, Z:-12.41 [[ 9.39217440e-01 3.30364187e-01 9.34350248e-02 9.73134312e+01] [-3.28709470e-01 9.43853490e-01 -3.30253464e-02 -1.59884903e+01] [-9.90993660e-02 3.05003885e-04 9.95077496e-01 -1.24121937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789649246 meters 0.05965868446235362 Centerline is valid? [True, True] Translation: X:97.37, Y:-16.01, Z:-12.42 [[ 9.38746700e-01 3.31557405e-01 9.39378514e-02 9.73726842e+01] [-3.29888268e-01 9.43435025e-01 -3.32277643e-02 -1.60078777e+01] [-9.96411704e-02 2.03458962e-04 9.95023415e-01 -1.24181098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.849649246 meters 0.05991873136756462 Centerline is valid? [True, True] Translation: X:97.43, Y:-16.03, Z:-12.43 [[ 9.38832578e-01 3.31301229e-01 9.39834412e-02 9.74295031e+01] [-3.29628161e-01 9.43525007e-01 -3.32541318e-02 -1.60312685e+01] [-9.96928617e-02 2.40473386e-04 9.95018229e-01 -1.24285665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.909649246 meters 0.05992275578275367 Centerline is valid? [True, True] Translation: X:97.48, Y:-16.06, Z:-12.44 [[ 9.39234288e-01 3.30539171e-01 9.26434509e-02 9.74848494e+01] [-3.28907250e-01 9.43792212e-01 -3.28067288e-02 -1.60562814e+01] [-9.82800764e-02 3.42101869e-04 9.95158736e-01 -1.24380669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.969649246 meters 0.060155325919746254 Centerline is valid? [True, True] Translation: X:97.54, Y:-16.08, Z:-12.45 [[ 9.39221817e-01 3.31047929e-01 9.09375953e-02 9.75426588e+01] [-3.29476172e-01 9.43613892e-01 -3.22222747e-02 -1.60775412e+01] [-9.64770955e-02 3.02092597e-04 9.95335159e-01 -1.24471498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.029649246 meters 0.06007425750535336 Centerline is valid? [True, True] Translation: X:97.60, Y:-16.10, Z:-12.45 [[ 9.39255371e-01 3.31059489e-01 9.05481248e-02 9.76009613e+01] [-3.29499067e-01 9.43609830e-01 -3.21069068e-02 -1.60986865e+01] [-9.60713968e-02 3.21062016e-04 9.95374394e-01 -1.24523699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08964924600001 meters 0.060367989437096814 Centerline is valid? [True, True] Translation: X:97.66, Y:-16.12, Z:-12.46 [[ 9.39334523e-01 3.30437835e-01 9.19863596e-02 9.76582492e+01] [-3.28821854e-01 9.43827667e-01 -3.26423499e-02 -1.61167246e+01] [-9.76055386e-02 4.14960838e-04 9.95225093e-01 -1.24620227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.149649246 meters 0.060098031620323705 Centerline is valid? [True, True] Translation: X:97.72, Y:-16.14, Z:-12.47 [[ 9.38652717e-01 3.32413016e-01 9.18295344e-02 9.77173743e+01] [-3.30809920e-01 9.43133890e-01 -3.26077084e-02 -1.61377365e+01] [-9.74467727e-02 2.29193111e-04 9.95240712e-01 -1.24689544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.209649246 meters 0.05999793925629482 Centerline is valid? [True, True] Translation: X:97.77, Y:-16.16, Z:-12.48 [[ 9.38252023e-01 3.33117242e-01 9.33597545e-02 9.77744597e+01] [-3.31460641e-01 9.42885395e-01 -3.31809456e-02 -1.61576302e+01] [-9.90806940e-02 1.87005244e-04 9.95079384e-01 -1.24766956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.269649246 meters 0.05979740574080122 Centerline is valid? [True, True] Translation: X:97.83, Y:-16.18, Z:-12.48 [[ 9.38521388e-01 3.32115169e-01 9.42184629e-02 9.78312847e+01] [-3.30420624e-01 9.43238790e-01 -3.35081566e-02 -1.61808733e+01] [-9.99990760e-02 3.16398283e-04 9.94987480e-01 -1.24831815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.329649246 meters 0.06000744967035346 Centerline is valid? [True, True] Translation: X:97.89, Y:-16.20, Z:-12.49 [[ 9.38299014e-01 3.32876464e-01 9.37455068e-02 9.78903662e+01] [-3.31200502e-01 9.42970410e-01 -3.33621454e-02 -1.61996983e+01] [-9.95047120e-02 2.55109234e-04 9.95037058e-01 -1.24921425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.389649246 meters 0.0603261371493488 Centerline is valid? [True, True] Translation: X:97.95, Y:-16.22, Z:-12.50 [[ 9.37781899e-01 3.34854959e-01 9.18545986e-02 9.79493938e+01] [-3.33252888e-01 9.42269681e-01 -3.27163683e-02 -1.62172322e+01] [-9.75070414e-02 7.00076873e-05 9.95234833e-01 -1.25004491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.449649246 meters 0.060211318361371655 Centerline is valid? [True, True] Translation: X:98.01, Y:-16.24, Z:-12.51 [[ 9.37765046e-01 3.34474732e-01 9.33989975e-02 9.80069557e+01] [-3.32813790e-01 9.42404709e-01 -3.32918341e-02 -1.62390890e+01] [-9.91549323e-02 1.35443987e-04 9.95071998e-01 -1.25060614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.509649246 meters 0.060246670751952044 Centerline is valid? [True, True] Translation: X:98.06, Y:-16.26, Z:-12.51 [[ 9.37833098e-01 3.33591964e-01 9.58409170e-02 9.80644327e+01] [-3.31835500e-01 9.42717526e-01 -3.41886972e-02 -1.62589984e+01] [-1.01755987e-01 2.59873151e-04 9.94809354e-01 -1.25114633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.569649246 meters 0.06049565881302226 Centerline is valid? [True, True] Translation: X:98.12, Y:-16.28, Z:-12.52 [[ 9.38516722e-01 3.31446560e-01 9.65895475e-02 9.81225720e+01] [-3.29648814e-01 9.43473852e-01 -3.44782508e-02 -1.62819422e+01] [-1.02557410e-01 5.17785113e-04 9.94726952e-01 -1.25193048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.629649246 meters 0.06056885127442118 Centerline is valid? [True, True] Translation: X:98.18, Y:-16.30, Z:-12.53 [[ 9.38269966e-01 3.32520684e-01 9.52862356e-02 9.81787678e+01] [-3.30773775e-01 9.43095868e-01 -3.40425241e-02 -1.63030650e+01] [-1.01183898e-01 4.22890035e-04 9.94867649e-01 -1.25276974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.689649246 meters 0.06041155632569869 Centerline is valid? [True, True] Translation: X:98.24, Y:-16.33, Z:-12.53 [[ 9.38119339e-01 3.32523465e-01 9.67483907e-02 9.82363264e+01] [-3.30720489e-01 9.43094876e-01 -3.45834052e-02 -1.63263753e+01] [-1.02742705e-01 4.46686102e-04 9.94707865e-01 -1.25338916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.749649246 meters 0.0605483371053982 Centerline is valid? [True, True] Translation: X:98.30, Y:-16.34, Z:-12.54 [[ 9.37795431e-01 3.33422577e-01 9.67941898e-02 9.82962684e+01] [-3.31620290e-01 9.42777412e-01 -3.46227577e-02 -1.63435144e+01] [-1.02799385e-01 3.70146732e-04 9.94702041e-01 -1.25425979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.809649246 meters 0.060667213246440324 Centerline is valid? [True, True] Translation: X:98.35, Y:-16.36, Z:-12.55 [[ 9.36734046e-01 3.36885601e-01 9.50653398e-02 9.83542165e+01] [-3.35162136e-01 9.41545586e-01 -3.40330965e-02 -1.63605167e+01] [-1.00973611e-01 1.76579088e-05 9.94889104e-01 -1.25517058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86964924600001 meters 0.060629733375988606 Centerline is valid? [True, True] Translation: X:98.41, Y:-16.38, Z:-12.56 [[ 9.35829415e-01 3.39554772e-01 9.44767850e-02 9.84137614e+01] [-3.37864004e-01 9.40586251e-01 -3.38440449e-02 -1.63757362e+01] [-1.00355472e-01 -2.48052107e-04 9.94951616e-01 -1.25600242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.929649246 meters 0.0607287642682025 Centerline is valid? [True, True] Translation: X:98.47, Y:-16.40, Z:-12.57 [[ 9.36618399e-01 3.37181074e-01 9.51572246e-02 9.84716743e+01] [-3.35451139e-01 9.41439814e-01 -3.41117408e-02 -1.63972158e+01] [-1.01086633e-01 2.90847051e-05 9.94877627e-01 -1.25683160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.989649246 meters 0.06091836767310953 Centerline is valid? [True, True] Translation: X:98.53, Y:-16.42, Z:-12.58 [[ 9.36604430e-01 3.36971022e-01 9.60347381e-02 9.85300370e+01] [-3.35205380e-01 9.41515015e-01 -3.44503797e-02 -1.64173879e+01] [-1.02026928e-01 7.50173859e-05 9.94781635e-01 -1.25763065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.049649246 meters 0.06072388318375251 Centerline is valid? [True, True] Translation: X:98.59, Y:-16.44, Z:-12.58 [[ 9.36389556e-01 3.37151338e-01 9.74862797e-02 9.85883587e+01] [-3.35329929e-01 9.41450460e-01 -3.49981444e-02 -1.64399323e+01] [-1.03578174e-01 8.18296216e-05 9.94621312e-01 -1.25811992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.109649246 meters 0.06066726689104499 Centerline is valid? [True, True] Translation: X:98.64, Y:-16.47, Z:-12.59 [[ 9.37941677e-01 3.32449375e-01 9.87057469e-02 9.86446278e+01] [-3.30555406e-01 9.43120902e-01 -3.54413317e-02 -1.64675484e+01] [-1.04873902e-01 6.14183906e-04 9.94485338e-01 -1.25877660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.169649246 meters 0.06094488906249332 Centerline is valid? [True, True] Translation: X:98.70, Y:-16.49, Z:-12.60 [[ 9.38212116e-01 3.31504311e-01 9.93122218e-02 9.87015786e+01] [-3.29578594e-01 9.43453405e-01 -3.56878603e-02 -1.64906400e+01] [-1.05527133e-01 7.51600575e-04 9.94416140e-01 -1.25974019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22964924600001 meters 0.0608094121930537 Centerline is valid? [True, True] Translation: X:98.76, Y:-16.51, Z:-12.61 [[ 9.38193619e-01 3.32288799e-01 9.68343296e-02 9.87585648e+01] [-3.30459856e-01 9.43177452e-01 -3.48220940e-02 -1.65145934e+01] [-1.02902948e-01 6.70007723e-04 9.94691175e-01 -1.26050516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.289649246 meters 0.060705952144842264 Centerline is valid? [True, True] Translation: X:98.82, Y:-16.54, Z:-12.61 [[ 9.37940176e-01 3.33103118e-01 9.64911353e-02 9.88166578e+01] [-3.31289003e-01 9.42890212e-01 -3.47224013e-02 -1.65358045e+01] [-1.02546687e-01 6.01083169e-04 9.94728011e-01 -1.26130170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.349649246 meters 0.060601701853915904 Centerline is valid? [True, True] Translation: X:98.88, Y:-16.55, Z:-12.62 [[ 9.37801691e-01 3.33135920e-01 9.77161555e-02 9.88755247e+01] [-3.31272690e-01 9.42878604e-01 -3.51901052e-02 -1.65549929e+01] [-1.03857560e-01 6.30646510e-04 9.94591981e-01 -1.26201934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.409649246 meters 0.06010798984838886 Centerline is valid? [True, True] Translation: X:98.94, Y:-16.57, Z:-12.63 [[ 9.37306175e-01 3.33936383e-01 9.97177376e-02 9.89352710e+01] [-3.31997375e-01 9.42595436e-01 -3.59386470e-02 -1.65731257e+01] [-1.05994706e-01 5.79488604e-04 9.94366525e-01 -1.26258852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.469649246 meters 0.06004856402420913 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.59, Z:-12.63 [[ 9.36097032e-01 3.36832688e-01 1.01321696e-01 9.89951467e+01] [-3.34846777e-01 9.41564481e-01 -3.65234864e-02 -1.65907555e+01] [-1.07703214e-01 2.62284025e-04 9.94183056e-01 -1.26280211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.529649246 meters 0.060131544960061435 Centerline is valid? [True, True] Translation: X:99.05, Y:-16.60, Z:-12.64 [[ 9.34609514e-01 3.40958746e-01 1.01253093e-01 9.90549980e+01] [-3.38996749e-01 9.40078240e-01 -3.65254192e-02 -1.66040587e+01] [-1.07639491e-01 -1.87465007e-04 9.94189974e-01 -1.26424185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58964924600001 meters 0.0604122580321261 Centerline is valid? [True, True] Translation: X:99.12, Y:-16.62, Z:-12.65 [[ 9.32685857e-01 3.46613144e-01 9.97818656e-02 9.91154487e+01] [-3.44737127e-01 9.38007829e-01 -3.60225774e-02 -1.66189931e+01] [-1.06082070e-01 -8.00765202e-04 9.94357055e-01 -1.26495471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.649649246 meters 0.06057297340355991 Centerline is valid? [True, True] Translation: X:99.17, Y:-16.64, Z:-12.66 [[ 9.32399145e-01 3.47288638e-01 1.00112122e-01 9.91737928e+01] [-3.45401333e-01 9.37757894e-01 -3.61669872e-02 -1.66398603e+01] [-1.06441317e-01 -8.56792662e-04 9.94318617e-01 -1.26576378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.709649246 meters 0.06056485815577078 Centerline is valid? [True, True] Translation: X:99.23, Y:-16.66, Z:-12.67 [[ 9.32356424e-01 3.47353073e-01 1.00286296e-01 9.92313754e+01] [-3.45456381e-01 9.37734046e-01 -3.62594520e-02 -1.66606647e+01] [-1.06636706e-01 -8.37807903e-04 9.94297697e-01 -1.26663700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.769649246 meters 0.06036211215519617 Centerline is valid? [True, True] Translation: X:99.29, Y:-16.68, Z:-12.67 [[ 9.32202456e-01 3.47494548e-01 1.01223115e-01 9.92885072e+01] [-3.45559964e-01 9.37681631e-01 -3.66260965e-02 -1.66837028e+01] [-1.07642424e-01 -8.35718728e-04 9.94189323e-01 -1.26720641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.829649246 meters 0.06040634051066028 Centerline is valid? [True, True] Translation: X:99.35, Y:-16.71, Z:-12.68 [[ 9.32651176e-01 3.45981095e-01 1.02268595e-01 9.93463228e+01] [-3.43994122e-01 9.38241264e-01 -3.70320735e-02 -1.67075798e+01] [-1.08765013e-01 -6.41788412e-04 9.94067281e-01 -1.26765006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.889649246 meters 0.06037907454155864 Centerline is valid? [True, True] Translation: X:99.40, Y:-16.73, Z:-12.68 [[ 9.32625904e-01 3.45491479e-01 1.04137219e-01 9.94035209e+01] [-3.43427100e-01 9.38421703e-01 -3.77165077e-02 -1.67306402e+01] [-1.10755358e-01 -5.88151064e-04 9.93847526e-01 -1.26834282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.949649246 meters 0.059963324038482944 Centerline is valid? [True, True] Translation: X:99.46, Y:-16.75, Z:-12.69 [[ 9.33007467e-01 3.44339944e-01 1.04532627e-01 9.94594866e+01] [-3.42249548e-01 9.38844939e-01 -3.78870285e-02 -1.67548612e+01] [-1.11185945e-01 -4.27363925e-04 9.93799529e-01 -1.26902699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.009649246 meters 0.060342569485016366 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.78, Z:-12.70 [[ 9.33282888e-01 3.44385081e-01 1.01891932e-01 9.95149488e+01] [-3.42396990e-01 9.38828395e-01 -3.69532873e-02 -1.67781990e+01] [-1.08385200e-01 -3.99620194e-04 9.94108892e-01 -1.27028457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.069649246 meters 0.060459171200863124 Centerline is valid? [True, True] Translation: X:99.57, Y:-16.80, Z:-12.71 [[ 9.33332659e-01 3.44948681e-01 9.95015360e-02 9.95728552e+01] [-3.43053940e-01 9.38621446e-01 -3.61078215e-02 -1.68007159e+01] [-1.05849621e-01 -4.33784878e-04 9.94382054e-01 -1.27080967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.129649246 meters 0.06033240827498615 Centerline is valid? [True, True] Translation: X:99.63, Y:-16.82, Z:-12.72 [[ 9.34532623e-01 3.42115763e-01 9.80080697e-02 9.96286792e+01] [-3.40258946e-01 9.39657809e-01 -3.55956714e-02 -1.68231716e+01] [-1.04271888e-01 -8.28063922e-05 9.94548826e-01 -1.27219118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.189649246 meters 0.06023807742502596 Centerline is valid? [True, True] Translation: X:99.68, Y:-16.85, Z:-12.73 [[ 9.34592595e-01 3.42064370e-01 9.76147917e-02 9.96849104e+01] [-3.40220891e-01 9.39676520e-01 -3.54652356e-02 -1.68468369e+01] [-1.03857721e-01 -6.50447473e-05 9.94592162e-01 -1.27303410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.249649246 meters 0.06024288896774179 Centerline is valid? [True, True] Translation: X:99.74, Y:-16.87, Z:-12.73 [[ 9.34183410e-01 3.42758348e-01 9.90861819e-02 9.97430115e+01] [-3.40859676e-01 9.39423600e-01 -3.60275001e-02 -1.68685568e+01] [-1.05432624e-01 -1.18190929e-04 9.94426442e-01 -1.27343564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.309649246 meters 0.059923937969837394 Centerline is valid? [True, True] Translation: X:99.80, Y:-16.89, Z:-12.74 [[ 9.34347393e-01 3.41834808e-01 1.00717001e-01 9.98011630e+01] [-3.39864689e-01 9.39760057e-01 -3.66473599e-02 -1.68907142e+01] [-1.07177158e-01 1.12129321e-05 9.94239939e-01 -1.27399434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.369649246 meters 0.05990302112177998 Centerline is valid? [True, True] Translation: X:99.86, Y:-16.91, Z:-12.75 [[ 9.34589712e-01 3.40534176e-01 1.02852058e-01 9.98587020e+01] [-3.38468429e-01 9.40232120e-01 -3.74524185e-02 -1.69129978e+01] [-1.09458637e-01 1.90470480e-04 9.93991333e-01 -1.27459501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.429649246 meters 0.060075694920173534 Centerline is valid? [True, True] Translation: X:99.91, Y:-16.94, Z:-12.75 [[ 9.36759149e-01 3.34009233e-01 1.04499421e-01 9.99144454e+01] [-3.31832820e-01 9.42569276e-01 -3.80806962e-02 -1.69426306e+01] [-1.11217248e-01 9.96102896e-04 9.93795619e-01 -1.27482374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.489649246 meters 0.06061205262655824 Centerline is valid? [True, True] Translation: X:99.97, Y:-16.96, Z:-12.77 [[ 9.37001602e-01 3.34493347e-01 1.00708486e-01 9.99737367e+01] [-3.32472513e-01 9.42397655e-01 -3.67244968e-02 -1.69554259e+01] [-1.07191541e-01 9.28109005e-04 9.94237956e-01 -1.27650376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.549649246 meters 0.06047498305126901 Centerline is valid? [True, True] Translation: X:100.03, Y:-16.97, Z:-12.78 [[ 9.36254184e-01 3.37255975e-01 9.84200691e-02 1.00032363e+02] [-3.35338743e-01 9.41412779e-01 -3.59152711e-02 -1.69718542e+01] [-1.04766551e-01 6.21760610e-04 9.94496648e-01 -1.27757457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.609649246 meters 0.06025575536158738 Centerline is valid? [True, True] Translation: X:100.09, Y:-16.99, Z:-12.78 [[ 9.35337455e-01 3.39873559e-01 9.81315888e-02 1.00092079e+02] [-3.37979550e-01 9.40471074e-01 -3.58326942e-02 -1.69916420e+01] [-1.04468506e-01 3.49190804e-04 9.94528134e-01 -1.27813591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.669649246 meters 0.060399960210188605 Centerline is valid? [True, True] Translation: X:100.15, Y:-17.01, Z:-12.79 [[ 9.34173546e-01 3.43300488e-01 9.72859701e-02 1.00152459e+02] [-3.41454587e-01 9.39225625e-01 -3.55526414e-02 -1.70054676e+01] [-1.03578715e-01 -6.40366340e-06 9.94621259e-01 -1.27909335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72964924600001 meters 0.06048340193671053 Centerline is valid? [True, True] Translation: X:100.21, Y:-17.02, Z:-12.80 [[ 9.32931538e-01 3.46794432e-01 9.68109867e-02 1.00210986e+02] [-3.44982641e-01 9.37941089e-01 -3.54046751e-02 -1.70200101e+01] [-1.03081147e-01 -3.67971824e-04 9.94672882e-01 -1.28008084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.789649246 meters 0.060375298924416954 Centerline is valid? [True, True] Translation: X:100.27, Y:-17.04, Z:-12.81 [[ 9.31650375e-01 3.49840558e-01 9.81792334e-02 1.00271331e+02] [-3.47991093e-01 9.36809003e-01 -3.59317516e-02 -1.70361792e+01] [-1.04545574e-01 -6.89668909e-04 9.94519858e-01 -1.28076502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.849649246 meters 0.06053958885928288 Centerline is valid? [True, True] Translation: X:100.33, Y:-17.05, Z:-12.82 [[ 9.30746906e-01 3.52503574e-01 9.72184512e-02 1.00330936e+02] [-3.50704153e-01 9.35809960e-01 -3.55853270e-02 -1.70530322e+01] [-1.03521950e-01 -9.73981623e-04 9.94626692e-01 -1.28165227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.909649246 meters 0.06062307046114448 Centerline is valid? [True, True] Translation: X:100.39, Y:-17.07, Z:-12.82 [[ 9.29730216e-01 3.55338708e-01 9.66236387e-02 1.00390016e+02] [-3.53574075e-01 9.34736764e-01 -3.53914653e-02 -1.70723485e+01] [-1.02893625e-01 -1.25909906e-03 9.94691569e-01 -1.28204559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.969649246 meters 0.061311035572443766 Centerline is valid? [True, True] Translation: X:100.45, Y:-17.09, Z:-12.83 [[ 9.27644133e-01 3.60832971e-01 9.63116256e-02 1.00450251e+02] [-3.59106594e-01 9.32628645e-01 -3.53024894e-02 -1.70871086e+01] [-1.02561283e-01 -1.83799260e-03 9.94724990e-01 -1.28266482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.029649246 meters 0.060844638844002215 Centerline is valid? [True, True] Translation: X:100.51, Y:-17.11, Z:-12.83 [[ 9.28177515e-01 3.58913169e-01 9.83251649e-02 1.00508978e+02] [-3.57099747e-01 9.33369527e-01 -3.60707142e-02 -1.71080279e+01] [-1.04719967e-01 -1.63186569e-03 9.94500410e-01 -1.28326478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08964924600001 meters 0.06125357608583309 Centerline is valid? [True, True] Translation: X:100.57, Y:-17.13, Z:-12.84 [[ 9.28174271e-01 3.59298987e-01 9.69368892e-02 1.00567729e+02] [-3.57538069e-01 9.33221050e-01 -3.55668598e-02 -1.71264083e+01] [-1.03242682e-01 -1.64638402e-03 9.94654834e-01 -1.28434505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.149649246 meters 0.0617160792012812 Centerline is valid? [True, True] Translation: X:100.63, Y:-17.15, Z:-12.85 [[ 9.27728213e-01 3.60593899e-01 9.63971103e-02 1.00626275e+02] [-3.58856975e-01 9.32721262e-01 -3.53937646e-02 -1.71453103e+01] [-1.02674410e-01 -1.75698145e-03 9.94713466e-01 -1.28547234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.209649246 meters 0.06206271871113626 Centerline is valid? [True, True] Translation: X:100.68, Y:-17.17, Z:-12.86 [[ 9.27627052e-01 3.61006314e-01 9.58253250e-02 1.00682175e+02] [-3.59289591e-01 9.32561695e-01 -3.52090208e-02 -1.71687834e+01] [-1.02073706e-01 -1.76820162e-03 9.94775267e-01 -1.28646216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.269649246 meters 0.061391507416234094 Centerline is valid? [True, True] Translation: X:100.74, Y:-17.20, Z:-12.87 [[ 9.27079962e-01 3.61946499e-01 9.75575480e-02 1.00738483e+02] [-3.60169752e-01 9.32196965e-01 -3.58687561e-02 -1.71956241e+01] [-1.03925421e-01 -1.88407278e-03 9.94583308e-01 -1.28661431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.329649246 meters 0.061223367927180805 Centerline is valid? [True, True] Translation: X:100.79, Y:-17.22, Z:-12.87 [[ 9.27592010e-01 3.60775892e-01 9.70248399e-02 1.00793592e+02] [-3.59009456e-01 9.32650954e-01 -3.56988702e-02 -1.72213313e+01] [-1.03369601e-01 -1.71884821e-03 9.94641529e-01 -1.28744592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.389649246 meters 0.0607767258291718 Centerline is valid? [True, True] Translation: X:100.85, Y:-17.25, Z:-12.88 [[ 9.27985175e-01 3.59584411e-01 9.76860578e-02 1.00849800e+02] [-3.57784696e-01 9.33111232e-01 -3.59658203e-02 -1.72463383e+01] [-1.04084706e-01 -1.57482846e-03 9.94567189e-01 -1.28830850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.449649246 meters 0.060706525062323526 Centerline is valid? [True, True] Translation: X:100.91, Y:-17.27, Z:-12.89 [[ 9.28348981e-01 3.58336657e-01 9.88079398e-02 1.00905466e+02] [-3.56485464e-01 9.33591347e-01 -3.64048190e-02 -1.72707854e+01] [-1.05291419e-01 -1.42721759e-03 9.94440385e-01 -1.28917352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.509649246 meters 0.06047520199008894 Centerline is valid? [True, True] Translation: X:100.96, Y:-17.30, Z:-12.90 [[ 9.28545877e-01 3.58205060e-01 9.74253016e-02 1.00961384e+02] [-3.56402191e-01 9.33641933e-01 -3.59196204e-02 -1.72962578e+01] [-1.03826937e-01 -1.36957543e-03 9.94594436e-01 -1.28985183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.569649246 meters 0.06045209486390664 Centerline is valid? [True, True] Translation: X:101.02, Y:-17.32, Z:-12.91 [[ 9.28864209e-01 3.57078010e-01 9.85219556e-02 1.01017684e+02] [-3.55225061e-01 9.34073753e-01 -3.63507906e-02 -1.73170425e+01] [-1.05006841e-01 -1.23251938e-03 9.94470736e-01 -1.29077748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.629649246 meters 0.059793271561047426 Centerline is valid? [True, True] Translation: X:101.07, Y:-17.34, Z:-12.91 [[ 9.29442176e-01 3.55300073e-01 9.94942207e-02 1.01074391e+02] [-3.53397603e-01 9.34751741e-01 -3.67330345e-02 -1.73432203e+01] [-1.06053646e-01 -1.01978765e-03 9.94359887e-01 -1.29116016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.689649246 meters 0.06009594864873314 Centerline is valid? [True, True] Translation: X:101.13, Y:-17.36, Z:-12.92 [[ 9.28872062e-01 3.56682306e-01 9.98720423e-02 1.01132241e+02] [-3.54770464e-01 9.34225023e-01 -3.68988391e-02 -1.73633932e+01] [-1.06464124e-01 -1.15735003e-03 9.94315871e-01 -1.29194019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.749649246 meters 0.06001599360573659 Centerline is valid? [True, True] Translation: X:101.19, Y:-17.38, Z:-12.93 [[ 9.28616748e-01 3.57442995e-01 9.95260779e-02 1.01190250e+02] [-3.55545784e-01 9.33934169e-01 -3.67989647e-02 -1.73823765e+01] [-1.06104337e-01 -1.21394243e-03 9.94354261e-01 -1.29299817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809649246 meters 0.05964647402404809 Centerline is valid? [True, True] Translation: X:101.25, Y:-17.41, Z:-12.94 [[ 9.29503157e-01 3.55015447e-01 9.99395450e-02 1.01246901e+02] [-3.53085651e-01 9.34859985e-01 -3.69774376e-02 -1.74076514e+01] [-1.06557043e-01 -9.16574352e-04 9.94306168e-01 -1.29368291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.869649246 meters 0.060172060337929115 Centerline is valid? [True, True] Translation: X:101.31, Y:-17.42, Z:-12.95 [[ 9.30180841e-01 3.54221703e-01 9.63877004e-02 1.01305335e+02] [-3.52420286e-01 9.35161155e-01 -3.56869150e-02 -1.74239803e+01] [-1.02779113e-01 -7.73696344e-04 9.94703903e-01 -1.29494454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.929649246 meters 0.05986882418105817 Centerline is valid? [True, True] Translation: X:101.36, Y:-17.44, Z:-12.96 [[ 9.31074393e-01 3.51937138e-01 9.61286907e-02 1.01362390e+02] [-3.50130849e-01 9.36023505e-01 -3.56144015e-02 -1.74442944e+01] [-1.02512745e-01 -4.97962810e-04 9.94731566e-01 -1.29586231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.989649246 meters 0.060216685239923774 Centerline is valid? [True, True] Translation: X:101.42, Y:-17.46, Z:-12.97 [[ 9.29970379e-01 3.55359820e-01 9.42045250e-02 1.01423622e+02] [-3.53640563e-01 9.34729211e-01 -3.49235445e-02 -1.74565258e+01] [-1.00466146e-01 -8.36679309e-04 9.94940126e-01 -1.29666507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.049649246 meters 0.06088677646310637 Centerline is valid? [True, True] Translation: X:101.48, Y:-17.47, Z:-12.98 [[ 9.28618678e-01 3.59214604e-01 9.29097359e-02 1.01481917e+02] [-3.57559203e-01 9.33254197e-01 -3.44676799e-02 -1.74711669e+01] [-9.90896950e-02 -1.21339977e-03 9.95077766e-01 -1.29766325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.109649246 meters 0.06154114788600348 Centerline is valid? [True, True] Translation: X:101.54, Y:-17.49, Z:-12.98 [[ 9.27215200e-01 3.62567608e-01 9.38972975e-02 1.01541474e+02] [-3.60892142e-01 9.31956146e-01 -3.48511786e-02 -1.74882835e+01] [-1.00144072e-01 -1.57225427e-03 9.94971705e-01 -1.29839010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.169649246 meters 0.061402338692028775 Centerline is valid? [True, True] Translation: X:101.60, Y:-17.51, Z:-12.99 [[ 9.27144961e-01 3.62533582e-01 9.47186494e-02 1.01597844e+02] [-3.60825776e-01 9.31969406e-01 -3.51821740e-02 -1.75115907e+01] [-1.01029603e-01 -1.55795475e-03 9.94882200e-01 -1.29882502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22964924600001 meters 0.06078177305736719 Centerline is valid? [True, True] Translation: X:101.65, Y:-17.54, Z:-12.99 [[ 9.27803445e-01 3.60460916e-01 9.61701369e-02 1.01654075e+02] [-3.58687928e-01 9.32773353e-01 -3.57329368e-02 -1.75376867e+01] [-1.02585268e-01 -1.34192529e-03 9.94723309e-01 -1.29944579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.289649246 meters 0.06038217992328958 Centerline is valid? [True, True] Translation: X:101.71, Y:-17.56, Z:-13.00 [[ 9.28075797e-01 3.59583373e-01 9.68251698e-02 1.01711264e+02] [-3.57778469e-01 9.33112153e-01 -3.60038366e-02 -1.75640169e+01] [-1.03295124e-01 -1.22767168e-03 9.94649994e-01 -1.29970989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.349649246 meters 0.05990423776719244 Centerline is valid? [True, True] Translation: X:101.77, Y:-17.59, Z:-13.00 [[ 9.28862135e-01 3.56813280e-01 9.94958193e-02 1.01765850e+02] [-3.54890487e-01 9.34175253e-01 -3.70045786e-02 -1.75910659e+01] [-1.06150257e-01 -9.37967928e-04 9.94349658e-01 -1.30027321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.409649246 meters 0.05985443488124302 Centerline is valid? [True, True] Translation: X:101.82, Y:-17.62, Z:-13.01 [[ 9.28778740e-01 3.56935735e-01 9.98345327e-02 1.01823647e+02] [-3.54997981e-01 9.34128476e-01 -3.71540457e-02 -1.76153987e+01] [-1.06519887e-01 -9.33169810e-04 9.94310134e-01 -1.30103294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.469649246 meters 0.060200283135987215 Centerline is valid? [True, True] Translation: X:101.88, Y:-17.64, Z:-13.02 [[ 9.27982012e-01 3.58795336e-01 1.00574803e-01 1.01881605e+02] [-3.56836294e-01 9.33415576e-01 -3.74596097e-02 -1.76359361e+01] [-1.07318421e-01 -1.12689615e-03 9.94224063e-01 -1.30176239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.529649246 meters 0.06073681622528559 Centerline is valid? [True, True] Translation: X:101.94, Y:-17.65, Z:-13.03 [[ 9.27340130e-01 3.60775392e-01 9.94052341e-02 1.01939703e+02] [-3.58870018e-01 9.32651807e-01 -3.70528992e-02 -1.76540736e+01] [-1.06078245e-01 -1.31291781e-03 9.94356919e-01 -1.30275911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58964924600001 meters 0.060615359234460674 Centerline is valid? [True, True] Translation: X:102.00, Y:-17.68, Z:-13.04 [[ 9.27998619e-01 3.59478706e-01 9.79470391e-02 1.01996059e+02] [-3.57620681e-01 9.33152595e-01 -3.65196216e-02 -1.76786609e+01] [-1.04527560e-01 -1.13772843e-03 9.94521340e-01 -1.30372043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.649649246 meters 0.060616023611613355 Centerline is valid? [True, True] Translation: X:102.05, Y:-17.70, Z:-13.04 [[ 9.28462367e-01 3.58527990e-01 9.70325373e-02 1.02052604e+02] [-3.56696972e-01 9.33518442e-01 -3.62020479e-02 -1.77049595e+01] [-1.03561111e-01 -9.98973077e-04 9.94622591e-01 -1.30442402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.709649246 meters 0.060600666996729814 Centerline is valid? [True, True] Translation: X:102.11, Y:-17.73, Z:-13.05 [[ 9.28633756e-01 3.57946600e-01 9.75375725e-02 1.02107797e+02] [-3.56089985e-01 9.33741615e-01 -3.64214075e-02 -1.77308052e+01] [-1.04111809e-01 -9.10004312e-04 9.94565183e-01 -1.30504469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.769649246 meters 0.060347828310026254 Centerline is valid? [True, True] Translation: X:102.16, Y:-17.76, Z:-13.06 [[ 9.30426404e-01 3.53226564e-01 9.76611560e-02 1.02161492e+02] [-3.51336570e-01 9.35537742e-01 -3.64931297e-02 -1.77593050e+01] [-1.04256040e-01 -3.57764119e-04 9.94550426e-01 -1.30573517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.829649246 meters 0.06023273032194654 Centerline is valid? [True, True] Translation: X:102.22, Y:-17.79, Z:-13.07 [[ 9.32457966e-01 3.47815122e-01 9.77076360e-02 1.02215927e+02] [-3.45892404e-01 9.37563104e-01 -3.65222008e-02 -1.77914415e+01] [-1.04310048e-01 2.59088018e-04 9.94544794e-01 -1.30657346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.889649246 meters 0.06081879085555732 Centerline is valid? [True, True] Translation: X:102.27, Y:-17.82, Z:-13.08 [[ 9.33426426e-01 3.45925991e-01 9.51331449e-02 1.02270943e+02] [-3.44090879e-01 9.38261677e-01 -3.55878199e-02 -1.78154526e+01] [-1.01570536e-01 4.84164126e-04 9.94828222e-01 -1.30791424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.949649246 meters 0.06132099524885158 Centerline is valid? [True, True] Translation: X:102.33, Y:-17.84, Z:-13.09 [[ 9.34387121e-01 3.44277133e-01 9.16185757e-02 1.02327849e+02] [-3.42565596e-01 9.38867841e-01 -3.42926921e-02 -1.78391638e+01] [-9.78239242e-02 6.57277837e-04 9.95203521e-01 -1.30888446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.009649246 meters 0.061774661731342925 Centerline is valid? [True, True] Translation: X:102.38, Y:-17.86, Z:-13.10 [[ 9.35025739e-01 3.42968525e-01 8.99969865e-02 1.02384502e+02] [-3.41308954e-01 9.39346554e-01 -3.37082951e-02 -1.78629308e+01] [-9.60992434e-02 8.01346189e-04 9.95371435e-01 -1.30975380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.069649246 meters 0.06169010563621333 Centerline is valid? [True, True] Translation: X:102.44, Y:-17.88, Z:-13.11 [[ 9.34878145e-01 3.43392775e-01 8.99124873e-02 1.02442916e+02] [-3.41736068e-01 9.39191565e-01 -3.36996200e-02 -1.78848013e+01] [-9.60172557e-02 7.78698375e-04 9.95379365e-01 -1.31056346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.129649246 meters 0.061687592964623165 Centerline is valid? [True, True] Translation: X:102.50, Y:-17.90, Z:-13.11 [[ 9.34450423e-01 3.44683274e-01 8.94195081e-02 1.02502536e+02] [-3.43048027e-01 9.38718805e-01 -3.35418642e-02 -1.79044103e+01] [-9.55010933e-02 6.68023425e-04 9.95429101e-01 -1.31141345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.189649246 meters 0.061612554689361144 Centerline is valid? [True, True] Translation: X:102.56, Y:-17.92, Z:-13.12 [[ 9.33619218e-01 3.46615590e-01 9.06244349e-02 1.02561428e+02] [-3.44942175e-01 9.38007132e-01 -3.40223029e-02 -1.79229584e+01] [-9.67990268e-02 5.03686225e-04 9.95303820e-01 -1.31184103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.249649246 meters 0.0615802999688298 Centerline is valid? [True, True] Translation: X:102.62, Y:-17.94, Z:-13.13 [[ 9.32940371e-01 3.48108821e-01 9.18831461e-02 1.02619586e+02] [-3.46393197e-01 9.37454056e-01 -3.45202344e-02 -1.79404992e+01] [-9.81530261e-02 3.77623570e-04 9.95171262e-01 -1.31288926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.309649246 meters 0.06152189861051626 Centerline is valid? [True, True] Translation: X:102.68, Y:-17.96, Z:-13.14 [[ 9.31820892e-01 3.51144345e-01 9.16922781e-02 1.02679637e+02] [-3.49448163e-01 9.36321335e-01 -3.44722915e-02 -1.79583940e+01] [-9.79581864e-02 8.03032624e-05 9.95190528e-01 -1.31367146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.369649246 meters 0.06177004310778279 Centerline is valid? [True, True] Translation: X:102.74, Y:-17.97, Z:-13.14 [[ 9.29535383e-01 3.57283494e-01 9.11727870e-02 1.02740530e+02] [-3.55633290e-01 9.33995833e-01 -3.43037453e-02 -1.79707385e+01] [-9.74111651e-02 -5.37533198e-04 9.95244079e-01 -1.31431165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.429649246 meters 0.06134845344805656 Centerline is valid? [True, True] Translation: X:102.80, Y:-17.99, Z:-13.15 [[ 9.29193865e-01 3.57472198e-01 9.38743298e-02 1.02799465e+02] [-3.55720932e-01 9.33923618e-01 -3.53453510e-02 -1.79904857e+01] [-1.00306434e-01 -5.50380711e-04 9.94956439e-01 -1.31451336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.489649246 meters 0.061361979278430075 Centerline is valid? [True, True] Translation: X:102.86, Y:-18.01, Z:-13.15 [[ 9.30010888e-01 3.55235191e-01 9.42746383e-02 1.02856036e+02] [-3.53454890e-01 9.34776913e-01 -3.55213133e-02 -1.80142535e+01] [-1.00744176e-01 -2.86623790e-04 9.94912322e-01 -1.31536582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.549649246 meters 0.06146807822851586 Centerline is valid? [True, True] Translation: X:102.91, Y:-18.04, Z:-13.16 [[ 9.30140311e-01 3.54760677e-01 9.47832428e-02 1.02913078e+02] [-3.52956060e-01 9.34957120e-01 -3.57379832e-02 -1.80383784e+01] [-1.01296699e-01 -2.12981088e-04 9.94856238e-01 -1.31604793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.609649246 meters 0.06146450099478031 Centerline is valid? [True, True] Translation: X:102.97, Y:-18.06, Z:-13.17 [[ 9.29495209e-01 3.56808974e-01 9.34131260e-02 1.02970862e+02] [-3.55064212e-01 9.34177280e-01 -3.52450719e-02 -1.80591457e+01] [-9.98401778e-02 -4.07532527e-04 9.95003403e-01 -1.31704267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.669649246 meters 0.06181879357622843 Centerline is valid? [True, True] Translation: X:103.03, Y:-18.08, Z:-13.18 [[ 9.29580138e-01 3.56888190e-01 9.22582567e-02 1.03025881e+02] [-3.55184452e-01 9.34147027e-01 -3.48329769e-02 -1.80827238e+01] [-9.86142543e-02 -3.88654888e-04 9.95125659e-01 -1.31810295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72964924600001 meters 0.06120577517640609 Centerline is valid? [True, True] Translation: X:103.08, Y:-18.11, Z:-13.18 [[ 9.29854769e-01 3.55588225e-01 9.44834491e-02 1.03082531e+02] [-3.53792145e-01 9.34642690e-01 -3.56953741e-02 -1.81077639e+01] [-1.01001120e-01 -2.35988286e-04 9.94886284e-01 -1.31848960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.789649246 meters 0.06096723288559383 Centerline is valid? [True, True] Translation: X:103.14, Y:-18.13, Z:-13.19 [[ 9.30259967e-01 3.54194108e-01 9.57231840e-02 1.03139153e+02] [-3.52340502e-01 9.35171925e-01 -3.61889519e-02 -1.81336593e+01] [-1.02335548e-01 -6.20215665e-05 9.94749934e-01 -1.31903370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.849649246 meters 0.061015782921962934 Centerline is valid? [True, True] Translation: X:103.20, Y:-18.16, Z:-13.20 [[ 9.30992878e-01 3.52188294e-01 9.59982643e-02 1.03195437e+02] [-3.50310870e-01 9.35929149e-01 -3.63169652e-02 -1.81597004e+01] [-1.02637984e-01 1.81600460e-04 9.94718760e-01 -1.31989392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.909649246 meters 0.06128199166985272 Centerline is valid? [True, True] Translation: X:103.25, Y:-18.18, Z:-13.21 [[ 9.30864245e-01 3.53055767e-01 9.40392651e-02 1.03252493e+02] [-3.51256001e-01 9.35602273e-01 -3.56034880e-02 -1.81810449e+01] [-1.00553367e-01 1.10157771e-04 9.94931660e-01 -1.32084250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.969649246 meters 0.06159157086099408 Centerline is valid? [True, True] Translation: X:103.31, Y:-18.20, Z:-13.22 [[ 9.30479898e-01 3.54561080e-01 9.21607298e-02 1.03310485e+02] [-3.52838009e-01 9.35032855e-01 -3.49127469e-02 -1.81993082e+01] [-9.85520115e-02 -3.21991996e-05 9.95131901e-01 -1.32205783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.029649246 meters 0.0613090209909456 Centerline is valid? [True, True] Translation: X:103.37, Y:-18.22, Z:-13.23 [[ 9.30194362e-01 3.55612630e-01 9.09841038e-02 1.03368738e+02] [-3.53936293e-01 9.34633427e-01 -3.44885111e-02 -1.82204359e+01] [-9.73013348e-02 -1.21557890e-04 9.95254960e-01 -1.32252132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08964924600001 meters 0.06135881231674909 Centerline is valid? [True, True] Translation: X:103.43, Y:-18.24, Z:-13.23 [[ 9.29587077e-01 3.57012311e-01 9.17064670e-02 1.03426897e+02] [-3.55313532e-01 9.34099646e-01 -3.47871438e-02 -1.82407913e+01] [-9.80824170e-02 -2.46869417e-04 9.95178265e-01 -1.32323784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.149649246 meters 0.06130586825736745 Centerline is valid? [True, True] Translation: X:103.49, Y:-18.26, Z:-13.24 [[ 9.29813591e-01 3.56509798e-01 9.13643744e-02 1.03485231e+02] [-3.54818991e-01 9.34291568e-01 -3.46806773e-02 -1.82625576e+01] [-9.77249659e-02 -1.71250005e-04 9.95213445e-01 -1.32419483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.209649246 meters 0.06115797351380783 Centerline is valid? [True, True] Translation: X:103.54, Y:-18.29, Z:-13.25 [[ 9.30100977e-01 3.55526097e-01 9.22679135e-02 1.03540528e+02] [-3.53793621e-01 9.34666354e-01 -3.50553892e-02 -1.82863583e+01] [-9.87028200e-02 -3.87474811e-05 9.95116954e-01 -1.32497819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.269649246 meters 0.060744328108859956 Centerline is valid? [True, True] Translation: X:103.60, Y:-18.31, Z:-13.25 [[ 9.29737436e-01 3.56256016e-01 9.31125748e-02 1.03598055e+02] [-3.54494121e-01 9.34388377e-01 -3.53875464e-02 -1.83103595e+01] [-9.96103339e-02 -1.06733788e-04 9.95026517e-01 -1.32518391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.329649246 meters 0.06065872650628038 Centerline is valid? [True, True] Translation: X:103.65, Y:-18.34, Z:-13.26 [[ 9.31502417e-01 3.50743406e-01 9.63447424e-02 1.03652346e+02] [-3.48824472e-01 9.36471455e-01 -3.66428821e-02 -1.83378825e+01] [-1.03076350e-01 5.25529309e-04 9.94673308e-01 -1.32581401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.389649246 meters 0.060465388429137075 Centerline is valid? [True, True] Translation: X:103.71, Y:-18.36, Z:-13.26 [[ 9.32493358e-01 3.47564885e-01 9.82587862e-02 1.03710060e+02] [-3.45548600e-01 9.37655486e-01 -3.73945891e-02 -1.83604168e+01] [-1.05129936e-01 9.17019941e-04 9.94458071e-01 -1.32605677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.449649246 meters 0.060633718520145694 Centerline is valid? [True, True] Translation: X:103.77, Y:-18.38, Z:-13.27 [[ 9.32304416e-01 3.47930264e-01 9.87573205e-02 1.03766314e+02] [-3.45892390e-01 9.37519978e-01 -3.76131104e-02 -1.83820533e+01] [-1.05673700e-01 9.07463303e-04 9.94400445e-01 -1.32706506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.509649246 meters 0.06034697721035224 Centerline is valid? [True, True] Translation: X:103.82, Y:-18.40, Z:-13.28 [[ 9.31639670e-01 3.50524736e-01 9.58119795e-02 1.03824752e+02] [-3.48619375e-01 9.36553278e-01 -3.65032747e-02 -1.84003190e+01] [-1.02528324e-01 6.05986449e-04 9.94729901e-01 -1.32780604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.569649246 meters 0.06021863142128324 Centerline is valid? [True, True] Translation: X:103.88, Y:-18.42, Z:-13.29 [[ 9.31494585e-01 3.50963711e-01 9.56154342e-02 1.03881882e+02] [-3.49065928e-01 9.36388882e-01 -3.64532646e-02 -1.84224563e+01] [-1.02327002e-01 5.79928352e-04 9.94750646e-01 -1.32865690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.629649246 meters 0.06028164023867969 Centerline is valid? [True, True] Translation: X:103.94, Y:-18.44, Z:-13.30 [[ 9.31017004e-01 3.52370283e-01 9.50921815e-02 1.03941520e+02] [-3.50498975e-01 9.35860562e-01 -3.62694949e-02 -1.84408065e+01] [-1.01773315e-01 4.37804314e-04 9.94807519e-01 -1.32982628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.689649246 meters 0.06010717286242115 Centerline is valid? [True, True] Translation: X:104.00, Y:-18.46, Z:-13.30 [[ 9.30045771e-01 3.54842656e-01 9.54020613e-02 1.04000844e+02] [-3.52969128e-01 9.34926014e-01 -3.64162447e-02 -1.84598518e+01] [-1.02115906e-01 1.94791985e-04 9.94772488e-01 -1.33041309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.749649246 meters 0.05974598760566562 Centerline is valid? [True, True] Translation: X:104.06, Y:-18.48, Z:-13.31 [[ 9.28613249e-01 3.58155302e-01 9.69650143e-02 1.04060670e+02] [-3.56235129e-01 9.33662015e-01 -3.70374893e-02 -1.84754118e+01] [-1.03797724e-01 -1.48841095e-04 9.94598417e-01 -1.33094758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.809649246 meters 0.05993869410368595 Centerline is valid? [True, True] Translation: X:104.12, Y:-18.49, Z:-13.32 [[ 9.27437722e-01 3.61166895e-01 9.70450734e-02 1.04121489e+02] [-3.59257492e-01 9.32501077e-01 -3.70917201e-02 -1.84913275e+01] [-1.03890937e-01 -4.63909349e-04 9.94588587e-01 -1.33171017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.869649246 meters 0.05993648029044419 Centerline is valid? [True, True] Translation: X:104.18, Y:-18.51, Z:-13.32 [[ 9.28976447e-01 3.57273812e-01 9.67377123e-02 1.04179449e+02] [-3.55352297e-01 9.33999691e-01 -3.70043465e-02 -1.85147817e+01] [-1.03573677e-01 1.98035479e-07 9.94621784e-01 -1.33231334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.929649246 meters 0.059962984172839254 Centerline is valid? [True, True] Translation: X:104.24, Y:-18.53, Z:-13.33 [[ 9.29256740e-01 3.57154893e-01 9.44578943e-02 1.04238523e+02] [-3.55319591e-01 9.34045171e-01 -3.61608633e-02 -1.85316827e+01] [-1.01142969e-01 3.99855813e-05 9.94871900e-01 -1.33318469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.989649246 meters 0.060143909659171664 Centerline is valid? [True, True] Translation: X:104.30, Y:-18.55, Z:-13.34 [[ 9.28968612e-01 3.57991114e-01 9.41258756e-02 1.04296587e+02] [-3.56170227e-01 9.33724992e-01 -3.60611658e-02 -1.85498528e+01] [-1.00797259e-01 -2.51433316e-05 9.94906987e-01 -1.33437159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.049649246 meters 0.060190041427526424 Centerline is valid? [True, True] Translation: X:104.36, Y:-18.56, Z:-13.35 [[ 9.26683055e-01 3.63105520e-01 9.70200852e-02 1.04356256e+02] [-3.61196581e-01 9.31747843e-01 -3.71885329e-02 -1.85636799e+01] [-1.03901617e-01 -5.81339786e-04 9.94587410e-01 -1.33485927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.109649246 meters 0.06037800286545834 Centerline is valid? [True, True] Translation: X:104.42, Y:-18.58, Z:-13.35 [[ 9.23409574e-01 3.71539502e-01 9.62972374e-02 1.04416597e+02] [-3.69702235e-01 9.28415941e-01 -3.69336983e-02 -1.85789191e+01] [-1.03126218e-01 -1.49637329e-03 9.94667152e-01 -1.33500490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.169649246 meters 0.061017416516140704 Centerline is valid? [True, True] Translation: X:104.48, Y:-18.60, Z:-13.36 [[ 9.21498582e-01 3.76171671e-01 9.66190332e-02 1.04475370e+02] [-3.74344727e-01 9.26547832e-01 -3.70828785e-02 -1.85965101e+01] [-1.03471684e-01 -1.99700568e-03 9.94630395e-01 -1.33586113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22964924600001 meters 0.0619227785829248 Centerline is valid? [True, True] Translation: X:104.53, Y:-18.61, Z:-13.37 [[ 9.20541190e-01 3.78600735e-01 9.62569527e-02 1.04532857e+02] [-3.76797736e-01 9.25557394e-01 -3.69726366e-02 -1.86130535e+01] [-1.03089202e-01 -2.23456699e-03 9.94669605e-01 -1.33703737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.289649246 meters 0.06154131599284391 Centerline is valid? [True, True] Translation: X:104.59, Y:-18.64, Z:-13.38 [[ 9.20896671e-01 3.77844078e-01 9.58288827e-02 1.04588060e+02] [-3.76050952e-01 9.25866811e-01 -3.68283782e-02 -1.86409204e+01] [-1.02640167e-01 -2.12141166e-03 9.94716289e-01 -1.33764970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.349649246 meters 0.060984420966190334 Centerline is valid? [True, True] Translation: X:104.64, Y:-18.67, Z:-13.38 [[ 9.21250573e-01 3.76328670e-01 9.83570734e-02 1.04643631e+02] [-3.74427743e-01 9.26484118e-01 -3.78291333e-02 -1.86666327e+01] [-1.05362454e-01 -1.97750625e-03 9.94431920e-01 -1.33800197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.409649246 meters 0.06130260313465542 Centerline is valid? [True, True] Translation: X:104.70, Y:-18.69, Z:-13.39 [[ 9.20609916e-01 3.77797615e-01 9.87235835e-02 1.04700395e+02] [-3.75888299e-01 9.25885749e-01 -3.79942886e-02 -1.86864005e+01] [-1.05760911e-01 -2.13112107e-03 9.94389304e-01 -1.33893310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.469649246 meters 0.061781544731938295 Centerline is valid? [True, True] Translation: X:104.76, Y:-18.70, Z:-13.39 [[ 9.18828359e-01 3.82123800e-01 9.86704033e-02 1.04759317e+02] [-3.80238508e-01 9.24107478e-01 -3.80006216e-02 -1.87043040e+01] [-1.05702999e-01 -2.60223818e-03 9.94394340e-01 -1.33949233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.529649246 meters 0.06181529220293483 Centerline is valid? [True, True] Translation: X:104.82, Y:-18.73, Z:-13.40 [[ 9.18929017e-01 3.82055116e-01 9.79966847e-02 1.04817626e+02] [-3.80194010e-01 9.24135976e-01 -3.77519868e-02 -1.87269971e+01] [-1.04985602e-01 -2.56635639e-03 9.94470431e-01 -1.34041822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58964924600001 meters 0.0626719649118411 Centerline is valid? [True, True] Translation: X:104.88, Y:-18.75, Z:-13.42 [[ 9.18787701e-01 3.83202510e-01 9.47892208e-02 1.04875604e+02] [-3.81464584e-01 9.23660747e-01 -3.65458066e-02 -1.87459478e+01] [-1.01557527e-01 -2.58089303e-03 9.94826320e-01 -1.34172964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.649649246 meters 0.0634132227662637 Centerline is valid? [True, True] Translation: X:104.93, Y:-18.77, Z:-13.43 [[ 9.18014931e-01 3.85246395e-01 9.39883070e-02 1.04932592e+02] [-3.83545880e-01 9.22809623e-01 -3.62623471e-02 -1.87680358e+01] [-1.00703253e-01 -2.75945180e-03 9.94912680e-01 -1.34267429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.709649246 meters 0.061475840162071214 Centerline is valid? [True, True] Translation: X:104.99, Y:-18.80, Z:-13.43 [[ 9.20172937e-01 3.79952126e-01 9.44359472e-02 1.04985802e+02] [-3.78204821e-01 9.25003617e-01 -3.64612216e-02 -1.88018707e+01] [-1.01207111e-01 -2.16550122e-03 9.94863021e-01 -1.34313298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.769649246 meters 0.06026534332041006 Centerline is valid? [True, True] Translation: X:105.04, Y:-18.83, Z:-13.44 [[ 9.23077232e-01 3.72716142e-01 9.49268241e-02 1.05038376e+02] [-3.70909933e-01 9.27944415e-01 -3.66740260e-02 -1.88332552e+01] [-1.01755818e-01 -1.35634355e-03 9.94808481e-01 -1.34401302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.829649246 meters 0.05962091232851083 Centerline is valid? [True, True] Translation: X:105.09, Y:-18.86, Z:-13.45 [[ 9.24941988e-01 3.67926719e-01 9.54580972e-02 1.05092473e+02] [-3.66072276e-01 9.29854435e-01 -3.69028203e-02 -1.88640884e+01] [-1.02339669e-01 -8.11594943e-04 9.94749181e-01 -1.34463515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.889649246 meters 0.060178852103785915 Centerline is valid? [True, True] Translation: X:105.15, Y:-18.88, Z:-13.46 [[ 9.24635065e-01 3.69611089e-01 9.18566285e-02 1.05149582e+02] [-3.67900136e-01 9.29186076e-01 -3.55348444e-02 -1.88833956e+01] [-9.84859728e-02 -9.37302969e-04 9.95137998e-01 -1.34593764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.949649246 meters 0.06049700395121079 Centerline is valid? [True, True] Translation: X:105.21, Y:-18.90, Z:-13.47 [[ 9.24516319e-01 3.70121703e-01 9.09917573e-02 1.05206804e+02] [-3.68443158e-01 9.28982777e-01 -3.52226997e-02 -1.89036723e+01] [-9.75664610e-02 -9.61329761e-04 9.95228547e-01 -1.34691031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.009649246 meters 0.0602200821605171 Centerline is valid? [True, True] Translation: X:105.26, Y:-18.93, Z:-13.47 [[ 9.23985649e-01 3.71410386e-01 9.11309293e-02 1.05264162e+02] [-3.69730902e-01 9.28468179e-01 -3.52973147e-02 -1.89283347e+01] [-9.77219573e-02 -1.07970845e-03 9.95213170e-01 -1.34737376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.069649246 meters 0.05999001114069126 Centerline is valid? [True, True] Translation: X:105.32, Y:-18.95, Z:-13.48 [[ 9.24133526e-01 3.70765526e-01 9.22504761e-02 1.05320281e+02] [-3.69038130e-01 9.28725974e-01 -3.57620443e-02 -1.89499520e+01] [-9.89347464e-02 -9.95039086e-04 9.95093426e-01 -1.34812817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.129649246 meters 0.05960936036581577 Centerline is valid? [True, True] Translation: X:105.38, Y:-18.98, Z:-13.49 [[ 9.24620214e-01 3.69475161e-01 9.25503365e-02 1.05376387e+02] [-3.67727760e-01 9.29240229e-01 -3.59011460e-02 -1.89763430e+01] [-9.92660775e-02 -8.38402579e-04 9.95060572e-01 -1.34855295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.189649246 meters 0.05945460313740766 Centerline is valid? [True, True] Translation: X:105.43, Y:-19.00, Z:-13.49 [[ 9.24325097e-01 3.69513809e-01 9.53029909e-02 1.05434292e+02] [-3.67657622e-01 9.29224861e-01 -3.70004170e-02 -1.90002352e+01] [-1.02230073e-01 -8.38456990e-04 9.94760428e-01 -1.34889278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.249649246 meters 0.05939415916335818 Centerline is valid? [True, True] Translation: X:105.49, Y:-19.02, Z:-13.50 [[ 9.23837863e-01 3.70413592e-01 9.65265407e-02 1.05491782e+02] [-3.68513499e-01 9.28866449e-01 -3.74822774e-02 -1.90205376e+01] [-1.03544210e-01 -9.43786180e-04 9.94624404e-01 -1.34960033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.309649246 meters 0.05973707876967659 Centerline is valid? [True, True] Translation: X:105.55, Y:-19.04, Z:-13.51 [[ 9.23478853e-01 3.71428496e-01 9.60608125e-02 1.05549252e+02] [-3.69549685e-01 9.28460991e-01 -3.73258426e-02 -1.90384626e+01] [-1.03052599e-01 -1.02961671e-03 9.94675375e-01 -1.35086066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.369649246 meters 0.05975011320194 Centerline is valid? [True, True] Translation: X:105.61, Y:-19.06, Z:-13.51 [[ 9.23307232e-01 3.72049307e-01 9.53051378e-02 1.05606638e+02] [-3.70200946e-01 9.28212352e-01 -3.70552040e-02 -1.90622233e+01] [-1.02249769e-01 -1.06871433e-03 9.94758183e-01 -1.35144750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.429649246 meters 0.06001372265746402 Centerline is valid? [True, True] Translation: X:105.66, Y:-19.08, Z:-13.52 [[ 9.22666392e-01 3.73662192e-01 9.52013369e-02 1.05663145e+02] [-3.71823654e-01 9.27564055e-01 -3.70417965e-02 -1.90838999e+01] [-1.02146457e-01 -1.22088824e-03 9.94768622e-01 -1.35234471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.489649246 meters 0.06043813934077577 Centerline is valid? [True, True] Translation: X:105.72, Y:-19.11, Z:-13.53 [[ 9.22738409e-01 3.73870205e-01 9.36744280e-02 1.05720066e+02] [-3.72089023e-01 9.27480256e-01 -3.64710059e-02 -1.91050730e+01] [-1.00516605e-01 -1.20202839e-03 9.94934655e-01 -1.35349878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.549649246 meters 0.060447693972534494 Centerline is valid? [True, True] Translation: X:105.78, Y:-19.13, Z:-13.54 [[ 9.22588580e-01 3.74476572e-01 9.27232951e-02 1.05777260e+02] [-3.72732175e-01 9.27235556e-01 -3.61240851e-02 -1.91287315e+01] [-9.95039596e-02 -1.23328707e-03 9.95036402e-01 -1.35429054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.609649246 meters 0.0606782404551213 Centerline is valid? [True, True] Translation: X:105.83, Y:-19.15, Z:-13.55 [[ 9.22245896e-01 3.75316828e-01 9.27350363e-02 1.05834890e+02] [-3.73573794e-01 9.26895671e-01 -3.61529430e-02 -1.91499085e+01] [-9.95245116e-02 -1.30147602e-03 9.95034260e-01 -1.35514647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.669649246 meters 0.06140245231523671 Centerline is valid? [True, True] Translation: X:105.89, Y:-19.17, Z:-13.56 [[ 9.19782639e-01 3.80729409e-01 9.51052828e-02 1.05894278e+02] [-3.78921562e-01 9.24684531e-01 -3.71075123e-02 -1.91652289e+01] [-1.02070305e-01 -1.90659673e-03 9.94775360e-01 -1.35559374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72964924600001 meters 0.06147572070740634 Centerline is valid? [True, True] Translation: X:105.95, Y:-19.18, Z:-13.56 [[ 9.19102552e-01 3.81996228e-01 9.65887183e-02 1.05953081e+02] [-3.80137193e-01 9.24161567e-01 -3.76976510e-02 -1.91846030e+01] [-1.03663942e-01 -2.06895703e-03 9.94610228e-01 -1.35626359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.789649246 meters 0.06134649744365562 Centerline is valid? [True, True] Translation: X:106.01, Y:-19.21, Z:-13.57 [[ 9.18913999e-01 3.82493221e-01 9.64157561e-02 1.06011658e+02] [-3.80640983e-01 9.23955916e-01 -3.76551199e-02 -1.92077157e+01] [-1.03486736e-01 -2.09797133e-03 9.94628621e-01 -1.35690944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.849649246 meters 0.06192744233786237 Centerline is valid? [True, True] Translation: X:106.07, Y:-19.23, Z:-13.58 [[ 9.18498128e-01 3.83746051e-01 9.53947452e-02 1.06068494e+02] [-3.81936309e-01 9.23436080e-01 -3.72888845e-02 -1.92269384e+01] [-1.02400412e-01 -2.18494632e-03 9.94740862e-01 -1.35789813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.909649246 meters 0.062199633855292015 Centerline is valid? [True, True] Translation: X:106.13, Y:-19.25, Z:-13.59 [[ 9.18168105e-01 3.84964849e-01 9.36450482e-02 1.06125221e+02] [-3.83226415e-01 9.22928445e-01 -3.66141943e-02 -1.92495865e+01] [-1.00522857e-01 -2.26927072e-03 9.94932161e-01 -1.35880167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.969649246 meters 0.062269495946429 Centerline is valid? [True, True] Translation: X:106.18, Y:-19.27, Z:-13.60 [[ 9.18209503e-01 3.85046357e-01 9.29010829e-02 1.06181131e+02] [-3.83333443e-01 9.22894522e-01 -3.63479445e-02 -1.92736851e+01] [-9.97335441e-02 -2.23706390e-03 9.95011666e-01 -1.35972734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.029649246 meters 0.06192450099117648 Centerline is valid? [True, True] Translation: X:106.24, Y:-19.30, Z:-13.61 [[ 9.19091896e-01 3.83204812e-01 9.17832200e-02 1.06236601e+02] [-3.81521603e-01 9.23661250e-01 -3.59327334e-02 -1.92991516e+01] [-9.85462001e-02 -1.99179718e-03 9.95130484e-01 -1.36062325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08964924600001 meters 0.06099095745589236 Centerline is valid? [True, True] Translation: X:106.29, Y:-19.33, Z:-13.61 [[ 9.20373505e-01 3.80075032e-01 9.19542342e-02 1.06291384e+02] [-3.78367489e-01 9.24954210e-01 -3.60243237e-02 -1.93281510e+01] [-9.87454020e-02 -1.63665960e-03 9.95111384e-01 -1.36131606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.149649246 meters 0.060425882300857034 Centerline is valid? [True, True] Translation: X:106.35, Y:-19.36, Z:-13.62 [[ 9.21514673e-01 3.77457213e-01 9.13058577e-02 1.06346380e+02] [-3.75758549e-01 9.26026079e-01 -3.57940464e-02 -1.93554173e+01] [-9.80623264e-02 -1.32421764e-03 9.95179394e-01 -1.36216579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.209649246 meters 0.06086073507079469 Centerline is valid? [True, True] Translation: X:106.40, Y:-19.38, Z:-13.63 [[ 9.21544433e-01 3.77379419e-01 9.13270627e-02 1.06402259e+02] [-3.75677186e-01 9.26057828e-01 -3.58266812e-02 -1.93789522e+01] [-9.80943935e-02 -1.29361534e-03 9.95176274e-01 -1.36324423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.269649246 meters 0.059876328033727874 Centerline is valid? [True, True] Translation: X:106.46, Y:-19.41, Z:-13.63 [[ 9.22435371e-01 3.74882207e-01 9.26084072e-02 1.06457408e+02] [-3.73116450e-01 9.27071894e-01 -3.63568127e-02 -1.94084038e+01] [-9.94841736e-02 -1.01691014e-03 9.95038625e-01 -1.36341934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.329649246 meters 0.060015965947852704 Centerline is valid? [True, True] Translation: X:106.51, Y:-19.43, Z:-13.64 [[ 9.22468832e-01 3.74752978e-01 9.27979461e-02 1.06513568e+02] [-3.72976792e-01 9.27124178e-01 -3.64564234e-02 -1.94305997e+01] [-9.96973727e-02 -9.81565930e-04 9.95017322e-01 -1.36441047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.389649246 meters 0.05950289642950659 Centerline is valid? [True, True] Translation: X:106.57, Y:-19.46, Z:-13.65 [[ 9.23088227e-01 3.73461332e-01 9.18409437e-02 1.06569912e+02] [-3.71713300e-01 9.27645390e-01 -3.61005891e-02 -1.94600984e+01] [-9.86780021e-02 -8.14471517e-04 9.95119083e-01 -1.36480233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.449649246 meters 0.0595163441660113 Centerline is valid? [True, True] Translation: X:106.63, Y:-19.48, Z:-13.66 [[ 9.23308170e-01 3.72624596e-01 9.30211470e-02 1.06625173e+02] [-3.70823817e-01 9.27981904e-01 -3.65962195e-02 -1.94849921e+01] [-9.99585926e-02 -7.04868355e-04 9.94991348e-01 -1.36568112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.509649246 meters 0.0593729469259089 Centerline is valid? [True, True] Translation: X:106.68, Y:-19.51, Z:-13.66 [[ 9.23945332e-01 3.70821557e-01 9.38956660e-02 1.06681928e+02] [-3.68974951e-01 9.28704006e-01 -3.69642377e-02 -1.95090051e+01] [-1.00908417e-01 -4.92213875e-04 9.94895597e-01 -1.36648577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.569649246 meters 0.05931056907252733 Centerline is valid? [True, True] Translation: X:106.74, Y:-19.54, Z:-13.67 [[ 9.25279933e-01 3.67662472e-01 9.31737777e-02 1.06737033e+02] [-3.65825703e-01 9.29959296e-01 -3.67050819e-02 -1.95369508e+01] [-1.00142902e-01 -1.22887014e-04 9.94973057e-01 -1.36706798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.629649246 meters 0.05905926911694432 Centerline is valid? [True, True] Translation: X:106.79, Y:-19.56, Z:-13.68 [[ 9.26193899e-01 3.64693192e-01 9.57274149e-02 1.06794246e+02] [-3.62735242e-01 9.31127715e-01 -3.77401911e-02 -1.95609084e+01] [-1.02898040e-01 2.31027784e-04 9.94691882e-01 -1.36754504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.689649246 meters 0.058894210812745984 Centerline is valid? [True, True] Translation: X:106.85, Y:-19.58, Z:-13.68 [[ 9.26593058e-01 3.62538496e-01 9.99557091e-02 1.06852465e+02] [-3.60387750e-01 9.31968654e-01 -3.94347384e-02 -1.95827313e+01] [-1.07452198e-01 5.17141807e-04 9.94210117e-01 -1.36776045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.749649246 meters 0.0587849690363843 Centerline is valid? [True, True] Translation: X:106.91, Y:-19.59, Z:-13.69 [[ 9.25562586e-01 3.65779042e-01 9.76708327e-02 1.06913809e+02] [-3.63740992e-01 9.30701706e-01 -3.85593613e-02 -1.95945845e+01] [-1.05006617e-01 1.62216614e-04 9.94471510e-01 -1.36880896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.809649246 meters 0.05936268522683238 Centerline is valid? [True, True] Translation: X:106.97, Y:-19.61, Z:-13.70 [[ 9.24793645e-01 3.68782684e-01 9.35737437e-02 1.06971206e+02] [-3.66925235e-01 9.29515632e-01 -3.69670367e-02 -1.96103950e+01] [-1.00611061e-01 -1.47687271e-04 9.94925823e-01 -1.37015982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.869649246 meters 0.05966005789536094 Centerline is valid? [True, True] Translation: X:107.03, Y:-19.63, Z:-13.71 [[ 9.24763785e-01 3.69122939e-01 9.25213347e-02 1.07028480e+02] [-3.67306813e-01 9.29380562e-01 -3.65715156e-02 -1.96308870e+01] [-9.94869154e-02 -1.63703407e-04 9.95038857e-01 -1.37130725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.929649246 meters 0.05988564231081463 Centerline is valid? [True, True] Translation: X:107.09, Y:-19.65, Z:-13.72 [[ 9.24347182e-01 3.70459080e-01 9.13365025e-02 1.07085699e+02] [-3.68693396e-01 9.28848745e-01 -3.61273939e-02 -1.96504718e+01] [-9.82215168e-02 -2.80910540e-04 9.95164537e-01 -1.37222730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.989649246 meters 0.05945987483234159 Centerline is valid? [True, True] Translation: X:107.14, Y:-19.67, Z:-13.72 [[ 9.23067424e-01 3.72853626e-01 9.44812423e-02 1.07143421e+02] [-3.70974096e-01 9.27890020e-01 -3.73942467e-02 -1.96748390e+01] [-1.01610782e-01 -5.32682502e-04 9.94824088e-01 -1.37214016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.049649246 meters 0.059164295686811204 Centerline is valid? [True, True] Translation: X:107.20, Y:-19.70, Z:-13.72 [[ 9.22683732e-01 3.72718884e-01 9.86679525e-02 1.07198815e+02] [-3.70664731e-01 9.27944163e-01 -3.90805282e-02 -1.96999446e+01] [-1.06124401e-01 -5.13762541e-04 9.94352728e-01 -1.37249645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.109649246 meters 0.059043775289931565 Centerline is valid? [True, True] Translation: X:107.26, Y:-19.72, Z:-13.73 [[ 9.22641216e-01 3.72424776e-01 1.00164725e-01 1.07255131e+02] [-3.70303171e-01 9.28062267e-01 -3.96987403e-02 -1.97235472e+01] [-1.07743896e-01 -4.63621293e-04 9.94178574e-01 -1.37334032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.169649246 meters 0.059074987757127766 Centerline is valid? [True, True] Translation: X:107.31, Y:-19.75, Z:-13.74 [[ 9.22222626e-01 3.73624506e-01 9.95497644e-02 1.07312159e+02] [-3.71533043e-01 9.27579860e-01 -3.94816510e-02 -1.97469088e+01] [-1.07091669e-01 -5.75155030e-04 9.94248985e-01 -1.37414215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22964924600001 meters 0.059415222177485905 Centerline is valid? [True, True] Translation: X:107.37, Y:-19.77, Z:-13.75 [[ 9.21120090e-01 3.76434552e-01 9.91705984e-02 1.07369331e+02] [-3.74372221e-01 9.26442803e-01 -3.93595273e-02 -1.97663524e+01] [-1.06692173e-01 -8.71865806e-04 9.94291718e-01 -1.37499206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.289649246 meters 0.05933367112315033 Centerline is valid? [True, True] Translation: X:107.43, Y:-19.79, Z:-13.76 [[ 9.20282854e-01 3.77971638e-01 1.01078728e-01 1.07427352e+02] [-3.75836778e-01 9.25816570e-01 -4.01297339e-02 -1.97883404e+01] [-1.08748263e-01 -1.05839752e-03 9.94068758e-01 -1.37561786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.349649246 meters 0.06052999775282759 Centerline is valid? [True, True] Translation: X:107.49, Y:-19.80, Z:-13.76 [[ 9.17568657e-01 3.84774463e-01 1.00081826e-01 1.07486951e+02] [-3.82718880e-01 9.23008831e-01 -3.97612529e-02 -1.98021690e+01] [-1.07675524e-01 -1.81952505e-03 9.94184425e-01 -1.37643767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.409649246 meters 0.06099671344881914 Centerline is valid? [True, True] Translation: X:107.54, Y:-19.82, Z:-13.77 [[ 9.17172140e-01 3.85601817e-01 1.00531113e-01 1.07544808e+02] [-3.83529952e-01 9.22663329e-01 -3.99644428e-02 -1.98247055e+01] [-1.08166734e-01 -1.90241952e-03 9.94130946e-01 -1.37697235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.469649246 meters 0.0608616251495049 Centerline is valid? [True, True] Translation: X:107.60, Y:-19.85, Z:-13.78 [[ 9.17741746e-01 3.85055305e-01 9.73781320e-02 1.07600929e+02] [-3.83105773e-01 9.22891832e-01 -3.87380061e-02 -1.98474248e+01] [-1.04785757e-01 -1.75463918e-03 9.94493271e-01 -1.37831142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.529649246 meters 0.061009190776920796 Centerline is valid? [True, True] Translation: X:107.66, Y:-19.87, Z:-13.79 [[ 9.18142665e-01 3.84133342e-01 9.72400282e-02 1.07656699e+02] [-3.82181415e-01 9.23276201e-01 -3.87094638e-02 -1.98725598e+01] [-1.04648999e-01 -1.62252140e-03 9.94507896e-01 -1.37919934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58964924600001 meters 0.061226203963700085 Centerline is valid? [True, True] Translation: X:107.71, Y:-19.90, Z:-13.80 [[ 9.18205290e-01 3.84237784e-01 9.62308207e-02 1.07711970e+02] [-3.82324139e-01 9.23232791e-01 -3.83336096e-02 -1.98975814e+01] [-1.03572670e-01 -1.59324259e-03 9.94620613e-01 -1.38009077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.649649246 meters 0.06143206581315039 Centerline is valid? [True, True] Translation: X:107.77, Y:-19.92, Z:-13.81 [[ 9.18643779e-01 3.83631123e-01 9.44498197e-02 1.07767625e+02] [-3.81782299e-01 9.23485239e-01 -3.76469227e-02 -1.99215692e+01] [-1.01665545e-01 -1.47515793e-03 9.94817541e-01 -1.38122664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.709649246 meters 0.061433792614823984 Centerline is valid? [True, True] Translation: X:107.82, Y:-19.95, Z:-13.82 [[ 9.18934800e-01 3.83566856e-01 9.18438931e-02 1.07822706e+02] [-3.81816484e-01 9.23512038e-01 -3.66290524e-02 -1.99486670e+01] [-9.88686314e-02 -1.40780136e-03 9.95099498e-01 -1.38203180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.769649246 meters 0.06129625126051737 Centerline is valid? [True, True] Translation: X:107.88, Y:-19.97, Z:-13.83 [[ 9.19505358e-01 3.82363792e-01 9.11472793e-02 1.07879324e+02] [-3.80631719e-01 9.24011026e-01 -3.63746998e-02 -1.99743126e+01] [-9.81294592e-02 -1.24681424e-03 9.95172877e-01 -1.38285607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.829649246 meters 0.06141613340562256 Centerline is valid? [True, True] Translation: X:107.93, Y:-20.00, Z:-13.84 [[ 9.21607748e-01 3.77968435e-01 8.81987574e-02 1.07932532e+02] [-3.76324083e-01 9.25818197e-01 -3.52257218e-02 -2.00018532e+01] [-9.49702254e-02 -7.27018342e-04 9.95479848e-01 -1.38427887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.889649246 meters 0.06101681749986946 Centerline is valid? [True, True] Translation: X:107.99, Y:-20.04, Z:-13.85 [[ 9.24362985e-01 3.71471849e-01 8.69582505e-02 1.07985854e+02] [-3.69842818e-01 9.28444217e-01 -3.47509098e-02 -2.00358428e+01] [-9.36448695e-02 -3.84297554e-05 9.95605663e-01 -1.38482129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.949649246 meters 0.06083242340779021 Centerline is valid? [True, True] Translation: X:108.04, Y:-20.06, Z:-13.85 [[ 9.24330667e-01 3.71598539e-01 8.67602652e-02 1.08043949e+02] [-3.69975484e-01 9.28393518e-01 -3.46931779e-02 -2.00593373e+01] [-9.34396021e-02 -3.12027567e-05 9.95624949e-01 -1.38524392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.009649246 meters 0.0608699916187066 Centerline is valid? [True, True] Translation: X:108.11, Y:-20.07, Z:-13.86 [[ 9.22094502e-01 3.76810887e-01 8.80640986e-02 1.08105309e+02] [-3.75159472e-01 9.26290054e-01 -3.52435316e-02 -2.00715795e+01] [-9.48530450e-02 -5.40214000e-04 9.95491139e-01 -1.38579327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.069649246 meters 0.06094599235249506 Centerline is valid? [True, True] Translation: X:108.16, Y:-20.09, Z:-13.87 [[ 9.21892006e-01 3.77464132e-01 8.73839684e-02 1.08164273e+02] [-3.75838814e-01 9.26024024e-01 -3.49956192e-02 -2.00904269e+01] [-9.41292450e-02 -5.80105380e-04 9.95559817e-01 -1.38674079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.129649246 meters 0.06118468764793937 Centerline is valid? [True, True] Translation: X:108.22, Y:-20.11, Z:-13.87 [[ 9.21574869e-01 3.78261443e-01 8.72813881e-02 1.08221995e+02] [-3.76641303e-01 9.25698586e-01 -3.49779501e-02 -2.01137493e+01] [-9.40270674e-02 -6.38975875e-04 9.95569436e-01 -1.38736680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.189649246 meters 0.06130242317026907 Centerline is valid? [True, True] Translation: X:108.28, Y:-20.14, Z:-13.88 [[ 9.20766622e-01 3.80266344e-01 8.70995749e-02 1.08279569e+02] [-3.78659105e-01 9.24876665e-01 -3.49347589e-02 -2.01365849e+01] [-9.38408774e-02 -8.14287154e-04 9.95586876e-01 -1.38802774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.249649246 meters 0.06125304141520806 Centerline is valid? [True, True] Translation: X:108.34, Y:-20.16, Z:-13.89 [[ 9.20100791e-01 3.81484856e-01 8.87909873e-02 1.08337355e+02] [-3.79817627e-01 9.24374618e-01 -3.56389602e-02 -2.01585103e+01] [-9.56718586e-02 -9.32946679e-04 9.95412490e-01 -1.38884234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.309649246 meters 0.061159661477371716 Centerline is valid? [True, True] Translation: X:108.39, Y:-20.18, Z:-13.90 [[ 9.20464906e-01 3.80650460e-01 8.85978777e-02 1.08394083e+02] [-3.78984347e-01 9.24718634e-01 -3.55852912e-02 -2.01839572e+01] [-9.54736659e-02 -8.22197083e-04 9.95431617e-01 -1.38958831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.369649246 meters 0.06055334838851889 Centerline is valid? [True, True] Translation: X:108.45, Y:-20.22, Z:-13.89 [[ 9.22387101e-01 3.74859491e-01 9.31793830e-02 1.08449297e+02] [-3.72983340e-01 9.27081615e-01 -3.74580752e-02 -2.02158186e+01] [-1.00426408e-01 -2.03512103e-04 9.94944468e-01 -1.38939495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.429649246 meters 0.060866525539260474 Centerline is valid? [True, True] Translation: X:108.51, Y:-20.23, Z:-13.91 [[ 9.22588977e-01 3.75031185e-01 9.04499294e-02 1.08507715e+02] [-3.73261837e-01 9.27012176e-01 -3.63871855e-02 -2.02327128e+01] [-9.74945151e-02 -1.91090530e-04 9.95236044e-01 -1.39087651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.489649246 meters 0.061317144834145035 Centerline is valid? [True, True] Translation: X:108.56, Y:-20.25, Z:-13.92 [[ 9.21933418e-01 3.76957205e-01 8.91181154e-02 1.08564488e+02] [-3.75246235e-01 9.26230604e-01 -3.58766087e-02 -2.02513829e+01] [-9.60678720e-02 -3.65392819e-04 9.95374719e-01 -1.39205502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.549649246 meters 0.0614156130210977 Centerline is valid? [True, True] Translation: X:108.62, Y:-20.27, Z:-13.93 [[ 9.21003485e-01 3.79657662e-01 8.72504500e-02 1.08621433e+02] [-3.78027850e-01 9.25126847e-01 -3.51462796e-02 -2.02740976e+01] [-9.40612881e-02 -6.13254075e-04 9.95566220e-01 -1.39267680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.609649246 meters 0.06144161397171372 Centerline is valid? [True, True] Translation: X:108.68, Y:-20.29, Z:-13.93 [[ 9.19699515e-01 3.82416110e-01 8.89422331e-02 1.08680390e+02] [-3.80732929e-01 9.23989786e-01 -3.58512372e-02 -2.02936291e+01] [-9.58918056e-02 -8.90871518e-04 9.95391364e-01 -1.39329866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.669649246 meters 0.06183294768527173 Centerline is valid? [True, True] Translation: X:108.74, Y:-20.31, Z:-13.94 [[ 9.18216190e-01 3.85748878e-01 8.98711910e-02 1.08739516e+02] [-3.84043727e-01 9.22602999e-01 -3.62508096e-02 -2.03124867e+01] [-9.68991395e-02 -1.22838685e-03 9.95293448e-01 -1.39410279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72964924600001 meters 0.06250364514174271 Centerline is valid? [True, True] Translation: X:108.80, Y:-20.33, Z:-13.95 [[ 9.16417413e-01 3.89964444e-01 9.00380913e-02 1.08797786e+02] [-3.88270233e-01 9.20828439e-01 -3.63484824e-02 -2.03315127e+01] [-9.70842508e-02 -1.64872853e-03 9.95274801e-01 -1.39492708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.789649246 meters 0.0627855181930448 Centerline is valid? [True, True] Translation: X:108.85, Y:-20.36, Z:-13.96 [[ 9.15985879e-01 3.91117608e-01 8.94253130e-02 1.08854217e+02] [-3.89449430e-01 9.20339071e-01 -3.61266572e-02 -2.03554068e+01] [-9.64313812e-02 -1.73512927e-03 9.95338122e-01 -1.39573254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.849649246 meters 0.06233888805201251 Centerline is valid? [True, True] Translation: X:108.91, Y:-20.38, Z:-13.96 [[ 9.16689126e-01 3.89117179e-01 9.09333130e-02 1.08909655e+02] [-3.87379723e-01 9.21187001e-01 -3.67621917e-02 -2.03818453e+01] [-9.80713863e-02 -1.52622024e-03 9.95178212e-01 -1.39647713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.909649246 meters 0.06230691257757812 Centerline is valid? [True, True] Translation: X:108.96, Y:-20.41, Z:-13.98 [[ 9.18286880e-01 3.85639913e-01 8.96162042e-02 1.08962753e+02] [-3.83933502e-01 9.22648696e-01 -3.62553343e-02 -2.04106604e+01] [-9.66657779e-02 -1.11386534e-03 9.95316275e-01 -1.39759281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.969649246 meters 0.06171575260100795 Centerline is valid? [True, True] Translation: X:109.01, Y:-20.45, Z:-13.98 [[ 9.21717940e-01 3.77930903e-01 8.72024717e-02 1.09014727e+02] [-3.76278806e-01 9.25833763e-01 -3.53001955e-02 -2.04471559e+01] [-9.40760273e-02 -2.75618428e-04 9.95564978e-01 -1.39819125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.029649246 meters 0.06248788248205156 Centerline is valid? [True, True] Translation: X:109.07, Y:-20.47, Z:-14.00 [[ 9.24946121e-01 3.71031062e-01 8.25265084e-02 1.09068252e+02] [-3.69522326e-01 9.28620359e-01 -3.34287284e-02 -2.04745944e+01] [-8.90388924e-02 4.24385317e-04 9.96028060e-01 -1.39988219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08964924600001 meters 0.06301018707867917 Centerline is valid? [True, True] Translation: X:109.12, Y:-20.50, Z:-14.01 [[ 9.26172708e-01 3.68259518e-01 8.11729161e-02 1.09123050e+02] [-3.66787361e-01 9.29722774e-01 -3.29028156e-02 -2.05019700e+01] [-8.75850838e-02 7.00490139e-04 9.96156796e-01 -1.40096773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.149649246 meters 0.06255653907919416 Centerline is valid? [True, True] Translation: X:109.18, Y:-20.53, Z:-14.01 [[ 9.27609948e-01 3.63993883e-01 8.39537808e-02 1.09178465e+02] [-3.62398822e-01 9.31400605e-01 -3.40588653e-02 -2.05336837e+01] [-9.05918209e-02 1.16859099e-03 9.95887422e-01 -1.40078123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.209649246 meters 0.06269357248428005 Centerline is valid? [True, True] Translation: X:109.23, Y:-20.56, Z:-14.01 [[ 9.28805434e-01 3.59856737e-01 8.84510820e-02 1.09233662e+02] [-3.58066141e-01 9.33006084e-01 -3.58926954e-02 -2.05644234e+01] [-9.54416259e-02 1.66599298e-03 9.95433634e-01 -1.40110836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.269649246 meters 0.06237080494000986 Centerline is valid? [True, True] Translation: X:109.29, Y:-20.59, Z:-14.02 [[ 9.28305177e-01 3.60621758e-01 9.05618355e-02 1.09290751e+02] [-3.58747334e-01 9.32710717e-01 -3.67568920e-02 -2.05874016e+01] [-9.77233296e-02 1.63279611e-03 9.95212281e-01 -1.40173256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.329649246 meters 0.061714556486848746 Centerline is valid? [True, True] Translation: X:109.35, Y:-20.60, Z:-14.02 [[ 9.26636641e-01 3.64425412e-01 9.24048407e-02 1.09350843e+02] [-3.62489542e-01 9.31231693e-01 -3.75348516e-02 -2.06038997e+01] [-9.97289700e-02 1.28538036e-03 9.95013809e-01 -1.40238427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.389649246 meters 0.061155482840423464 Centerline is valid? [True, True] Translation: X:109.41, Y:-20.62, Z:-14.03 [[ 9.25212773e-01 3.67874687e-01 9.30029041e-02 1.09410311e+02] [-3.65929863e-01 9.29874911e-01 -3.77886930e-02 -2.06205119e+01] [-1.00382571e-01 9.30041482e-04 9.94948478e-01 -1.40317993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.449649246 meters 0.060827112702895675 Centerline is valid? [True, True] Translation: X:109.47, Y:-20.64, Z:-14.04 [[ 9.22968800e-01 3.73233200e-01 9.39445222e-02 1.09470495e+02] [-3.71273548e-01 9.27737482e-01 -3.81983806e-02 -2.06352302e+01] [-1.01412758e-01 3.76797400e-04 9.94844365e-01 -1.40385800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.509649246 meters 0.060602951138694114 Centerline is valid? [True, True] Translation: X:109.53, Y:-20.65, Z:-14.05 [[ 9.21586570e-01 3.76372113e-01 9.49853975e-02 1.09529323e+02] [-3.74382518e-01 9.26468580e-01 -3.86484279e-02 -2.06548817e+01] [-1.02547177e-01 5.69997849e-05 9.94728140e-01 -1.40461911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.569649246 meters 0.06081635397428982 Centerline is valid? [True, True] Translation: X:109.58, Y:-20.68, Z:-14.06 [[ 9.21934027e-01 3.75791843e-01 9.39049520e-02 1.09584448e+02] [-3.73841639e-01 9.26704090e-01 -3.82355732e-02 -2.06783182e+01] [-1.01390720e-01 1.45094826e-04 9.94846672e-01 -1.40559595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.629649246 meters 0.06045350265742 Centerline is valid? [True, True] Translation: X:109.64, Y:-20.71, Z:-14.06 [[ 9.22520698e-01 3.73915319e-01 9.56184936e-02 1.09639826e+02] [-3.71880443e-01 9.27462770e-01 -3.89582728e-02 -2.07067453e+01] [-1.03249688e-01 3.81165240e-04 9.94655396e-01 -1.40587634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.689649246 meters 0.06011133584019312 Centerline is valid? [True, True] Translation: X:109.70, Y:-20.73, Z:-14.06 [[ 9.22371624e-01 3.73973867e-01 9.68201070e-02 1.09696999e+02] [-3.71884774e-01 9.27439153e-01 -3.94757158e-02 -2.07312190e+01] [-1.04557644e-01 4.05356462e-04 9.94518745e-01 -1.40647461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.749649246 meters 0.060139882728791325 Centerline is valid? [True, True] Translation: X:109.75, Y:-20.75, Z:-14.07 [[ 9.21742199e-01 3.75149986e-01 9.82537830e-02 1.09753196e+02] [-3.73001931e-01 9.26964075e-01 -4.00894443e-02 -2.07527794e+01] [-1.06117281e-01 3.03281805e-04 9.94353574e-01 -1.40744372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.809649246 meters 0.05999264907033527 Centerline is valid? [True, True] Translation: X:109.81, Y:-20.77, Z:-14.08 [[ 9.20808096e-01 3.77259664e-01 9.89322823e-02 1.09812142e+02] [-3.75091095e-01 9.26107520e-01 -4.03922280e-02 -2.07722443e+01] [-1.06860289e-01 8.48723992e-05 9.94274042e-01 -1.40811610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.869649246 meters 0.059840990201817434 Centerline is valid? [True, True] Translation: X:109.87, Y:-20.80, Z:-14.09 [[ 9.20474157e-01 3.78140173e-01 9.86779459e-02 1.09869643e+02] [-3.75984932e-01 9.25748351e-01 -4.03152745e-02 -2.07959860e+01] [-1.06595771e-01 7.74755520e-06 9.94302440e-01 -1.40892612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.929649246 meters 0.0600354985172041 Centerline is valid? [True, True] Translation: X:109.93, Y:-20.82, Z:-14.10 [[ 9.19298343e-01 3.81221233e-01 9.77799945e-02 1.09927293e+02] [-3.79119170e-01 9.24483786e-01 -3.99797952e-02 -2.08184414e+01] [-1.05637166e-01 -3.16910898e-04 9.94404691e-01 -1.40972454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.989649246 meters 0.0603156364657769 Centerline is valid? [True, True] Translation: X:109.98, Y:-20.84, Z:-14.11 [[ 9.18623648e-01 3.82996616e-01 9.71811987e-02 1.09984224e+02] [-3.80927086e-01 9.23749615e-01 -3.97643504e-02 -2.08393442e+01] [-1.05000707e-01 -4.90478197e-04 9.94472026e-01 -1.41069052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.049649246 meters 0.06003972290594046 Centerline is valid? [True, True] Translation: X:110.04, Y:-20.87, Z:-14.11 [[ 9.18894213e-01 3.82194503e-01 9.77792813e-02 1.10040344e+02] [-3.80093467e-01 9.24081820e-01 -4.00218161e-02 -2.08653911e+01] [-1.05652174e-01 -3.89450890e-04 9.94403070e-01 -1.41129820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.109649246 meters 0.05995743566327779 Centerline is valid? [True, True] Translation: X:110.10, Y:-20.89, Z:-14.12 [[ 9.18983555e-01 3.81544418e-01 9.94639753e-02 1.10095475e+02] [-3.79363227e-01 9.24350459e-01 -4.07402870e-02 -2.08899128e+01] [-1.07483800e-01 -2.93320848e-04 9.94206793e-01 -1.41194990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.169649246 meters 0.06005909810100432 Centerline is valid? [True, True] Translation: X:110.15, Y:-20.92, Z:-14.13 [[ 9.19324250e-01 3.80966478e-01 9.85264689e-02 1.10151975e+02] [-3.78820361e-01 9.24588829e-01 -4.03810836e-02 -2.09152020e+01] [-1.06480312e-01 -2.00523126e-04 9.94314791e-01 -1.41268859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22964924600001 meters 0.05998338639491076 Centerline is valid? [True, True] Translation: X:110.21, Y:-20.94, Z:-14.14 [[ 9.19467998e-01 3.80832267e-01 9.77004848e-02 1.10208316e+02] [-3.78718433e-01 9.24644126e-01 -4.00698061e-02 -2.09396956e+01] [-1.05598054e-01 -1.58070090e-04 9.94408883e-01 -1.41364107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.289649246 meters 0.060134031705684106 Centerline is valid? [True, True] Translation: X:110.27, Y:-20.96, Z:-14.15 [[ 9.19266746e-01 3.81703767e-01 9.61815187e-02 1.10265003e+02] [-3.79657272e-01 9.24284687e-01 -3.94737122e-02 -2.09619141e+01] [-1.03966370e-01 -2.29141996e-04 9.94580787e-01 -1.41453221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.349649246 meters 0.06012971653644759 Centerline is valid? [True, True] Translation: X:110.32, Y:-20.98, Z:-14.15 [[ 9.18541739e-01 3.82948593e-01 9.81399448e-02 1.10321400e+02] [-3.80821754e-01 9.23769588e-01 -4.03055873e-02 -2.09843336e+01] [-1.06093664e-01 -3.51461661e-04 9.94356079e-01 -1.41507169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.409649246 meters 0.0597293486683957 Centerline is valid? [True, True] Translation: X:110.38, Y:-21.01, Z:-14.15 [[ 9.17227004e-01 3.85129508e-01 1.01832633e-01 1.10378367e+02] [-3.82850750e-01 9.22862334e-01 -4.18379671e-02 -2.10070384e+01] [-1.10090537e-01 -6.11786515e-04 9.93921375e-01 -1.41540490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.469649246 meters 0.05959584129677265 Centerline is valid? [True, True] Translation: X:110.44, Y:-21.03, Z:-14.16 [[ 9.16745129e-01 3.85850282e-01 1.03430790e-01 1.10436136e+02] [-3.83500669e-01 9.22561159e-01 -4.25222810e-02 -2.10306606e+01] [-1.11828463e-01 -6.83683146e-04 9.93727290e-01 -1.41592564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.529649246 meters 0.06011125110289698 Centerline is valid? [True, True] Translation: X:110.49, Y:-21.05, Z:-14.17 [[ 9.15960816e-01 3.87843029e-01 1.02925065e-01 1.10492371e+02] [-3.85527106e-01 9.21724993e-01 -4.23307044e-02 -2.10509857e+01] [-1.11286273e-01 -9.07135733e-04 9.93787977e-01 -1.41704822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58964924600001 meters 0.06050901619583266 Centerline is valid? [True, True] Translation: X:110.55, Y:-21.07, Z:-14.18 [[ 9.15748338e-01 3.89047362e-01 1.00235380e-01 1.10549373e+02] [-3.86855644e-01 9.21217209e-01 -4.12500214e-02 -2.10715098e+01] [-1.08386769e-01 -1.00198393e-03 9.94108296e-01 -1.41827708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.649649246 meters 0.06057444665622702 Centerline is valid? [True, True] Translation: X:110.60, Y:-21.10, Z:-14.19 [[ 9.16294140e-01 3.88510431e-01 9.72866538e-02 1.10604549e+02] [-3.86440465e-01 9.21443898e-01 -4.00613287e-02 -2.10974212e+01] [-1.05208438e-01 -8.87539009e-04 9.94449796e-01 -1.41924625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.709649246 meters 0.06021082726937282 Centerline is valid? [True, True] Translation: X:110.66, Y:-21.13, Z:-14.20 [[ 9.17779049e-01 3.84981604e-01 9.73179418e-02 1.10658284e+02] [-3.82889275e-01 9.22924125e-01 -4.00856832e-02 -2.11290827e+01] [-1.05249327e-01 -4.72195991e-04 9.94445753e-01 -1.41971528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.769649246 meters 0.059895358191701414 Centerline is valid? [True, True] Translation: X:110.71, Y:-21.16, Z:-14.20 [[ 9.18628767e-01 3.82265294e-01 9.99721669e-02 1.10713350e+02] [-3.80037721e-01 9.24052610e-01 -4.12080678e-02 -2.11573664e+01] [-1.08131956e-01 -1.38277975e-04 9.94136540e-01 -1.42028698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.829649246 meters 0.05972014406751033 Centerline is valid? [True, True] Translation: X:110.77, Y:-21.18, Z:-14.21 [[ 9.18490354e-01 3.82388233e-01 1.00770575e-01 1.10770335e+02] [-3.80122467e-01 9.24001744e-01 -4.15654625e-02 -2.11811706e+01] [-1.09006331e-01 -1.27683309e-04 9.94041047e-01 -1.42098013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.889649246 meters 0.059779157448802175 Centerline is valid? [True, True] Translation: X:110.83, Y:-21.21, Z:-14.22 [[ 9.18531892e-01 3.82234280e-01 1.00975834e-01 1.10826241e+02] [-3.79955309e-01 9.24065446e-01 -4.16775172e-02 -2.12052499e+01] [-1.09238855e-01 -8.41754995e-05 9.94015526e-01 -1.42184163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.949649246 meters 0.059950273679016335 Centerline is valid? [True, True] Translation: X:110.88, Y:-21.23, Z:-14.23 [[ 9.18416349e-01 3.82681668e-01 1.00330214e-01 1.10883338e+02] [-3.80431365e-01 9.23880257e-01 -4.14396788e-02 -2.12290555e+01] [-1.08551309e-01 -1.09881818e-04 9.94090842e-01 -1.42279597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.009649246 meters 0.06007839786399912 Centerline is valid? [True, True] Translation: X:110.94, Y:-21.26, Z:-14.23 [[ 9.21337252e-01 3.75218686e-01 1.01728102e-01 1.10937029e+02] [-3.72856013e-01 9.26935963e-01 -4.20489463e-02 -2.12611392e+01] [-1.10072986e-01 8.11326240e-04 9.93923176e-01 -1.42340772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.069649246 meters 0.061911217390430706 Centerline is valid? [True, True] Translation: X:110.99, Y:-21.29, Z:-14.25 [[ 9.25371960e-01 3.66196806e-01 9.79113618e-02 1.10989694e+02] [-3.63955208e-01 9.30535605e-01 -4.04980888e-02 -2.12936969e+01] [-1.05940279e-01 1.84044579e-03 9.94370791e-01 -1.42450314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.129649246 meters 0.06304545504291674 Centerline is valid? [True, True] Translation: X:111.05, Y:-21.32, Z:-14.25 [[ 9.27708212e-01 3.60500399e-01 9.69377912e-02 1.11046783e+02] [-3.58269612e-01 9.32755736e-01 -4.01200947e-02 -2.13164657e+01] [-1.04882591e-01 2.48987649e-03 9.94481494e-01 -1.42525175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.189649246 meters 0.06335924197376686 Centerline is valid? [True, True] Translation: X:111.10, Y:-21.34, Z:-14.26 [[ 9.28067492e-01 3.59701046e-01 9.64670292e-02 1.11103903e+02] [-3.57484795e-01 9.33064003e-01 -3.99523119e-02 -2.13379135e+01] [-1.04380801e-01 2.59294577e-03 9.94534024e-01 -1.42603259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.249649246 meters 0.062355944533610666 Centerline is valid? [True, True] Translation: X:111.16, Y:-21.36, Z:-14.27 [[ 9.26888640e-01 3.62492765e-01 9.73470355e-02 1.11163742e+02] [-3.60248537e-01 9.31983692e-01 -4.03409142e-02 -2.13556275e+01] [-1.05349139e-01 2.32240795e-03 9.94432585e-01 -1.42660324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.309649246 meters 0.06196278293281999 Centerline is valid? [True, True] Translation: X:111.22, Y:-21.37, Z:-14.27 [[ 9.25844133e-01 3.64855900e-01 9.84520854e-02 1.11221752e+02] [-3.62570622e-01 9.31061625e-01 -4.08263910e-02 -2.13734467e+01] [-1.06560708e-01 2.10304072e-03 9.94303974e-01 -1.42731179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.369649246 meters 0.061365782382876606 Centerline is valid? [True, True] Translation: X:111.28, Y:-21.39, Z:-14.28 [[ 9.24353509e-01 3.68483394e-01 9.89473554e-02 1.11281367e+02] [-3.66192790e-01 9.29632741e-01 -4.10585754e-02 -2.13916455e+01] [-1.07114104e-01 1.71883006e-03 9.94245249e-01 -1.42797517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.429649246 meters 0.06031920162808677 Centerline is valid? [True, True] Translation: X:111.34, Y:-21.41, Z:-14.28 [[ 9.22309075e-01 3.73314601e-01 9.99108501e-02 1.11342578e+02] [-3.71005766e-01 9.27704053e-01 -4.14718096e-02 -2.14069152e+01] [-1.08169733e-01 1.18232486e-03 9.94131737e-01 -1.42838317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.489649246 meters 0.0600436900249215 Centerline is valid? [True, True] Translation: X:111.40, Y:-21.42, Z:-14.29 [[ 9.20046962e-01 3.78850935e-01 9.99277575e-02 1.11404134e+02] [-3.76572302e-01 9.25457547e-01 -4.14925149e-02 -2.14197810e+01] [-1.08198375e-01 5.45036584e-04 9.94129174e-01 -1.42940569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.549649246 meters 0.060022562688586106 Centerline is valid? [True, True] Translation: X:111.47, Y:-21.43, Z:-14.30 [[ 9.17930803e-01 3.84229676e-01 9.88463296e-02 1.11465529e+02] [-3.82030008e-01 9.23237537e-01 -4.10551154e-02 -2.14345065e+01] [-1.07033236e-01 -7.65090624e-05 9.94255440e-01 -1.43032359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.609649246 meters 0.06005508013719849 Centerline is valid? [True, True] Translation: X:111.52, Y:-21.45, Z:-14.31 [[ 9.16695290e-01 3.86975048e-01 9.95994821e-02 1.11523744e+02] [-3.84754242e-01 9.22090113e-01 -4.14004561e-02 -2.14529676e+01] [-1.07860641e-01 -3.69720084e-04 9.94165955e-01 -1.43126820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.669649246 meters 0.06045480299385228 Centerline is valid? [True, True] Translation: X:111.58, Y:-21.47, Z:-14.32 [[ 9.14530350e-01 3.92538916e-01 9.77109893e-02 1.11582558e+02] [-3.90430563e-01 9.19734873e-01 -4.06416010e-02 -2.14714667e+01] [-1.05821614e-01 -9.81378892e-04 9.94384645e-01 -1.43204314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72964924600001 meters 0.06107854099371253 Centerline is valid? [True, True] Translation: X:111.64, Y:-21.49, Z:-14.33 [[ 9.13154038e-01 3.96205640e-01 9.57642666e-02 1.11640145e+02] [-3.94198044e-01 9.18160802e-01 -3.98577949e-02 -2.14903297e+01] [-1.03718879e-01 -1.35378021e-03 9.94605732e-01 -1.43308940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.789649246 meters 0.061805336719160685 Centerline is valid? [True, True] Translation: X:111.70, Y:-21.51, Z:-14.34 [[ 9.11998457e-01 3.99004452e-01 9.51538889e-02 1.11696617e+02] [-3.97035148e-01 9.16947523e-01 -3.96274073e-02 -2.15116019e+01] [-1.03062635e-01 -1.63930401e-03 9.94673517e-01 -1.43391079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.849649246 meters 0.06208861580553558 Centerline is valid? [True, True] Translation: X:111.75, Y:-21.53, Z:-14.34 [[ 9.10419086e-01 4.02451786e-01 9.57582767e-02 1.11754055e+02] [-4.00473887e-01 9.15438953e-01 -3.99022576e-02 -2.15340289e+01] [-1.03719591e-01 -2.02091238e-03 9.94604526e-01 -1.43430504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.909649246 meters 0.06332928515184957 Centerline is valid? [True, True] Translation: X:111.81, Y:-21.55, Z:-14.35 [[ 9.08387801e-01 4.06922645e-01 9.61538524e-02 1.11813137e+02] [-4.04950488e-01 9.13459153e-01 -4.00933656e-02 -2.15512665e+01] [-1.04147515e-01 -2.51722516e-03 9.94558675e-01 -1.43531178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.969649246 meters 0.06373368704575183 Centerline is valid? [True, True] Translation: X:111.87, Y:-21.57, Z:-14.36 [[ 9.07682069e-01 4.08512572e-01 9.60767420e-02 1.11869782e+02] [-4.06549712e-01 9.12748778e-01 -4.00874062e-02 -2.15737843e+01] [-1.04070138e-01 -2.67335201e-03 9.94566368e-01 -1.43621613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.029649246 meters 0.06292249247079261 Centerline is valid? [True, True] Translation: X:111.92, Y:-21.60, Z:-14.37 [[ 9.08195542e-01 4.07097708e-01 9.72230124e-02 1.11924048e+02] [-4.05076939e-01 9.13381142e-01 -4.05901765e-02 -2.16045063e+01] [-1.05325834e-01 -2.51898295e-03 9.94434575e-01 -1.43659662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08964924600001 meters 0.06298771354524034 Centerline is valid? [True, True] Translation: X:111.98, Y:-21.63, Z:-14.37 [[ 9.08020136e-01 4.07564810e-01 9.69038601e-02 1.11980467e+02] [-4.05557182e-01 9.13172751e-01 -4.04833273e-02 -2.16295281e+01] [-1.04989544e-01 -2.54038001e-03 9.94470081e-01 -1.43749096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.149649246 meters 0.06309666752814358 Centerline is valid? [True, True] Translation: X:112.03, Y:-21.66, Z:-14.39 [[ 9.08672929e-01 4.06234643e-01 9.63686838e-02 1.12034924e+02] [-4.04238936e-01 9.13765778e-01 -4.02862869e-02 -2.16555011e+01] [-1.04424091e-01 -2.34891587e-03 9.94530086e-01 -1.43856014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.209649246 meters 0.061635054024708334 Centerline is valid? [True, True] Translation: X:112.09, Y:-21.69, Z:-14.39 [[ 9.10279548e-01 4.02672893e-01 9.61544899e-02 1.12087939e+02] [-4.00663785e-01 9.15341945e-01 -4.02200733e-02 -2.16897293e+01] [-1.04209771e-01 -1.91411176e-03 9.94553498e-01 -1.43906397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.269649246 meters 0.061072501517324004 Centerline is valid? [True, True] Translation: X:112.14, Y:-21.72, Z:-14.40 [[ 9.11108656e-01 4.00562882e-01 9.71102191e-02 1.12142969e+02] [-3.98498698e-01 9.16267760e-01 -4.06470205e-02 -2.17188913e+01] [-1.05260651e-01 -1.66444370e-03 9.94443274e-01 -1.43958701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.329649246 meters 0.06002025527586586 Centerline is valid? [True, True] Translation: X:112.20, Y:-21.75, Z:-14.40 [[ 9.14004492e-01 3.93005880e-01 1.00708330e-01 1.12197519e+02] [-3.90736232e-01 9.19535615e-01 -4.21835235e-02 -2.17484909e+01] [-1.09183269e-01 -7.94463299e-04 9.94021319e-01 -1.43982535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.389649246 meters 0.06038963427054745 Centerline is valid? [True, True] Translation: X:112.25, Y:-21.77, Z:-14.41 [[ 9.15981919e-01 3.89630306e-01 9.57358292e-02 1.12252635e+02] [-3.87558836e-01 9.20971282e-01 -4.01253713e-02 -2.17734670e+01] [-1.03804010e-01 -3.49151911e-04 9.94597710e-01 -1.44136923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.449649246 meters 0.06064895999146287 Centerline is valid? [True, True] Translation: X:112.31, Y:-21.80, Z:-14.43 [[ 9.17026688e-01 3.87475846e-01 9.44696912e-02 1.12306437e+02] [-3.85444877e-01 9.21879852e-01 -3.96205045e-02 -2.18013568e+01] [-1.02441694e-01 -7.97984922e-05 9.94739008e-01 -1.44256460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.509649246 meters 0.06049220955333033 Centerline is valid? [True, True] Translation: X:112.36, Y:-21.83, Z:-14.43 [[ 9.18010133e-01 3.85060149e-01 9.47949237e-02 1.12359302e+02] [-3.82999561e-01 9.22891454e-01 -3.97831693e-02 -2.18334245e+01] [-1.02804338e-01 2.14938287e-04 9.94701574e-01 -1.44308027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.569649246 meters 0.060793032309497 Centerline is valid? [True, True] Translation: X:112.41, Y:-21.86, Z:-14.44 [[ 9.20335160e-01 3.79441065e-01 9.49087542e-02 1.12413914e+02] [-3.77344402e-01 9.25215513e-01 -3.98428950e-02 -2.18635459e+01] [-1.02929082e-01 8.55530008e-04 9.94688329e-01 -1.44350363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.629649246 meters 0.060821672171209235 Centerline is valid? [True, True] Translation: X:112.47, Y:-21.89, Z:-14.44 [[ 9.19564622e-01 3.80810108e-01 9.68739784e-02 1.12469241e+02] [-3.78629879e-01 9.24652966e-01 -4.06977659e-02 -2.18885468e+01] [-1.05072932e-01 7.44843031e-04 9.94464240e-01 -1.44437155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.689649246 meters 0.06089721527394702 Centerline is valid? [True, True] Translation: X:112.52, Y:-21.91, Z:-14.45 [[ 9.19705153e-01 3.80064419e-01 9.84554195e-02 1.12524228e+02] [-3.77805019e-01 9.24959611e-01 -4.13894369e-02 -2.19148902e+01] [-1.06797939e-01 8.69126749e-04 9.94280365e-01 -1.44505786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.749649246 meters 0.060801428437411646 Centerline is valid? [True, True] Translation: X:112.58, Y:-21.94, Z:-14.46 [[ 9.19844177e-01 3.79754754e-01 9.83514945e-02 1.12582136e+02] [-3.77495843e-01 9.25086736e-01 -4.13693041e-02 -2.19391300e+01] [-1.06693853e-01 9.26033148e-04 9.94291489e-01 -1.44578753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.809649246 meters 0.060821938627784 Centerline is valid? [True, True] Translation: X:112.64, Y:-21.96, Z:-14.47 [[ 9.19717269e-01 3.80140222e-01 9.80487495e-02 1.12639525e+02] [-3.77894033e-01 9.24928423e-01 -4.12736334e-02 -2.19639940e+01] [-1.06377843e-01 9.08036000e-04 9.94325364e-01 -1.44662073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.869649246 meters 0.06085472070706165 Centerline is valid? [True, True] Translation: X:112.70, Y:-21.99, Z:-14.47 [[ 9.19851479e-01 3.79952067e-01 9.75176044e-02 1.12695576e+02] [-3.77725806e-01 9.25005684e-01 -4.10816193e-02 -2.19893318e+01] [-1.05813385e-01 9.54072597e-04 9.94385548e-01 -1.44745096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.929649246 meters 0.060906262498172443 Centerline is valid? [True, True] Translation: X:112.75, Y:-22.01, Z:-14.48 [[ 9.19490818e-01 3.81079237e-01 9.65155447e-02 1.12752721e+02] [-3.78902055e-01 9.24542000e-01 -4.06856634e-02 -2.20119025e+01] [-1.04737136e-01 8.40155700e-04 9.94499586e-01 -1.44824449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.989649246 meters 0.06066974253488865 Centerline is valid? [True, True] Translation: X:112.81, Y:-22.03, Z:-14.49 [[ 9.17832608e-01 3.85046201e-01 9.65542631e-02 1.12812100e+02] [-3.82886298e-01 9.22897206e-01 -4.07287425e-02 -2.20301365e+01] [-1.04792107e-01 4.12863618e-04 9.94494064e-01 -1.44898259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.049649246 meters 0.06074104587365764 Centerline is valid? [True, True] Translation: X:112.87, Y:-22.04, Z:-14.50 [[ 9.14938903e-01 3.92267264e-01 9.49378622e-02 1.12872035e+02] [-3.90215177e-01 9.19851210e-01 -4.00732803e-02 -2.20422064e+01] [-1.03048143e-01 -3.81591662e-04 9.94676296e-01 -1.45003054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.109649246 meters 0.061304028667494716 Centerline is valid? [True, True] Translation: X:112.93, Y:-22.06, Z:-14.51 [[ 9.11659424e-01 3.99998617e-01 9.42242073e-02 1.12932897e+02] [-3.98015959e-01 9.16514927e-01 -3.97955417e-02 -2.20560009e+01] [-1.02276054e-01 -1.22275764e-03 9.94755303e-01 -1.45063684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.169649246 meters 0.06165531498742651 Centerline is valid? [True, True] Translation: X:112.99, Y:-22.08, Z:-14.52 [[ 9.10785633e-01 4.01889189e-01 9.46288012e-02 1.12990199e+02] [-3.99896983e-01 9.15687212e-01 -3.99916681e-02 -2.20755723e+01] [-1.02722602e-01 -1.41793534e-03 9.94709031e-01 -1.45159160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.229649246 meters 0.06138415440667627 Centerline is valid? [True, True] Translation: X:113.05, Y:-22.10, Z:-14.52 [[ 9.10327862e-01 4.02529033e-01 9.62993283e-02 1.13046857e+02] [-4.00466368e-01 9.15406004e-01 -4.07251203e-02 -2.21020521e+01] [-1.04546027e-01 -1.49143053e-03 9.94518931e-01 -1.45206656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.289649246 meters 0.06104626279276414 Centerline is valid? [True, True] Translation: X:113.10, Y:-22.13, Z:-14.52 [[ 9.10719331e-01 4.00935127e-01 9.92034425e-02 1.13101040e+02] [-3.98734770e-01 9.16105476e-01 -4.19683286e-02 -2.21318732e+01] [-1.07707394e-01 -1.33449371e-03 9.94181742e-01 -1.45243934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.349649246 meters 0.06069345260952927 Centerline is valid? [True, True] Translation: X:113.15, Y:-22.16, Z:-14.53 [[ 9.12267454e-01 3.97300193e-01 9.96024517e-02 1.13154526e+02] [-3.95057240e-01 9.17688280e-01 -4.21663106e-02 -2.21625064e+01] [-1.08156686e-01 -8.81716828e-04 9.94133469e-01 -1.45337863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.409649246 meters 0.06059776719131928 Centerline is valid? [True, True] Translation: X:113.21, Y:-22.19, Z:-14.54 [[ 9.14573288e-01 3.92582588e-01 9.71319302e-02 1.13207651e+02] [-3.90420399e-01 9.19716711e-01 -4.11471062e-02 -2.21928673e+01] [-1.05487497e-01 -2.90242723e-04 9.94420587e-01 -1.45445204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.469649246 meters 0.06075071241252588 Centerline is valid? [True, True] Translation: X:113.26, Y:-22.22, Z:-14.55 [[ 9.14475496e-01 3.93438080e-01 9.45570958e-02 1.13264075e+02] [-3.91391225e-01 9.19351049e-01 -4.00818905e-02 -2.22174764e+01] [-1.02700907e-01 -3.54910902e-04 9.94712219e-01 -1.45540163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.529649246 meters 0.06097241786049245 Centerline is valid? [True, True] Translation: X:113.32, Y:-22.24, Z:-14.56 [[ 9.15273374e-01 3.91541406e-01 9.47099700e-02 1.13320041e+02] [-3.89474706e-01 9.20160483e-01 -4.01763481e-02 -2.22443762e+01] [-1.02879076e-01 -1.14796060e-04 9.94693864e-01 -1.45625510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58964924600001 meters 0.060823051601913716 Centerline is valid? [True, True] Translation: X:113.37, Y:-22.27, Z:-14.57 [[ 9.16852586e-01 3.87567415e-01 9.57749124e-02 1.13374604e+02] [-3.85431519e-01 9.21841300e-01 -4.06344892e-02 -2.22729917e+01] [-1.04037874e-01 3.41166572e-04 9.94573278e-01 -1.45681966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.649649246 meters 0.061065565038942275 Centerline is valid? [True, True] Translation: X:113.43, Y:-22.30, Z:-14.58 [[ 9.17059725e-01 3.87135757e-01 9.55372568e-02 1.13430897e+02] [-3.85005497e-01 9.22022633e-01 -4.05589946e-02 -2.22973343e+01] [-1.03789350e-01 4.12651475e-04 9.94599216e-01 -1.45803357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.709649246 meters 0.06092516837424196 Centerline is valid? [True, True] Translation: X:113.49, Y:-22.32, Z:-14.59 [[ 9.15561576e-01 3.90633586e-01 9.56681939e-02 1.13488220e+02] [-3.88513560e-01 9.20546251e-01 -4.06425092e-02 -2.23171590e+01] [-1.03943326e-01 4.23291815e-05 9.94583221e-01 -1.45871529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.769649246 meters 0.06104762886784321 Centerline is valid? [True, True] Translation: X:113.54, Y:-22.34, Z:-14.60 [[ 9.14591692e-01 3.93305402e-01 9.39834911e-02 1.13544451e+02] [-3.91271380e-01 9.19407855e-01 -3.99487496e-02 -2.23415133e+01] [-1.02121219e-01 -2.36255769e-04 9.94771934e-01 -1.45951370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.829649246 meters 0.06090434434369802 Centerline is valid? [True, True] Translation: X:113.60, Y:-22.37, Z:-14.60 [[ 9.15806456e-01 3.90744022e-01 9.28312640e-02 1.13599193e+02] [-3.88744214e-01 9.20499378e-01 -3.94820437e-02 -2.23697658e+01] [-1.00878493e-01 7.02937570e-05 9.94898751e-01 -1.46029976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.889649246 meters 0.0617074691483915 Centerline is valid? [True, True] Translation: X:113.65, Y:-22.40, Z:-14.62 [[ 9.17666220e-01 3.86832183e-01 9.08271459e-02 1.13650749e+02] [-3.84896284e-01 9.22149987e-01 -3.86555596e-02 -2.23995839e+01] [-9.87094659e-02 5.13870375e-04 9.95116163e-01 -1.46190459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.949649246 meters 0.06126854242596179 Centerline is valid? [True, True] Translation: X:113.71, Y:-22.43, Z:-14.62 [[ 9.17520470e-01 3.86908726e-01 9.19664348e-02 1.13707706e+02] [-3.84922091e-01 9.22117864e-01 -3.91615715e-02 -2.24256208e+01] [-9.99558462e-02 5.31631102e-04 9.94991732e-01 -1.46181282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.009649246 meters 0.06162203199419958 Centerline is valid? [True, True] Translation: X:113.76, Y:-22.45, Z:-14.63 [[ 9.18872688e-01 3.83401932e-01 9.31447382e-02 1.13762116e+02] [-3.81343192e-01 9.23581104e-01 -3.96902301e-02 -2.24542568e+01] [-1.01244031e-01 9.50156647e-04 9.94861168e-01 -1.46256417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.069649246 meters 0.06176218945524989 Centerline is valid? [True, True] Translation: X:113.82, Y:-22.48, Z:-14.63 [[ 9.19969667e-01 3.80785028e-01 9.30514590e-02 1.13816996e+02] [-3.78714106e-01 9.24662730e-01 -3.96794840e-02 -2.24813409e+01] [-1.01150570e-01 1.26402161e-03 9.94870325e-01 -1.46327102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.129649246 meters 0.061914299062806794 Centerline is valid? [True, True] Translation: X:113.87, Y:-22.51, Z:-14.64 [[ 9.20111897e-01 3.80559098e-01 9.25681917e-02 1.13871145e+02] [-3.78506026e-01 9.24755681e-01 -3.94983425e-02 -2.25091281e+01] [-1.00634415e-01 1.30527655e-03 9.94922616e-01 -1.46418098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.189649246 meters 0.06198954677386745 Centerline is valid? [True, True] Translation: X:113.93, Y:-22.53, Z:-14.65 [[ 9.19887082e-01 3.81258872e-01 9.19207755e-02 1.13928577e+02] [-3.79235670e-01 9.24467485e-01 -3.92450644e-02 -2.25326731e+01] [-9.99402972e-02 1.24139094e-03 9.94992661e-01 -1.46483480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.249649246 meters 0.06195863665415894 Centerline is valid? [True, True] Translation: X:113.99, Y:-22.55, Z:-14.66 [[ 9.19319006e-01 3.82442867e-01 9.26823523e-02 1.13986598e+02] [-3.80388725e-01 9.23978424e-01 -3.96016320e-02 -2.25532342e+01] [-1.00781856e-01 1.15121116e-03 9.94907881e-01 -1.46583614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.309649246 meters 0.06167852140320163 Centerline is valid? [True, True] Translation: X:114.04, Y:-22.58, Z:-14.66 [[ 9.18245974e-01 3.84746744e-01 9.37777890e-02 1.14044678e+02] [-3.82652609e-01 9.23021704e-01 -4.00988096e-02 -2.25757342e+01] [-1.01986821e-01 9.36254927e-04 9.94785309e-01 -1.46642429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.369649246 meters 0.06195353485255634 Centerline is valid? [True, True] Translation: X:114.10, Y:-22.60, Z:-14.67 [[ 9.17456589e-01 3.86526596e-01 9.41838535e-02 1.14103174e+02] [-3.84422383e-01 9.22277954e-01 -4.02840871e-02 -2.25963321e+01] [-1.02434563e-01 7.52519747e-04 9.94739460e-01 -1.46727663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.429649246 meters 0.0622409218254476 Centerline is valid? [True, True] Translation: X:114.16, Y:-22.62, Z:-14.68 [[ 9.19206244e-01 3.82319107e-01 9.42973055e-02 1.14159328e+02] [-3.80185067e-01 9.24029516e-01 -4.03580120e-02 -2.26229155e+01] [-1.02563133e-01 1.24690926e-03 9.94725715e-01 -1.46782330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.489649246 meters 0.06234246747931304 Centerline is valid? [True, True] Translation: X:114.22, Y:-22.64, Z:-14.69 [[ 9.19210032e-01 3.82815193e-01 9.22249639e-02 1.14216261e+02] [-3.80774125e-01 9.23824180e-01 -3.94962035e-02 -2.26446346e+01] [-1.00319398e-01 1.18842656e-03 9.94954575e-01 -1.46891534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.549649246 meters 0.062245602069542535 Centerline is valid? [True, True] Translation: X:114.27, Y:-22.67, Z:-14.70 [[ 9.18991509e-01 3.83293738e-01 9.24149115e-02 1.14272939e+02] [-3.81244173e-01 9.23625769e-01 -3.96020097e-02 -2.26702134e+01] [-1.00535996e-01 1.16126424e-03 9.94932744e-01 -1.46956577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.609649246 meters 0.06265227028329584 Centerline is valid? [True, True] Translation: X:114.33, Y:-22.70, Z:-14.71 [[ 9.19142102e-01 3.82612213e-01 9.37320132e-02 1.14327388e+02] [-3.80496788e-01 9.23908138e-01 -4.01988528e-02 -2.26968919e+01] [-1.01980342e-01 1.28372812e-03 9.94785586e-01 -1.47051641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.669649246 meters 0.06220327452650671 Centerline is valid? [True, True] Translation: X:114.39, Y:-22.72, Z:-14.71 [[ 9.18519912e-01 3.84163521e-01 9.34856218e-02 1.14386075e+02] [-3.82064789e-01 9.23264377e-01 -4.01171627e-02 -2.27170825e+01] [-1.01723495e-01 1.13084841e-03 9.94812069e-01 -1.47131029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.729649246 meters 0.061913988077681704 Centerline is valid? [True, True] Translation: X:114.44, Y:-22.74, Z:-14.72 [[ 9.16493359e-01 3.88784481e-01 9.42684993e-02 1.14444980e+02] [-3.86671920e-01 9.21328501e-01 -4.04798740e-02 -2.27364981e+01] [-1.02590202e-01 6.48554079e-04 9.94723494e-01 -1.47197660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.789649246 meters 0.061565600599938534 Centerline is valid? [True, True] Translation: X:114.50, Y:-22.76, Z:-14.73 [[ 9.15428466e-01 3.91003828e-01 9.54291893e-02 1.14501991e+02] [-3.88847992e-01 9.20388951e-01 -4.10050895e-02 -2.27587531e+01] [-1.03865118e-01 4.29777546e-04 9.94591299e-01 -1.47266747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.849649246 meters 0.06144781242591857 Centerline is valid? [True, True] Translation: X:114.56, Y:-22.78, Z:-14.74 [[ 9.15432465e-01 3.91107646e-01 9.49642625e-02 1.14560544e+02] [-3.88970787e-01 9.20344836e-01 -4.08302577e-02 -2.27782600e+01] [-1.03368895e-01 4.39019550e-04 9.94642991e-01 -1.47397580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.909649246 meters 0.06160950201065964 Centerline is valid? [True, True] Translation: X:114.62, Y:-22.80, Z:-14.75 [[ 9.13893272e-01 3.95156771e-01 9.30065227e-02 1.14619383e+02] [-3.93125272e-01 9.18613698e-01 -4.00174235e-02 -2.27970210e+01] [-1.01250222e-01 8.43957518e-06 9.94860992e-01 -1.47479676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.969649246 meters 0.06141819635437478 Centerline is valid? [True, True] Translation: X:114.68, Y:-22.82, Z:-14.75 [[ 9.12177401e-01 3.99111512e-01 9.29644578e-02 1.14677497e+02] [-3.97099677e-01 9.16902304e-01 -4.00251271e-02 -2.28198774e+01] [-1.01213815e-01 -4.06139717e-04 9.94864613e-01 -1.47530078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.029649246 meters 0.06116339288062709 Centerline is valid? [True, True] Translation: X:114.73, Y:-22.84, Z:-14.76 [[ 9.12056967e-01 3.98525047e-01 9.65912777e-02 1.14733428e+02] [-3.96345833e-01 9.17157392e-01 -4.16208842e-02 -2.28419954e+01] [-1.05176369e-01 -3.22932972e-04 9.94453532e-01 -1.47639838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08964924600001 meters 0.060925270236909065 Centerline is valid? [True, True] Translation: X:114.79, Y:-22.87, Z:-14.76 [[ 9.12620244e-01 3.96606711e-01 9.91332798e-02 1.14790060e+02] [-3.94296825e-01 9.17988622e-01 -4.27422884e-02 -2.28689138e+01] [-1.07955101e-01 -8.04598224e-05 9.94155767e-01 -1.47644049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.149649246 meters 0.0612384195339087 Centerline is valid? [True, True] Translation: X:114.84, Y:-22.90, Z:-14.77 [[ 9.16006249e-01 3.88785360e-01 9.88862749e-02 1.14842895e+02] [-3.86438239e-01 9.21327949e-01 -4.26649383e-02 -2.29003241e+01] [-1.07694192e-01 8.67912122e-04 9.94183689e-01 -1.47704111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.209649246 meters 0.061497627312686376 Centerline is valid? [True, True] Translation: X:114.90, Y:-22.92, Z:-14.79 [[ 9.15190387e-01 3.91437965e-01 9.59316216e-02 1.14901041e+02] [-3.89241342e-01 9.20204328e-01 -4.14146549e-02 -2.29173709e+01] [-1.04487962e-01 5.61740916e-04 9.94525993e-01 -1.47887323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.269649246 meters 0.06129715104460457 Centerline is valid? [True, True] Translation: X:114.96, Y:-22.94, Z:-14.80 [[ 9.14124835e-01 3.93695844e-01 9.68471404e-02 1.14956524e+02] [-3.91466578e-01 9.19240704e-01 -4.18383448e-02 -2.29413361e+01] [-1.05497416e-01 3.33051373e-04 9.94419521e-01 -1.47978097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.329649246 meters 0.061058809165559065 Centerline is valid? [True, True] Translation: X:115.01, Y:-22.98, Z:-14.80 [[ 9.14756905e-01 3.92256127e-01 9.67209143e-02 1.15008896e+02] [-3.90023325e-01 9.19855897e-01 -4.17963546e-02 -2.29767112e+01] [-1.05364180e-01 5.10091426e-04 9.94433572e-01 -1.47995911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.389649246 meters 0.06086186260127411 Centerline is valid? [True, True] Translation: X:115.06, Y:-23.01, Z:-14.80 [[ 9.16156265e-01 3.88639338e-01 9.80671320e-02 1.15064348e+02] [-3.86320144e-01 9.21389459e-01 -4.24053251e-02 -2.30059568e+01] [-1.06838399e-01 9.64595675e-04 9.94275931e-01 -1.48042503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.449649246 meters 0.06103146614802654 Centerline is valid? [True, True] Translation: X:115.12, Y:-23.03, Z:-14.81 [[ 9.16286275e-01 3.88183686e-01 9.86554014e-02 1.15120734e+02] [-3.85830390e-01 9.21581421e-01 -4.26918555e-02 -2.30323240e+01] [-1.07491267e-01 1.05370929e-03 9.94205470e-01 -1.48123523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.509649246 meters 0.06123320256162776 Centerline is valid? [True, True] Translation: X:115.18, Y:-23.05, Z:-14.83 [[ 9.16053720e-01 3.89567067e-01 9.53052045e-02 1.15176389e+02] [-3.87375565e-01 9.20997671e-01 -4.12730232e-02 -2.30532131e+01] [-1.03854482e-01 8.89399058e-04 9.94592105e-01 -1.48250464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.569649246 meters 0.061054337552935115 Centerline is valid? [True, True] Translation: X:115.23, Y:-23.07, Z:-14.83 [[ 9.14379042e-01 3.93521588e-01 9.51405686e-02 1.15234444e+02] [-3.91356666e-01 9.19315261e-01 -4.12239196e-02 -2.30723796e+01] [-1.03686679e-01 4.60392346e-04 9.94609904e-01 -1.48331737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.629649246 meters 0.06090365989121537 Centerline is valid? [True, True] Translation: X:115.29, Y:-23.09, Z:-14.84 [[ 9.13179817e-01 3.95964973e-01 9.65109447e-02 1.15291658e+02] [-3.93748029e-01 9.18265591e-01 -4.18424807e-02 -2.30916060e+01] [-1.05190836e-01 2.08714547e-04 9.94452032e-01 -1.48417841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.689649246 meters 0.06070655404194201 Centerline is valid? [True, True] Translation: X:115.35, Y:-23.11, Z:-14.85 [[ 9.11049329e-01 4.00454223e-01 9.81098083e-02 1.15352049e+02] [-3.98186277e-01 9.16316719e-01 -4.25600602e-02 -2.31079531e+01] [-1.06943014e-01 -2.91665016e-04 9.94265109e-01 -1.48491014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.749649246 meters 0.06149322051075764 Centerline is valid? [True, True] Translation: X:115.41, Y:-23.12, Z:-14.86 [[ 9.07606847e-01 4.08364105e-01 9.74092909e-02 1.15411664e+02] [-4.06170997e-01 9.12818352e-01 -4.22821213e-02 -2.31227296e+01] [-1.06183489e-01 -1.18928601e-03 9.94345841e-01 -1.48592722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.809649246 meters 0.06226882781925362 Centerline is valid? [True, True] Translation: X:115.47, Y:-23.14, Z:-14.87 [[ 9.05466291e-01 4.13357189e-01 9.62633381e-02 1.15469206e+02] [-4.11241152e-01 9.10567315e-01 -4.18076589e-02 -2.31434126e+01] [-1.04935746e-01 -1.73202028e-03 9.94477496e-01 -1.48674758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.869649246 meters 0.06232355715913042 Centerline is valid? [True, True] Translation: X:115.52, Y:-23.17, Z:-14.88 [[ 9.06059106e-01 4.12329930e-01 9.50837827e-02 1.15524250e+02] [-4.10257530e-01 9.11033236e-01 -4.13182894e-02 -2.31690877e+01] [-1.03661254e-01 -1.57202557e-03 9.94611418e-01 -1.48778702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.929649246 meters 0.06196256591046242 Centerline is valid? [True, True] Translation: X:115.58, Y:-23.20, Z:-14.89 [[ 9.06925829e-01 4.10903742e-01 9.29712566e-02 1.15578436e+02] [-4.08912468e-01 9.11677730e-01 -4.04265989e-02 -2.31980517e+01] [-1.01371265e-01 -1.35317926e-03 9.94847745e-01 -1.48874717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.989649246 meters 0.062146395729416735 Centerline is valid? [True, True] Translation: X:115.63, Y:-23.22, Z:-14.90 [[ 9.06522899e-01 4.11924825e-01 9.23805819e-02 1.15634740e+02] [-4.09961522e-01 9.11216704e-01 -4.01953859e-02 -2.32214446e+01] [-1.00736207e-01 -1.43444618e-03 9.94912136e-01 -1.48967034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.049649246 meters 0.060990967639521665 Centerline is valid? [True, True] Translation: X:115.69, Y:-23.26, Z:-14.90 [[ 9.09821921e-01 4.04034664e-01 9.47631972e-02 1.15686977e+02] [-4.01922619e-01 9.14743511e-01 -4.12615695e-02 -2.32576102e+01] [-1.03355124e-01 -5.46791931e-04 9.94644368e-01 -1.48993784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.109649246 meters 0.060829285869908205 Centerline is valid? [True, True] Translation: X:115.74, Y:-23.28, Z:-14.91 [[ 9.10206235e-01 4.02626769e-01 9.70375968e-02 1.15742449e+02] [-4.00402510e-01 9.15364155e-01 -4.22645592e-02 -2.32841542e+01] [-1.05841581e-01 -3.84632079e-04 9.94382930e-01 -1.49054089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.169649246 meters 0.06140874204215871 Centerline is valid? [True, True] Translation: X:115.80, Y:-23.30, Z:-14.92 [[ 9.08255428e-01 4.07259005e-01 9.59801072e-02 1.15800154e+02] [-4.05105970e-01 9.13312276e-01 -4.18310871e-02 -2.33032969e+01] [-1.04695897e-01 -8.88802465e-04 9.94503886e-01 -1.49153070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.229649246 meters 0.061215187015418566 Centerline is valid? [True, True] Translation: X:115.86, Y:-23.33, Z:-14.92 [[ 9.07869687e-01 4.08053264e-01 9.62557305e-02 1.15855934e+02] [-4.05889751e-01 9.12957617e-01 -4.19749971e-02 -2.33317578e+01] [-1.05005437e-01 -9.61387025e-04 9.94471183e-01 -1.49214529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.289649246 meters 0.0609537928104796 Centerline is valid? [True, True] Translation: X:115.91, Y:-23.36, Z:-14.93 [[ 9.08340869e-01 4.06841389e-01 9.69378655e-02 1.15910932e+02] [-4.04636831e-01 9.13498465e-01 -4.23035328e-02 -2.33601298e+01] [-1.05763419e-01 -7.98602925e-04 9.94391000e-01 -1.49275682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.349649246 meters 0.061122631844355256 Centerline is valid? [True, True] Translation: X:115.97, Y:-23.39, Z:-14.94 [[ 9.08463409e-01 4.06511227e-01 9.71743644e-02 1.15965906e+02] [-4.04290965e-01 9.13645490e-01 -4.24350706e-02 -2.33864546e+01] [-1.06033252e-01 -7.36008617e-04 9.94362312e-01 -1.49370882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.409649246 meters 0.061051486696362615 Centerline is valid? [True, True] Translation: X:116.02, Y:-23.42, Z:-14.95 [[ 9.09862188e-01 4.03606051e-01 9.61922770e-02 1.16020937e+02] [-4.01411458e-01 9.14932795e-01 -4.20335795e-02 -2.34171723e+01] [-1.04974476e-01 -3.67917512e-04 9.94474848e-01 -1.49458261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.469649246 meters 0.06127301142756938 Centerline is valid? [True, True] Translation: X:116.07, Y:-23.45, Z:-14.96 [[ 9.12075737e-01 3.99084065e-01 9.40731604e-02 1.16072243e+02] [-3.96958077e-01 9.16914324e-01 -4.11388913e-02 -2.34504662e+01] [-1.02674904e-01 1.78683737e-04 9.94714950e-01 -1.49576260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.529649246 meters 0.06189903395943093 Centerline is valid? [True, True] Translation: X:116.12, Y:-23.49, Z:-14.97 [[ 9.16303171e-01 3.89558989e-01 9.29101301e-02 1.16120642e+02] [-3.87433879e-01 9.21000661e-01 -4.06542846e-02 -2.34907119e+01] [-1.01407533e-01 1.25511778e-03 9.94844177e-01 -1.49656198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58964924600001 meters 0.06325538063277841 Centerline is valid? [True, True] Translation: X:116.17, Y:-23.52, Z:-14.97 [[ 9.19150622e-01 3.82159517e-01 9.54789895e-02 1.16172704e+02] [-3.79872244e-01 9.24093859e-01 -4.18045185e-02 -2.35234821e+01] [-1.04207542e-01 2.15483113e-03 9.94553239e-01 -1.49703600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.649649246 meters 0.06515191585889822 Centerline is valid? [True, True] Translation: X:116.23, Y:-23.55, Z:-14.98 [[ 9.21441492e-01 3.76027171e-01 9.77197199e-02 1.16226739e+02] [-3.73593801e-01 9.26603973e-01 -4.28106131e-02 -2.35537736e+01] [-1.06645434e-01 2.93999362e-03 9.94292768e-01 -1.49750196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.709649246 meters 0.06740070844382774 Centerline is valid? [True, True] Translation: X:116.28, Y:-23.58, Z:-14.98 [[ 9.24134761e-01 3.69169287e-01 9.84326224e-02 1.16281619e+02] [-3.66658419e-01 9.29354460e-01 -4.31496462e-02 -2.35816268e+01] [-1.07408321e-01 3.78493831e-03 9.94207789e-01 -1.49812846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.769649246 meters 0.0684549641784083 Centerline is valid? [True, True] Translation: X:116.34, Y:-23.61, Z:-14.99 [[ 9.26202246e-01 3.64212557e-01 9.74608292e-02 1.16338432e+02] [-3.61720969e-01 9.31305730e-01 -4.27501744e-02 -2.36061612e+01] [-1.06335979e-01 4.34168192e-03 9.94320778e-01 -1.49883849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.829649246 meters 0.06918652369208418 Centerline is valid? [True, True] Translation: X:116.39, Y:-23.63, Z:-15.00 [[ 9.26265738e-01 3.64391209e-01 9.61812304e-02 1.16393496e+02] [-3.61962864e-01 9.31236085e-01 -4.22165834e-02 -2.36302977e+01] [-1.04950784e-01 4.28974119e-03 9.94468165e-01 -1.49970553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.889649246 meters 0.06852208937301994 Centerline is valid? [True, True] Translation: X:116.45, Y:-23.65, Z:-15.01 [[ 9.24772178e-01 3.68088639e-01 9.64736906e-02 1.16450869e+02] [-3.65662831e-01 9.29782502e-01 -4.23697198e-02 -2.36489678e+01] [-1.05295362e-01 3.90549524e-03 9.94433323e-01 -1.50058079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.949649246 meters 0.06684710815449005 Centerline is valid? [True, True] Translation: X:116.51, Y:-23.67, Z:-15.02 [[ 9.23683523e-01 3.71933793e-01 9.20543453e-02 1.16509986e+02] [-3.69742741e-01 9.28253303e-01 -4.04488637e-02 -2.36660372e+01] [-1.00494049e-01 3.32552297e-03 9.94932102e-01 -1.50156523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.009649246 meters 0.0662603878992685 Centerline is valid? [True, True] Translation: X:116.57, Y:-23.69, Z:-15.02 [[ 9.24060949e-01 3.71430739e-01 9.02804983e-02 1.16567036e+02] [-3.69318793e-01 9.28454669e-01 -3.96932832e-02 -2.36895652e+01] [-9.85646557e-02 3.33672821e-03 9.95125055e-01 -1.50221315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.069649246 meters 0.06969636991612226 Centerline is valid? [True, True] Translation: X:116.62, Y:-23.72, Z:-15.04 [[ 9.24471516e-01 3.70699325e-01 8.90753946e-02 1.16617835e+02] [-3.68637521e-01 9.28746732e-01 -3.91903758e-02 -2.37225685e+01] [-9.72563274e-02 3.39385344e-03 9.95253580e-01 -1.50352002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.129649246 meters 0.06695426494669894 Centerline is valid? [True, True] Translation: X:116.68, Y:-23.74, Z:-15.04 [[ 9.23711081e-01 3.72104419e-01 9.10831553e-02 1.16679277e+02] [-3.69952621e-01 9.28184854e-01 -4.00990768e-02 -2.37392271e+01] [-9.94630489e-02 3.34350956e-03 9.95035639e-01 -1.50358411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.189649246 meters 0.06602727284633311 Centerline is valid? [True, True] Translation: X:116.74, Y:-23.76, Z:-15.04 [[ 9.22447158e-01 3.74922463e-01 9.23276065e-02 1.16736966e+02] [-3.72723127e-01 9.27050982e-01 -4.06687561e-02 -2.37610194e+01] [-1.00840028e-01 3.10214431e-03 9.94897817e-01 -1.50413311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.249649246 meters 0.06515550893600484 Centerline is valid? [True, True] Translation: X:116.80, Y:-23.78, Z:-15.04 [[ 9.21916525e-01 3.75736551e-01 9.42972158e-02 1.16795040e+02] [-3.73443670e-01 9.26721329e-01 -4.15620497e-02 -2.37831964e+01] [-1.03003622e-01 3.10204210e-03 9.94676144e-01 -1.50444926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.309649246 meters 0.06611300438221582 Centerline is valid? [True, True] Translation: X:116.85, Y:-23.81, Z:-15.05 [[ 9.21862493e-01 3.75696968e-01 9.49806972e-02 1.16850187e+02] [-3.73367577e-01 9.26737199e-01 -4.18905223e-02 -2.38108092e+01] [-1.03760288e-01 3.15458855e-03 9.94597331e-01 -1.50532571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.369649246 meters 0.06731611452087159 Centerline is valid? [True, True] Translation: X:116.91, Y:-23.84, Z:-15.06 [[ 9.22901578e-01 3.72600516e-01 9.70645777e-02 1.16905065e+02] [-3.70147127e-01 9.27984822e-01 -4.28401017e-02 -2.38402427e+01] [-1.06036699e-01 3.60902288e-03 9.94355667e-01 -1.50583027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.429649246 meters 0.06700672708010492 Centerline is valid? [True, True] Translation: X:116.96, Y:-23.86, Z:-15.07 [[ 9.23357828e-01 3.71720236e-01 9.60957237e-02 1.16962410e+02] [-3.69308117e-01 9.28337434e-01 -4.24396493e-02 -2.38622088e+01] [-1.04984934e-01 3.69805166e-03 9.94466937e-01 -1.50660846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.489649246 meters 0.06697811836185395 Centerline is valid? [True, True] Translation: X:117.02, Y:-23.89, Z:-15.07 [[ 9.23160845e-01 3.72438082e-01 9.52046698e-02 1.17019758e+02] [-3.70071762e-01 9.28050036e-01 -4.20716213e-02 -2.38871204e+01] [-1.04023771e-01 3.60631354e-03 9.94568273e-01 -1.50740906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.549649246 meters 0.06653909733921419 Centerline is valid? [True, True] Translation: X:117.08, Y:-23.91, Z:-15.08 [[ 9.23237876e-01 3.72411631e-01 9.45589895e-02 1.17078201e+02] [-3.70074124e-01 9.28060626e-01 -4.18164696e-02 -2.39081465e+01] [-1.03329415e-01 3.61271334e-03 9.94640629e-01 -1.50787912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.609649246 meters 0.06750894756077704 Centerline is valid? [True, True] Translation: X:117.13, Y:-23.94, Z:-15.08 [[ 9.25534311e-01 3.65996014e-01 9.71244433e-02 1.17134498e+02] [-3.63491020e-01 9.30605649e-01 -4.29814341e-02 -2.39355790e+01] [-1.06115589e-01 4.47692898e-03 9.94343723e-01 -1.50815037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.669649246 meters 0.07290839825684042 Centerline is valid? [True, True] Translation: X:117.19, Y:-23.96, Z:-15.09 [[ 9.29881121e-01 3.53802035e-01 1.00723489e-01 1.17187978e+02] [-3.51033953e-01 9.35300394e-01 -4.45907686e-02 -2.39649942e+01] [-1.09983023e-01 6.10674951e-03 9.93914706e-01 -1.50873515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.729649246 meters 0.07404065239180883 Centerline is valid? [True, True] Translation: X:117.25, Y:-23.98, Z:-15.09 [[ 9.29747656e-01 3.53592606e-01 1.02672122e-01 1.17247080e+02] [-3.50712829e-01 9.35378528e-01 -4.54699923e-02 -2.39815412e+01] [-1.12115151e-01 6.26718844e-03 9.93675458e-01 -1.50923229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.789649246 meters 0.07200788261341738 Centerline is valid? [True, True] Translation: X:117.31, Y:-23.99, Z:-15.10 [[ 9.27895351e-01 3.57735122e-01 1.05051417e-01 1.17310163e+02] [-3.54744290e-01 9.33804352e-01 -4.65394592e-02 -2.39916712e+01] [-1.14746269e-01 5.91735759e-03 9.93377209e-01 -1.50970408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.849649246 meters 0.07193142812761064 Centerline is valid? [True, True] Translation: X:117.38, Y:-23.99, Z:-15.10 [[ 9.26688389e-01 3.60089255e-01 1.07630655e-01 1.17377032e+02] [-3.56961315e-01 9.32899862e-01 -4.77123354e-02 -2.39912691e+01] [-1.17589322e-01 5.79448718e-03 9.93045404e-01 -1.51026262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.909649246 meters 0.06786559071275577 Centerline is valid? [True, True] Translation: X:117.44, Y:-23.99, Z:-15.11 [[ 9.25732216e-01 3.63097058e-01 1.05737370e-01 1.17444201e+02] [-3.60095161e-01 9.31736021e-01 -4.68984313e-02 -2.39897075e+01] [-1.15547999e-01 5.33987346e-03 9.93287544e-01 -1.51108361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.969649246 meters 0.07956973942901824 Centerline is valid? [True, True] Translation: X:117.50, Y:-24.02, Z:-15.13 [[ 9.23041709e-01 3.69851131e-01 1.05849628e-01 1.17496506e+02] [-3.66883576e-01 9.29080001e-01 -4.69765134e-02 -2.40170386e+01] [-1.15717089e-01 4.52679125e-03 9.93271898e-01 -1.51276903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.029649246 meters 0.06496114077388308 Centerline is valid? [True, True] Translation: X:117.57, Y:-24.00, Z:-15.13 [[ 9.21244728e-01 3.76230333e-01 9.87870867e-02 1.17570942e+02] [-3.73680742e-01 9.26519570e-01 -4.38655765e-02 -2.40004456e+01] [-1.08031730e-01 3.49609916e-03 9.94141299e-01 -1.51328714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08964924600001 meters 0.06264694537874348 Centerline is valid? [True, True] Translation: X:117.64, Y:-24.00, Z:-15.14 [[ 9.18046560e-01 3.84470222e-01 9.68150925e-02 1.17639783e+02] [-3.82064635e-01 9.23134011e-01 -4.30141021e-02 -2.39955764e+01] [-1.05910946e-01 2.49932555e-03 9.94372478e-01 -1.51437960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.149649246 meters 0.06229758629075269 Centerline is valid? [True, True] Translation: X:117.70, Y:-24.01, Z:-15.16 [[ 9.16712507e-01 3.88936070e-01 9.14708274e-02 1.17702356e+02] [-3.86809232e-01 9.21262799e-01 -4.06629300e-02 -2.40053218e+01] [-1.00083951e-01 1.89445608e-03 9.94977193e-01 -1.51557723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.209649246 meters 0.06206741348416378 Centerline is valid? [True, True] Translation: X:117.76, Y:-24.02, Z:-15.17 [[ 9.16558150e-01 3.89744162e-01 8.95580550e-02 1.17764916e+02] [-3.87706903e-01 9.20921429e-01 -3.98381692e-02 -2.40163115e+01] [-9.80026258e-02 1.79172260e-03 9.95184543e-01 -1.51659795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.269649246 meters 0.06245948660248094 Centerline is valid? [True, True] Translation: X:117.82, Y:-24.03, Z:-15.18 [[ 9.16110886e-01 3.91156459e-01 8.79628882e-02 1.17824395e+02] [-3.89195208e-01 9.20322741e-01 -3.91553580e-02 -2.40295093e+01] [-9.62701176e-02 1.63591512e-03 9.95353901e-01 -1.51775601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.329649246 meters 0.06252494067396476 Centerline is valid? [True, True] Translation: X:117.88, Y:-24.05, Z:-15.18 [[ 9.18095478e-01 3.86150174e-01 8.93797292e-02 1.17884219e+02] [-3.84098911e-01 9.22433258e-01 -3.98109308e-02 -2.40485437e+01] [-9.78198327e-02 2.21957891e-03 9.95201665e-01 -1.51790815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.389649246 meters 0.06418706611141545 Centerline is valid? [True, True] Translation: X:117.94, Y:-24.06, Z:-15.18 [[ 9.21040396e-01 3.78073994e-01 9.35127982e-02 1.17944511e+02] [-3.75783092e-01 9.25769667e-01 -4.16844356e-02 -2.40625061e+01] [-1.02331113e-01 3.25252067e-03 9.94745075e-01 -1.51832881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.449649246 meters 0.06433821318254977 Centerline is valid? [True, True] Translation: X:118.01, Y:-24.08, Z:-15.18 [[ 9.23516175e-01 3.70123855e-01 1.00629050e-01 1.18007327e+02] [-3.67421178e-01 9.28971689e-01 -4.48695709e-02 -2.40768499e+01] [-1.10088838e-01 4.46453029e-03 9.93911724e-01 -1.51789569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.509649246 meters 0.06467881058641624 Centerline is valid? [True, True] Translation: X:118.07, Y:-24.08, Z:-15.18 [[ 9.25319367e-01 3.63453409e-01 1.08100359e-01 1.18072434e+02] [-3.60286427e-01 9.31595171e-01 -4.82092082e-02 -2.40827940e+01] [-1.18227574e-01 5.66182192e-03 9.92970385e-01 -1.51803719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.569649246 meters 0.06664597833292825 Centerline is valid? [True, True] Translation: X:118.14, Y:-24.09, Z:-15.18 [[ 9.26695473e-01 3.59283681e-01 1.10230379e-01 1.18136728e+02] [-3.55956877e-01 9.33206805e-01 -4.91910592e-02 -2.40903096e+01] [-1.20541284e-01 6.34787059e-03 9.92688019e-01 -1.51831637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.629649246 meters 0.06525766896705774 Centerline is valid? [True, True] Translation: X:118.21, Y:-24.07, Z:-15.18 [[ 9.23458605e-01 3.65758610e-01 1.15951905e-01 1.18212672e+02] [-3.62124618e-01 9.30691635e-01 -5.17575297e-02 -2.40732757e+01] [-1.26846230e-01 5.80689676e-03 9.91905396e-01 -1.51802072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.689649246 meters 0.0633550044628041 Centerline is valid? [True, True] Translation: X:118.29, Y:-24.06, Z:-15.19 [[ 9.18858964e-01 3.75336792e-01 1.21739463e-01 1.18285816e+02] [-3.71408104e-01 9.26876357e-01 -5.43712995e-02 -2.40567700e+01] [-1.33244979e-01 4.74453270e-03 9.91071776e-01 -1.51870725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.749649246 meters 0.06289622993951 Centerline is valid? [True, True] Translation: X:118.36, Y:-24.04, Z:-15.19 [[ 9.14679063e-01 3.83665630e-01 1.27133378e-01 1.18357757e+02] [-3.79458504e-01 9.23464686e-01 -5.67821881e-02 -2.40434956e+01] [-1.39188559e-01 3.69563732e-03 9.90259000e-01 -1.51886098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.809649246 meters 0.06325641970367842 Centerline is valid? [True, True] Translation: X:118.43, Y:-24.03, Z:-15.19 [[ 9.11151352e-01 3.89284677e-01 1.35131986e-01 1.18432342e+02] [-3.84588081e-01 9.21112511e-01 -6.03634742e-02 -2.40282250e+01] [-1.47970338e-01 3.03011004e-03 9.88987157e-01 -1.51920731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 906.91 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%| | 0/4028 [00:00