+ python -m lidar_slam --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.9 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters 0.10106070798358797 Centerline is valid? [0, False] SLAMing on 0.062401008 meters 0.09936293262726546 Centerline is valid? [False, True] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99987821e-01 4.90611852e-03 -5.35612347e-04 4.69565849e-04] [-4.90398878e-03 9.99980340e-01 3.90769350e-03 1.92860349e-03] [ 5.54773424e-04 -3.90501928e-03 9.99992221e-01 5.93767726e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12240100799999999 meters 0.0786247989402408 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 9.98605689e-01 5.27889210e-02 8.34271222e-05 6.48953173e-02] [-5.27889202e-02 9.98605693e-01 -1.22911108e-05 2.46593776e-02] [-8.39596336e-05 7.86994549e-06 9.99999996e-01 -6.16378465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182401008 meters 0.07408315033825055 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 9.97638528e-01 6.86572868e-02 -1.88253906e-03 1.24017945e-01] [-6.86568832e-02 9.97640293e-01 2.78256378e-04 1.30291574e-02] [ 1.89720114e-03 -1.48350019e-04 9.99998189e-01 -7.02392812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242401008 meters 0.07143476156834141 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.01 [[ 9.97497471e-01 7.05320612e-02 -4.90133095e-03 1.82700417e-01] [-7.05293479e-02 9.97509442e-01 7.24455447e-04 -1.21196403e-02] [ 4.94022124e-03 -3.76954800e-04 9.99987726e-01 -1.06077823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30240100799999997 meters 0.07230628752012133 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.04, Z:-0.01 [[ 9.97702524e-01 6.76609569e-02 -3.41593857e-03 2.40206576e-01] [-6.76596215e-02 9.97708334e-01 5.05136271e-04 -4.00741897e-02] [ 3.44228839e-03 -2.72854622e-04 9.99994038e-01 -8.17461982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36240100799999997 meters 0.07585926616111034 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.08, Z:-0.01 [[ 9.97640229e-01 6.86578621e-02 2.67037299e-04 2.95744557e-01] [-6.86578537e-02 9.97640265e-01 -4.07267833e-05 -8.13112369e-02] [-2.69203375e-04 2.22964696e-05 9.99999964e-01 -7.77859527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42240100799999997 meters 0.07633107510471296 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.12, Z:-0.01 [[ 9.97955443e-01 6.39115958e-02 4.92360716e-04 3.51625649e-01] [-6.39115675e-02 9.97955563e-01 -7.31503020e-05 -1.23055584e-01] [-4.96029268e-04 4.15331969e-05 9.99999876e-01 -1.15114238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48240100799999996 meters 0.08097931562436173 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.16, Z:-0.01 [[ 9.98664984e-01 5.15641547e-02 3.06406047e-03 4.07375225e-01] [-5.15630026e-02 9.98669640e-01 -4.53889059e-04 -1.61880562e-01] [-3.08338857e-03 2.95290952e-04 9.99995203e-01 -9.04285988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542401008 meters 0.09102981411794471 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.20, Z:-0.01 [[ 9.99382430e-01 3.46035143e-02 6.11183672e-03 4.61706460e-01] [-3.45986154e-02 9.99400878e-01 -9.05484982e-04 -2.02988019e-01] [-6.13950795e-03 6.93464694e-04 9.99980913e-01 -5.47344941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602401008 meters 0.08350805691074065 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.21, Z:-0.00 [[ 0.99980557 0.01790924 0.00825152 0.52258674] [-0.01789975 0.99983904 -0.00122242 -0.20797879] [-0.00827209 0.00107448 0.99996521 -0.00290001] [ 0. 0. 0. 1. ]] SLAMing on 0.6624010079999999 meters 0.08442879755777205 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.21, Z:0.00 [[ 9.99720346e-01 2.03803648e-02 1.19946315e-02 5.83340733e-01] [-2.03604876e-02 9.99791125e-01 -1.77697539e-03 -2.08746464e-01] [-1.20283416e-02 1.53226190e-03 9.99926483e-01 2.47868981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722401008 meters 0.09197466588453411 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.20, Z:0.00 [[ 0.99928148 0.03367346 0.0173962 0.64548209] [-0.03363362 0.99943091 -0.00257741 -0.19651136] [-0.01747309 0.00199046 0.99984535 0.00261816] [ 0. 0. 0. 1. ]] SLAMing on 0.782401008 meters 0.08886812440611302 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.16, Z:-0.00 [[ 0.99879303 0.04218162 0.0251635 0.71129256] [-0.04210092 0.99910641 -0.00372841 -0.16450011] [-0.02529829 0.00266451 0.9996764 -0.00352829] [ 0. 0. 0. 1. ]] SLAMing on 0.842401008 meters 0.09829760466584192 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.13, Z:-0.02 [[ 0.99798491 0.05148745 0.03708328 0.77759348] [-0.05131846 0.99866722 -0.00549516 -0.13132614] [-0.03731679 0.00358103 0.99929707 -0.01553079] [ 0. 0. 0. 1. ]] SLAMing on 0.9024010079999999 meters 0.23573861251883518 Centerline is valid? [True, False] Translation: X:0.83, Y:-0.12, Z:-0.04 [[ 0.99840538 0.05146045 0.02320605 0.83288243] [-0.05121322 0.99862577 -0.01112536 -0.11579604] [-0.02374668 0.00991916 0.9996688 -0.03883642] [ 0. 0. 0. 1. ]] SLAMing on 0.962401008 meters 0.2187290348493909 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:-0.04 [[ 9.98743331e-01 4.44913807e-02 2.30710858e-02 8.37214932e-01] [-4.45253928e-02 9.99007789e-01 9.62386967e-04 -1.24188480e-01] [-2.30053765e-02 -1.98842672e-03 9.99733364e-01 -4.31947937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0224010080000001 meters 0.209558661047064 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.04 [[ 0.99904748 0.04093032 0.01512731 0.83438351] [-0.04111405 0.9990819 0.01204147 -0.12536893] [-0.01462056 -0.01265194 0.99981307 -0.03920467] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters 0.20206536226023017 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.04 [[ 0.99901986 0.03529412 0.02671404 0.86958919] [-0.03601433 0.9989871 0.02697673 -0.12687163] [-0.02573486 -0.02791237 0.99927905 -0.04071373] [ 0. 0. 0. 1. ]] SLAMing on 1.142401008 meters 0.18825528407256323 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.04 [[ 0.9980655 0.05747472 0.02370454 0.88588263] [-0.05801853 0.99805215 0.0229292 -0.12578488] [-0.02234052 -0.02426015 0.99945603 -0.03728922] [ 0. 0. 0. 1. ]] SLAMing on 1.202401008 meters 0.1861916174423622 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.04 [[ 0.99830029 0.0480853 0.0329293 0.88311315] [-0.0490366 0.99838404 0.02871794 -0.12361537] [-0.03149517 -0.03028387 0.99904501 -0.03734773] [ 0. 0. 0. 1. ]] SLAMing on 1.262401008 meters 0.17851795107203403 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.04 [[ 0.9980875 0.0525784 0.03250941 0.88370464] [-0.05366115 0.99800107 0.03338193 -0.12240487] [-0.03068926 -0.03506258 0.9989138 -0.03587433] [ 0. 0. 0. 1. ]] SLAMing on 1.322401008 meters 0.16844480109570834 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.03 [[ 0.99796317 0.05473388 0.03276762 0.881374 ] [-0.05588259 0.99781556 0.03523122 -0.12341181] [-0.0307677 -0.0369906 0.99884185 -0.03339643] [ 0. 0. 0. 1. ]] SLAMing on 1.382401008 meters 0.16451386829874184 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.03 [[ 0.99817111 0.05077623 0.03280573 0.88118706] [-0.05178819 0.99818392 0.0307708 -0.1229996 ] [-0.03118373 -0.03241347 0.99898796 -0.03416565] [ 0. 0. 0. 1. ]] SLAMing on 1.442401008 meters 0.1589554704843411 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.03 [[ 0.99840847 0.05083599 0.0244178 0.89364288] [-0.05139923 0.99841282 0.0230209 -0.127515 ] [-0.02320875 -0.02423932 0.99943675 -0.03297935] [ 0. 0. 0. 1. ]] SLAMing on 1.502401008 meters 0.15007560278263127 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.04 [[ 0.99875388 0.03955101 0.03043682 0.89242196] [-0.04041947 0.9987772 0.02846719 -0.12983295] [-0.02927369 -0.02966196 0.99913123 -0.03553233] [ 0. 0. 0. 1. ]] SLAMing on 1.5624010080000001 meters 0.14736177852153384 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.04 [[ 0.99893887 0.03480237 0.03016503 0.8938775 ] [-0.0355114 0.99909769 0.02329671 -0.12961158] [-0.02932703 -0.02434319 0.9992734 -0.03800165] [ 0. 0. 0. 1. ]] SLAMing on 1.622401008 meters 0.14131129033756074 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.04 [[ 0.99941251 0.02619922 0.02209626 0.88827256] [-0.02677856 0.99929421 0.02634386 -0.13487183] [-0.02139047 -0.02692009 0.9994087 -0.03717217] [ 0. 0. 0. 1. ]] SLAMing on 1.682401008 meters 0.13503017301276182 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.14, Z:-0.04 [[ 0.99966819 0.01357825 0.02188935 0.88957076] [-0.01389465 0.99980023 0.01436786 -0.13959638] [-0.02168989 -0.01466724 0.99965715 -0.03901696] [ 0. 0. 0. 1. ]] SLAMing on 1.742401008 meters 0.13395170574650075 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.16, Z:-0.04 [[ 0.99989637 -0.00284339 0.01411222 0.92617897] [ 0.00279332 0.99998974 0.00356594 -0.1572613 ] [-0.01412222 -0.00352615 0.99989406 -0.04204268] [ 0. 0. 0. 1. ]] SLAMing on 1.802401008 meters 0.12097762270730786 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.04 [[ 9.99951436e-01 -9.82758375e-03 -7.37534914e-04 9.27972381e-01] [ 9.83006526e-03 9.99945767e-01 3.43998106e-03 -1.70134543e-01] [ 7.03688213e-04 -3.44706402e-03 9.99993811e-01 -3.71280317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.862401008 meters 0.11548332452022371 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.04 [[ 0.99984589 -0.0171455 -0.00377148 0.95184328] [ 0.01713232 0.9998471 -0.00350037 -0.19145967] [ 0.00383092 0.00343521 0.99998676 -0.04022138] [ 0. 0. 0. 1. ]] SLAMing on 1.922401008 meters 0.1068163316294212 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.22, Z:-0.04 [[ 0.99974751 -0.01889841 -0.01215596 0.96733991] [ 0.01879813 0.99978876 -0.00831109 -0.21600164] [ 0.01231046 0.00808049 0.99989157 -0.04087771] [ 0. 0. 0. 1. ]] SLAMing on 1.982401008 meters 0.10357562288432165 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.05 [[ 0.99981316 -0.01829694 -0.00623431 0.97685135] [ 0.01817817 0.99966169 -0.01860277 -0.230828 ] [ 0.00657258 0.01848597 0.99980752 -0.04766877] [ 0. 0. 0. 1. ]] SLAMing on 2.042401008 meters 0.09844914720744358 Centerline is valid? [False, True] Translation: X:0.99, Y:-0.26, Z:-0.04 [[ 0.99982663 -0.01197666 -0.01425712 0.98864383] [ 0.01174213 0.99979621 -0.01642151 -0.25580453] [ 0.01445089 0.01625125 0.99976351 -0.04491833] [ 0. 0. 0. 1. ]] SLAMing on 2.102401008 meters 0.09617800794600626 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.28, Z:-0.04 [[ 9.99825542e-01 -1.67123151e-02 -8.34174826e-03 1.04902284e+00] [ 1.67135617e-02 9.99860315e-01 7.97457409e-05 -2.80626608e-01] [ 8.33925032e-03 -2.19152153e-04 9.99965204e-01 -4.34024133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1624010080000002 meters 0.09129836887243274 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.30, Z:-0.04 [[ 9.99731363e-01 -2.31116865e-02 -1.74665546e-03 1.11043263e+00] [ 2.31117538e-02 9.99732888e-01 1.83768442e-05 -3.03192147e-01] [ 1.74576419e-03 -5.87401785e-05 9.99998474e-01 -4.12276278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.222401008 meters 0.08917090820038061 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.32, Z:-0.05 [[ 9.99541427e-01 -2.98744551e-02 4.94503413e-03 1.16990212e+00] [ 2.98750617e-02 9.99553640e-01 -4.88300647e-05 -3.20775764e-01] [-4.94136809e-03 1.96540872e-04 9.99987772e-01 -4.79022141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.282401008 meters 0.08494890874567602 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.34, Z:-0.05 [[ 9.99265507e-01 -3.45571088e-02 1.65605813e-02 1.23042612e+00] [ 3.45645345e-02 9.99402455e-01 -1.62297673e-04 -3.36287483e-01] [-1.65450771e-02 7.34587251e-04 9.99862851e-01 -5.13624238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.342401008 meters 0.08305570914488164 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.34, Z:-0.06 [[ 9.99181213e-01 -3.35263915e-02 2.26469415e-02 1.28860031e+00] [ 3.35400536e-02 9.99437349e-01 -2.23588725e-04 -3.43586419e-01] [-2.26267030e-02 9.82985285e-04 9.99743500e-01 -6.13813436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402401008 meters 0.07977071940944595 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.35, Z:-0.07 [[ 9.99022055e-01 -3.06368563e-02 3.18797107e-02 1.34764853e+00] [ 3.06623440e-02 9.99529751e-01 -3.10809448e-04 -3.52437362e-01] [-3.18551971e-02 1.28801215e-03 9.99491665e-01 -6.76428815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462401008 meters 0.07449501934028557 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.35, Z:-0.06 [[ 9.98783527e-01 -3.00761138e-02 3.90754805e-02 1.40886330e+00] [ 3.01139595e-02 9.99546400e-01 -3.80174330e-04 -3.51978527e-01] [-3.90463217e-02 1.55642930e-03 9.99236189e-01 -6.36533136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522401008 meters 0.07624327538818762 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.37, Z:-0.08 [[ 9.98437161e-01 -3.06992227e-02 4.66989666e-02 1.46697981e+00] [ 3.07540148e-02 9.99526880e-01 -4.55105373e-04 -3.67659638e-01] [-4.66629010e-02 1.89057483e-03 9.98908904e-01 -7.57833033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582401008 meters 0.07068679136232256 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.36, Z:-0.07 [[ 9.98023706e-01 -2.84546362e-02 5.60269211e-02 1.52777988e+00] [ 2.85299095e-02 9.99592791e-01 -5.43966735e-04 -3.61175941e-01] [-5.59886281e-02 2.14133469e-03 9.98429110e-01 -7.33699458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6424010079999998 meters 0.0689565183548465 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.36, Z:-0.08 [[ 9.97780403e-01 -2.80859548e-02 6.03775326e-02 1.58836399e+00] [ 2.81726257e-02 9.99602902e-01 -5.84521535e-04 -3.60200574e-01] [-6.03371399e-02 2.28421776e-03 9.98175441e-01 -7.90441337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.702401008 meters 0.06901977274984888 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.36, Z:-0.09 [[ 9.97530195e-01 -3.25465621e-02 6.22433222e-02 1.64879732e+00] [ 3.26472080e-02 9.99466758e-01 -6.00367151e-04 -3.64586319e-01] [-6.21905916e-02 2.63095505e-03 9.98060824e-01 -8.86665431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.762401008 meters 0.06885493839323449 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.36, Z:-0.10 [[ 9.97440193e-01 -3.68011608e-02 6.13085240e-02 1.70851327e+00] [ 3.69071396e-02 9.99318521e-01 -5.96701132e-04 -3.63293964e-01] [-6.12447842e-02 2.85789595e-03 9.98118685e-01 -9.58099104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.822401008 meters 0.06904089340865321 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.36, Z:-0.11 [[ 9.97060398e-01 -4.25490970e-02 6.37192061e-02 1.76850844e+00] [ 4.26753162e-02 9.99088801e-01 -6.20556536e-04 -3.60573807e-01] [-6.36347411e-02 3.33796961e-03 9.97967674e-01 -1.05497765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882401008 meters 0.06976539193308355 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.36, Z:-0.11 [[ 9.96997077e-01 -4.39448765e-02 6.37626550e-02 1.82756728e+00] [ 4.40748283e-02 9.99028033e-01 -6.32210701e-04 -3.59769995e-01] [-6.36728974e-02 3.44064029e-03 9.97964891e-01 -1.10857024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942401008 meters 0.06939193142952338 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.36, Z:-0.12 [[ 9.96736317e-01 -4.44465592e-02 6.73885632e-02 1.88763917e+00] [ 4.45911241e-02 9.99005115e-01 -6.41842444e-04 -3.55509737e-01] [-6.72929917e-02 3.64467946e-03 9.97726601e-01 -1.16188066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002401008 meters 0.06896936014097237 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.35, Z:-0.12 [[ 9.96602882e-01 -4.27477846e-02 7.03940499e-02 1.94700629e+00] [ 4.29012815e-02 9.99079092e-01 -6.69416264e-04 -3.47990881e-01] [-7.03006074e-02 3.68713713e-03 9.97519037e-01 -1.22157762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062401008 meters 0.06817664181059115 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.34, Z:-0.13 [[ 9.96486485e-01 -4.09245928e-02 7.30743614e-02 2.00684152e+00] [ 4.10850082e-02 9.99155414e-01 -6.92814042e-04 -3.40801854e-01] [-7.29842907e-02 3.69264057e-03 9.97326254e-01 -1.29318441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122401008 meters 0.06826589461833443 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.34, Z:-0.14 [[ 9.96760363e-01 -3.87344248e-02 7.04870362e-02 2.06774508e+00] [ 3.88780559e-02 9.99243740e-01 -6.66414613e-04 -3.38499630e-01] [-7.04079165e-02 3.40465460e-03 9.97512473e-01 -1.38715528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182401008 meters 0.06779881233553192 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.33, Z:-0.15 [[ 9.96947608e-01 -3.54011876e-02 6.95860763e-02 2.12807333e+00] [ 3.55332603e-02 9.99368276e-01 -6.60692422e-04 -3.33711576e-01] [-6.95187278e-02 3.13129589e-03 9.97575732e-01 -1.49176887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.242401008 meters 0.06762853878717826 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.33, Z:-0.16 [[ 9.97178491e-01 -3.26144510e-02 6.76117891e-02 2.18971061e+00] [ 3.27326512e-02 9.99463938e-01 -6.40836232e-04 -3.28871179e-01] [-6.75546445e-02 2.85214121e-03 9.97711499e-01 -1.57861902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.302401008 meters 0.06791435226406642 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.33, Z:-0.16 [[ 9.96955479e-01 -3.43951542e-02 6.99767493e-02 2.25199132e+00] [ 3.45264840e-02 9.99403560e-01 -6.67762198e-04 -3.29764098e-01] [-6.99120446e-02 3.08178030e-03 9.97548399e-01 -1.63754866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.362401008 meters 0.06821068019555018 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.33, Z:-0.17 [[ 9.96301819e-01 -3.76441390e-02 7.72373231e-02 2.31231469e+00] [ 3.78145620e-02 9.99284496e-01 -7.44619292e-04 -3.33015007e-01] [-7.71540289e-02 3.66256110e-03 9.97012458e-01 -1.66773511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422401008 meters 0.06912703094319238 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.34, Z:-0.17 [[ 9.96265321e-01 -3.81735223e-02 7.74480013e-02 2.37384939e+00] [ 3.83463086e-02 9.99264232e-01 -7.44525122e-04 -3.36867636e-01] [-7.73625964e-02 3.71158951e-03 9.96996115e-01 -1.74617349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482401008 meters 0.06995273367895855 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.34, Z:-0.18 [[ 9.96081147e-01 -3.96580656e-02 7.90543257e-02 2.43577055e+00] [ 3.98431605e-02 9.99205653e-01 -7.64761102e-04 -3.41297805e-01] [-7.89612002e-02 3.91153831e-03 9.96870016e-01 -1.82090302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542401008 meters 0.07236566848320665 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.35, Z:-0.19 [[ 9.95876651e-01 -4.39677206e-02 7.93507097e-02 2.49472295e+00] [ 4.41683921e-02 9.99023800e-01 -7.74676058e-04 -3.50834214e-01] [-7.92391868e-02 4.27627505e-03 9.96846460e-01 -1.88488595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6024010079999997 meters 0.07505016971320967 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.36, Z:-0.20 [[ 9.95663117e-01 -4.84203388e-02 7.94382076e-02 2.55462591e+00] [ 4.86354485e-02 9.98816296e-01 -7.74170392e-04 -3.56892195e-01] [-7.93066907e-02 4.63432576e-03 9.96839492e-01 -1.96018002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.662401008 meters 0.07725947819253101 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.37, Z:-0.19 [[ 9.94880423e-01 -5.22691173e-02 8.64920953e-02 2.61264509e+00] [ 5.25389553e-02 9.98618518e-01 -8.44813323e-04 -3.66294781e-01] [-8.63284504e-02 5.38469257e-03 9.96252179e-01 -1.94612104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.722401008 meters 0.07877445607993631 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.37, Z:-0.20 [[ 9.94631974e-01 -5.42141123e-02 8.81366379e-02 2.67200116e+00] [ 5.45013027e-02 9.98513335e-01 -8.53494720e-04 -3.71321915e-01] [-8.79593367e-02 5.65247471e-03 9.96108029e-01 -1.98039252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.782401008 meters 0.08158941926420589 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.37, Z:-0.21 [[ 9.94613256e-01 -5.56621545e-02 8.74425242e-02 2.72928036e+00] [ 5.59502534e-02 9.98433200e-01 -8.45363605e-04 -3.74104126e-01] [-8.72584645e-02 5.73324123e-03 9.96169208e-01 -2.09147331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.842401008 meters 0.08211483988914722 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.37, Z:-0.22 [[ 9.94865960e-01 -5.52497115e-02 8.47890988e-02 2.78797522e+00] [ 5.55188736e-02 9.98457303e-01 -8.18023656e-04 -3.73846380e-01] [-8.46130993e-02 5.52121915e-03 9.96398585e-01 -2.17641240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902401008 meters 0.08047372389656123 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.37, Z:-0.23 [[ 9.95667177e-01 -4.88284861e-02 7.91369136e-02 2.84627668e+00] [ 4.90410906e-02 9.98796485e-01 -7.44076815e-04 -3.68551412e-01] [-7.90053390e-02 4.62181341e-03 9.96863479e-01 -2.32439590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962401008 meters 0.07915345787916059 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.37, Z:-0.24 [[ 9.96011346e-01 -4.48429026e-02 7.71395634e-02 2.90557055e+00] [ 4.50328715e-02 9.98985243e-01 -7.24051188e-04 -3.65414803e-01] [-7.70288169e-02 4.19497924e-03 9.97020042e-01 -2.44264624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022401007999999 meters 0.07643346785572278 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.36, Z:-0.25 [[ 9.95983157e-01 -3.98749332e-02 8.01719444e-02 2.96448866e+00] [ 4.00641207e-02 9.99196828e-01 -7.51916659e-04 -3.64742533e-01] [-8.00775700e-02 3.96091478e-03 9.96780765e-01 -2.47798063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082401008 meters 0.06700693194501138 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.35, Z:-0.24 [[ 9.96046137e-01 -3.61649647e-02 8.11430146e-02 3.02572813e+00] [ 3.63462419e-02 9.99338970e-01 -7.57615916e-04 -3.50695715e-01] [-8.10619775e-02 3.70386405e-03 9.96702181e-01 -2.43362137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142401007999999 meters 0.0668643383947076 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.35, Z:-0.25 [[ 9.95785921e-01 -3.44136271e-02 8.50064782e-02 3.08551297e+00] [ 3.46063733e-02 9.99400704e-01 -7.94482841e-04 -3.54987715e-01] [-8.49281932e-02 3.73290075e-03 9.96380082e-01 -2.49222411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202401008 meters 0.06800136262304644 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.37, Z:-0.26 [[ 9.95709275e-01 -3.53179074e-02 8.55317742e-02 3.14616971e+00] [ 3.55162237e-02 9.99368782e-01 -7.97590191e-04 -3.65109751e-01] [-8.54496157e-02 3.83193358e-03 9.96335124e-01 -2.57292734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262401007999999 meters 0.06959285516424259 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.37, Z:-0.27 [[ 9.95579800e-01 -3.81863821e-02 8.58059570e-02 3.20673678e+00] [ 3.83969375e-02 9.99262242e-01 -8.04204439e-04 -3.73775546e-01] [-8.57119433e-02 4.09533566e-03 9.96311543e-01 -2.65812096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322401008 meters 0.0737659329534515 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.39, Z:-0.27 [[ 9.95481341e-01 -4.40630156e-02 8.41151020e-02 3.26629037e+00] [ 4.42864703e-02 9.99018559e-01 -7.91588299e-04 -3.87832109e-01] [-8.39976682e-02 4.51317235e-03 9.96455731e-01 -2.74798915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3824010079999995 meters 0.07867516325371822 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.40, Z:-0.28 [[ 9.95306818e-01 -5.12429153e-02 8.20883797e-02 3.32581211e+00] [ 5.14799333e-02 9.98673731e-01 -7.72036865e-04 -3.99911226e-01] [-8.19399470e-02 4.99431787e-03 9.96624755e-01 -2.84927763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442401007999999 meters 0.08753912385702717 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.42, Z:-0.29 [[ 9.94737018e-01 -6.29404624e-02 8.08502548e-02 3.38417662e+00] [ 6.32087339e-02 9.98000039e-01 -7.60462042e-04 -4.17862087e-01] [-8.06406936e-02 5.86690199e-03 9.96725969e-01 -2.93350605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502401008 meters 0.09082018478724996 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.42, Z:-0.30 [[ 9.94459124e-01 -6.62639990e-02 8.16096390e-02 3.44417080e+00] [ 6.65484807e-02 9.97782897e-01 -7.67788381e-04 -4.21568311e-01] [-8.13778254e-02 6.19453165e-03 9.96664074e-01 -2.99338284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562401007999999 meters 0.09124606726913476 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.42, Z:-0.30 [[ 9.94525536e-01 -6.41032129e-02 8.25211288e-02 3.50433012e+00] [ 6.43867353e-02 9.97924719e-01 -7.76426672e-04 -4.17804163e-01] [-8.23001029e-02 6.08544223e-03 9.96589013e-01 -3.02672287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622401008 meters 0.09056439474236017 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.41, Z:-0.31 [[ 9.94697866e-01 -6.11649412e-02 8.26740878e-02 3.56477598e+00] [ 6.14394102e-02 9.98110512e-01 -7.77503942e-04 -4.10789308e-01] [-8.24703202e-02 5.85282871e-03 9.96576335e-01 -3.08963463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682401007999999 meters 0.08868858658707303 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.39, Z:-0.32 [[ 9.94784360e-01 -5.63482930e-02 8.50232143e-02 3.62548764e+00] [ 5.66211527e-02 9.98395416e-01 -7.99307792e-04 -3.94776597e-01] [-8.48417478e-02 5.60925129e-03 9.96378650e-01 -3.15061088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742401008 meters 0.08631907422449789 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.38, Z:-0.32 [[ 9.94895241e-01 -5.17278965e-02 8.66468931e-02 3.68587087e+00] [ 5.19938823e-02 9.98647071e-01 -8.14267380e-04 -3.82557326e-01] [-8.64875457e-02 5.31521911e-03 9.96238753e-01 -3.18072967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8024010079999995 meters 0.08387651313071873 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.37, Z:-0.33 [[ 9.95268579e-01 -4.70627231e-02 8.50032691e-02 3.74559295e+00] [ 4.73017219e-02 9.98880328e-01 -7.98665807e-04 -3.71149518e-01] [-8.48705059e-02 4.81568798e-03 9.96380352e-01 -3.27664760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862401007999999 meters 0.08250867119189174 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.36, Z:-0.34 [[ 9.95484628e-01 -4.31028558e-02 8.45724471e-02 3.80385346e+00] [ 4.33252365e-02 9.99060705e-01 -7.95027875e-04 -3.58558200e-01] [-8.44587406e-02 4.45555930e-03 9.96417016e-01 -3.38558328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922401008 meters 0.08264527494270352 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.36, Z:-0.34 [[ 9.95441834e-01 -4.28003148e-02 8.52272738e-02 3.86385971e+00] [ 4.30249190e-02 9.99073680e-01 -7.99465725e-04 -3.56248168e-01] [-8.51141086e-02 4.46271818e-03 9.96361216e-01 -3.44588846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982401007999999 meters 0.06367798300219081 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.32, Z:-0.33 [[ 9.95497341e-01 -4.31728159e-02 8.43869151e-02 3.92826311e+00] [ 4.33941538e-02 9.99057718e-01 -7.89575001e-04 -3.17428903e-01] [-8.42733106e-02 4.44791858e-03 9.96432750e-01 -3.30684259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042401008 meters 0.06395808145196684 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.32, Z:-0.34 [[ 9.95610902e-01 -4.32194472e-02 8.30121165e-02 3.98992468e+00] [ 4.34342235e-02 9.99055983e-01 -7.82285698e-04 -3.16495885e-01] [-8.28999416e-02 4.38441899e-03 9.96548231e-01 -3.38967661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102401007999999 meters 0.06444913933531123 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.32, Z:-0.35 [[ 9.95732874e-01 -4.05482020e-02 8.28968470e-02 4.04999523e+00] [ 4.07537179e-02 9.99168912e-01 -7.87891582e-04 -3.16889124e-01] [-8.27960048e-02 4.16288426e-03 9.96557822e-01 -3.47926038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162401008 meters 0.0641969069595944 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.32, Z:-0.36 [[ 9.95831832e-01 -3.60946582e-02 8.37623923e-02 4.10940146e+00] [ 3.62891705e-02 9.99341011e-01 -8.00346120e-04 -3.16560430e-01] [-8.36783055e-02 3.83667788e-03 9.96485434e-01 -3.55195909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222401007999999 meters 0.062225330710496095 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.31, Z:-0.36 [[ 9.95866375e-01 -2.73427379e-02 8.66171859e-02 4.16979084e+00] [ 2.75176500e-02 9.99620977e-01 -8.25794669e-04 -3.08874205e-01] [-8.65617765e-02 3.20588255e-03 9.96241327e-01 -3.61407874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282401007999999 meters 0.06072126291517566 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.31, Z:-0.36 [[ 9.95836330e-01 -2.08421565e-02 8.87446250e-02 4.23027909e+00] [ 2.10002185e-02 9.99779112e-01 -8.47688270e-04 -3.05762414e-01] [-8.87073547e-02 2.70781529e-03 9.96054051e-01 -3.64848511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3424010079999995 meters 0.0603721097123427 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.31, Z:-0.37 [[ 9.96022181e-01 -1.62331000e-02 8.76145037e-02 4.29170744e+00] [ 1.63692813e-02 9.99865665e-01 -8.36025977e-04 -3.10615133e-01] [-8.75891627e-02 2.26688688e-03 9.96154104e-01 -3.72195582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402401007999999 meters 0.06077517484492142 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.32, Z:-0.39 [[ 9.96223189e-01 -1.40010479e-02 8.56932210e-02 4.35266864e+00] [ 1.41229424e-02 9.99899933e-01 -8.16352205e-04 -3.15040836e-01] [-8.56732162e-02 2.02350942e-03 9.96321236e-01 -3.85526952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462401008 meters 0.06071132329609162 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.32, Z:-0.39 [[ 9.96547083e-01 -1.05134806e-02 8.23612717e-02 4.41356795e+00] [ 1.06157854e-02 9.99943327e-01 -8.04323637e-04 -3.24295183e-01] [-8.23481478e-02 1.67587596e-03 9.96602215e-01 -3.94429489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522401007999999 meters 0.061010599205810465 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.34, Z:-0.40 [[ 9.96677900e-01 -8.17426268e-03 8.10329862e-02 4.47461996e+00] [ 8.26705862e-03 9.99965499e-01 -8.09719210e-04 -3.40696589e-01] [-8.10235716e-02 1.47693369e-03 9.96711091e-01 -4.01861006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582401008 meters 0.06094087815974996 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.35, Z:-0.41 [[ 9.96652633e-01 -6.86594497e-03 8.14640261e-02 4.53632024e+00] [ 6.95711146e-03 9.99975450e-01 -8.35301779e-04 -3.50893667e-01] [-8.14562910e-02 1.39926003e-03 9.96675933e-01 -4.08234184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642401007999999 meters 0.061157529004054155 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.37, Z:-0.41 [[ 9.96443570e-01 -8.15299142e-03 8.38673958e-02 4.59767698e+00] [ 8.25588302e-03 9.99965532e-01 -8.80093351e-04 -3.68181763e-01] [-8.38573297e-02 1.56936277e-03 9.96476535e-01 -4.13880447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702401008 meters 0.061394186631166844 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.39, Z:-0.42 [[ 9.96143918e-01 -1.44794073e-02 8.65311571e-02 4.65943663e+00] [ 1.46146027e-02 9.99892769e-01 -9.29063510e-04 -3.89545299e-01] [-8.65084260e-02 2.19009944e-03 9.96248712e-01 -4.15901295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762401007999999 meters 0.06303152989390086 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.41, Z:-0.42 [[ 9.95880282e-01 -1.98924445e-02 8.84689500e-02 4.71945018e+00] [ 2.00571785e-02 9.99798361e-01 -9.73394543e-04 -4.05358297e-01] [-8.84317480e-02 2.74382196e-03 9.96078459e-01 -4.23928886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822401007999999 meters 0.06506737622924604 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.43, Z:-0.43 [[ 9.95372107e-01 -2.87504116e-02 9.16939619e-02 4.77811855e+00] [ 2.89661886e-02 9.99579868e-01 -1.02300623e-03 -4.25986840e-01] [-9.16260265e-02 3.67429646e-03 9.95786709e-01 -4.29099337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8824010079999995 meters 0.06694198282057878 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.44, Z:-0.44 [[ 9.95136574e-01 -3.40364800e-02 9.24376415e-02 4.83807071e+00] [ 3.42781835e-02 9.99411802e-01 -1.02787419e-03 -4.38277714e-01] [-9.23482846e-02 4.19146964e-03 9.95717945e-01 -4.37350016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942401007999999 meters 0.06531675043390696 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.44, Z:-0.44 [[ 9.95152983e-01 -3.61461091e-02 9.14549022e-02 4.89862230e+00] [ 3.63915432e-02 9.99337091e-01 -1.01695177e-03 -4.42079258e-01] [-9.13575170e-02 4.34020761e-03 9.95808700e-01 -4.42148861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002401008 meters 0.06483106978317213 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.44, Z:-0.45 [[ 9.95834603e-01 -2.78832568e-02 8.68099548e-02 4.95747561e+00] [ 2.80734631e-02 9.99605391e-01 -9.70765528e-04 -4.41738749e-01] [-8.67486307e-02 3.40377797e-03 9.96224417e-01 -4.53590819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062401007999999 meters 0.06363151900146416 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.44, Z:-0.46 [[ 9.96356667e-01 -1.83373049e-02 8.32894710e-02 5.01632280e+00] [ 1.84789703e-02 9.99828817e-01 -9.30241816e-04 -4.36693751e-01] [-8.32581551e-02 2.46595629e-03 9.96524961e-01 -4.64432918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122401008 meters 0.061905480115286 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.43, Z:-0.47 [[ 9.96459920e-01 -1.09253201e-02 8.33562516e-02 5.07724248e+00] [ 1.10412012e-02 9.99938612e-01 -9.29324265e-04 -4.28679811e-01] [-8.33409814e-02 1.84638752e-03 9.96519378e-01 -4.70231471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182401007999999 meters 0.06247934718876411 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.43, Z:-0.48 [[ 9.96321000e-01 -7.43392753e-03 8.53768224e-02 5.13649724e+00] [ 7.54290831e-03 9.99971097e-01 -9.53950785e-04 -4.32911097e-01] [-8.53672632e-02 1.59443074e-03 9.96348277e-01 -4.81710414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242401008 meters 0.06180886643272321 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.44, Z:-0.48 [[ 9.96277098e-01 -1.14753121e-02 8.54415701e-02 5.19878535e+00] [ 1.15992875e-02 9.99932270e-01 -9.54682839e-04 -4.37239745e-01] [-8.54248279e-02 1.94218998e-03 9.96342726e-01 -4.81108685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3024010079999995 meters 0.064598298751587 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.45, Z:-0.49 [[ 9.96174094e-01 -2.50628634e-02 8.37199395e-02 5.25881561e+00] [ 2.52303025e-02 9.99681221e-01 -9.42425522e-04 -4.54549507e-01] [-8.36696315e-02 3.05109929e-03 9.96488878e-01 -4.91480687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362401007999999 meters 0.06604036604946047 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.46, Z:-0.50 [[ 9.96110544e-01 -3.34705873e-02 8.15076925e-02 5.31950054e+00] [ 3.36574586e-02 9.99433004e-01 -9.19419387e-04 -4.64834028e-01] [-8.14307045e-02 3.65918513e-03 9.96672289e-01 -4.96284757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422401008 meters 0.06623790385344028 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.46, Z:-0.50 [[ 9.95994945e-01 -3.55849251e-02 8.20230592e-02 5.38121551e+00] [ 3.57813720e-02 9.99359213e-01 -9.25872669e-04 -4.64092774e-01] [-8.19375527e-02 3.85706209e-03 9.96630002e-01 -5.00693649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482401007999999 meters 0.06689867355922849 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.46, Z:-0.51 [[ 9.95830881e-01 -3.54084428e-02 8.40660375e-02 5.44168670e+00] [ 3.56145893e-02 9.99365145e-01 -9.53349232e-04 -4.62454899e-01] [-8.39789111e-02 3.94335200e-03 9.96459729e-01 -5.08580960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542401008 meters 0.06595525816468423 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.45, Z:-0.51 [[ 9.95689294e-01 -3.17935481e-02 8.71320838e-02 5.50266042e+00] [ 3.20017962e-02 9.99487317e-01 -9.93867574e-04 -4.53829363e-01] [-8.70558141e-02 3.77796649e-03 9.96196272e-01 -5.11756104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602401007999999 meters 0.06477277485013849 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.44, Z:-0.51 [[ 9.95790783e-01 -2.62424858e-02 8.78182715e-02 5.56324819e+00] [ 2.64325464e-02 9.99650097e-01 -1.00187134e-03 -4.43371216e-01] [-8.77612521e-02 3.31891479e-03 9.96136009e-01 -5.14659034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662401008 meters 0.06439971111110236 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.44, Z:-0.52 [[ 9.95817064e-01 -2.40594461e-02 8.81448680e-02 5.62336544e+00] [ 2.42423992e-02 9.99705604e-01 -1.00552290e-03 -4.35787276e-01] [-8.80947262e-02 3.13815994e-03 9.96107158e-01 -5.20666812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722401007999999 meters 0.06304825404778523 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.42, Z:-0.52 [[ 9.95730332e-01 -2.74141126e-02 8.81451764e-02 5.68434826e+00] [ 2.76102879e-02 9.99618256e-01 -1.00690273e-03 -4.23638513e-01] [-8.80839242e-02 3.43631728e-03 9.96107130e-01 -5.24298912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782401007999999 meters 0.06364906522011124 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.42, Z:-0.53 [[ 9.95804146e-01 -2.94488337e-02 8.66421924e-02 5.74528270e+00] [ 2.96461037e-02 9.99559967e-01 -9.90715140e-04 -4.21427106e-01] [-8.65748915e-02 3.55516167e-03 9.96239002e-01 -5.32386484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8424010079999995 meters 0.06398364914450963 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.42, Z:-0.54 [[ 9.96137251e-01 -2.68700827e-02 8.35977004e-02 5.80558575e+00] [ 2.70448002e-02 9.99633763e-01 -9.58052572e-04 -4.15055658e-01] [-8.35413409e-02 3.21523496e-03 9.96499125e-01 -5.41687795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902401007999999 meters 0.06313598058537344 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.41, Z:-0.55 [[ 9.96194735e-01 -2.50456260e-02 8.34791341e-02 5.86786623e+00] [ 2.52137166e-02 9.99681623e-01 -9.59757707e-04 -4.09715883e-01] [-8.34285185e-02 3.06092480e-03 9.96509063e-01 -5.47778960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962401008 meters 0.06171068434125836 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.40, Z:-0.55 [[ 9.96268569e-01 -1.62454995e-02 8.47645092e-02 5.92779040e+00] [ 1.63878660e-02 9.99865226e-01 -9.83971586e-04 -3.96112848e-01] [-8.47371001e-02 2.36940939e-03 9.96400527e-01 -5.54860069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022401007999999 meters 0.06067285981107491 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.39, Z:-0.56 [[ 9.96264581e-01 -8.65369491e-03 8.59185599e-02 5.98882918e+00] [ 8.77183777e-03 9.99961029e-01 -9.97614665e-04 -3.85594333e-01] [-8.59065785e-02 1.74755182e-03 9.96301664e-01 -5.61665127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082401008 meters 0.06032233351934187 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.38, Z:-0.57 [[ 9.96210599e-01 -5.71005981e-03 8.67861579e-02 6.05011034e+00] [ 5.81908570e-03 9.99982566e-01 -1.00332353e-03 -3.78709088e-01] [-8.67789158e-02 1.50453763e-03 9.96226458e-01 -5.69195051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142401007999999 meters 0.060306772340868786 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.38, Z:-0.58 [[ 9.96061544e-01 -7.65207350e-03 8.83337255e-02 6.11255300e+00] [ 7.77446461e-03 9.99969236e-01 -1.04158551e-03 -3.80820243e-01] [-8.83230377e-02 1.72423069e-03 9.96090392e-01 -5.75372815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202401007999999 meters 0.06103586481194248 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.38, Z:-0.59 [[ 9.96111232e-01 -1.15259013e-02 8.73473900e-02 6.17159155e+00] [ 1.16630209e-02 9.99931423e-01 -1.05962185e-03 -3.83723514e-01] [-8.73291869e-02 2.07423566e-03 9.96177349e-01 -5.85290118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262401007999999 meters 0.0607609990880455 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.38, Z:-0.59 [[ 9.95874713e-01 -1.77032755e-02 8.89952301e-02 6.23231698e+00] [ 1.78702009e-02 9.99839733e-01 -1.07919308e-03 -3.84302321e-01] [-8.89618618e-02 2.66510375e-03 9.96031468e-01 -5.88511284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322401007999999 meters 0.06188421356302078 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.39, Z:-0.59 [[ 9.95523035e-01 -2.49379998e-02 9.11700812e-02 6.29313779e+00] [ 2.51436077e-02 9.99683236e-01 -1.10716372e-03 -3.89188431e-01] [-9.11135914e-02 3.39455174e-03 9.95834720e-01 -5.94800743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3824010079999995 meters 0.06472469654347394 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.40, Z:-0.60 [[ 9.94930227e-01 -3.96051476e-02 9.24406615e-02 6.35318876e+00] [ 3.98797285e-02 9.99203855e-01 -1.12430156e-03 -3.97011521e-01] [-9.23225372e-02 4.80511009e-03 9.95717560e-01 -6.00427682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442401007999999 meters 0.06677897048067284 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.40, Z:-0.61 [[ 9.94589064e-01 -4.89898900e-02 9.16110461e-02 6.41333975e+00] [ 4.92992192e-02 9.98783432e-01 -1.11530031e-03 -4.01982642e-01] [-9.14449565e-02 5.62561853e-03 9.95794242e-01 -6.05715294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502401008 meters 0.06854508393478477 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.40, Z:-0.61 [[ 9.94349637e-01 -5.76299475e-02 8.91492476e-02 6.47334732e+00] [ 5.79573489e-02 9.98318469e-01 -1.08613179e-03 -3.98493597e-01] [-8.89367466e-02 6.24684879e-03 9.96017687e-01 -6.10980876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562401007999999 meters 0.06953182009153755 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.39, Z:-0.62 [[ 9.94502708e-01 -5.75875747e-02 8.74530415e-02 6.53195217e+00] [ 5.79027864e-02 9.98321653e-01 -1.06977590e-03 -3.87303207e-01] [-8.72446592e-02 6.12766981e-03 9.96168069e-01 -6.19443438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622401008 meters 0.06707302091102037 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.37, Z:-0.62 [[ 9.94748807e-01 -5.42259782e-02 8.68006555e-02 6.59196741e+00] [ 5.45215509e-02 9.98512056e-01 -1.03633761e-03 -3.73309972e-01] [-8.66153046e-02 5.76340197e-03 9.96225161e-01 -6.23519052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682401007999999 meters 0.06611687948608938 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.35, Z:-0.63 [[ 9.95129903e-01 -4.98472356e-02 8.50395734e-02 6.65239705e+00] [ 5.01148906e-02 9.98742944e-01 -1.01424933e-03 -3.54097896e-01] [-8.48821164e-02 5.27105876e-03 9.96377058e-01 -6.31240478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742401007999999 meters 0.063281464388513 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.34, Z:-0.63 [[ 9.95258030e-01 -4.72627267e-02 8.50158126e-02 6.71237127e+00] [ 4.75208613e-02 9.98869731e-01 -1.01406749e-03 -3.36747526e-01] [-8.48717943e-02 5.04928345e-03 9.96379086e-01 -6.34019713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8024010079999995 meters 0.06278588765990474 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.32, Z:-0.64 [[ 9.95298214e-01 -4.30971885e-02 8.67415575e-02 6.77253742e+00] [ 4.33498703e-02 9.99059421e-01 -1.03060607e-03 -3.19533151e-01] [-8.66155540e-02 4.78599565e-03 9.96230315e-01 -6.38580859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862401007999999 meters 0.06248955089110077 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.31, Z:-0.64 [[ 9.95330253e-01 -4.23332030e-02 8.67501420e-02 6.83455753e+00] [ 4.25828922e-02 9.99092407e-01 -1.02892259e-03 -3.07265866e-01] [-8.66278506e-02 4.71818973e-03 9.96229569e-01 -6.44512373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922401008 meters 0.06280398661333911 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.29, Z:-0.65 [[ 9.95133743e-01 -4.24933659e-02 8.88996427e-02 6.89646023e+00] [ 4.27568483e-02 9.99084945e-01 -1.06075140e-03 -2.90291844e-01] [-8.87732198e-02 4.85665805e-03 9.96040023e-01 -6.49839858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982401007999999 meters 0.06272109953951722 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.28, Z:-0.66 [[ 9.94877098e-01 -4.36266343e-02 9.11936268e-02 6.95856325e+00] [ 4.39092925e-02 9.99034922e-01 -1.09457502e-03 -2.81512078e-01] [-9.10578653e-02 5.09321526e-03 9.95832578e-01 -6.55843261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042401007999999 meters 0.06451309934432212 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.28, Z:-0.66 [[ 9.94695296e-01 -4.66427066e-02 9.16827454e-02 7.01831761e+00] [ 4.69418847e-02 9.98897007e-01 -1.10829876e-03 -2.75103138e-01] [-9.15299259e-02 5.40618042e-03 9.95787651e-01 -6.62686115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102401008 meters 0.06448206041014562 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.27, Z:-0.67 [[ 9.94409183e-01 -4.99337921e-02 9.30429684e-02 7.07920805e+00] [ 5.02562519e-02 9.98735723e-01 -1.12438801e-03 -2.68510338e-01] [-9.28691914e-02 5.79409263e-03 9.95661459e-01 -6.68035948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162401008 meters 0.06480224161491144 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.26, Z:-0.67 [[ 9.94336656e-01 -5.20043685e-02 9.26831136e-02 7.14010728e+00] [ 5.23333756e-02 9.98629041e-01 -1.12125228e-03 -2.61000441e-01] [-9.24977388e-02 5.96532245e-03 9.95695025e-01 -6.74473021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222401007999999 meters 0.06491963542075316 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.25, Z:-0.68 [[ 9.94433309e-01 -5.77019149e-02 8.81639557e-02 7.20011180e+00] [ 5.80220064e-02 9.98314731e-01 -1.07009890e-03 -2.53881434e-01] [-8.79536289e-02 6.17959159e-03 9.96105402e-01 -6.83587595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282401007999999 meters 0.06837253792642163 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.26, Z:-0.69 [[ 9.94216862e-01 -6.41420316e-02 8.61314733e-02 7.25875447e+00] [ 6.44714951e-02 9.97919001e-01 -1.04602222e-03 -2.55805888e-01] [-8.58851398e-02 6.59299779e-03 9.96283230e-01 -6.94286922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342401008 meters 0.06980828379322222 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.25, Z:-0.70 [[ 9.93385046e-01 -7.41224914e-02 8.77040858e-02 7.31957986e+00] [ 7.45028256e-02 9.97220232e-01 -1.06659430e-03 -2.52355391e-01] [-8.73812302e-02 7.59374103e-03 9.96146001e-01 -6.98676496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402401008 meters 0.07033889172977548 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.25, Z:-0.70 [[ 9.93000292e-01 -7.98066623e-02 8.70707613e-02 7.37960037e+00] [ 8.02030881e-02 9.96777981e-01 -1.05851991e-03 -2.46802083e-01] [-8.67057407e-02 8.03445452e-03 9.96201567e-01 -7.02270360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462401007999999 meters 0.07661692032837963 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.24, Z:-0.71 [[ 9.92999867e-01 -8.26967301e-02 8.43357299e-02 7.43801168e+00] [ 8.30787388e-02 9.96542460e-01 -1.02416577e-03 -2.39442920e-01] [-8.39594406e-02 8.02350255e-03 9.96436870e-01 -7.10482665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522401008 meters 0.06920610775115953 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.21, Z:-0.71 [[ 9.93081185e-01 -8.20484870e-02 8.40107504e-02 7.49724649e+00] [ 8.24261108e-02 9.96596646e-01 -1.03049738e-03 -2.11893418e-01] [-8.36402813e-02 7.94804698e-03 9.96464315e-01 -7.11512148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582401008 meters 0.07199210853189074 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.20, Z:-0.72 [[ 9.93104795e-01 -8.13127032e-02 8.44458992e-02 7.55540212e+00] [ 8.16894165e-02 9.96657323e-01 -1.00952410e-03 -1.99701849e-01] [-8.40815367e-02 7.90089946e-03 9.96427554e-01 -7.15026448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642401008 meters 0.0700741030011134 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.18, Z:-0.72 [[ 9.93160302e-01 -8.11752690e-02 8.39237221e-02 7.61383125e+00] [ 8.15466064e-02 9.96669027e-01 -1.00062059e-03 -1.77948323e-01] [-8.35629488e-02 7.83747137e-03 9.96471679e-01 -7.24096439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702401007999999 meters 0.07154743227583353 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.17, Z:-0.73 [[ 9.93020032e-01 -8.12232791e-02 8.55219009e-02 7.67266958e+00] [ 8.16072200e-02 9.96664069e-01 -9.97175235e-04 -1.71044459e-01] [-8.51556119e-02 7.96941957e-03 9.96335792e-01 -7.33447252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762401008 meters 0.07219596304084762 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.16, Z:-0.74 [[ 9.93178280e-01 -7.99840577e-02 8.48496047e-02 7.73112512e+00] [ 8.03554705e-02 9.96765803e-01 -9.65643333e-04 -1.61482103e-01] [-8.44979482e-02 7.77718589e-03 9.96393302e-01 -7.40794167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822401008 meters 0.07236139447233843 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.16, Z:-0.75 [[ 9.93472914e-01 -7.77021984e-02 8.35100987e-02 7.79094722e+00] [ 7.80533320e-02 9.96948739e-01 -9.43149511e-04 -1.59171690e-01] [-8.31820028e-02 7.45523495e-03 9.96506485e-01 -7.48635851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882401007999999 meters 0.07040606409247527 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.15, Z:-0.76 [[ 9.94134259e-01 -7.19328372e-02 8.07634898e-02 7.85089950e+00] [ 7.22422137e-02 9.97386701e-01 -9.11356888e-04 -1.51407678e-01] [-8.04868742e-02 6.74054439e-03 9.96732877e-01 -7.56188787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942401008 meters 0.06600545612140973 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.14, Z:-0.77 [[ 9.94538964e-01 -6.28445651e-02 8.33235218e-02 7.91050453e+00] [ 6.31419823e-02 9.98004115e-01 -9.36435745e-04 -1.35001714e-01] [-8.30983677e-02 6.19253417e-03 9.96522109e-01 -7.65018912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002401008 meters 0.06436513017333831 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.13, Z:-0.77 [[ 9.95125510e-01 -5.28035215e-02 8.32887042e-02 7.97054111e+00] [ 5.30656767e-02 9.98590586e-01 -9.35409236e-04 -1.30949879e-01] [-8.31219230e-02 5.35062104e-03 9.96525021e-01 -7.73311094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062401008 meters 0.0638399270602815 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.13, Z:-0.78 [[ 9.95188228e-01 -4.69655751e-02 8.59920132e-02 8.03088114e+00] [ 4.72234106e-02 9.98883886e-01 -9.65510405e-04 -1.33793575e-01] [-8.58506906e-02 5.02170074e-03 9.96295359e-01 -7.77391434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122401007999999 meters 0.06417048381234425 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.14, Z:-0.79 [[ 9.95445298e-01 -3.79055262e-02 8.74747349e-02 8.08960036e+00] [ 3.81375662e-02 9.99272016e-01 -9.82334734e-04 -1.35218823e-01] [-8.73738187e-02 4.31393399e-03 9.96166254e-01 -7.88347192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182401008 meters 0.06403495360107046 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.14, Z:-0.80 [[ 9.95643358e-01 -3.45858537e-02 8.65917028e-02 8.15054861e+00] [ 3.48003910e-02 9.99393813e-01 -9.68798586e-04 -1.37979579e-01] [-8.65057054e-02 3.97800299e-03 9.96243413e-01 -7.96765014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242401008 meters 0.0630082658996853 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.15, Z:-0.80 [[ 9.95410809e-01 -3.01644540e-02 9.08153456e-02 8.21134152e+00] [ 3.03829850e-02 9.99537806e-01 -1.02449222e-03 -1.46523113e-01] [-9.07424680e-02 3.77903192e-03 9.95867222e-01 -8.00808701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302401007999999 meters 0.062281972920133793 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.15, Z:-0.81 [[ 9.95431807e-01 -2.52295414e-02 9.20814209e-02 8.27129191e+00] [ 2.54333873e-02 9.99675977e-01 -1.04077662e-03 -1.52561671e-01] [-9.20253261e-02 3.37796459e-03 9.95750937e-01 -8.07317061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362401007999999 meters 0.06162479510940537 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.16, Z:-0.82 [[ 9.95549128e-01 -1.70860050e-02 9.26822602e-02 8.33020333e+00] [ 1.72573817e-02 9.99850531e-01 -1.04788261e-03 -1.61200913e-01] [-9.26505029e-02 2.64267175e-03 9.95695185e-01 -8.17777188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422401008 meters 0.059620246938249355 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.17, Z:-0.83 [[ 9.95832848e-01 -8.54283482e-03 9.07962470e-02 8.39000202e+00] [ 8.67169638e-03 9.99961875e-01 -1.02483282e-03 -1.71866616e-01] [-9.07840304e-02 1.80791967e-03 9.95868963e-01 -8.25468045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482401008 meters 0.05969781125171161 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.19, Z:-0.84 [[ 9.95849165e-01 -5.55466201e-03 9.08492460e-02 8.44959700e+00] [ 5.67097828e-03 9.99983397e-01 -1.02223416e-03 -1.87097518e-01] [-9.08420595e-02 1.53319514e-03 9.95864132e-01 -8.39630524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401007999999 meters 0.05996219879256885 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.22, Z:-0.85 [[ 9.95910207e-01 -7.25336736e-03 9.00569165e-02 8.50884603e+00] [ 7.37593662e-03 9.99972269e-01 -1.02828689e-03 -2.15916322e-01] [-9.00469606e-02 1.68833551e-03 9.95936090e-01 -8.52831468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008 meters 0.0595385961363225 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.24, Z:-0.86 [[ 9.95784614e-01 -8.43759802e-03 9.13335115e-02 8.57161507e+00] [ 8.56843856e-03 9.99962749e-01 -1.04053346e-03 -2.35437753e-01] [-9.13213296e-02 1.81873279e-03 9.95819817e-01 -8.59735749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662401008 meters 0.059227634726612244 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.26, Z:-0.87 [[ 9.95335237e-01 -8.51202807e-03 9.61005322e-02 8.63192328e+00] [ 8.66044553e-03 9.99961862e-01 -1.12739398e-03 -2.63004528e-01] [-9.60872707e-02 1.95440838e-03 9.95370995e-01 -8.65310974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722401007999999 meters 0.059136620096575956 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.28, Z:-0.87 [[ 9.95047152e-01 -6.40803688e-03 9.91972884e-02 8.69170260e+00] [ 6.55617928e-03 9.99977826e-01 -1.16749895e-03 -2.80055473e-01] [-9.91876075e-02 1.81207172e-03 9.95067101e-01 -8.72432892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782401007999999 meters 0.05873602019256248 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.30, Z:-0.88 [[ 9.95019652e-01 -1.77977145e-03 9.96630534e-02 8.75304050e+00] [ 1.90602532e-03 9.99997497e-01 -1.17160422e-03 -3.02530932e-01] [-9.96607187e-02 1.35572953e-03 9.95020554e-01 -8.78473613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842401008 meters 0.059046188802961114 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.32, Z:-0.89 [[ 9.95086926e-01 -2.06488211e-03 9.89835680e-02 8.81284592e+00] [ 2.19325279e-03 9.99996889e-01 -1.18809096e-03 -3.18811078e-01] [-9.89808068e-02 1.39934977e-03 9.95088359e-01 -8.87323554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902401008 meters 0.05937670267493567 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.34, Z:-0.90 [[ 9.95105879e-01 -6.15843289e-03 9.86223231e-02 8.87385450e+00] [ 6.30709429e-03 9.99979395e-01 -1.19567872e-03 -3.39812627e-01] [-9.86129275e-02 1.81184722e-03 9.95124217e-01 -8.95835868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962401007999999 meters 0.06097273549518212 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.36, Z:-0.90 [[ 9.95037776e-01 -1.15504245e-02 9.88251570e-02 8.93286663e+00] [ 1.17269995e-02 9.99930509e-01 -1.20602461e-03 -3.63845057e-01] [-9.88043595e-02 2.35896261e-03 9.95104082e-01 -9.04252533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022401008 meters 0.061818612310827824 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.39, Z:-0.91 [[ 9.95138820e-01 -1.95260830e-02 9.65269987e-02 8.99244406e+00] [ 1.97318802e-02 9.99804614e-01 -1.17782707e-03 -3.85802338e-01] [-9.64851403e-02 3.07676061e-03 9.95329670e-01 -9.12375794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082401008 meters 0.06247166218031212 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.40, Z:-0.92 [[ 9.95074575e-01 -2.46782661e-02 9.60081895e-02 9.05329893e+00] [ 2.49057778e-02 9.99689116e-01 -1.17190320e-03 -4.04812391e-01] [-9.59494215e-02 3.55728972e-03 9.95379854e-01 -9.19169563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142401007999998 meters 0.06306067877902206 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.42, Z:-0.92 [[ 9.94906387e-01 -2.75669242e-02 9.69605351e-02 9.11530214e+00] [ 2.78129278e-02 9.99612442e-01 -1.18624643e-03 -4.19086284e-01] [-9.68902561e-02 3.87696051e-03 9.95287520e-01 -9.22790722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202401007999999 meters 0.0632343582930633 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.43, Z:-0.93 [[ 9.94806864e-01 -2.97279242e-02 9.73424579e-02 9.17644599e+00] [ 2.99867446e-02 9.99549580e-01 -1.19665307e-03 -4.29235599e-01] [-9.72630389e-02 4.10942211e-03 9.95250227e-01 -9.29210120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262401008 meters 0.06360084226210656 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.44, Z:-0.94 [[ 9.94663408e-01 -3.04984249e-02 9.85624170e-02 9.23783377e+00] [ 3.07687698e-02 9.99525780e-01 -1.22366628e-03 -4.35784989e-01] [-9.84783568e-02 4.24978039e-03 9.95130118e-01 -9.37183870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322401008 meters 0.0633363419906478 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.44, Z:-0.94 [[ 9.94500915e-01 -3.09065757e-02 1.00063546e-01 9.30069430e+00] [ 3.11879591e-02 9.99512757e-01 -1.24857880e-03 -4.38322717e-01] [-9.99762018e-02 4.36249055e-03 9.94980265e-01 -9.42713550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382401007999999 meters 0.06322298140182106 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.44, Z:-0.95 [[ 9.94453727e-01 -2.95043983e-02 1.00951849e-01 9.36294848e+00] [ 2.97846470e-02 9.99555533e-01 -1.26960204e-03 -4.36222219e-01] [-1.00869520e-01 4.26937567e-03 9.94890503e-01 -9.50324014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442401008 meters 0.0625364039955847 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.43, Z:-0.96 [[ 9.94309001e-01 -2.84635610e-02 1.02661753e-01 9.42466507e+00] [ 2.87493340e-02 9.99585801e-01 -1.30477145e-03 -4.32208082e-01] [-1.02582092e-01 4.24880301e-03 9.94715468e-01 -9.55062238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502401008 meters 0.06268041993497751 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.43, Z:-0.96 [[ 9.94397925e-01 -3.04925838e-02 1.01207553e-01 9.48613873e+00] [ 3.07813986e-02 9.99525304e-01 -1.29288562e-03 -4.26262427e-01] [-1.01120087e-01 4.40095282e-03 9.94864493e-01 -9.63241174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562401007999998 meters 0.06375073914577599 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.42, Z:-0.98 [[ 9.95034191e-01 -3.20275998e-02 9.42400720e-02 9.54587462e+00] [ 3.22852861e-02 9.99477961e-01 -1.21056225e-03 -4.15958997e-01] [-9.41521036e-02 4.24711852e-03 9.95548765e-01 -9.78103464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622401007999999 meters 0.06375848304240482 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.41, Z:-0.99 [[ 9.95589341e-01 -3.27998631e-02 8.78978591e-02 9.60594801e+00] [ 3.30269367e-02 9.99453823e-01 -1.12992028e-03 -4.08091612e-01] [-8.78127901e-02 4.02793362e-03 9.96128852e-01 -9.87132869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682401008 meters 0.06392783192285732 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.40, Z:-1.00 [[ 9.95882648e-01 -3.18674819e-02 8.48658595e-02 9.66770333e+00] [ 3.20758860e-02 9.99484839e-01 -1.09294018e-03 -4.01824032e-01] [-8.47873107e-02 3.81058780e-03 9.96391786e-01 -9.96351390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742401008 meters 0.06461265472760737 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.40, Z:-1.01 [[ 9.96100271e-01 -3.04649937e-02 8.28017735e-02 9.72932684e+00] [ 3.06589095e-02 9.99529331e-01 -1.07115257e-03 -3.95614203e-01] [-8.27301687e-02 3.60558745e-03 9.96565461e-01 -1.00628116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802401007999999 meters 0.06281247464058755 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.39, Z:-1.01 [[ 9.96213862e-01 -2.87902922e-02 8.20308496e-02 9.79132176e+00] [ 2.89755207e-02 9.99579551e-01 -1.06823289e-03 -3.86171315e-01] [-8.19656050e-02 3.44107499e-03 9.96629218e-01 -1.00935025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862401007999999 meters 0.06382847235246297 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.38, Z:-1.01 [[ 9.95834424e-01 -2.61593351e-02 8.73469496e-02 9.85107732e+00] [ 2.63601351e-02 9.99651854e-01 -1.14602912e-03 -3.81670087e-01] [-8.72865608e-02 3.44373264e-03 9.96177292e-01 -1.01407160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922401008 meters 0.060900783121948944 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.37, Z:-1.02 [[ 9.95845107e-01 -2.32176131e-02 8.80537609e-02 9.91309646e+00] [ 2.34099638e-02 9.99725285e-01 -1.15228477e-03 -3.66805963e-01] [-8.80028180e-02 3.20883251e-03 9.96115057e-01 -1.01531007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982401008 meters 0.0602879192913497 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.36, Z:-1.02 [[ 9.95559665e-01 -1.91127679e-02 9.21718768e-02 9.97282148e+00] [ 1.93066770e-02 9.99812874e-01 -1.21249065e-03 -3.56287117e-01] [-9.21314550e-02 2.98663944e-03 9.95742374e-01 -1.02095221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042401007999999 meters 0.05992421796532088 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.35, Z:-1.02 [[ 9.95348127e-01 -1.80191038e-02 9.46436373e-02 1.00338733e+01] [ 1.82185123e-02 9.99833256e-01 -1.24321983e-03 -3.51709029e-01] [-9.46054544e-02 2.96170280e-03 9.95510440e-01 -1.02487178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102401008 meters 0.06059778180949207 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.35, Z:-1.04 [[ 9.95561511e-01 -2.20264637e-02 9.14992540e-02 1.00942636e+01] [ 2.22299494e-02 9.99752158e-01 -1.20522733e-03 -3.46671093e-01] [-9.14500297e-02 3.23390173e-03 9.95804416e-01 -1.03557331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162401008 meters 0.06172118969954034 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.34, Z:-1.05 [[ 9.95861577e-01 -2.37697321e-02 8.77195500e-02 1.01540439e+01] [ 2.39635384e-02 9.99712164e-01 -1.15683212e-03 -3.43872196e-01] [-8.76668036e-02 3.25411546e-03 9.96144539e-01 -1.04605262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222401007999999 meters 0.06029804464419579 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.34, Z:-1.05 [[ 9.95959052e-01 -1.97681681e-02 8.76058616e-02 1.02155659e+01] [ 1.99460844e-02 9.99800389e-01 -1.15587281e-03 -3.36726039e-01] [-8.75655250e-02 2.89859590e-03 9.96154545e-01 -1.05098276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282401007999999 meters 0.05906766280325882 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.33, Z:-1.06 [[ 9.96192385e-01 -9.12574112e-03 8.67032443e-02 1.02753597e+01] [ 9.26027373e-03 9.99956462e-01 -1.14955759e-03 -3.26062604e-01] [-8.66889789e-02 1.94807630e-03 9.96233520e-01 -1.06067029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342401008 meters 0.05856207706196675 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.33, Z:-1.07 [[ 9.96125261e-01 -3.46081557e-03 8.78776880e-02 1.03353536e+01] [ 3.57686702e-03 9.99992927e-01 -1.16316780e-03 -3.25636993e-01] [-8.78730409e-02 1.47298763e-03 9.96130593e-01 -1.06815209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402401008 meters 0.057489402902109465 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.33, Z:-1.07 [[ 9.96025201e-01 3.68211741e-03 8.89957399e-02 1.03968305e+01] [-3.59063120e-03 9.99992848e-01 -1.18805588e-03 -3.25060114e-01] [-8.89994779e-02 8.63782715e-04 9.96031298e-01 -1.07319993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462401007999999 meters 0.057489928141209 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.33, Z:-1.08 [[ 9.95946576e-01 1.05728968e-02 8.93231813e-02 1.04582943e+01] [-1.05083797e-02 9.99944074e-01 -1.19253114e-03 -3.26790295e-01] [-8.93307944e-02 2.49055395e-04 9.96001981e-01 -1.08138233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522401008 meters 0.05733830846458721 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.33, Z:-1.09 [[ 9.95718281e-01 1.45295004e-02 9.12907361e-02 1.05202250e+01] [-1.44766557e-02 9.99894438e-01 -1.24104473e-03 -3.33699810e-01] [-9.12991310e-02 -8.58536270e-05 9.95823509e-01 -1.08599338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582401008 meters 0.057535756658356765 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.34, Z:-1.10 [[ 9.95684715e-01 1.45966353e-02 9.16454416e-02 1.05804936e+01] [-1.45415842e-02 9.99893461e-01 -1.26844357e-03 -3.44958246e-01] [-9.16541928e-02 -6.97000341e-05 9.95790894e-01 -1.09663000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642401007999998 meters 0.05763179214305148 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.35, Z:-1.11 [[ 9.95671368e-01 1.41656445e-02 9.18578286e-02 1.06423433e+01] [-1.41067282e-02 9.99899662e-01 -1.29066678e-03 -3.53712300e-01] [-9.18668949e-02 -1.07334622e-05 9.95771296e-01 -1.10598204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702401007999999 meters 0.057650150546857445 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.37, Z:-1.11 [[ 9.95596683e-01 1.41167921e-02 9.26712486e-02 1.07045830e+01] [-1.40539252e-02 9.99900353e-01 -1.33098541e-03 -3.65294727e-01] [-9.26808034e-02 2.27298630e-05 9.95695871e-01 -1.11137352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762401008 meters 0.057777402251563595 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.38, Z:-1.12 [[ 9.95531530e-01 1.21989639e-02 9.36384436e-02 1.07660567e+01] [-1.21258573e-02 9.99925568e-01 -1.34968725e-03 -3.84280070e-01] [-9.36479387e-02 2.08209805e-04 9.95605354e-01 -1.11647280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822401008 meters 0.05808901318110784 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.40, Z:-1.13 [[ 9.95533607e-01 1.04047229e-02 9.38327225e-02 1.08273353e+01] [-1.03211392e-02 9.99945789e-01 -1.37604378e-03 -3.96920922e-01] [-9.38419531e-02 4.01437236e-04 9.95587026e-01 -1.12787954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882401007999999 meters 0.05810227291772978 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.42, Z:-1.13 [[ 9.95527823e-01 8.67584407e-03 9.40695692e-02 1.08900616e+01] [-8.58283748e-03 9.99962196e-01 -1.39325159e-03 -4.20191751e-01] [-9.40781006e-02 5.79636896e-04 9.95564651e-01 -1.13302036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942401008 meters 0.05826426992878744 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.44, Z:-1.14 [[ 9.95669161e-01 6.28932690e-03 9.27543371e-02 1.09512378e+01] [-6.18625797e-03 9.99979887e-01 -1.39868520e-03 -4.35674527e-01] [-9.27612683e-02 8.18825458e-04 9.95688042e-01 -1.14134611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002401008 meters 0.058973004367887855 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.46, Z:-1.15 [[ 9.95856660e-01 4.57588454e-03 9.08216613e-02 1.10111128e+01] [-4.46806078e-03 9.99989051e-01 -1.39048716e-03 -4.55927156e-01] [-9.08270297e-02 9.78929192e-04 9.95866202e-01 -1.15415188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062401007999998 meters 0.05896625119617079 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.47, Z:-1.16 [[ 9.95841498e-01 2.15675509e-03 9.10772123e-02 1.10729604e+01] [-2.03647927e-03 9.99996927e-01 -1.41350282e-03 -4.71809903e-01] [-9.10799811e-02 1.22214791e-03 9.95842831e-01 -1.15868820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122401007999999 meters 0.05941100963152492 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.49, Z:-1.16 [[ 9.95581265e-01 -3.75402588e-03 9.38288438e-02 1.11343832e+01] [ 3.90999172e-03 9.99991263e-01 -1.47845171e-03 -4.91027896e-01] [-9.38224739e-02 1.83878883e-03 9.95587245e-01 -1.16458470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182401008 meters 0.06022113932569054 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.51, Z:-1.17 [[ 9.95261688e-01 -9.94268489e-03 9.67228819e-02 1.11966082e+01] [ 1.01401783e-02 9.99947385e-01 -1.55050368e-03 -5.11825947e-01] [-9.67023767e-02 2.52394417e-03 9.95310143e-01 -1.16665038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242401008 meters 0.06111689291766893 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.52, Z:-1.17 [[ 9.95194448e-01 -1.21728181e-02 9.71588017e-02 1.12569663e+01] [ 1.23831016e-02 9.99922107e-01 -1.56160860e-03 -5.22375589e-01] [-9.71322245e-02 2.75723152e-03 9.95267667e-01 -1.17440072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302401007999999 meters 0.061094512454071416 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.53, Z:-1.18 [[ 9.95254787e-01 -1.07376616e-02 9.67088998e-02 1.13177521e+01] [ 1.09412707e-02 9.99938902e-01 -1.57530996e-03 -5.28322919e-01] [-9.66860759e-02 2.62595303e-03 9.95311462e-01 -1.18368415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362401007999999 meters 0.060354563139694825 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.53, Z:-1.19 [[ 9.95425335e-01 -7.70910586e-03 9.52311533e-02 1.13792814e+01] [ 7.89472758e-03 9.99967600e-01 -1.57255008e-03 -5.27682912e-01] [-9.52159448e-02 2.31718020e-03 9.95453944e-01 -1.19144271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422401008 meters 0.06003898422182373 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.52, Z:-1.21 [[ 9.95848450e-01 -1.03477589e-03 9.10208479e-02 1.14390545e+01] [ 1.17831687e-03 9.99998146e-01 -1.52328907e-03 -5.22382600e-01] [-9.10191028e-02 1.62421646e-03 9.95847822e-01 -1.20545415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482401008 meters 0.05922647107908414 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.52, Z:-1.21 [[ 9.95970004e-01 2.68559162e-03 8.96467450e-02 1.15011290e+01] [-2.55981038e-03 9.99995571e-01 -1.51801803e-03 -5.19315974e-01] [-8.96504248e-02 1.28242175e-03 9.95972468e-01 -1.21076103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542401007999999 meters 0.05892621819048291 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.52, Z:-1.22 [[ 9.95779808e-01 5.44796518e-03 9.16127325e-02 1.15616316e+01] [-5.32608894e-03 9.99984576e-01 -1.57477373e-03 -5.21663533e-01] [-9.16198988e-02 1.08019032e-03 9.95793466e-01 -1.21692370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602401008 meters 0.058975126617112975 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.52, Z:-1.22 [[ 9.95743423e-01 5.29308746e-03 9.20164027e-02 1.16239908e+01] [-5.16764946e-03 9.99985365e-01 -1.60142140e-03 -5.24891142e-01] [-9.20235326e-02 1.11909631e-03 9.95756204e-01 -1.22448394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662401008 meters 0.05924423515038139 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.53, Z:-1.23 [[ 9.95720673e-01 1.87256971e-03 9.23949925e-02 1.16857256e+01] [-1.72895435e-03 9.99997170e-01 -1.63438317e-03 -5.34836899e-01] [-9.23977915e-02 1.46764239e-03 9.95721093e-01 -1.23070411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722401007999999 meters 0.0597526691344369 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.54, Z:-1.24 [[ 9.95801591e-01 -1.39242097e-03 9.15273340e-02 1.17474878e+01] [ 1.54943564e-03 9.99997447e-01 -1.64446028e-03 -5.42305939e-01] [-9.15248106e-02 1.77937188e-03 9.95801207e-01 -1.23705412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782401007999999 meters 0.059808674234306955 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.54, Z:-1.25 [[ 9.95973035e-01 4.40871182e-04 8.96522117e-02 1.18080494e+01] [-2.97254863e-04 9.99998651e-01 -1.61527258e-03 -5.44412501e-01] [-8.96528029e-02 1.58211838e-03 9.95971823e-01 -1.24547604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842401008 meters 0.059303679572300205 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.54, Z:-1.25 [[ 9.96099158e-01 5.46289673e-03 8.80716983e-02 1.18701252e+01] [-5.34281909e-03 9.99984448e-01 -1.59908544e-03 -5.39189791e-01] [-8.80790643e-02 1.12229651e-03 9.96112854e-01 -1.25439731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902401008 meters 0.05884405845428162 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.54, Z:-1.26 [[ 9.95960472e-01 7.30207713e-03 8.94953529e-02 1.19318116e+01] [-7.18513998e-03 9.99972860e-01 -1.62872755e-03 -5.37569817e-01] [-8.95048171e-02 9.79111625e-04 9.95985908e-01 -1.25843900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962401007999999 meters 0.05847364650707417 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.54, Z:-1.26 [[ 9.95880339e-01 7.83438726e-03 9.03380985e-02 1.19942488e+01] [-7.71513903e-03 9.99968845e-01 -1.66915067e-03 -5.35725226e-01] [-9.03483608e-02 9.65303349e-04 9.95909756e-01 -1.26355490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022401008 meters 0.05875553817179835 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.54, Z:-1.27 [[ 9.95823054e-01 6.12874889e-03 9.10982077e-02 1.20563175e+01] [-6.00001533e-03 9.99980577e-01 -1.68692965e-03 -5.36963503e-01] [-9.11067770e-02 1.13329279e-03 9.95840485e-01 -1.26971446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082401008 meters 0.059300868052744725 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.54, Z:-1.28 [[ 9.95899152e-01 3.08439511e-03 9.04177326e-02 1.21163766e+01] [-2.94244405e-03 9.99994221e-01 -1.70320301e-03 -5.40270206e-01] [-9.04224634e-02 1.43016931e-03 9.95902471e-01 -1.28004845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142401007999998 meters 0.059392998224066344 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.54, Z:-1.29 [[ 9.95926862e-01 2.28750816e-03 9.01357443e-02 1.21782478e+01] [-2.14241120e-03 9.99996249e-01 -1.70647854e-03 -5.41117031e-01] [-9.01393098e-02 1.50641999e-03 9.95928027e-01 -1.28743261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202401007999999 meters 0.05923345772732943 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.54, Z:-1.30 [[ 9.95931330e-01 3.52500395e-03 9.00464325e-02 1.22397183e+01] [-3.38330714e-03 9.99992787e-01 -1.72618664e-03 -5.40089052e-01] [-9.00518678e-02 1.41450862e-03 9.95936072e-01 -1.29515957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262401008 meters 0.05910591128873199 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.54, Z:-1.30 [[ 9.95886571e-01 5.73612745e-03 9.04269551e-02 1.23007583e+01] [-5.60037207e-03 9.99982778e-01 -1.75493379e-03 -5.37983049e-01] [-9.04354643e-02 1.24129040e-03 9.95901544e-01 -1.30471778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322401008 meters 0.05882657369762866 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.54, Z:-1.31 [[ 9.95942151e-01 7.51882174e-03 8.96810921e-02 1.23626552e+01] [-7.39076029e-03 9.99971139e-01 -1.75995888e-03 -5.36697359e-01] [-8.96917367e-02 1.09000578e-03 9.95968978e-01 -1.31254710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382401007999999 meters 0.058478787791167136 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.54, Z:-1.32 [[ 9.95876075e-01 1.24961524e-02 8.98592713e-02 1.24238887e+01] [-1.23854922e-02 9.99921696e-01 -1.78900341e-03 -5.36583454e-01] [-8.98745907e-02 6.68674391e-04 9.95952866e-01 -1.31948337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442401008 meters 0.058407684762903415 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.54, Z:-1.32 [[ 9.95700953e-01 9.72694594e-03 9.21140541e-02 1.24848862e+01] [-9.59670347e-03 9.99952227e-01 -1.85676832e-03 -5.44062062e-01] [-9.21277142e-02 9.64794727e-04 9.95746732e-01 -1.32343376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502401008 meters 0.05841831610347873 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.55, Z:-1.33 [[ 9.95421534e-01 9.72099953e-03 9.50866573e-02 1.25467706e+01] [-9.58012638e-03 9.99952232e-01 -1.93792790e-03 -5.45028812e-01] [-9.51009538e-02 1.01811297e-03 9.95467112e-01 -1.32899533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562401007999998 meters 0.057981704138301435 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.54, Z:-1.33 [[ 9.95014229e-01 1.15436422e-02 9.90627526e-02 1.26086576e+01] [-1.13970283e-02 9.99932959e-01 -2.04580370e-03 -5.41552951e-01] [-9.90797273e-02 9.06582795e-04 9.95079085e-01 -1.33135067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622401007999999 meters 0.05790778815174197 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.54, Z:-1.34 [[ 9.94921613e-01 1.27241277e-02 9.98452836e-02 1.26710281e+01] [-1.25808671e-02 9.99918727e-01 -2.06436389e-03 -5.39498333e-01] [-9.98634361e-02 7.97740010e-04 9.95000833e-01 -1.33576831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682401008 meters 0.05807919947676321 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.54, Z:-1.35 [[ 9.95222833e-01 1.32712985e-02 9.67232452e-02 1.27315165e+01] [-1.31371426e-02 9.99911656e-01 -2.02373040e-03 -5.40189449e-01] [-9.67415579e-02 7.43395636e-04 9.95309258e-01 -1.34507207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742401008 meters 0.058449937017534315 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.54, Z:-1.35 [[ 9.95476858e-01 1.04340382e-02 9.44296396e-02 1.27918167e+01] [-1.02912424e-02 9.99945046e-01 -1.99906702e-03 -5.44454663e-01] [-9.44453086e-02 1.01822664e-03 9.95529531e-01 -1.35480971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802401007999999 meters 0.06003228134127878 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.55, Z:-1.37 [[ 9.95781404e-01 9.54591211e-04 9.17522956e-02 1.28516976e+01] [-7.78444734e-04 9.99997785e-01 -1.95557294e-03 -5.53491246e-01] [-9.17539591e-02 1.87589907e-03 9.95779942e-01 -1.36616932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862401007999999 meters 0.061249707941908156 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.56, Z:-1.37 [[ 9.96005085e-01 -8.54189732e-03 8.88870438e-02 1.29121586e+01] [ 8.74502802e-03 9.99959964e-01 -1.89608106e-03 -5.62322996e-01] [-8.88672889e-02 2.66582606e-03 9.96039908e-01 -1.37094435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922401008 meters 0.06299878119607087 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.57, Z:-1.38 [[ 9.95966732e-01 -1.39675795e-02 8.86294228e-02 1.29715526e+01] [ 1.41910648e-02 9.99897512e-01 -1.89192708e-03 -5.69402780e-01] [-8.85939137e-02 3.14204231e-03 9.96062873e-01 -1.37770737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982401007999998 meters 0.06423012300071847 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.57, Z:-1.38 [[ 9.95811296e-01 -1.64236038e-02 8.99451351e-02 1.30319119e+01] [ 1.66633227e-02 9.99859324e-01 -1.91485126e-03 -5.72445272e-01] [-8.99010332e-02 3.40561532e-03 9.95944881e-01 -1.38428996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042401007999999 meters 0.06316404601480971 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.57, Z:-1.39 [[ 9.95623769e-01 -1.65917178e-02 9.19675233e-02 1.30939269e+01] [ 1.68449591e-02 9.99856157e-01 -1.97798529e-03 -5.65202648e-01] [-9.19214762e-02 3.51851834e-03 9.95760043e-01 -1.38806965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102401008 meters 0.06242871377877932 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.56, Z:-1.39 [[ 9.95561457e-01 -1.47632602e-02 9.29485425e-02 1.31556644e+01] [ 1.50164442e-02 9.99885196e-01 -2.02507413e-03 -5.57520411e-01] [-9.29079749e-02 3.41184236e-03 9.95668854e-01 -1.39307917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162401008 meters 0.06192331925454967 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.55, Z:-1.40 [[ 9.95669112e-01 -1.14371683e-02 9.22616383e-02 1.32163142e+01] [ 1.16730411e-02 9.99929833e-01 -2.01731417e-03 -5.49384509e-01] [-9.22320922e-02 3.08555131e-03 9.95732756e-01 -1.40191761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222401007999999 meters 0.06039250474966182 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.53, Z:-1.41 [[ 9.95973724e-01 -2.09281136e-03 8.96212084e-02 1.32767586e+01] [ 2.27789808e-03 9.99995479e-01 -1.96298106e-03 -5.31848037e-01] [-8.96166950e-02 2.15922553e-03 9.95973988e-01 -1.41026917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282401007999999 meters 0.06000696036007749 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.52, Z:-1.42 [[ 9.95883045e-01 2.39777215e-03 9.06157377e-02 1.33366364e+01] [-2.22693438e-03 9.99995548e-01 -1.98635779e-03 -5.24607430e-01] [-9.06200971e-02 1.77638474e-03 9.95883950e-01 -1.41648907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342401008 meters 0.05947026925771032 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.51, Z:-1.42 [[ 9.95776217e-01 5.23909307e-03 9.16639396e-02 1.33986639e+01] [-5.07658296e-03 9.99985102e-01 -2.00596269e-03 -5.13970100e-01] [-9.16730834e-02 1.53215035e-03 9.95787979e-01 -1.42406984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402401007999998 meters 0.05955793228116942 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.51, Z:-1.43 [[ 9.95849022e-01 9.05793919e-03 9.05686399e-02 1.34589718e+01] [-8.91304880e-03 9.99958270e-01 -2.00411824e-03 -5.08884007e-01] [-9.05830136e-02 1.18855648e-03 9.95888199e-01 -1.43406524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462401007999999 meters 0.0594689507960112 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.51, Z:-1.44 [[ 9.95844009e-01 1.04725871e-02 9.04711847e-02 1.35203473e+01] [-1.03320604e-02 9.99944580e-01 -2.02148606e-03 -5.08461498e-01] [-9.04873410e-02 1.07833104e-03 9.95897022e-01 -1.44010001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522401008 meters 0.05974286755170584 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.51, Z:-1.45 [[ 9.95900619e-01 1.04308825e-02 8.98507307e-02 1.35803791e+01] [-1.02900012e-02 9.99944994e-01 -2.03103611e-03 -5.10216221e-01] [-8.98669738e-02 1.09814599e-03 9.95953172e-01 -1.44896862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582401008 meters 0.060198938974146673 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.52, Z:-1.46 [[ 9.95886737e-01 6.97311162e-03 9.03381529e-02 1.36417675e+01] [-6.81567245e-03 9.99974669e-01 -2.05115091e-03 -5.17515374e-01] [-9.03501675e-02 1.42699873e-03 9.95909037e-01 -1.45622749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642401007999998 meters 0.060588666765611525 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.53, Z:-1.46 [[ 9.95989934e-01 5.14293252e-03 8.93174219e-02 1.37027099e+01] [-4.97964359e-03 9.99985498e-01 -2.05092183e-03 -5.25038213e-01] [-8.93266744e-02 1.59792857e-03 9.96001100e-01 -1.46367909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702401007999999 meters 0.060126214744352556 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.53, Z:-1.47 [[ 9.96050844e-01 4.26460232e-03 8.86821763e-02 1.37644524e+01] [-4.09953620e-03 9.99989509e-01 -2.04337667e-03 -5.29785807e-01] [-8.86899602e-02 1.67175126e-03 9.96057878e-01 -1.46777463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762401008 meters 0.060438706213527975 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.54, Z:-1.48 [[ 9.95868735e-01 6.15499786e-03 9.05956855e-02 1.38253186e+01] [-5.98845849e-03 9.99979843e-01 -2.10998136e-03 -5.35136285e-01] [-9.06068463e-02 1.55873596e-03 9.95885520e-01 -1.47674088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822401008 meters 0.05968789978426423 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.54, Z:-1.48 [[ 9.95953801e-01 8.40050089e-03 8.94732272e-02 1.38883370e+01] [-8.24530715e-03 9.99963793e-01 -2.10400072e-03 -5.37352425e-01] [-8.94876623e-02 1.35775328e-03 9.95987005e-01 -1.48204929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882401007999999 meters 0.06005524070616134 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.54, Z:-1.49 [[ 9.96004667e-01 6.06910975e-03 8.90947160e-02 1.39494346e+01] [-5.90366713e-03 9.99980325e-01 -2.12033145e-03 -5.42723768e-01] [-8.91058316e-02 1.58587447e-03 9.96020901e-01 -1.49147889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942401008 meters 0.06138100468310156 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.56, Z:-1.50 [[ 9.95959822e-01 -3.12142067e-03 8.97456891e-02 1.40087144e+01] [ 3.32899167e-03 9.99992119e-01 -2.16328922e-03 -5.56889865e-01] [-8.97382293e-02 2.45331180e-03 9.95962364e-01 -1.49848548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002401008 meters 0.0631990258998691 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.57, Z:-1.51 [[ 9.95898529e-01 -1.13380328e-02 8.97639590e-02 1.40686165e+01] [ 1.15789480e-02 9.99930621e-01 -2.16357461e-03 -5.67443256e-01] [-8.97332006e-02 3.19407298e-03 9.95960717e-01 -1.50583831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062401007999998 meters 0.06562556984781168 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.58, Z:-1.51 [[ 9.95699421e-01 -2.28430394e-02 8.97822819e-02 1.41285328e+01] [ 2.31306946e-02 9.99730106e-01 -2.16462558e-03 -5.80141569e-01] [-8.97086036e-02 4.23204297e-03 9.95959064e-01 -1.51266388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122401007999999 meters 0.06643997699760348 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.59, Z:-1.52 [[ 9.95694780e-01 -2.96763024e-02 8.78135665e-02 1.41891417e+01] [ 2.99778614e-02 9.99548321e-01 -2.11700578e-03 -5.85170382e-01] [-8.77110780e-02 4.74035452e-03 9.96134678e-01 -1.51953231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182401008 meters 0.06795222056631525 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.59, Z:-1.53 [[ 9.95655894e-01 -3.43779908e-02 8.65303073e-02 1.42491086e+01] [ 3.46886994e-02 9.99395982e-01 -2.08923463e-03 -5.91877222e-01] [-8.64062178e-02 5.08178259e-03 9.96247028e-01 -1.52661498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242401008 meters 0.06614897657425921 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.59, Z:-1.53 [[ 9.95816122e-01 -3.02841390e-02 8.62155592e-02 1.43100047e+01] [ 3.05773080e-02 9.99530237e-01 -2.08156954e-03 -5.85824058e-01] [-8.61120198e-02 4.70910022e-03 9.96274332e-01 -1.53382069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302401007999999 meters 0.06343755079512851 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.57, Z:-1.54 [[ 9.96063777e-01 -2.15530601e-02 8.59791729e-02 1.43702379e+01] [ 2.18123613e-02 9.99759924e-01 -2.07744831e-03 -5.73735523e-01] [-8.59137559e-02 3.94467980e-03 9.96294769e-01 -1.54100005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362401007999999 meters 0.06288041585075801 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.57, Z:-1.55 [[ 9.96131816e-01 -1.76336780e-02 8.60840179e-02 1.44305749e+01] [ 1.78790178e-02 9.99837994e-01 -2.07979645e-03 -5.68004203e-01] [-8.60333974e-02 3.61084910e-03 9.96285710e-01 -1.54777788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422401008 meters 0.061465671661119825 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.56, Z:-1.55 [[ 9.96115648e-01 -1.58783220e-02 8.66111663e-02 1.44927779e+01] [ 1.61195175e-02 9.99867896e-01 -2.08609592e-03 -5.58036990e-01] [-8.65666009e-02 3.47412300e-03 9.96240008e-01 -1.55121562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482401007999998 meters 0.06359972049152872 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.56, Z:-1.56 [[ 9.96012967e-01 -1.60260710e-02 8.77572476e-02 1.45534158e+01] [ 1.62762155e-02 9.99865253e-01 -2.13555185e-03 -5.59366439e-01] [-8.77111981e-02 3.55539321e-03 9.96139601e-01 -1.56092060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542401007999999 meters 0.06184608303275268 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.54, Z:-1.57 [[ 9.95723550e-01 -1.60550244e-02 9.09771831e-02 1.46156155e+01] [ 1.63258972e-02 9.99864228e-01 -2.23391976e-03 -5.43877652e-01] [-9.09289653e-02 3.70965065e-03 9.95850472e-01 -1.56681398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602401008 meters 0.06088879294945427 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.54, Z:-1.57 [[ 9.95522261e-01 -1.52205919e-02 9.32939481e-02 1.46780059e+01] [ 1.55039012e-02 9.99877133e-01 -2.31265788e-03 -5.35617779e-01] [-9.32472853e-02 3.74872256e-03 9.95635923e-01 -1.57130791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662401008 meters 0.06214137216178912 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.53, Z:-1.58 [[ 9.95468300e-01 -1.64300125e-02 9.36638618e-02 1.47386041e+01] [ 1.67230322e-02 9.99857412e-01 -2.34432611e-03 -5.32345050e-01] [-9.36119891e-02 3.90004610e-03 9.95601117e-01 -1.57720319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722401007999999 meters 0.06069034983908739 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.52, Z:-1.58 [[ 9.95462070e-01 -1.74309037e-02 9.35490815e-02 1.48009771e+01] [ 1.77294480e-02 9.99840033e-01 -2.36108832e-03 -5.21124571e-01] [-9.34929608e-02 4.00894744e-03 9.95611869e-01 -1.58305192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782401007999999 meters 0.06130576105293368 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.51, Z:-1.59 [[ 9.95611104e-01 -1.47309208e-02 9.24203937e-02 1.48617678e+01] [ 1.50127050e-02 9.99884531e-01 -2.35441473e-03 -5.11273325e-01] [-9.23750393e-02 3.73156156e-03 9.95717293e-01 -1.59422338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842401008 meters 0.06089524856643395 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.50, Z:-1.60 [[ 9.96087424e-01 -1.19470633e-02 8.75620426e-02 1.49236867e+01] [ 1.21908412e-02 9.99923158e-01 -2.24981410e-03 -5.01541836e-01] [-8.75284355e-02 3.30846649e-03 9.96156527e-01 -1.60437957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902401007999998 meters 0.06082528850814984 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.50, Z:-1.61 [[ 9.96094370e-01 -1.02414431e-02 8.76990199e-02 1.49858201e+01] [ 1.04812014e-02 9.99942485e-01 -2.27381814e-03 -4.97896250e-01] [-8.76706888e-02 3.18412854e-03 9.96144423e-01 -1.61084150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962401007999999 meters 0.0590028713144553 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.49, Z:-1.61 [[ 9.95861664e-01 -6.36229096e-03 9.06590716e-02 1.50469234e+01] [ 6.60498803e-03 9.99975361e-01 -2.37725982e-03 -4.86573663e-01] [-9.06417130e-02 2.96622400e-03 9.95879150e-01 -1.61442530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022401008 meters 0.05861969995993517 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.48, Z:-1.62 [[ 9.95704913e-01 -3.18165331e-03 9.25289325e-02 1.51074606e+01] [ 3.42093829e-03 9.99991202e-01 -2.42756232e-03 -4.81188677e-01] [-9.25203948e-02 2.73367150e-03 9.95707037e-01 -1.62182287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082401007999998 meters 0.05835197169147689 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.48, Z:-1.63 [[ 9.95744213e-01 -4.14686442e-04 9.21590532e-02 1.51689750e+01] [ 6.40124935e-04 9.99996875e-01 -2.41664324e-03 -4.76825165e-01] [-9.21577631e-02 2.46535183e-03 9.95741366e-01 -1.62977214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142401008 meters 0.058147450357594596 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.47, Z:-1.64 [[ 9.95725717e-01 8.99653264e-04 9.23552215e-02 1.52310568e+01] [-6.76867940e-04 9.99996785e-01 -2.44356035e-03 -4.71473486e-01] [-9.23571229e-02 2.37060359e-03 9.95723125e-01 -1.63604220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202401008 meters 0.05828259320177138 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.47, Z:-1.64 [[ 9.95669434e-01 1.02588940e-03 9.29587314e-02 1.52930646e+01] [-7.98643846e-04 9.99996602e-01 -2.48175342e-03 -4.71477193e-01] [-9.29609615e-02 2.39676511e-03 9.95666870e-01 -1.64282855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262401007999998 meters 0.05822794900090974 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.46, Z:-1.66 [[ 9.95814686e-01 3.22084544e-03 9.13385890e-02 1.53546178e+01] [-3.00877861e-03 9.99992449e-01 -2.45936793e-03 -4.64991965e-01] [-9.13458206e-02 2.17425711e-03 9.95816857e-01 -1.65542872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322401008 meters 0.05845039232511161 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.46, Z:-1.67 [[ 9.95997150e-01 6.58896132e-03 8.91418072e-02 1.54150119e+01] [-6.39862390e-03 9.99976598e-01 -2.42081652e-03 -4.64205953e-01] [-8.91556718e-02 1.84074146e-03 9.96016003e-01 -1.66571921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382401008 meters 0.05754407535274295 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.46, Z:-1.67 [[ 9.96088644e-01 8.93192135e-03 8.79069601e-02 1.54773246e+01] [-8.75438576e-03 9.99958788e-01 -2.40491771e-03 -4.62403098e-01] [-8.79248178e-02 1.62593978e-03 9.96125787e-01 -1.66775092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442401007999997 meters 0.05777330464597115 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.47, Z:-1.68 [[ 9.96176710e-01 9.50650989e-03 8.68423247e-02 1.55382467e+01] [-9.33359358e-03 9.99953568e-01 -2.39698723e-03 -4.65537205e-01] [-8.68610795e-02 1.57727188e-03 9.96219185e-01 -1.67549569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502401008 meters 0.058079887350062954 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.47, Z:-1.68 [[ 9.96186167e-01 8.89008142e-03 8.67991150e-02 1.55990374e+01] [-8.71331872e-03 9.99959122e-01 -2.41512164e-03 -4.69371311e-01] [-8.68170374e-02 1.64960242e-03 9.96222907e-01 -1.68389661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562401008 meters 0.05754527055350107 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.47, Z:-1.69 [[ 9.95978324e-01 1.32003909e-02 8.86167495e-02 1.56603608e+01] [-1.30310165e-02 9.99911993e-01 -2.48958802e-03 -4.70902524e-01] [-8.86418142e-02 1.32480938e-03 9.96062686e-01 -1.69232803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622401008 meters 0.05704056195459404 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.47, Z:-1.70 [[ 9.95739263e-01 1.95015599e-02 9.01277434e-02 1.57214698e+01] [-1.93516791e-02 9.99809521e-01 -2.53660549e-03 -4.70445204e-01] [-9.01600437e-02 7.81674507e-04 9.95926983e-01 -1.70037173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682401008 meters 0.05716846050995524 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.48, Z:-1.71 [[ 9.95755681e-01 2.56523731e-02 8.83887983e-02 1.57832871e+01] [-2.55325285e-02 9.99670900e-01 -2.48640697e-03 -4.76662786e-01] [-8.84234918e-02 2.19064352e-04 9.96082947e-01 -1.70841537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742401007999998 meters 0.05711186121307617 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.48, Z:-1.71 [[ 9.95569040e-01 2.61521275e-02 9.03235987e-02 1.58438596e+01] [-2.60266587e-02 9.99657954e-01 -2.56684447e-03 -4.84319230e-01] [-9.03598323e-02 2.04649407e-04 9.95909162e-01 -1.71474135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802401008 meters 0.05694231293644817 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.50, Z:-1.72 [[ 9.95549615e-01 2.61517811e-02 9.05375552e-02 1.59062785e+01] [-2.60240651e-02 9.99657959e-01 -2.59105870e-03 -4.95528355e-01] [-9.05743485e-02 2.23372263e-04 9.95889671e-01 -1.72041599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862401008 meters 0.05726878147617467 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.51, Z:-1.73 [[ 9.95670816e-01 2.35956813e-02 8.99047784e-02 1.59665961e+01] [-2.34570833e-02 9.99721469e-01 -2.59803673e-03 -5.06820534e-01] [-8.99410396e-02 4.77885473e-04 9.95946977e-01 -1.73029524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922401007999998 meters 0.05766439691211559 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.53, Z:-1.74 [[ 9.95866955e-01 1.74621666e-02 8.91295727e-02 1.60280674e+01] [-1.72994317e-02 9.99846978e-01 -2.59804026e-03 -5.26352908e-01] [-8.91613013e-02 1.04541149e-03 9.96016651e-01 -1.73603515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982401008 meters 0.0578460730541051 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.54, Z:-1.74 [[ 9.95634746e-01 1.36787638e-02 9.23273756e-02 1.60894263e+01] [-1.34875991e-02 9.99905409e-01 -2.69419142e-03 -5.42752569e-01] [-9.23554954e-02 1.43715597e-03 9.95725061e-01 -1.74076197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042401008 meters 0.057826225311771534 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.55, Z:-1.75 [[ 9.95579395e-01 1.53541264e-02 9.26602377e-02 1.61505913e+01] [-1.51668139e-02 9.99881263e-01 -2.72539598e-03 -5.51179552e-01] [-9.26910816e-02 1.30798750e-03 9.95694056e-01 -1.74847475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102401007999998 meters 0.05766074720317574 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.56, Z:-1.76 [[ 9.95548893e-01 2.32857106e-02 9.13245689e-02 1.62110098e+01] [-2.31349828e-02 9.99728680e-01 -2.70886828e-03 -5.55874667e-01] [-9.13628687e-02 5.84018491e-04 9.95817496e-01 -1.75987266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162401008 meters 0.05803579928235513 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.56, Z:-1.77 [[ 9.95554947e-01 3.02823936e-02 8.91814161e-02 1.62724887e+01] [-3.01658693e-02 9.99541382e-01 -2.65442263e-03 -5.56932611e-01] [-8.92208982e-02 -4.76113639e-05 9.96011862e-01 -1.77046285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222401008 meters 0.05816534761995222 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.56, Z:-1.77 [[ 9.95365669e-01 3.63176028e-02 8.90405358e-02 1.63340564e+01] [-3.62234664e-02 9.99340139e-01 -2.67342671e-03 -5.62563756e-01] [-8.90788738e-02 -5.64319696e-04 9.96024415e-01 -1.77398366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282401008 meters 0.05898875501157446 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.57, Z:-1.78 [[ 9.95218014e-01 4.15470663e-02 8.84021771e-02 1.63937846e+01] [-4.14744998e-02 9.99136026e-01 -2.65832180e-03 -5.73197146e-01] [-8.84362454e-02 -1.02082633e-03 9.96081316e-01 -1.78390158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342401008 meters 0.059539479200069904 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.58, Z:-1.80 [[ 9.95371081e-01 4.38909860e-02 8.54984903e-02 1.64541684e+01] [-4.38301655e-02 9.99035641e-01 -2.58928635e-03 -5.82035356e-01] [-8.55296854e-02 -1.17011223e-03 9.96334936e-01 -1.79528079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402401008 meters 0.060745878512283795 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.60, Z:-1.81 [[ 9.95537360e-01 4.56428995e-02 8.25959417e-02 1.65130970e+01] [-4.55904310e-02 9.98957032e-01 -2.52213390e-03 -5.98521092e-01] [-8.26249142e-02 -1.25470605e-03 9.96579926e-01 -1.80874681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462401008 meters 0.0593604562432352 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.62, Z:-1.81 [[ 9.95588727e-01 4.05639539e-02 8.46029120e-02 1.65740971e+01] [-4.04895130e-02 9.99176590e-01 -2.59625251e-03 -6.20789421e-01] [-8.46385634e-02 -8.40730975e-04 9.96411364e-01 -1.80834388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522401008 meters 0.05770331004853125 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.64, Z:-1.81 [[ 9.95402898e-01 3.23787726e-02 9.01370425e-02 1.66347354e+01] [-3.22604026e-02 9.99475659e-01 -2.77019167e-03 -6.37507189e-01] [-9.01794754e-02 -1.50400463e-04 9.95925519e-01 -1.80678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582401007999998 meters 0.05752206143442909 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.63, Z:-1.81 [[ 9.95256081e-01 3.22022815e-02 9.18060213e-02 1.66965200e+01] [-3.20792278e-02 9.99481362e-01 -2.81608608e-03 -6.34358309e-01] [-9.18490915e-02 -1.42339474e-04 9.95772928e-01 -1.81457180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642401008 meters 0.05772423706017528 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.63, Z:-1.83 [[ 9.95257954e-01 3.13699622e-02 9.20735026e-02 1.67570125e+01] [-3.12405489e-02 9.99507841e-01 -2.84683803e-03 -6.34863482e-01] [-9.21174930e-02 -4.30885713e-05 9.95748144e-01 -1.82575987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702401008 meters 0.05773634494654072 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.64, Z:-1.83 [[ 9.95573582e-01 2.90106854e-02 8.93958732e-02 1.68169722e+01] [-2.88767130e-02 9.99579082e-01 -2.79186961e-03 -6.41752211e-01] [-8.94392389e-02 1.98052657e-04 9.95992261e-01 -1.83354903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762401007999998 meters 0.057905554551193644 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.65, Z:-1.84 [[ 9.95965331e-01 2.46067770e-02 8.62992806e-02 1.68788394e+01] [-2.44652867e-02 9.99697042e-01 -2.69695011e-03 -6.50458256e-01] [-8.63394988e-02 5.74732167e-04 9.96265607e-01 -1.84004242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822401008 meters 0.05837541614696403 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.66, Z:-1.85 [[ 9.96046775e-01 2.26631680e-02 8.58906409e-02 1.69388011e+01] [-2.25154309e-02 9.99742881e-01 -2.68851840e-03 -6.56182226e-01] [-8.59294871e-02 7.44025295e-04 9.96300943e-01 -1.84929243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882401008 meters 0.05904327037595551 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.66, Z:-1.86 [[ 9.96308708e-01 1.70079040e-02 8.41408967e-02 1.69992039e+01] [-1.68448615e-02 9.99854611e-01 -2.64733338e-03 -6.62633389e-01] [-8.41736891e-02 1.22021955e-03 9.96450351e-01 -1.85752834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942401007999997 meters 0.059554165458723614 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.67, Z:-1.86 [[ 9.96437578e-01 1.11922762e-02 8.35875945e-02 1.70600001e+01] [-1.10106868e-02 9.99935914e-01 -2.63312800e-03 -6.68726035e-01] [-8.36117084e-02 1.70339086e-03 9.96496955e-01 -1.86125946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002401008 meters 0.06018280045301887 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.67, Z:-1.86 [[ 9.96441138e-01 4.29347650e-03 8.41820966e-02 1.71205614e+01] [-4.08460392e-03 9.99988138e-01 -2.65327423e-03 -6.74882206e-01] [-8.41924898e-02 2.29998107e-03 9.96446855e-01 -1.86396978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062401008 meters 0.06016383295337908 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.68, Z:-1.87 [[ 9.96248805e-01 -8.66893483e-04 8.65307252e-02 1.71823407e+01] [ 1.10668275e-03 9.99995680e-01 -2.72321335e-03 -6.75816733e-01] [-8.65279906e-02 2.80876011e-03 9.96245461e-01 -1.86655382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122401008 meters 0.06060580071355822 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.67, Z:-1.87 [[ 9.96175176e-01 -2.31273950e-03 8.73479817e-02 1.72441076e+01] [ 2.56434919e-03 9.99992880e-01 -2.76844369e-03 -6.74881832e-01] [-8.73409571e-02 2.98184561e-03 9.96174014e-01 -1.87452492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182401008 meters 0.06071413369162497 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.67, Z:-1.88 [[ 9.96105768e-01 -3.41648691e-03 8.81000900e-02 1.73061071e+01] [ 3.67863399e-03 9.99989276e-01 -2.81337121e-03 -6.74433419e-01] [-8.80895334e-02 3.12650327e-03 9.96107654e-01 -1.88179319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242401007999998 meters 0.06079929386292272 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.68, Z:-1.88 [[ 9.95890771e-01 -3.30947653e-03 9.05020387e-02 1.73681443e+01] [ 3.58774521e-03 9.99989323e-01 -2.91221236e-03 -6.75590634e-01] [-9.04914346e-02 3.22494367e-03 9.95892012e-01 -1.88214810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302401008 meters 0.06081805855915995 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.67, Z:-1.89 [[ 9.95678181e-01 -3.23791971e-03 9.28142048e-02 1.74302156e+01] [ 3.53240925e-03 9.99989235e-01 -3.00878469e-03 -6.74060437e-01] [-9.28034635e-02 3.32363902e-03 9.95678899e-01 -1.88745443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362401008 meters 0.06089303917459132 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.67, Z:-1.89 [[ 9.95639394e-01 -3.40191506e-03 9.32235193e-02 1.74926645e+01] [ 3.70169179e-03 9.99988519e-01 -3.04294635e-03 -6.73905253e-01] [-9.32120972e-02 3.37476199e-03 9.95640556e-01 -1.89434118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422401007999998 meters 0.06167525453235232 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.67, Z:-1.90 [[ 9.95688896e-01 -3.84616332e-03 9.26759377e-02 1.75529277e+01] [ 4.14681211e-03 9.99986745e-01 -3.05173537e-03 -6.70397631e-01] [-9.26629719e-02 3.42288872e-03 9.95691648e-01 -1.90414376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482401008 meters 0.06214160283850664 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.67, Z:-1.91 [[ 9.95911307e-01 -3.93542687e-03 9.02506607e-02 1.76137958e+01] [ 4.22180120e-03 9.99986641e-01 -2.98241873e-03 -6.69789740e-01] [-9.02377179e-02 3.35124488e-03 9.95914617e-01 -1.91449588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542401008 meters 0.061691988998725786 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.67, Z:-1.92 [[ 9.96084555e-01 -1.21577765e-03 8.83972876e-02 1.76758561e+01] [ 1.48070156e-03 9.99994607e-01 -2.93145716e-03 -6.65822437e-01] [-8.83932469e-02 3.05086921e-03 9.96080984e-01 -1.92394191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602401007999998 meters 0.05943863732170139 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.65, Z:-1.93 [[ 9.96072673e-01 2.90277039e-03 8.84918344e-02 1.77371982e+01] [-2.65277738e-03 9.99992152e-01 -2.94251496e-03 -6.54830195e-01] [-8.84996814e-02 2.69620961e-03 9.96072556e-01 -1.92855144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662401008 meters 0.05862313632083388 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.65, Z:-1.93 [[ 9.95933673e-01 7.18826736e-03 8.98022761e-02 1.77979023e+01] [-6.94784751e-03 9.99971395e-01 -2.98952833e-03 -6.51609851e-01] [-8.98211968e-02 2.35343941e-03 9.95955126e-01 -1.93306147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722401008 meters 0.057841193611852935 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.65, Z:-1.94 [[ 9.95681284e-01 1.18889324e-02 9.20729862e-02 1.78590620e+01] [-1.16560485e-02 9.99927363e-01 -3.06669149e-03 -6.46817693e-01] [-9.21027580e-02 1.98024013e-03 9.95747539e-01 -1.93785503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782401007999997 meters 0.05659536068554133 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.63, Z:-1.94 [[ 9.95341133e-01 2.64202580e-02 9.27253993e-02 1.79205160e+01] [-2.62467901e-02 9.99650718e-01 -3.08998494e-03 -6.31953586e-01] [-9.27746502e-02 6.41845013e-04 9.95686925e-01 -1.94481767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842401008 meters 0.05657988591304759 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.62, Z:-1.95 [[ 9.94865980e-01 3.60231916e-02 9.45727879e-02 1.79828179e+01] [-3.58862384e-02 9.99350920e-01 -3.14902383e-03 -6.22613420e-01] [-9.46248405e-02 -2.61004934e-04 9.95512969e-01 -1.95134749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902401008 meters 0.057119971941578744 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.62, Z:-1.96 [[ 9.94317906e-01 4.35192406e-02 9.71492494e-02 1.80453641e+01] [-4.34081982e-02 9.99052110e-01 -3.25726084e-03 -6.15887546e-01] [-9.71989161e-02 -9.78321089e-04 9.95264494e-01 -1.95712671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962401008 meters 0.057883455381913494 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.61, Z:-1.96 [[ 9.93909460e-01 4.90448336e-02 9.86842959e-02 1.81069308e+01] [-4.89547375e-02 9.98795428e-01 -3.33567613e-03 -6.11392047e-01] [-9.87290212e-02 -1.51570374e-03 9.95113201e-01 -1.96370592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022401008 meters 0.058057154021393206 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.61, Z:-1.97 [[ 9.93848218e-01 4.95193089e-02 9.90634061e-02 1.81692524e+01] [-4.94286710e-02 9.98771969e-01 -3.37057944e-03 -6.12997496e-01] [-9.91086619e-02 -1.54672813e-03 9.95075415e-01 -1.97211059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082401007999998 meters 0.05761147464168776 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.62, Z:-1.98 [[ 9.94017328e-01 4.56879776e-02 9.92076671e-02 1.82310218e+01] [-4.55751830e-02 9.98955111e-01 -3.40414360e-03 -6.21200881e-01] [-9.92595346e-02 -1.13762985e-03 9.95060928e-01 -1.98087457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142401008 meters 0.05720748883637679 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.63, Z:-1.99 [[ 9.94035534e-01 4.22027524e-02 1.00559862e-01 1.82923726e+01] [-4.20684188e-02 9.99108751e-01 -3.45700738e-03 -6.30837627e-01] [-1.00616133e-01 -7.94006195e-04 9.94925004e-01 -1.98635712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202401008 meters 0.05688217835315735 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.64, Z:-1.99 [[ 9.93962754e-01 3.91513523e-02 1.02494954e-01 1.83537262e+01] [-3.89931074e-02 9.99233181e-01 -3.54782267e-03 -6.39303416e-01] [-1.02555261e-01 -4.70193159e-04 9.94727197e-01 -1.99244364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262401007999998 meters 0.05686477818587159 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.64, Z:-2.00 [[ 9.93842591e-01 3.97920234e-02 1.03409381e-01 1.84164766e+01] [-3.96318495e-02 9.99207850e-01 -3.60394964e-03 -6.43835879e-01] [-1.03470874e-01 -5.16546395e-04 9.94632350e-01 -1.99992057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322401008 meters 0.05733110652074964 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.64, Z:-2.01 [[ 9.93571778e-01 4.44263256e-02 1.04122157e-01 1.84776885e+01] [-4.42861422e-02 9.99012187e-01 -3.65896822e-03 -6.43408404e-01] [-1.04181858e-01 -9.75721078e-04 9.94557785e-01 -2.00890501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382401008 meters 0.05772967171983217 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.65, Z:-2.02 [[ 9.93428363e-01 4.63497097e-02 1.04650807e-01 1.85382116e+01] [-4.62179238e-02 9.98924583e-01 -3.68528516e-03 -6.45835203e-01] [-1.04709076e-01 -1.17567624e-03 9.94502201e-01 -2.01534677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442401007999997 meters 0.057926695881550666 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.65, Z:-2.02 [[ 9.93299883e-01 4.71318707e-02 1.05517432e-01 1.86005589e+01] [-4.69998309e-02 9.98887900e-01 -3.73899148e-03 -6.50400396e-01] [-1.05576312e-01 -1.24536166e-03 9.94410424e-01 -2.02193776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502401008 meters 0.0575078663634987 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.66, Z:-2.03 [[ 9.93318219e-01 4.55277274e-02 1.06047832e-01 1.86624151e+01] [-4.53821707e-02 9.98962522e-01 -3.78655891e-03 -6.57428938e-01] [-1.06110203e-01 -1.05142286e-03 9.94353820e-01 -2.02788014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562401008 meters 0.05694105683587741 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.67, Z:-2.03 [[ 9.93365325e-01 4.14517753e-02 1.07271064e-01 1.87234812e+01] [-4.12763782e-02 9.99140327e-01 -3.85581567e-03 -6.67348629e-01] [-1.07338676e-01 -5.97527407e-04 9.94222335e-01 -2.03382210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622401008 meters 0.05657280578295412 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.68, Z:-2.04 [[ 9.93351725e-01 3.67338925e-02 1.09100739e-01 1.87852437e+01] [-3.65212340e-02 9.99325081e-01 -3.94744544e-03 -6.77201772e-01] [-1.09172110e-01 -6.32919035e-05 9.94022860e-01 -2.04053593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682401008 meters 0.056508911998317396 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.69, Z:-2.05 [[ 9.93386478e-01 3.14385123e-02 1.10430635e-01 1.88476481e+01] [-3.11851294e-02 9.99505536e-01 -4.02135829e-03 -6.88337170e-01] [-1.10502457e-01 5.50969302e-04 9.93875698e-01 -2.04824496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742401007999998 meters 0.056525810115596424 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.70, Z:-2.06 [[ 9.93673377e-01 2.90620272e-02 1.08483266e-01 1.89085466e+01] [-2.88003555e-02 9.99577266e-01 -3.97845015e-03 -6.98118767e-01] [-1.08553028e-01 8.28923389e-04 9.94090314e-01 -2.05705421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802401008 meters 0.05653940988873262 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.70, Z:-2.06 [[ 9.93796069e-01 2.89933105e-02 1.07372068e-01 1.89712515e+01] [-2.87340512e-02 9.99579243e-01 -3.96121851e-03 -7.03861950e-01] [-1.07441739e-01 8.51408894e-04 9.94211018e-01 -2.06428441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862401008 meters 0.05661949134122129 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.71, Z:-2.08 [[ 9.94149050e-01 3.19126874e-02 1.03195186e-01 1.90318252e+01] [-3.16860694e-02 9.99490513e-01 -3.83498952e-03 -7.05192576e-01] [-1.03264995e-01 5.42701342e-04 9.94653732e-01 -2.07864941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922401007999998 meters 0.05701240632998839 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.71, Z:-2.09 [[ 9.94430383e-01 3.57795602e-02 9.91364575e-02 1.90913785e+01] [-3.55872153e-02 9.99359694e-01 -3.70844662e-03 -7.09419994e-01] [-9.92056664e-02 1.59801534e-04 9.95066938e-01 -2.08948998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982401008 meters 0.05693946706858861 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.72, Z:-2.09 [[ 9.94366456e-01 3.62372766e-02 9.96102957e-02 1.91522343e+01] [-3.60433677e-02 9.99343205e-01 -3.74620164e-03 -7.15072455e-01] [-9.96806243e-02 1.34806726e-04 9.95019475e-01 -2.09441861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042401008 meters 0.05693390385445217 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.73, Z:-2.10 [[ 9.94098541e-01 2.88068258e-02 1.04586127e-01 1.92136227e+01] [-2.85505047e-02 9.99584557e-01 -3.94739880e-03 -7.30397897e-01] [-1.04656390e-01 9.38116660e-04 9.94507999e-01 -2.09618513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401007999998 meters 0.05764437442781165 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.74, Z:-2.10 [[ 9.93989921e-01 2.01154961e-02 1.07607640e-01 1.92752755e+01] [-1.97903115e-02 9.99795791e-01 -4.08909787e-03 -7.42985581e-01] [-1.07667920e-01 1.93493335e-03 9.94185031e-01 -2.10162131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters 0.060034371518653186 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.76, Z:-2.10 [[ 9.93795258e-01 7.92028797e-03 1.10942572e-01 1.93347740e+01] [-7.49792428e-03 9.99962970e-01 -4.22374460e-03 -7.63333309e-01] [-1.10971917e-01 3.36569835e-03 9.93817843e-01 -2.10479113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222401008 meters 0.060279314493694836 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.77, Z:-2.11 [[ 9.93888968e-01 5.49520944e-03 1.10247552e-01 1.93959149e+01] [-5.06335521e-03 9.99978375e-01 -4.19671651e-03 -7.67924299e-01] [-1.10268230e-01 3.61284772e-03 9.93895299e-01 -2.11164116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282401007999997 meters 0.060504516918808704 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.77, Z:-2.12 [[ 9.94293120e-01 1.66236908e-03 1.06669717e-01 1.94561622e+01] [-1.23378436e-03 9.99990900e-01 -4.08373314e-03 -7.69984950e-01] [-1.06675535e-01 3.92882034e-03 9.94286123e-01 -2.12268416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342401008 meters 0.061297525263208696 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.77, Z:-2.13 [[ 9.94586456e-01 4.77726351e-03 1.03802502e-01 1.95162627e+01] [-4.38845621e-03 9.99982475e-01 -3.97370658e-03 -7.72848171e-01] [-1.03819667e-01 3.49666200e-03 9.94589991e-01 -2.13435497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402401008 meters 0.059714818352529064 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.76, Z:-2.15 [[ 9.95007898e-01 1.17480455e-02 9.91023069e-02 1.95763938e+01] [-1.14259440e-02 9.99927436e-01 -3.81715140e-03 -7.63001919e-01] [-9.91399597e-02 2.66575838e-03 9.95069928e-01 -2.14582594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462401008 meters 0.058222388263263584 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.75, Z:-2.15 [[ 9.95043860e-01 2.05942946e-02 9.72809970e-02 1.96370842e+01] [-2.03261496e-02 9.99786382e-01 -3.74672313e-03 -7.53749985e-01] [-9.73373772e-02 1.75080575e-03 9.95249903e-01 -2.15348638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008 meters 0.05753064192576889 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.74, Z:-2.16 [[ 9.94871438e-01 3.02733142e-02 9.65108739e-02 1.96968253e+01] [-3.00546736e-02 9.99541339e-01 -3.71867579e-03 -7.44557828e-01] [-9.65791847e-02 7.99001509e-04 9.95324983e-01 -2.16310847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401007999998 meters 0.05728015427425897 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.73, Z:-2.17 [[ 9.94442033e-01 4.10757729e-02 9.69423693e-02 1.97592549e+01] [-4.09065512e-02 9.99156002e-01 -3.73326103e-03 -7.33924216e-01] [-9.70138967e-02 -2.53066295e-04 9.95282995e-01 -2.16647096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters 0.05713520754469965 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.73, Z:-2.17 [[ 9.94193605e-01 4.18324073e-02 9.91419491e-02 1.98208646e+01] [-4.16567421e-02 9.99124594e-01 -3.84217135e-03 -7.34413136e-01] [-9.92158869e-02 -3.10068427e-04 9.95065883e-01 -2.17216110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008 meters 0.05683743270883342 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.74, Z:-2.18 [[ 9.94337099e-01 3.36875478e-02 1.00791282e-01 1.98826518e+01] [-3.34615552e-02 9.99432269e-01 -3.93244936e-03 -7.44424362e-01] [-1.00866535e-01 5.37547221e-04 9.94899821e-01 -2.17969850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401007999998 meters 0.057389910648342056 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.76, Z:-2.19 [[ 9.94477514e-01 2.54331851e-02 1.01821542e-01 1.99439942e+01] [-2.51586541e-02 9.99675549e-01 -3.97968383e-03 -7.57295762e-01] [-1.01889722e-01 1.39601313e-03 9.94794720e-01 -2.18630196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters 0.06038042904613404 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.78, Z:-2.20 [[ 9.94987611e-01 9.28179545e-03 9.95665767e-02 2.00025003e+01] [-8.93616968e-03 9.99952401e-01 -3.91673130e-03 -7.77499107e-01] [-9.95981917e-02 3.00735530e-03 9.95023194e-01 -2.19500102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882401008 meters 0.06157975540193504 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.78, Z:-2.20 [[ 9.94919089e-01 -4.48958455e-03 1.00577579e-01 2.00622647e+01] [ 4.91231624e-03 9.99980110e-01 -3.95577175e-03 -7.82216630e-01] [-1.00557819e-01 4.42974170e-03 9.94921355e-01 -2.20274696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942401007999997 meters 0.06276781123110377 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.79, Z:-2.21 [[ 9.94937044e-01 -7.39578458e-03 1.00227649e-01 2.01227638e+01] [ 7.83033711e-03 9.99961569e-01 -3.94294496e-03 -7.86159981e-01] [-1.00194636e-01 4.70779828e-03 9.94956718e-01 -2.20974348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002401008 meters 0.06117426215330791 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.78, Z:-2.22 [[ 9.95265481e-01 -5.57329061e-04 9.71921405e-02 2.01832440e+01] [ 9.33520531e-04 9.99992248e-01 -3.82516547e-03 -7.77709355e-01] [-9.71892552e-02 3.89778600e-03 9.95258286e-01 -2.21594748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062401008 meters 0.05967550633271944 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.77, Z:-2.22 [[ 9.95301806e-01 7.21312435e-03 9.65519844e-02 2.02439717e+01] [-6.87821248e-03 9.99969120e-01 -3.80110580e-03 -7.66087170e-01] [-9.65764207e-02 3.11914241e-03 9.95320685e-01 -2.22464646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122401007999997 meters 0.05857557711216628 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.76, Z:-2.23 [[ 9.95347162e-01 1.62065168e-02 9.49809270e-02 2.03042689e+01] [-1.59232616e-02 9.99866224e-01 -3.73944065e-03 -7.55936484e-01] [-9.50288241e-02 2.20963549e-03 9.95472069e-01 -2.23416048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008 meters 0.05758189096302031 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.74, Z:-2.24 [[ 9.95043609e-01 2.63846908e-02 9.58752578e-02 2.03638378e+01] [-2.61428716e-02 9.99651079e-01 -3.77769312e-03 -7.44836119e-01] [-9.59414782e-02 1.25251484e-03 9.95386188e-01 -2.24010011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401007999998 meters 0.05712709517438931 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.74, Z:-2.24 [[ 9.94735626e-01 2.92146347e-02 9.82218892e-02 2.04261071e+01] [-2.89750900e-02 9.99572663e-01 -3.86467760e-03 -7.42663521e-01] [-9.82928205e-02 9.98344416e-04 9.95157035e-01 -2.24300491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters 0.057282215258401006 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.74, Z:-2.25 [[ 9.94589777e-01 2.90787348e-02 9.97276445e-02 2.04871851e+01] [-2.88287244e-02 9.99576572e-01 -3.94742575e-03 -7.41722331e-01] [-9.98002031e-02 1.05104852e-03 9.95006942e-01 -2.24965845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008 meters 0.057256154665507236 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.74, Z:-2.26 [[ 9.94626217e-01 2.83439552e-02 9.95756448e-02 2.05491348e+01] [-2.80889886e-02 9.99597575e-01 -3.96185733e-03 -7.42337787e-01] [-9.96478678e-02 1.14358802e-03 9.95022108e-01 -2.25631441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401007999998 meters 0.05739204509808049 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.74, Z:-2.26 [[ 9.94731392e-01 2.79925413e-02 9.86198566e-02 2.06104831e+01] [-2.77384722e-02 9.99607423e-01 -3.94670015e-03 -7.44715102e-01] [-9.86916189e-02 1.19034238e-03 9.95117354e-01 -2.26322152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters 0.057662727385212977 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.75, Z:-2.27 [[ 9.94885292e-01 2.81995720e-02 9.69950530e-02 2.06714325e+01] [-2.79526163e-02 9.99601625e-01 -3.90423234e-03 -7.46008055e-01] [-9.70665102e-02 1.17299784e-03 9.95277206e-01 -2.27379322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008 meters 0.05775783717127253 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.74, Z:-2.28 [[ 9.95072944e-01 3.16314889e-02 9.39642708e-02 2.07325588e+01] [-3.14130571e-02 9.99499252e-01 -3.80321480e-03 -7.43417205e-01] [-9.40375197e-02 8.32771149e-04 9.95568306e-01 -2.28451467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401007999998 meters 0.05786690991759982 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.74, Z:-2.29 [[ 9.94989352e-01 3.43497230e-02 9.38950795e-02 2.07934748e+01] [-3.41414249e-02 9.99409694e-01 -3.82439599e-03 -7.43068732e-01] [-9.39710197e-02 5.99521481e-04 9.95574753e-01 -2.29268594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters 0.058039729738315504 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.74, Z:-2.30 [[ 9.94857061e-01 3.74825126e-02 9.40982968e-02 2.08554612e+01] [-3.72862888e-02 9.99297234e-01 -3.84325197e-03 -7.44506542e-01] [-9.41762225e-02 3.14910088e-04 9.95555493e-01 -2.29795751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008 meters 0.0581382534541344 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.75, Z:-2.31 [[ 9.94751505e-01 3.87588109e-02 9.46952886e-02 2.09170086e+01] [-3.85637546e-02 9.99248571e-01 -3.88966988e-03 -7.46589236e-01] [-9.47748908e-02 2.17449089e-04 9.95498706e-01 -2.30599297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401007999997 meters 0.05837953560366312 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.75, Z:-2.31 [[ 9.94708703e-01 3.73475274e-02 9.57066286e-02 2.09783540e+01] [-3.71395323e-02 9.99302266e-01 -3.95430131e-03 -7.52214784e-01] [-9.57875342e-02 3.78878501e-04 9.95401730e-01 -2.31353046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008 meters 0.058928721574781975 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.76, Z:-2.32 [[ 9.94841401e-01 3.30206788e-02 9.59177859e-02 2.10385159e+01] [-3.27894153e-02 9.99454331e-01 -3.98667100e-03 -7.63498029e-01] [-9.59970892e-02 8.21017242e-04 9.95381276e-01 -2.32095634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902401008 meters 0.06011705484308835 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.78, Z:-2.33 [[ 9.95059148e-01 2.08723675e-02 9.70651170e-02 2.10983945e+01] [-2.05754727e-02 9.99780064e-01 -4.05876649e-03 -7.81530567e-01] [-9.71284849e-02 2.04155207e-03 9.95269757e-01 -2.32500633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962401008 meters 0.06159159535090113 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.79, Z:-2.33 [[ 9.95268749e-01 1.11739729e-02 9.65155918e-02 2.11586894e+01] [-1.08348132e-02 9.99933151e-01 -4.03742935e-03 -7.93482368e-01] [-9.65542539e-02 2.97259884e-03 9.95323284e-01 -2.33243708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022401008 meters 0.06450710347622139 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.81, Z:-2.34 [[ 9.95526844e-01 -1.35540151e-03 9.44693896e-02 2.12178061e+01] [ 1.73662164e-03 9.99990678e-01 -3.95328671e-03 -8.10786865e-01] [-9.44631507e-02 4.09966063e-03 9.95519917e-01 -2.34009987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082401007999998 meters 0.06536231625826015 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.82, Z:-2.35 [[ 9.95455081e-01 -5.81552584e-03 9.50545173e-02 2.12778208e+01] [ 6.22165919e-03 9.99972738e-01 -3.97682272e-03 -8.16748843e-01] [-9.50287986e-02 4.55014519e-03 9.95464125e-01 -2.34666035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142401008 meters 0.06573263101968624 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.82, Z:-2.35 [[ 9.95477504e-01 -6.07284300e-03 9.48032701e-02 2.13388672e+01] [ 6.47778826e-03 9.99971161e-01 -3.96425799e-03 -8.18744030e-01] [-9.47764617e-02 4.56044516e-03 9.95488134e-01 -2.35470278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202401008 meters 0.06562916842109895 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.82, Z:-2.36 [[ 9.95571941e-01 -2.10284194e-03 9.39791907e-02 2.13981037e+01] [ 2.48533027e-03 9.99989098e-01 -3.95306729e-03 -8.16581135e-01] [-9.39698535e-02 4.16913220e-03 9.95566314e-01 -2.36341810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262401007999998 meters 0.06331711870499046 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.80, Z:-2.37 [[ 9.95435564e-01 5.72781095e-03 9.52640003e-02 2.14589898e+01] [-5.37046018e-03 9.99977550e-01 -4.00713075e-03 -8.03355567e-01] [-9.52848137e-02 3.47722894e-03 9.95443978e-01 -2.36854216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322401008 meters 0.06046746661073248 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.79, Z:-2.37 [[ 9.95218960e-01 1.28797172e-02 9.68159817e-02 2.15202089e+01] [-1.25443208e-02 9.99913025e-01 -4.07217009e-03 -7.90356313e-01] [-9.68600096e-02 2.83821015e-03 9.95293968e-01 -2.37314364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382401008 meters 0.05961464542926745 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.78, Z:-2.38 [[ 9.95196024e-01 1.95350572e-02 9.59335989e-02 2.15807729e+01] [-1.92365238e-02 9.99806815e-01 -4.03582662e-03 -7.81984249e-01] [-9.59939061e-02 2.17100965e-03 9.95379554e-01 -2.38072277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401007999997 meters 0.05924299854022468 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.78, Z:-2.39 [[ 9.95332879e-01 2.19013314e-02 9.39829297e-02 2.16420626e+01] [-2.16258187e-02 9.99758335e-01 -3.94912349e-03 -7.78121910e-01] [-9.40467084e-02 1.89823465e-03 9.95565976e-01 -2.38838682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502401008 meters 0.060037912020163016 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.78, Z:-2.40 [[ 9.95348098e-01 2.09449558e-02 9.40397433e-02 2.17020615e+01] [-2.06625480e-02 9.99778601e-01 -3.97588027e-03 -7.81167025e-01] [-9.41021976e-02 2.01428416e-03 9.95560505e-01 -2.39797690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562401008 meters 0.05974463665976073 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.78, Z:-2.41 [[ 9.95402322e-01 2.36479576e-02 9.28169836e-02 2.17639984e+01] [-2.33836897e-02 9.99718824e-01 -3.93386368e-03 -7.79048308e-01] [-9.28839136e-02 1.74537350e-03 9.95675415e-01 -2.40699729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622401007999997 meters 0.05890074592108265 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.77, Z:-2.41 [[ 9.95400976e-01 2.97125466e-02 9.10717398e-02 2.18257613e+01] [-2.94817038e-02 9.99557792e-01 -3.87925836e-03 -7.71830378e-01] [-9.11467298e-02 1.17646751e-03 9.95836779e-01 -2.41398766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682401008 meters 0.058459976347720204 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.77, Z:-2.42 [[ 9.95288011e-01 3.34852332e-02 9.09973347e-02 2.18880572e+01] [-3.32685968e-02 9.99438850e-01 -3.89689920e-03 -7.70330138e-01] [-9.10767602e-02 8.51183408e-04 9.95843511e-01 -2.41858457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742401007999998 meters 0.058478172020891867 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.77, Z:-2.43 [[ 9.95121651e-01 3.57594797e-02 9.19465016e-02 2.19498736e+01] [-3.55459427e-02 9.99360199e-01 -3.95951480e-03 -7.70676202e-01] [-9.20292644e-02 6.71873830e-04 9.95756076e-01 -2.42561654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802401008 meters 0.058459676460340636 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.77, Z:-2.43 [[ 9.95095461e-01 3.49983252e-02 9.25210269e-02 2.20116228e+01] [-3.47768509e-02 9.99387076e-01 -4.00543933e-03 -7.74792574e-01] [-9.26045021e-02 7.68204540e-04 9.95702675e-01 -2.43378873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862401008 meters 0.05844380140397656 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.78, Z:-2.44 [[ 9.94791359e-01 3.54821606e-02 9.55571517e-02 2.20719168e+01] [-3.52454308e-02 9.99370009e-01 -4.16459879e-03 -7.80211794e-01] [-9.56447206e-02 7.74953909e-04 9.95415233e-01 -2.43949639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922401007999998 meters 0.05832812410669509 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.78, Z:-2.45 [[ 9.94714623e-01 3.74701552e-02 9.55971065e-02 2.21330469e+01] [-3.72404331e-02 9.99297564e-01 -4.18664828e-03 -7.83711422e-01] [-9.56868300e-02 6.04442612e-04 9.95411305e-01 -2.44622712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982401008 meters 0.058538171449754164 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.79, Z:-2.46 [[ 9.94834310e-01 4.22764094e-02 9.22897666e-02 2.21945062e+01] [-4.20811384e-02 9.99105941e-01 -4.06168022e-03 -7.86043871e-01] [-9.23789673e-02 1.57040406e-04 9.95723908e-01 -2.45562394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042401008 meters 0.058954952116701334 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.79, Z:-2.47 [[ 9.94988685e-01 4.50831895e-02 8.92469734e-02 2.22554338e+01] [-4.49101181e-02 9.98983233e-01 -3.94737177e-03 -7.87813583e-01] [-8.93341901e-02 -8.05018648e-05 9.96001705e-01 -2.46765137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102401007999998 meters 0.05916078673937494 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.80, Z:-2.47 [[ 9.95370513e-01 4.22505519e-02 8.63274754e-02 2.23161903e+01] [-4.20764408e-02 9.99107029e-01 -3.83626364e-03 -8.00390167e-01] [-8.64124717e-02 1.86150802e-04 9.96259429e-01 -2.47292356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162401008 meters 0.05928713448204072 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.81, Z:-2.48 [[ 9.95503202e-01 3.78243196e-02 8.68486891e-02 2.23773413e+01] [-3.76296527e-02 9.99284229e-01 -3.87808188e-03 -8.12134620e-01] [-8.69332111e-02 5.92556930e-04 9.96213966e-01 -2.47900972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222401008 meters 0.059944135433031426 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.83, Z:-2.48 [[ 9.95658404e-01 2.70953656e-02 8.90515757e-02 2.24388167e+01] [-2.68453377e-02 9.99631578e-01 -4.00438657e-03 -8.28879962e-01] [-8.91272675e-02 1.59638151e-03 9.96018967e-01 -2.48365598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282401007999997 meters 0.06129516778332707 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.84, Z:-2.49 [[ 9.95718899e-01 1.86927042e-02 9.05232400e-02 2.24983902e+01] [-1.83990112e-02 9.99822408e-01 -4.07786256e-03 -8.44244240e-01] [-9.05833900e-02 2.39486671e-03 9.95885995e-01 -2.48776467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342401008 meters 0.06214525004096091 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.85, Z:-2.49 [[ 9.95748499e-01 9.89932410e-03 9.15801809e-02 2.25586344e+01] [-9.56147711e-03 9.99945771e-01 -4.12710243e-03 -8.54018632e-01] [-9.16160701e-02 3.23391425e-03 9.95789153e-01 -2.49090864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402401008 meters 0.0627998694509651 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.86, Z:-2.50 [[ 9.95871904e-01 7.29505698e-03 9.04761507e-02 2.26193143e+01] [-6.95458556e-03 9.99967502e-01 -4.07779889e-03 -8.58721015e-01] [-9.05029582e-02 3.43174121e-03 9.95890274e-01 -2.49748577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462401008 meters 0.06291562517133951 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.86, Z:-2.51 [[ 9.95795524e-01 5.15964444e-03 9.14584689e-02 2.26805146e+01] [-4.80283105e-03 9.99979975e-01 -4.12103393e-03 -8.57217852e-01] [-9.14779005e-02 3.66444757e-03 9.95800364e-01 -2.50504101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522401008 meters 0.06420191887330014 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.86, Z:-2.51 [[ 9.95907840e-01 2.74228396e-03 9.03330132e-02 2.27408109e+01] [-2.38214455e-03 9.99988781e-01 -4.09436976e-03 -8.59905126e-01] [-9.03432276e-02 3.86242865e-03 9.95903200e-01 -2.51038066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582401007999998 meters 0.06374410218634424 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.86, Z:-2.52 [[ 9.95859326e-01 -2.10518236e-04 9.09074154e-02 2.28020224e+01] [ 5.87626431e-04 9.99991334e-01 -4.12152132e-03 -8.56219302e-01] [-9.09057599e-02 4.15787505e-03 9.95850820e-01 -2.51608660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642401008 meters 0.06650678606497937 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.86, Z:-2.53 [[ 9.96265022e-01 -7.57185074e-03 8.60155434e-02 2.28606921e+01] [ 7.93688057e-03 9.99960887e-01 -3.90257275e-03 -8.59055756e-01] [-8.59826294e-02 4.57069183e-03 9.96286152e-01 -2.52717328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702401008 meters 0.06724267045725764 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.86, Z:-2.54 [[ 9.96471395e-01 -1.18009662e-02 8.30993184e-02 2.29215823e+01] [ 1.21564057e-02 9.99918991e-01 -3.77259776e-03 -8.58963860e-01] [-8.30480663e-02 4.76947478e-03 9.96534129e-01 -2.53571244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762401007999998 meters 0.06799934143173682 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.85, Z:-2.54 [[ 9.96563477e-01 -1.45092626e-02 8.15519363e-02 2.29821493e+01] [ 1.48607403e-02 9.99882711e-01 -3.70451284e-03 -8.54433378e-01] [-8.14886214e-02 4.90370435e-03 9.96662209e-01 -2.54321590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822401008 meters 0.06763192468424463 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.85, Z:-2.55 [[ 9.96585827e-01 -1.55668974e-02 8.10824307e-02 2.30442249e+01] [ 1.59177754e-02 9.99866522e-01 -3.68279333e-03 -8.49594792e-01] [-8.10142783e-02 4.96087156e-03 9.96700595e-01 -2.54857851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882401008 meters 0.06819997565624988 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.85, Z:-2.55 [[ 9.96579288e-01 -1.58647750e-02 8.11050708e-02 2.31058508e+01] [ 1.62168363e-02 9.99861712e-01 -3.68388844e-03 -8.47971495e-01] [-8.10354109e-02 4.98655458e-03 9.96698749e-01 -2.55369257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942401007999997 meters 0.0686065377743853 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.84, Z:-2.56 [[ 9.96460918e-01 -1.53097129e-02 8.26513870e-02 2.31670110e+01] [ 1.56756256e-02 9.99869985e-01 -3.78004388e-03 -8.38533039e-01] [-8.25827697e-02 5.06227819e-03 9.96571352e-01 -2.55908165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002401008 meters 0.06868338429956641 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.83, Z:-2.56 [[ 9.96377831e-01 -1.59797135e-02 8.35216545e-02 2.32295519e+01] [ 1.63554837e-02 9.99858955e-01 -3.81675542e-03 -8.28724631e-01] [-8.34488836e-02 5.16896754e-03 9.96498653e-01 -2.56290781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062401008 meters 0.06983293004456721 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.83, Z:-2.57 [[ 9.96344013e-01 -1.66754091e-02 8.37886537e-02 2.32901470e+01] [ 1.70577046e-02 9.99847099e-01 -3.84876086e-03 -8.28920645e-01] [-8.37116627e-02 5.26393195e-03 9.96476115e-01 -2.57099819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122401007999997 meters 0.07207034451523049 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.83, Z:-2.58 [[ 9.96336044e-01 -1.85747795e-02 8.34833214e-02 2.33496379e+01] [ 1.89628909e-02 9.99812743e-01 -3.85838145e-03 -8.25006398e-01] [-8.33960200e-02 5.42732962e-03 9.96501705e-01 -2.58150999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182401008 meters 0.0687937647752205 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.81, Z:-2.59 [[ 9.96465314e-01 -2.24555169e-02 8.09483057e-02 2.34109071e+01] [ 2.28329587e-02 9.99732298e-01 -3.73999031e-03 -8.05438033e-01] [-8.08426523e-02 5.57505995e-03 9.96711284e-01 -2.58749416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242401007999998 meters 0.07028014971283589 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.80, Z:-2.59 [[ 9.96378418e-01 -2.66240835e-02 8.07539870e-02 2.34708858e+01] [ 2.70136836e-02 9.99628084e-01 -3.73566423e-03 -8.02298385e-01] [-8.06244946e-02 5.90359787e-03 9.96727063e-01 -2.59431742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302401008 meters 0.06869510603075972 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.79, Z:-2.59 [[ 9.96124156e-01 -3.16418429e-02 8.20698510e-02 2.35326778e+01] [ 3.20610628e-02 9.99478707e-01 -3.79494934e-03 -7.87303023e-01] [-8.19069894e-02 6.41148735e-03 9.96619355e-01 -2.59496075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362401008 meters 0.07082062870355534 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.78, Z:-2.60 [[ 9.96036965e-01 -3.11155086e-02 8.33198042e-02 2.35936541e+01] [ 3.15453344e-02 9.99494919e-01 -3.84694175e-03 -7.75344846e-01] [-8.31580214e-02 6.46004727e-03 9.96515435e-01 -2.60134612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422401007999998 meters 0.06868614484996821 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.76, Z:-2.60 [[ 9.96023535e-01 -2.86736107e-02 8.43501136e-02 2.36552729e+01] [ 2.91075927e-02 9.99568600e-01 -3.91945522e-03 -7.60944183e-01] [-8.42013400e-02 6.35909839e-03 9.96428470e-01 -2.60460476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482401008 meters 0.06769467099940028 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.75, Z:-2.61 [[ 9.96006674e-01 -2.72475986e-02 8.50192597e-02 2.37173925e+01] [ 2.76834045e-02 9.99608933e-01 -3.95101753e-03 -7.45593034e-01] [-8.48783557e-02 6.28886238e-03 9.96371474e-01 -2.61092019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542401008 meters 0.06809298905417785 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.73, Z:-2.62 [[ 9.96133995e-01 -2.75751008e-02 8.34067037e-02 2.37800274e+01] [ 2.79959204e-02 9.99600508e-01 -3.87982354e-03 -7.27502734e-01] [-8.32663968e-02 6.19987156e-03 9.96508037e-01 -2.61844996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602401007999998 meters 0.0698203362893686 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.72, Z:-2.62 [[ 9.96037481e-01 -3.16677754e-02 8.31052858e-02 2.38413177e+01] [ 3.21003229e-02 9.99477146e-01 -3.87348374e-03 -7.19165349e-01] [-8.29391693e-02 6.52584150e-03 9.96533245e-01 -2.62368788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662401008 meters 0.07138947980662537 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.70, Z:-2.63 [[ 9.95996699e-01 -4.13881309e-02 7.92312989e-02 2.39033599e+01] [ 4.18116746e-02 9.99118683e-01 -3.69342729e-03 -7.01045633e-01] [-7.90086070e-02 6.99143467e-03 9.96849417e-01 -2.62526071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722401008 meters 0.07370695390324636 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.69, Z:-2.63 [[ 9.95912993e-01 -4.65372101e-02 7.74054149e-02 2.39651134e+01] [ 4.69568387e-02 9.98890400e-01 -3.60896437e-03 -6.90295838e-01] [-7.71515747e-02 7.22892809e-03 9.96993168e-01 -2.62738008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401007999997 meters 0.07541509910176723 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.67, Z:-2.63 [[ 9.95955671e-01 -4.78845861e-02 7.60221555e-02 2.40256105e+01] [ 4.82932261e-02 9.98826911e-01 -3.54500820e-03 -6.69920265e-01] [-7.57632235e-02 7.20202616e-03 9.97099827e-01 -2.63248462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008 meters 0.07192994862652871 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.65, Z:-2.64 [[ 9.95958389e-01 -4.60588462e-02 7.71068739e-02 2.40869984e+01] [ 4.64738559e-02 9.98913035e-01 -3.59558998e-03 -6.46789120e-01] [-7.68574527e-02 7.16451175e-03 9.97016350e-01 -2.63808510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902401008 meters 0.0963095023096078 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.66, Z:-2.66 [[ 9.95815947e-01 -4.47351943e-02 7.96828907e-02 2.41439622e+01] [ 4.51743635e-02 9.98972204e-01 -3.71642996e-03 -6.56973557e-01] [-7.94347377e-02 7.30050409e-03 9.96813335e-01 -2.65986560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962401008 meters 0.09868422420557517 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.63, Z:-2.66 [[ 9.95588690e-01 -4.54882457e-02 8.20608257e-02 2.42067059e+01] [ 4.59561788e-02 9.98936147e-01 -3.82154421e-03 -6.32754164e-01] [-8.17996897e-02 7.57588818e-03 9.96619996e-01 -2.66493800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022401008 meters 0.09145338456196991 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.60, Z:-2.67 [[ 9.95369962e-01 -4.60522548e-02 8.43672220e-02 2.42717455e+01] [ 4.65496778e-02 9.98908217e-01 -3.93725592e-03 -6.03872326e-01] [-8.40937917e-02 7.84629328e-03 9.96426952e-01 -2.66600444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082401007999998 meters 0.09275084827535528 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.58, Z:-2.68 [[ 9.95595859e-01 -4.44712064e-02 8.25299828e-02 2.43338894e+01] [ 4.49428200e-02 9.98982086e-01 -3.86461827e-03 -5.75008003e-01] [-8.22741102e-02 7.55672811e-03 9.96581089e-01 -2.67619373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142401008 meters 0.0970389085467919 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.56, Z:-2.69 [[ 9.95858261e-01 -4.37927682e-02 7.96775890e-02 2.43947972e+01] [ 4.42304851e-02 9.99014367e-01 -3.73617430e-03 -5.61515226e-01] [-7.94354387e-02 7.24487845e-03 9.96813685e-01 -2.68925594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202401008 meters 0.09676348081418894 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.53, Z:-2.70 [[ 9.96205606e-01 -4.19863920e-02 7.62334170e-02 2.44575189e+01] [ 4.23820226e-02 9.99095069e-01 -3.57863057e-03 -5.34211975e-01] [-7.60141773e-02 6.79597823e-03 9.97083577e-01 -2.69898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262401007999998 meters 0.09411217711234938 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.50, Z:-2.71 [[ 9.96384632e-01 -3.56870787e-02 7.70979751e-02 2.45180240e+01] [ 3.60738420e-02 9.99342537e-01 -3.62922639e-03 -5.02682028e-01] [-7.69177695e-02 6.39732558e-03 9.97016916e-01 -2.70666777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322401008 meters 0.08835976359661614 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.48, Z:-2.71 [[ 9.96406045e-01 -2.89917056e-02 7.95894154e-02 2.45797749e+01] [ 2.93826780e-02 9.99561219e-01 -3.74539016e-03 -4.79439128e-01] [-7.94459079e-02 6.07047956e-03 9.96820695e-01 -2.71065339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382401008 meters 0.08244257636995561 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.45, Z:-2.71 [[ 9.96545289e-01 -1.89927197e-02 8.08502490e-02 2.46412978e+01] [ 1.93635732e-02 9.99805267e-01 -3.80526337e-03 -4.50929420e-01] [-8.07622324e-02 5.35766700e-03 9.96718996e-01 -2.71479809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442401007999997 meters 0.08013476870453597 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.44, Z:-2.72 [[ 9.96669033e-01 -1.45301747e-02 8.02478257e-02 2.47020100e+01] [ 1.48810955e-02 9.99882138e-01 -3.77661253e-03 -4.37421678e-01] [-8.01834927e-02 4.95820832e-03 9.96767788e-01 -2.72218536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502401008 meters 0.07824622177647897 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.42, Z:-2.73 [[ 9.96915299e-01 -9.45162106e-03 7.79137627e-02 2.47626037e+01] [ 9.76692443e-03 9.99945580e-01 -3.66674222e-03 -4.18322759e-01] [-7.78748660e-02 4.41640924e-03 9.96953359e-01 -2.73388265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562401008 meters 0.07733876934719028 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.41, Z:-2.74 [[ 9.97023581e-01 -6.62565237e-03 7.68119780e-02 2.48241656e+01] [ 6.92355618e-03 9.99969506e-01 -3.61269752e-03 -4.12005291e-01] [-7.67856992e-02 4.13375666e-03 9.97039051e-01 -2.74218326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622401007999997 meters 0.07615221091478751 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.40, Z:-2.75 [[ 9.96887215e-01 -2.94516593e-03 7.87858257e-02 2.48837655e+01] [ 3.24774006e-03 9.99987834e-01 -3.71260235e-03 -4.03848218e-01] [-7.87739329e-02 3.95692170e-03 9.96884652e-01 -2.74836847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682401008 meters 0.07509731019805004 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.40, Z:-2.76 [[ 9.97057366e-01 3.59471213e-04 7.66582061e-02 2.49460337e+01] [-8.30961738e-05 9.99993486e-01 -3.60844890e-03 -4.00432661e-01] [-7.66590039e-02 3.59146055e-03 9.97050901e-01 -2.75834246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742401007999998 meters 0.07529870895892644 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.40, Z:-2.77 [[ 9.97169448e-01 2.97302781e-03 7.51282461e-02 2.50067040e+01] [-2.71463325e-03 9.99990045e-01 -3.54126287e-03 -3.98383794e-01] [-7.51380265e-02 3.32729351e-03 9.97167592e-01 -2.76937765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802401008 meters 0.07005097219331956 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.39, Z:-2.76 [[ 9.96925308e-01 1.16516455e-03 7.83490445e-02 2.50702767e+01] [-8.77929047e-04 9.99992768e-01 -3.70044638e-03 -3.93868221e-01] [-7.83527895e-02 3.62028375e-03 9.96919121e-01 -2.76479357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862401008 meters 0.07706239721092438 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.41, Z:-2.77 [[ 9.96719081e-01 -3.27109482e-03 8.08725759e-02 2.51298738e+01] [ 3.59422408e-03 9.99986128e-01 -3.85028263e-03 -4.12567540e-01] [-8.08588595e-02 4.12832432e-03 9.96717012e-01 -2.77448265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922401007999998 meters 0.08413255819383038 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.43, Z:-2.79 [[ 9.96672012e-01 -5.60386142e-03 8.13234062e-02 2.51887899e+01] [ 5.93950532e-03 9.99974811e-01 -3.88594716e-03 -4.32414229e-01] [-8.12995814e-02 4.35603558e-03 9.96680191e-01 -2.78543604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982401008 meters 0.07513101265811825 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.42, Z:-2.78 [[ 9.96590805e-01 -5.60880073e-03 8.23122680e-02 2.52524465e+01] [ 5.95232091e-03 9.99974568e-01 -3.92857840e-03 -4.22950755e-01] [-8.22881400e-02 4.40513414e-03 9.96598844e-01 -2.78259208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042401008 meters 0.08306742887959458 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.44, Z:-2.80 [[ 9.96427383e-01 -2.35514482e-03 8.44211147e-02 2.53100733e+01] [ 2.70776467e-03 9.99988081e-01 -4.06265797e-03 -4.39729045e-01] [-8.44105403e-02 4.27673615e-03 9.96421884e-01 -2.79760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102401007999998 meters 0.08154841805473288 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.44, Z:-2.81 [[ 9.96460265e-01 1.08327581e-03 8.40581161e-02 2.53699301e+01] [-7.45923782e-04 9.99991542e-01 -4.04462119e-03 -4.44171338e-01] [-8.40617866e-02 3.96760336e-03 9.96452645e-01 -2.80695989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162401008 meters 0.06840353679072993 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.43, Z:-2.80 [[ 9.96658959e-01 4.68700048e-03 8.15411046e-02 2.54337869e+01] [-4.38226376e-03 9.99982731e-01 -3.91578104e-03 -4.27811263e-01] [-8.15580497e-02 3.54536363e-03 9.96662287e-01 -2.80300420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222401008 meters 0.07055410722855918 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.44, Z:-2.82 [[ 9.96803152e-01 9.20153752e-03 7.93650330e-02 2.54921041e+01] [-8.92451087e-03 9.99952785e-01 -3.84454587e-03 -4.38683285e-01] [-7.93966616e-02 3.12396134e-03 9.96838207e-01 -2.81965662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282401007999997 meters 0.06761438568137114 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.45, Z:-2.83 [[ 9.96912871e-01 1.30677679e-02 7.74206718e-02 2.55537647e+01] [-1.28164559e-02 9.99910864e-01 -3.74206513e-03 -4.46918985e-01] [-7.74626713e-02 2.73825427e-03 9.96991493e-01 -2.82500121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342401008 meters 0.06632685593254822 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.45, Z:-2.83 [[ 9.96808936e-01 1.72997912e-02 7.79272883e-02 2.56134148e+01] [-1.70554820e-02 9.99847325e-01 -3.79960796e-03 -4.53626031e-01] [-7.79811232e-02 2.45839571e-03 9.96951805e-01 -2.83264593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402401008 meters 0.06353424011538412 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.45, Z:-2.84 [[ 9.96650359e-01 2.80333821e-02 7.68257234e-02 2.56727071e+01] [-2.78275782e-02 9.99605710e-01 -3.74826398e-03 -4.54670285e-01] [-7.69005084e-02 1.59783481e-03 9.97037491e-01 -2.84177053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462401007999997 meters 0.0618312149761977 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.46, Z:-2.85 [[ 9.96414278e-01 3.58179344e-02 7.66528670e-02 2.57333226e+01] [-3.56361611e-02 9.99357838e-01 -3.73833016e-03 -4.57097908e-01] [-7.67375428e-02 9.93311622e-04 9.97050833e-01 -2.84829296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522401008 meters 0.05993234071367004 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.47, Z:-2.85 [[ 9.95946770e-01 4.38469759e-02 7.85332642e-02 2.57948917e+01] [-4.36808696e-02 9.99038184e-01 -3.83254358e-03 -4.65023799e-01] [-7.86257751e-02 3.86608123e-04 9.96904127e-01 -2.84999555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582401007999998 meters 0.060161700786019824 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.48, Z:-2.86 [[ 9.95909160e-01 4.60440553e-02 7.77488867e-02 2.58545876e+01] [-4.58881300e-02 9.98939388e-01 -3.79184038e-03 -4.76501632e-01] [-7.78410170e-02 2.08577546e-04 9.96965763e-01 -2.86048008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters 0.05938786254470946 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.50, Z:-2.86 [[ 9.95658029e-01 4.50022235e-02 8.14855126e-02 2.59154041e+01] [-4.48250704e-02 9.98986831e-01 -4.00301098e-03 -5.02977521e-01] [-8.15830985e-02 3.33036183e-04 9.96666487e-01 -2.86079333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008 meters 0.05897201796721043 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.52, Z:-2.87 [[ 9.95508268e-01 4.53616297e-02 8.31000037e-02 2.59767282e+01] [-4.51784893e-02 9.98970583e-01 -4.08392315e-03 -5.20454497e-01] [-8.31997125e-02 3.11246640e-04 9.96532845e-01 -2.86524914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401007999998 meters 0.057813953247449285 Centerline is valid? [True, True] Translation: X:26.04, Y:-0.54, Z:-2.86 [[ 9.95275881e-01 4.96947678e-02 8.34047427e-02 2.60386810e+01] [-4.95234254e-02 9.98764451e-01 -4.12322654e-03 -5.40215190e-01] [-8.35065949e-02 -2.67406277e-05 9.96507224e-01 -2.86463026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008 meters 0.0580531549586484 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.57, Z:-2.87 [[ 9.95095889e-01 5.66759527e-02 8.10679225e-02 2.60984734e+01] [-5.65352518e-02 9.98392463e-01 -4.03177194e-03 -5.65779986e-01] [-8.11661074e-02 -5.71195731e-04 9.96700425e-01 -2.87262395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008 meters 0.058193930457585225 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.58, Z:-2.88 [[ 9.94881343e-01 5.99924333e-02 8.13143398e-02 2.61578153e+01] [-5.98604430e-02 9.98198490e-01 -4.06224017e-03 -5.84075262e-01] [-8.14115549e-02 -8.26065451e-04 9.96680228e-01 -2.88051190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401007999997 meters 0.058377783503422064 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.60, Z:-2.89 [[ 9.94829947e-01 6.13828364e-02 8.09044121e-02 2.62186168e+01] [-6.12553785e-02 9.98113874e-01 -4.05881081e-03 -6.02213295e-01] [-8.10009575e-02 -9.18003837e-04 9.96713601e-01 -2.89043140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008 meters 0.058327057195816025 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.63, Z:-2.90 [[ 9.94946328e-01 6.02806178e-02 8.02997594e-02 2.62794923e+01] [-6.01500842e-02 9.98181146e-01 -4.04572589e-03 -6.33790571e-01] [-8.03975847e-02 -8.04757168e-04 9.96762550e-01 -2.89591944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008 meters 0.058288561851724326 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.66, Z:-2.90 [[ 9.94913751e-01 5.82191398e-02 8.22019496e-02 2.63402701e+01] [-5.80732938e-02 9.98303629e-01 -4.16608156e-03 -6.57445783e-01] [-8.23050504e-02 -6.28846140e-04 9.96606985e-01 -2.90198545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401007999997 meters 0.05857730476303386 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.69, Z:-2.91 [[ 9.94897011e-01 5.69485567e-02 8.32874517e-02 2.63997130e+01] [-5.67926617e-02 9.98376984e-01 -4.24168134e-03 -6.88856446e-01] [-8.33938325e-02 -5.10079983e-04 9.96516537e-01 -2.91011936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008 meters 0.0583076783464338 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.71, Z:-2.92 [[ 9.94670098e-01 6.04384405e-02 8.35379587e-02 2.64605448e+01] [-6.02924111e-02 9.98171616e-01 -4.27203738e-03 -7.10803382e-01] [-8.36434145e-02 -7.87437109e-04 9.96495439e-01 -2.91542160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401007999998 meters 0.058233546799515694 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.73, Z:-2.92 [[ 9.94647049e-01 6.44975161e-02 8.07299064e-02 2.65203493e+01] [-6.43724590e-02 9.97917299e-01 -4.15348726e-03 -7.25740231e-01] [-8.08296598e-02 -1.06552874e-03 9.96727360e-01 -2.92026702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters 0.05862921117677681 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.75, Z:-2.93 [[ 9.94472109e-01 6.82997389e-02 7.97519234e-02 2.65793497e+01] [-6.81903529e-02 9.97663915e-01 -4.09746598e-03 -7.49631617e-01] [-7.98454719e-02 -1.36349617e-03 9.96806321e-01 -2.93114578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008 meters 0.0583890819896327 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.77, Z:-2.94 [[ 9.94410071e-01 6.86042455e-02 8.02624926e-02 2.66399300e+01] [-6.84929996e-02 9.97643000e-01 -4.14161981e-03 -7.67915407e-01] [-8.03574466e-02 -1.37895042e-03 9.96765158e-01 -2.93855401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401007999998 meters 0.058277878429047136 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.79, Z:-2.95 [[ 9.94437386e-01 6.83974083e-02 8.01004374e-02 2.67016929e+01] [-6.82844654e-02 9.97657254e-01 -4.15160351e-03 -7.85826468e-01] [-8.01967413e-02 -1.34110580e-03 9.96778152e-01 -2.94844740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters 0.05818388644914148 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.82, Z:-2.96 [[ 9.94513878e-01 6.60309492e-02 8.11298940e-02 2.67608519e+01] [-6.59051964e-02 9.97816924e-01 -4.22983517e-03 -8.16412153e-01] [-8.12320813e-02 -1.14025182e-03 9.96694561e-01 -2.95784908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008 meters 0.05747389185682897 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.84, Z:-2.96 [[ 9.94219168e-01 6.36219786e-02 8.64898263e-02 2.68205297e+01] [-6.34676101e-02 9.97973589e-01 -4.53625389e-03 -8.39773409e-01] [-8.66031678e-02 -9.79272011e-04 9.96242406e-01 -2.95896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401007999998 meters 0.057050307611283754 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.87, Z:-2.96 [[ 9.93976446e-01 6.02956858e-02 9.15164200e-02 2.68789029e+01] [-6.01089162e-02 9.98180292e-01 -4.79824666e-03 -8.65972268e-01] [-9.16392004e-02 -7.31608657e-04 9.95792007e-01 -2.96349099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008 meters 0.057269716480321156 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.88, Z:-2.97 [[ 9.93884988e-01 6.04043390e-02 9.24334739e-02 2.69399831e+01] [-6.02139309e-02 9.98173712e-01 -4.84998841e-03 -8.82288687e-01] [-9.25576241e-02 -7.45452146e-04 9.95707051e-01 -2.97138725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008 meters 0.05770117835119411 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.90, Z:-2.98 [[ 9.94117811e-01 6.06169944e-02 8.97516506e-02 2.69988122e+01] [-6.04361201e-02 9.98160841e-01 -4.73402623e-03 -9.04490202e-01] [-8.98735455e-02 -7.18061754e-04 9.95952926e-01 -2.98225721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782401007999997 meters 0.057695319899093406 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.93, Z:-2.99 [[ 9.94863027e-01 5.34893893e-02 8.59444143e-02 2.70587082e+01] [-5.32972501e-02 9.98568415e-01 -4.53026708e-03 -9.30975543e-01] [-8.60636988e-02 -7.36057225e-05 9.96289634e-01 -2.99160331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842401008 meters 0.05794997046722189 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.94, Z:-3.00 [[ 9.95075746e-01 5.04708412e-02 8.53050661e-02 2.71185365e+01] [-5.02687272e-02 9.98725514e-01 -4.51702950e-03 -9.42975799e-01] [-8.54243242e-02 2.06609393e-04 9.96344640e-01 -3.00106017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902401008 meters 0.05854293799776518 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.97, Z:-3.01 [[ 9.95209790e-01 4.24741114e-02 8.80535223e-02 2.71780930e+01] [-4.22257248e-02 9.99097124e-01 -4.68246853e-03 -9.66544901e-01] [-8.81729046e-02 9.41914732e-04 9.96104739e-01 -3.00825562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962401007999997 meters 0.059101264558766346 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.99, Z:-3.01 [[ 9.95430310e-01 3.11804238e-02 9.02567436e-02 2.72379135e+01] [-3.08708774e-02 9.99511740e-01 -4.82393484e-03 -9.92369714e-01] [-9.03630872e-02 2.01558608e-03 9.95906848e-01 -3.00908497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022401008 meters 0.060430906654501584 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.01, Z:-3.02 [[ 9.95418151e-01 2.63586967e-02 9.19125847e-02 2.72974299e+01] [-2.60173942e-02 9.99649433e-01 -4.90977173e-03 -1.00944900e+00] [-9.20097784e-02 2.49594995e-03 9.95754975e-01 -3.01695298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082401007999998 meters 0.06033959278510188 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.02, Z:-3.02 [[ 9.95270089e-01 2.25351421e-02 9.44966569e-02 2.73584605e+01] [-2.21551703e-02 9.99741697e-01 -5.06835787e-03 -1.02305639e+00] [-9.45864643e-02 2.95079546e-03 9.95512277e-01 -3.01922418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142401008 meters 0.05963681142334982 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.03, Z:-3.02 [[ 9.95081946e-01 2.41786010e-02 9.60589194e-02 2.74201095e+01] [-2.37915439e-02 9.99703558e-01 -5.17284217e-03 -1.02705605e+00] [-9.61555156e-02 2.86201185e-03 9.95362208e-01 -3.02372871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202401008 meters 0.0595135035094495 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.03, Z:-3.03 [[ 9.95066989e-01 2.65569634e-02 9.55845949e-02 2.74816821e+01] [-2.61824852e-02 9.99643811e-01 -5.17005290e-03 -1.03052227e+00] [-9.56878496e-02 2.64190673e-03 9.95407884e-01 -3.03181880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262401007999998 meters 0.06020195212115698 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.04, Z:-3.04 [[ 9.95424178e-01 2.34624750e-02 9.26294667e-02 2.75416036e+01] [-2.30951410e-02 9.99720589e-01 -5.03573670e-03 -1.03609243e+00] [-9.27217358e-02 2.87340348e-03 9.95687915e-01 -3.04364535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322401008 meters 0.061180289577259746 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.04, Z:-3.05 [[ 9.95591972e-01 1.81864417e-02 9.20102046e-02 2.76019993e+01] [-1.78014183e-02 9.99829022e-01 -5.00360894e-03 -1.04413191e+00] [-9.20854708e-02 3.34364075e-03 9.95745493e-01 -3.05101224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382401008 meters 0.06267639520219961 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.05, Z:-3.06 [[ 9.95771720e-01 1.13050989e-02 9.11640086e-02 2.76619023e+01] [-1.08982801e-02 9.99928315e-01 -4.95907680e-03 -1.05219035e+00] [-9.12135364e-02 3.94457753e-03 9.95823544e-01 -3.05729621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442401007999997 meters 0.06335793518122967 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.06, Z:-3.06 [[ 9.95814593e-01 8.65403464e-03 9.09857315e-02 2.77227863e+01] [-8.23767137e-03 9.99953815e-01 -4.95068385e-03 -1.05592259e+00] [-9.10243727e-02 4.18045267e-03 9.95839890e-01 -3.06366648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502401008 meters 0.06357659279067568 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.06, Z:-3.07 [[ 9.95834887e-01 9.20998686e-03 9.07086219e-02 2.77850124e+01] [-8.79866443e-03 9.99949121e-01 -4.93339293e-03 -1.05575232e+00] [-9.07494432e-02 4.11473007e-03 9.95865256e-01 -3.07229714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562401008 meters 0.06259864780557098 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.05, Z:-3.08 [[ 9.95885605e-01 1.58386764e-02 8.92244215e-02 2.78442315e+01] [-1.54646341e-02 9.99868497e-01 -4.88192599e-03 -1.04619725e+00] [-8.92900115e-02 3.48201678e-03 9.95999583e-01 -3.08333916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622401007999997 meters 0.060234156035596946 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.03, Z:-3.09 [[ 9.95866604e-01 2.19699555e-02 8.81307453e-02 2.79054842e+01] [-2.16291113e-02 9.99754441e-01 -4.82069004e-03 -1.03248217e+00] [-8.82150144e-02 2.89457452e-03 9.96097251e-01 -3.08879387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682401008 meters 0.06022835464093356 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.03, Z:-3.09 [[ 9.95883335e-01 2.23151712e-02 8.78545134e-02 2.79679029e+01] [-2.19782512e-02 9.99746924e-01 -4.80054585e-03 -1.03304298e+00] [-8.79394045e-02 2.84989505e-03 9.96121749e-01 -3.09457212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742401007999998 meters 0.06087666550455078 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.03, Z:-3.10 [[ 9.95844081e-01 2.00168765e-02 8.88475695e-02 2.80298282e+01] [-1.96608919e-02 9.99794796e-01 -4.88011312e-03 -1.03359071e+00] [-8.89270223e-02 3.11300931e-03 9.96033280e-01 -3.10032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802401007999997 meters 0.06126446137486227 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.03, Z:-3.11 [[ 9.95777430e-01 1.92326915e-02 8.97630985e-02 2.80905481e+01] [-1.88641694e-02 9.99809792e-01 -4.95213723e-03 -1.03341993e+00] [-8.98412677e-02 3.23792019e-03 9.95950833e-01 -3.10673706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862401008 meters 0.06109445220086111 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.03, Z:-3.11 [[ 9.95775620e-01 2.15413882e-02 8.92573983e-02 2.81511100e+01] [-2.11843725e-02 9.99763355e-01 -4.94534795e-03 -1.03127398e+00] [-8.93428056e-02 3.03359495e-03 9.95996315e-01 -3.11412745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922401007999998 meters 0.06069271479003699 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.03, Z:-3.12 [[ 9.95774808e-01 2.53404792e-02 8.82631917e-02 2.82126553e+01] [-2.50050906e-02 9.99675297e-01 -4.90364985e-03 -1.02926607e+00] [-8.83587933e-02 2.67590189e-03 9.96085118e-01 -3.12298770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982401008 meters 0.05908939890375406 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.02, Z:-3.13 [[ 9.95337956e-01 3.31002566e-02 9.05909787e-02 2.82734837e+01] [-3.27784294e-02 9.99449943e-01 -5.03841116e-03 -1.02126333e+00] [-9.07079212e-02 2.04549186e-03 9.95875438e-01 -3.12815033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008 meters 0.05811483800251194 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.02, Z:-3.13 [[ 9.95081227e-01 3.83354590e-02 9.13441033e-02 2.83348025e+01] [-3.80302269e-02 9.99263674e-01 -5.08042399e-03 -1.01764232e+00] [-9.14716047e-02 1.58159756e-03 9.95806429e-01 -3.13210914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102401007999998 meters 0.05804429903633092 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.02, Z:-3.14 [[ 9.95100456e-01 3.96701505e-02 9.05613739e-02 2.83961605e+01] [-3.93758294e-02 9.99211786e-01 -5.03499600e-03 -1.01812460e+00] [-9.06897312e-02 1.44439761e-03 9.95878148e-01 -3.14070327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162401008 meters 0.05884535506382804 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.03, Z:-3.15 [[ 9.95414366e-01 3.37862636e-02 8.94914984e-02 2.84562914e+01] [-3.34727266e-02 9.99427112e-01 -5.00242998e-03 -1.02843751e+00] [-8.96092432e-02 1.98396621e-03 9.95975023e-01 -3.14982665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222401008 meters 0.06023759545045728 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.04, Z:-3.16 [[ 9.95802515e-01 2.70301539e-02 8.74455413e-02 2.85161949e+01] [-2.67045581e-02 9.99631403e-01 -4.89132454e-03 -1.03865544e+00] [-8.75455224e-02 2.53559873e-03 9.96157293e-01 -3.15899200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282401007999997 meters 0.061779174407031096 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.05, Z:-3.17 [[ 9.96232497e-01 1.69185137e-02 8.50563078e-02 2.85758601e+01] [-1.65737185e-02 9.99851324e-01 -4.75827476e-03 -1.04834788e+00] [-8.51241649e-02 3.33064864e-03 9.96364784e-01 -3.16628024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342401008 meters 0.06277634845302729 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.06, Z:-3.17 [[ 9.96300839e-01 1.22630843e-02 8.50544258e-02 2.86361007e+01] [-1.19011748e-02 9.99917845e-01 -4.76079152e-03 -1.05559586e+00] [-8.51058202e-02 3.73093299e-03 9.96364933e-01 -3.17264586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402401008 meters 0.06098889707005777 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.05, Z:-3.18 [[ 9.96476731e-01 1.04942679e-02 8.32105469e-02 2.86977676e+01] [-1.01417235e-02 9.99937721e-01 -4.65833816e-03 -1.05169359e+00] [-8.32542505e-02 3.79802722e-03 9.96521101e-01 -3.17674619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462401007999997 meters 0.06511203270591005 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.06, Z:-3.19 [[ 9.96500759e-01 1.53525578e-02 8.21616448e-02 2.87553748e+01] [-1.50249613e-02 9.99876519e-01 -4.60405444e-03 -1.06239982e+00] [-8.22221834e-02 3.35346822e-03 9.96608382e-01 -3.19256776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522401008 meters 0.05866299406343138 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.04, Z:-3.19 [[ 9.95814325e-01 3.01089912e-02 8.62976191e-02 2.88179011e+01] [-2.98028666e-02 9.99544108e-01 -4.83377524e-03 -1.04153011e+00] [-8.64038168e-02 2.24162620e-03 9.96257675e-01 -3.18986159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582401007999998 meters 0.05778197779306447 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.04, Z:-3.19 [[ 9.95189685e-01 3.87447297e-02 8.99796411e-02 2.88792318e+01] [-3.84470838e-02 9.99247930e-01 -5.03946992e-03 -1.03748574e+00] [-9.01072230e-02 1.55577369e-03 9.95930855e-01 -3.19459853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642401008 meters 0.057056396022754696 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.03, Z:-3.20 [[ 9.94400338e-01 4.73349614e-02 9.44847586e-02 2.89396559e+01] [-4.70450622e-02 9.98878736e-01 -5.29461728e-03 -1.03247591e+00] [-9.46294368e-02 8.19927861e-04 9.95512229e-01 -3.19992455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702401008 meters 0.05679387709000785 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.03, Z:-3.20 [[ 9.94113890e-01 5.09368806e-02 9.56190749e-02 2.90016240e+01] [-5.06569957e-02 9.98701760e-01 -5.35384036e-03 -1.03231171e+00] [-9.57676463e-02 4.78552010e-04 9.95403601e-01 -3.20470529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762401007999998 meters 0.05697840102270592 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.04, Z:-3.21 [[ 9.93875539e-01 5.62183744e-02 9.51362597e-02 2.90632901e+01] [-5.59632843e-02 9.98418497e-01 -5.34943800e-03 -1.03514041e+00] [-9.52865381e-02 -7.46197696e-06 9.95449886e-01 -3.21374851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822401008 meters 0.057577799177420695 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.04, Z:-3.22 [[ 9.93939281e-01 6.17148774e-02 9.09724110e-02 2.91248646e+01] [-6.15022352e-02 9.98093703e-01 -5.14159281e-03 -1.03675140e+00] [-9.11163033e-02 -4.84575555e-04 9.95840140e-01 -3.22447718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882401008 meters 0.05784917827715807 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.04, Z:-3.24 [[ 9.93927883e-01 6.54248756e-02 8.84700442e-02 2.91856842e+01] [-6.52382867e-02 9.97857177e-01 -5.00202650e-03 -1.03891257e+00] [-8.86077255e-02 -7.99980492e-04 9.96066278e-01 -3.23576366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942401007999997 meters 0.05855881283105816 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.05, Z:-3.25 [[ 9.93770154e-01 6.85308175e-02 8.78886167e-02 2.92455665e+01] [-6.83570831e-02 9.97648447e-01 -4.98852722e-03 -1.04800985e+00] [-8.80238098e-02 -1.05036001e-03 9.96117817e-01 -3.24623755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002401008 meters 0.05919880627066709 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.06, Z:-3.25 [[ 9.93476353e-01 7.18462555e-02 8.85598783e-02 2.93056473e+01] [-7.16812430e-02 9.97414826e-01 -5.04630909e-03 -1.05831475e+00] [-8.86934940e-02 -1.33469341e-03 9.96058072e-01 -3.25369328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062401008 meters 0.05921637838266898 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.07, Z:-3.26 [[ 9.93128627e-01 7.33947859e-02 9.11522709e-02 2.93672730e+01] [-7.32246955e-02 9.97301842e-01 -5.21340774e-03 -1.06959269e+00] [-9.12889647e-02 -1.49701281e-03 9.95823320e-01 -3.25916655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122401007999997 meters 0.05900012915665649 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.08, Z:-3.26 [[ 9.92909445e-01 7.36101948e-02 9.33400970e-02 2.94282510e+01] [-7.34307278e-02 9.97285914e-01 -5.36047427e-03 -1.08434987e+00] [-9.34813494e-02 -1.53156573e-03 9.95619853e-01 -3.26310313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182401008 meters 0.059046701053903035 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.11, Z:-3.27 [[ 9.93143058e-01 6.86726963e-02 9.46093420e-02 2.94872342e+01] [-6.84634178e-02 9.97638686e-01 -5.46003578e-03 -1.10617721e+00] [-9.47608950e-02 -1.05468227e-03 9.95499503e-01 -3.27064318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242401007999998 meters 0.05855891530861648 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.13, Z:-3.28 [[ 9.93575076e-01 6.13873177e-02 9.50797845e-02 2.95476715e+01] [-6.11426976e-02 9.98113955e-01 -5.48673927e-03 -1.13355023e+00] [-9.52372759e-02 -3.61947131e-04 9.95454535e-01 -3.27622039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302401007999997 meters 0.05861461039617309 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.15, Z:-3.28 [[ 9.93998798e-01 5.61923363e-02 9.38552627e-02 2.96082787e+01] [-5.59288569e-02 9.98419950e-01 -5.43744746e-03 -1.15171204e+00] [-9.40125096e-02 1.55598682e-04 9.95571004e-01 -3.28417206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362401008 meters 0.0591882292150444 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.18, Z:-3.30 [[ 9.94781951e-01 4.86126598e-02 8.96977125e-02 2.96672594e+01] [-4.83390741e-02 9.98817337e-01 -5.22119131e-03 -1.17642975e+00] [-8.98454463e-02 8.58042507e-04 9.95955350e-01 -3.29516235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422401007999998 meters 0.059747034913891724 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.19, Z:-3.30 [[ 9.94971777e-01 4.32878452e-02 9.03179173e-02 2.97275932e+01] [-4.29886634e-02 9.99061734e-01 -5.25613151e-03 -1.19265842e+00] [-9.04607016e-02 1.34705596e-03 9.95899115e-01 -3.30270761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482401008 meters 0.060489001265833835 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.21, Z:-3.31 [[ 9.95172878e-01 3.67436477e-02 9.09991621e-02 2.97868515e+01] [-3.64106319e-02 9.99322766e-01 -5.31752452e-03 -1.21416831e+00] [-9.11329196e-02 1.97851919e-03 9.95836772e-01 -3.30873646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542401008 meters 0.061099659651669996 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.23, Z:-3.31 [[ 9.95054761e-01 3.42917002e-02 9.32207171e-02 2.98475346e+01] [-3.39306353e-02 9.99409298e-01 -5.45590932e-03 -1.22772865e+00] [-9.33527439e-02 2.26589038e-03 9.95630519e-01 -3.31431842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602401007999998 meters 0.06180064863122655 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.24, Z:-3.32 [[ 9.95056072e-01 3.12719433e-02 9.42628168e-02 2.99070447e+01] [-3.08868601e-02 9.99507524e-01 -5.54179209e-03 -1.24224478e+00] [-9.43896972e-02 2.60291144e-03 9.95531923e-01 -3.32107880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662401008 meters 0.0617671623594593 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.25, Z:-3.33 [[ 9.95212282e-01 3.23553367e-02 9.22260617e-02 2.99675979e+01] [-3.19915161e-02 9.99473440e-01 -5.42091797e-03 -1.25101965e+00] [-9.23528948e-02 2.44451261e-03 9.95723339e-01 -3.32994084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722401008 meters 0.06131448038262831 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.25, Z:-3.34 [[ 9.95213442e-01 3.87444322e-02 8.97166270e-02 3.00267401e+01] [-3.84239498e-02 9.99247487e-01 -5.29718046e-03 -1.25482104e+00] [-8.98543503e-02 1.82455803e-03 9.95953245e-01 -3.34434644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782401007999997 meters 0.05990334176994159 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.25, Z:-3.35 [[ 9.94545165e-01 4.94429466e-02 9.18439435e-02 3.00868558e+01] [-4.91523981e-02 9.98776562e-01 -5.42416047e-03 -1.25488136e+00] [-9.19997645e-02 8.80222491e-04 9.95758640e-01 -3.34910209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842401008 meters 0.058944308648251675 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.26, Z:-3.35 [[ 9.94065719e-01 5.30118423e-02 9.49899483e-02 3.01486552e+01] [-5.27170789e-02 9.98593721e-01 -5.61166648e-03 -1.25935911e+00] [-9.51538507e-02 5.70772677e-04 9.95462415e-01 -3.34847430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008 meters 0.05886861156784249 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.27, Z:-3.35 [[ 9.93888957e-01 5.13587436e-02 9.77088519e-02 3.02098925e+01] [-5.10388238e-02 9.98679987e-01 -5.77251691e-03 -1.26953620e+00] [-9.78763442e-02 7.50295941e-04 9.95198301e-01 -3.35355464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962401007999997 meters 0.05913184242902766 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.28, Z:-3.36 [[ 9.93774999e-01 4.86197817e-02 1.00236562e-01 3.02697734e+01] [-4.82666236e-02 9.98816784e-01 -5.94683434e-03 -1.28101882e+00] [-1.00407094e-01 1.07173489e-03 9.94945861e-01 -3.35883120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022401008 meters 0.05952047012869637 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.29, Z:-3.37 [[ 9.93983330e-01 4.87843596e-02 9.80674512e-02 3.03295875e+01] [-4.84450936e-02 9.98808779e-01 -5.83915575e-03 -1.29091306e+00] [-9.82354907e-02 1.05313663e-03 9.95162640e-01 -3.37001903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082401007999998 meters 0.059588481642278694 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.29, Z:-3.38 [[ 9.94337519e-01 4.67506798e-02 9.54320260e-02 3.03909072e+01] [-4.64179501e-02 9.98905816e-01 -5.70475791e-03 -1.29287028e+00] [-9.55943071e-02 1.24269581e-03 9.95419602e-01 -3.37888422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142401008 meters 0.060748549433448276 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.30, Z:-3.39 [[ 9.94985580e-01 3.97702830e-02 9.17715668e-02 3.04501937e+01] [-3.94324001e-02 9.99207143e-01 -5.49278439e-03 -1.30330502e+00] [-9.19172547e-02 1.84646813e-03 9.95764937e-01 -3.39093111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202401008 meters 0.06135886221286914 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.31, Z:-3.40 [[ 9.95256917e-01 3.41846230e-02 9.10773335e-02 3.05108884e+01] [-3.38284142e-02 9.99412783e-01 -5.45235478e-03 -1.31265815e+00] [-9.12102380e-02 2.34549205e-03 9.95828897e-01 -3.39781401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262401007999998 meters 0.062436526451503264 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.33, Z:-3.40 [[ 9.95378169e-01 2.92649919e-02 9.14650788e-02 3.05700417e+01] [-2.88846583e-02 9.99567732e-01 -5.47950440e-03 -1.32572410e+00] [-9.15858991e-02 2.81224151e-03 9.95793209e-01 -3.40168362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322401008 meters 0.06226957482876087 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.33, Z:-3.41 [[ 9.95179918e-01 3.09226490e-02 9.30629957e-02 3.06310097e+01] [-3.05365336e-02 9.99518129e-01 -5.57045601e-03 -1.32840987e+00] [-9.31904046e-02 2.70178467e-03 9.95644640e-01 -3.40860347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382401008 meters 0.06123505562900361 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.33, Z:-3.41 [[ 9.94816175e-01 3.61505115e-02 9.50469315e-02 3.06908592e+01] [-3.57688922e-02 9.99343740e-01 -5.71627952e-03 -1.32626878e+00] [-9.51912024e-02 2.28692388e-03 9.95456380e-01 -3.41488766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442401007999997 meters 0.06027923182588582 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.33, Z:-3.42 [[ 9.94508731e-01 3.95286127e-02 9.69013538e-02 3.07525905e+01] [-3.91479432e-02 9.99216434e-01 -5.82724696e-03 -1.32520773e+00] [-9.70557682e-02 2.00175928e-03 9.95276932e-01 -3.41822742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502401008 meters 0.05979635011549493 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.32, Z:-3.42 [[ 9.94182674e-01 4.42038852e-02 9.82182663e-02 3.08131085e+01] [-4.38351499e-02 9.99021296e-01 -5.91006326e-03 -1.32206720e+00] [-9.83833875e-02 1.57027006e-03 9.95147348e-01 -3.42356559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562401008 meters 0.05927663786342397 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.32, Z:-3.43 [[ 9.94000026e-01 4.75802077e-02 9.84889458e-02 3.08748937e+01] [-4.72261244e-02 9.98866654e-01 -5.92466467e-03 -1.31815261e+00] [-9.86592205e-02 1.23786563e-03 9.95120508e-01 -3.42990920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622401007999997 meters 0.05900586516981003 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.31, Z:-3.44 [[ 9.93790873e-01 5.25329420e-02 9.80815535e-02 3.09369647e+01] [-5.22035528e-02 9.98618898e-01 -5.92337990e-03 -1.31302909e+00] [-9.82572654e-02 7.66395328e-04 9.95160752e-01 -3.43685055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682401008 meters 0.058984508217495485 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.32, Z:-3.44 [[ 9.93726072e-01 5.42662827e-02 9.77939925e-02 3.09992991e+01] [-5.39448709e-02 9.98526309e-01 -5.92967270e-03 -1.31552351e+00] [-9.79716557e-02 6.16986054e-04 9.95189014e-01 -3.44465118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742401007999998 meters 0.05899781986285285 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.32, Z:-3.45 [[ 9.93681138e-01 5.61882144e-02 9.71631672e-02 3.10615851e+01] [-5.58774328e-02 9.98420092e-01 -5.91881909e-03 -1.31677672e+00] [-9.73422262e-02 4.52190546e-04 9.95250866e-01 -3.45304343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802401007999997 meters 0.059157117581657204 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.32, Z:-3.47 [[ 9.93797890e-01 5.76770976e-02 9.50742175e-02 3.11213433e+01] [-5.73837684e-02 9.98335237e-01 -5.81872803e-03 -1.31777462e+00] [-9.52515488e-02 3.26922764e-04 9.95453181e-01 -3.46505988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862401008 meters 0.05939839805027551 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.32, Z:-3.47 [[ 9.93882168e-01 6.01919089e-02 9.26022171e-02 3.11829335e+01] [-5.99227131e-02 9.98186818e-01 -5.68727156e-03 -1.32126043e+00] [-9.27766402e-02 1.03501698e-04 9.95686941e-01 -3.47459440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922401007999998 meters 0.05971941686202267 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.32, Z:-3.48 [[ 9.93753775e-01 6.41899794e-02 9.12857140e-02 3.12436152e+01] [-6.39432352e-02 9.97937667e-01 -5.62812001e-03 -1.32266316e+00] [-9.14587214e-02 -2.44138372e-04 9.95808838e-01 -3.48341262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982401008 meters 0.06003412280088269 Centerline is valid? [True, True] Translation: X:31.30, Y:-1.32, Z:-3.49 [[ 9.93212556e-01 6.92122652e-02 9.34798422e-02 3.13040825e+01] [-6.89735530e-02 9.97601710e-01 -5.78600935e-03 -1.32338139e+00] [-9.36561132e-02 -7.00899715e-04 9.95604360e-01 -3.48921019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042401008 meters 0.059655101521477745 Centerline is valid? [True, True] Translation: X:31.37, Y:-1.33, Z:-3.49 [[ 9.93067288e-01 6.74280841e-02 9.62850678e-02 3.13656906e+01] [-6.71653341e-02 9.97723992e-01 -5.97102986e-03 -1.33120745e+00] [-9.64685373e-02 -5.37384315e-04 9.95335889e-01 -3.49321976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102401008 meters 0.05946652805091014 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.34, Z:-3.50 [[ 9.92793409e-01 6.69574907e-02 9.93878324e-02 3.14267557e+01] [-6.66727567e-02 9.97755712e-01 -6.18733074e-03 -1.33682273e+00] [-9.95790656e-02 -4.83719592e-04 9.95029535e-01 -3.49674330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162401007999996 meters 0.05972805289681086 Centerline is valid? [True, True] Translation: X:31.49, Y:-1.34, Z:-3.51 [[ 9.93036517e-01 6.54061504e-02 9.79821952e-02 3.14868005e+01] [-6.51198815e-02 9.97858679e-01 -6.12023975e-03 -1.34242247e+00] [-9.81726852e-02 -3.02967373e-04 9.95169348e-01 -3.50736576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222401008 meters 0.06014274326670227 Centerline is valid? [True, True] Translation: X:31.55, Y:-1.34, Z:-3.52 [[ 9.93082375e-01 6.74307325e-02 9.61274779e-02 3.15477614e+01] [-6.71628245e-02 9.97723845e-01 -6.02358825e-03 -1.34421900e+00] [-9.63148519e-02 -4.74273603e-04 9.95350805e-01 -3.51768211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282401008 meters 0.0599989442160667 Centerline is valid? [True, True] Translation: X:31.61, Y:-1.35, Z:-3.52 [[ 9.93168520e-01 6.64547409e-02 9.59169354e-02 3.16099788e+01] [-6.61814819e-02 9.97789376e-01 -6.03094810e-03 -1.35027934e+00] [-9.61056843e-02 -3.58177134e-04 9.95371071e-01 -3.52379146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342401007999996 meters 0.0599080556965681 Centerline is valid? [True, True] Translation: X:31.67, Y:-1.36, Z:-3.53 [[ 9.93387057e-01 6.23476071e-02 9.64102180e-02 3.16710181e+01] [-6.20498673e-02 9.98054493e-01 -6.08622546e-03 -1.35774492e+00] [-9.66021129e-02 6.37363673e-05 9.95323077e-01 -3.53087245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402401008 meters 0.06060130412156244 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.37, Z:-3.54 [[ 9.94222630e-01 5.27474710e-02 9.34829721e-02 3.17309486e+01] [-5.24228382e-02 9.98607391e-01 -5.92666571e-03 -1.37378813e+00] [-9.36654035e-02 9.91782443e-04 9.95603239e-01 -3.54115418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462401008 meters 0.061218929737590064 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.39, Z:-3.55 [[ 9.94587195e-01 4.67145759e-02 9.28119630e-02 3.17924112e+01] [-4.63681420e-02 9.98907074e-01 -5.88674071e-03 -1.38656669e+00] [-9.29855229e-02 1.55135865e-03 9.95666252e-01 -3.54737012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522401007999996 meters 0.062001832138397245 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.40, Z:-3.55 [[ 9.94660447e-01 4.04372765e-02 9.49495776e-02 3.18534759e+01] [-4.00455775e-02 9.99179671e-01 -6.02796375e-03 -1.39788349e+00] [-9.51154421e-02 2.19346645e-03 9.95463832e-01 -3.54949788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582401008 meters 0.06229649051599742 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.40, Z:-3.56 [[ 9.94626475e-01 4.04886277e-02 9.52829803e-02 3.19147401e+01] [-4.00935885e-02 9.99177567e-01 -6.05757553e-03 -1.39945673e+00] [-9.54498794e-02 2.20478839e-03 9.95431795e-01 -3.55783120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642401008 meters 0.06263128460657748 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.40, Z:-3.57 [[ 9.94450104e-01 4.03983345e-02 9.71440429e-02 3.19757555e+01] [-3.99847290e-02 9.99181047e-01 -6.20143231e-03 -1.39871723e+00] [-9.73150140e-02 2.28273678e-03 9.95251012e-01 -3.56661293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702401007999995 meters 0.06262080935259158 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.40, Z:-3.57 [[ 9.94471452e-01 3.85620696e-02 9.76703516e-02 3.20377808e+01] [-3.81331012e-02 9.99253088e-01 -6.25559995e-03 -1.40074830e+00] [-9.78386294e-02 2.49654217e-03 9.95199161e-01 -3.56999480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762401008 meters 0.062357423032491664 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.40, Z:-3.58 [[ 9.94487094e-01 3.75111063e-02 9.79200498e-02 3.20996065e+01] [-3.70726218e-02 9.99292752e-01 -6.29424441e-03 -1.40210241e+00] [-9.80869001e-02 2.62939187e-03 9.95174380e-01 -3.57720626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822401008 meters 0.06288254574976145 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.40, Z:-3.59 [[ 9.94788704e-01 3.53635713e-02 9.56287179e-02 3.21598295e+01] [-3.49330457e-02 9.99370590e-01 -6.17297681e-03 -1.40160392e+00] [-9.57868267e-02 2.80020524e-03 9.95397932e-01 -3.58644592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882401007999995 meters 0.0627787793690885 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.40, Z:-3.59 [[ 9.94643038e-01 3.61463484e-02 9.68435207e-02 3.22210525e+01] [-3.57084624e-02 9.99342696e-01 -6.25148477e-03 -1.40228436e+00] [-9.70058334e-02 2.75986259e-03 9.95279986e-01 -3.59378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942401008 meters 0.06244898525088928 Centerline is valid? [True, True] Translation: X:32.28, Y:-1.40, Z:-3.60 [[ 9.94440784e-01 3.85449515e-02 9.79888467e-02 3.22823616e+01] [-3.81056500e-02 9.99253531e-01 -6.35140106e-03 -1.39885859e+00] [-9.81605155e-02 2.58216355e-03 9.95167245e-01 -3.60109064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002401008 meters 0.06163799188138951 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.39, Z:-3.61 [[ 9.94402358e-01 4.47744343e-02 9.57037086e-02 3.23431674e+01] [-4.43839284e-02 9.98995270e-01 -6.20629108e-03 -1.39341656e+00] [-9.58854354e-02 1.92384394e-03 9.95390517e-01 -3.61068954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062401008 meters 0.06076708797759897 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.38, Z:-3.62 [[ 9.94064321e-01 5.50541695e-02 9.38358365e-02 3.24040290e+01] [-5.47241881e-02 9.98482948e-01 -6.08814936e-03 -1.38408046e+00] [-9.40286606e-02 9.16922098e-04 9.95569069e-01 -3.61946767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122401008 meters 0.06049542898027605 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.38, Z:-3.63 [[ 9.93614197e-01 6.01471861e-02 9.54627826e-02 3.24646663e+01] [-5.98290983e-02 9.98189421e-01 -6.19344346e-03 -1.38308927e+00] [-9.56624579e-02 4.42441149e-04 9.95413732e-01 -3.62644584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182401008 meters 0.06039500858192485 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.38, Z:-3.63 [[ 9.93299274e-01 6.36238014e-02 9.64808962e-02 3.25272761e+01] [-6.33129040e-02 9.97973945e-01 -6.28346686e-03 -1.38220597e+00] [-9.66851986e-02 1.32877361e-04 9.95315003e-01 -3.63197492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242401008 meters 0.060325831660298465 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.39, Z:-3.64 [[ 9.93101424e-01 6.45270308e-02 9.79072242e-02 3.25887584e+01] [-6.42106400e-02 9.97915958e-01 -6.38232504e-03 -1.38748865e+00] [-9.81150139e-02 5.16105570e-05 9.95175081e-01 -3.63768508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302401008 meters 0.06052194168134124 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.39, Z:-3.65 [[ 9.92998967e-01 6.53433691e-02 9.84037361e-02 3.26508788e+01] [-6.50255243e-02 9.97862838e-01 -6.43716672e-03 -1.39279764e+00] [-9.86140576e-02 -6.65463148e-06 9.95125755e-01 -3.64504887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362401008 meters 0.0606260687473566 Centerline is valid? [True, True] Translation: X:32.71, Y:-1.40, Z:-3.65 [[ 9.92947767e-01 6.67895898e-02 9.79483680e-02 3.27132602e+01] [-6.64791942e-02 9.97767075e-01 -6.43284039e-03 -1.39843051e+00] [-9.81593034e-02 -1.24054078e-04 9.95170707e-01 -3.65299876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422401008 meters 0.061085764872318336 Centerline is valid? [True, True] Translation: X:32.77, Y:-1.40, Z:-3.66 [[ 9.92924212e-01 6.96726867e-02 9.61624952e-02 3.27737121e+01] [-6.93845482e-02 9.97569835e-01 -6.34106553e-03 -1.40221829e+00] [-9.63706036e-02 -3.75993792e-04 9.95345450e-01 -3.66433410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482401008 meters 0.06168102311964877 Centerline is valid? [True, True] Translation: X:32.83, Y:-1.40, Z:-3.67 [[ 9.92613659e-01 7.64804257e-02 9.41746705e-02 3.28348523e+01] [-7.62328407e-02 9.97070585e-01 -6.22910435e-03 -1.40298899e+00] [-9.43751984e-02 -9.96108601e-04 9.95536202e-01 -3.67249337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542401008 meters 0.06241705416406621 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.40, Z:-3.68 [[ 9.92198914e-01 8.29635389e-02 9.30503406e-02 3.28966984e+01] [-8.27481820e-02 9.96551345e-01 -6.17697779e-03 -1.40300618e+00] [-9.32419061e-02 -1.57095587e-03 9.95642245e-01 -3.67890827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602401008 meters 0.0634169005992447 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.40, Z:-3.69 [[ 9.92058432e-01 8.62842116e-02 9.15155816e-02 3.29571732e+01] [-8.60897365e-02 9.96268847e-01 -6.07790493e-03 -1.40263998e+00] [-9.16985502e-02 -1.84891547e-03 9.95785096e-01 -3.68880761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662401007999996 meters 0.06671553705366721 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.40, Z:-3.70 [[ 9.91694954e-01 9.35583146e-02 8.82494186e-02 3.30162922e+01] [-9.34040326e-02 9.95610893e-01 -5.88524464e-03 -1.39534681e+00] [-8.84126960e-02 -2.40648415e-03 9.96081023e-01 -3.70493366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722401008 meters 0.06222506983131179 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.42, Z:-3.70 [[ 9.92387119e-01 8.00978961e-02 9.35528401e-02 3.30772305e+01] [-7.98648328e-02 9.96786179e-01 -6.23866165e-03 -1.42175646e+00] [-9.37518817e-02 -1.28041447e-03 9.95594770e-01 -3.69865406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782401008 meters 0.06137882845287307 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.44, Z:-3.71 [[ 9.93681383e-01 6.73538527e-02 8.97817770e-02 3.31375358e+01] [-6.70873989e-02 9.97729148e-01 -5.98565565e-03 -1.43813626e+00] [-8.99810528e-02 -7.53912980e-05 9.95943475e-01 -3.71100743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842401007999996 meters 0.0615103854286523 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.44, Z:-3.72 [[ 9.93725234e-01 6.82436369e-02 8.86169530e-02 3.31992026e+01] [-6.79857594e-02 9.97668677e-01 -5.92859761e-03 -1.43815201e+00] [-8.88149473e-02 -1.33293792e-04 9.96048135e-01 -3.72132176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902401008 meters 0.06135893911052172 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.44, Z:-3.72 [[ 9.93076102e-01 7.15708113e-02 9.31529665e-02 3.32606200e+01] [-7.12977763e-02 9.97435431e-01 -6.26008223e-03 -1.44107497e+00] [-9.33621084e-02 -4.24861310e-04 9.95632129e-01 -3.72150041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962401008 meters 0.060970511610124026 Centerline is valid? [True, True] Translation: X:33.32, Y:-1.45, Z:-3.72 [[ 9.92786684e-01 7.17202033e-02 9.60771219e-02 3.33225274e+01] [-7.14304354e-02 9.97424688e-01 -6.45644187e-03 -1.44845785e+00] [-9.62927506e-02 -4.52961131e-04 9.95352953e-01 -3.72284433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022401007999996 meters 0.06108793479934658 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.45, Z:-3.73 [[ 9.92654335e-01 7.04402130e-02 9.83643569e-02 3.33831364e+01] [-7.01276489e-02 9.97515955e-01 -6.63575301e-03 -1.45381999e+00] [-9.85874392e-02 -3.11052094e-04 9.95128344e-01 -3.73107610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082401008 meters 0.06116005210845111 Centerline is valid? [True, True] Translation: X:33.44, Y:-1.46, Z:-3.74 [[ 9.93144418e-01 6.68726363e-02 9.58760476e-02 3.34435945e+01] [-6.65580921e-02 9.97761518e-01 -6.47863100e-03 -1.46478300e+00] [-9.60946740e-02 5.28894021e-05 9.95372197e-01 -3.73966029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142401008 meters 0.06110158697474279 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.48, Z:-3.75 [[ 9.93533871e-01 6.29323270e-02 9.44985163e-02 3.35048697e+01] [-6.26068721e-02 9.98017695e-01 -6.40780368e-03 -1.47772876e+00] [-9.47144494e-02 4.50113475e-04 9.95504380e-01 -3.74537250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202401007999995 meters 0.06204160679185657 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.49, Z:-3.76 [[ 9.94084508e-01 5.43727913e-02 9.40190944e-02 3.35644536e+01] [-5.40102656e-02 9.98519882e-01 -6.39811334e-03 -1.49449344e+00] [-9.42278183e-02 1.28226909e-03 9.95549835e-01 -3.75516322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262401008 meters 0.06246824834773864 Centerline is valid? [True, True] Translation: X:33.63, Y:-1.50, Z:-3.76 [[ 9.94343223e-01 5.02556345e-02 9.35731006e-02 3.36258822e+01] [-4.98761436e-02 9.98734961e-01 -6.39130022e-03 -1.50209056e+00] [-9.37759258e-02 1.68808066e-03 9.95591897e-01 -3.76270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322401008 meters 0.06301014579769272 Centerline is valid? [True, True] Translation: X:33.69, Y:-1.51, Z:-3.77 [[ 9.94607553e-01 4.54729421e-02 9.32095879e-02 3.36866432e+01] [-4.50751528e-02 9.98963292e-01 -6.36965043e-03 -1.51171974e+00] [-9.34026035e-02 2.13386601e-03 9.95626135e-01 -3.76813456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382401007999995 meters 0.06289046052279196 Centerline is valid? [True, True] Translation: X:33.75, Y:-1.52, Z:-3.77 [[ 9.94566501e-01 4.33251151e-02 9.46594425e-02 3.37483849e+01] [-4.29031121e-02 9.99058160e-01 -6.48970259e-03 -1.51589583e+00] [-9.48514555e-02 2.39325612e-03 9.95488560e-01 -3.77210771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442401008 meters 0.06505247441074533 Centerline is valid? [True, True] Translation: X:33.81, Y:-1.53, Z:-3.78 [[ 9.94535023e-01 4.00062982e-02 9.64343553e-02 3.38079320e+01] [-3.95503160e-02 9.99195544e-01 -6.63602149e-03 -1.52834676e+00] [-9.66222608e-02 2.78574656e-03 9.95317225e-01 -3.78011694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502401008 meters 0.06274570436632285 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.52, Z:-3.78 [[ 9.94402084e-01 3.92480773e-02 9.81024099e-02 3.38717444e+01] [-3.87702976e-02 9.99225198e-01 -6.77254597e-03 -1.52290695e+00] [-9.82922094e-02 2.93117420e-03 9.95153280e-01 -3.77925360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562401008 meters 0.06286217226229346 Centerline is valid? [True, True] Translation: X:33.93, Y:-1.52, Z:-3.79 [[ 9.94260818e-01 4.04864333e-02 9.90266325e-02 3.39329936e+01] [-4.00027619e-02 9.99175981e-01 -6.86575838e-03 -1.52401973e+00] [-9.92230027e-02 2.86501575e-03 9.95061097e-01 -3.78503199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622401008 meters 0.062132687160825116 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.52, Z:-3.79 [[ 9.94249584e-01 4.28124537e-02 9.81573196e-02 3.39953799e+01] [-4.23471884e-02 9.99079682e-01 -6.81944228e-03 -1.52171530e+00] [-9.83589407e-02 2.62354114e-03 9.95147545e-01 -3.79252964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682401008 meters 0.061639948810587715 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.52, Z:-3.80 [[ 9.94604365e-01 4.49829495e-02 9.34809706e-02 3.40571245e+01] [-4.45702609e-02 9.98985113e-01 -6.49887227e-03 -1.51648931e+00] [-9.36784364e-02 2.29733548e-03 9.95599856e-01 -3.80268073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742401008 meters 0.061892790922290504 Centerline is valid? [True, True] Translation: X:34.12, Y:-1.52, Z:-3.81 [[ 9.94647909e-01 4.50453035e-02 9.29863269e-02 3.41173301e+01] [-4.46351738e-02 9.98982294e-01 -6.48674146e-03 -1.51698476e+00] [-9.31838913e-02 2.30156297e-03 9.95646255e-01 -3.81299301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802401008 meters 0.06156533813841697 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.52, Z:-3.82 [[ 9.94847033e-01 4.49397742e-02 9.08834316e-02 3.41787469e+01] [-4.45459158e-02 9.98987102e-01 -6.35850388e-03 -1.51780892e+00] [-9.10771257e-02 2.27725302e-03 9.95841238e-01 -3.81929084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862401008 meters 0.06218757493709047 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.52, Z:-3.83 [[ 9.94935457e-01 4.31740241e-02 9.07713647e-02 3.42387330e+01] [-4.27718284e-02 9.99064544e-01 -6.37236349e-03 -1.52181433e+00] [-9.09615727e-02 2.45763314e-03 9.95851371e-01 -3.82875497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922401008 meters 0.06152242700862151 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.52, Z:-3.83 [[ 9.95048952e-01 3.94211082e-02 9.12335419e-02 3.43004511e+01] [-3.89972613e-02 9.99218665e-01 -6.42442584e-03 -1.51967589e+00] [-9.14155159e-02 2.83475992e-03 9.95808801e-01 -3.83233348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982401008 meters 0.06155571506327226 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.52, Z:-3.84 [[ 9.95035778e-01 3.97545581e-02 9.12325324e-02 3.43607588e+01] [-3.93300611e-02 9.99205477e-01 -6.44676013e-03 -1.52225482e+00] [-9.14163342e-02 2.82657592e-03 9.95808749e-01 -3.83914819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042401008 meters 0.06181041483793853 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.52, Z:-3.85 [[ 9.95089217e-01 4.24314788e-02 8.94260598e-02 3.44211198e+01] [-4.20336091e-02 9.99096154e-01 -6.32853646e-03 -1.52384597e+00] [-8.96137616e-02 2.53855834e-03 9.95973358e-01 -3.84717877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102401008 meters 0.06068500346984338 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.52, Z:-3.85 [[ 9.94748928e-01 4.66606574e-02 9.10898132e-02 3.44825410e+01] [-4.62632927e-02 9.98908327e-01 -6.47008013e-03 -1.51819399e+00] [-9.12922711e-02 2.22199058e-03 9.95821663e-01 -3.85312463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162401007999996 meters 0.060165177273043054 Centerline is valid? [True, True] Translation: X:34.54, Y:-1.52, Z:-3.86 [[ 9.94646306e-01 4.98281472e-02 9.05311065e-02 3.45443496e+01] [-4.94488741e-02 9.98755965e-01 -6.42894239e-03 -1.51733208e+00] [-9.07388249e-02 1.91786252e-03 9.95872877e-01 -3.85901461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222401008 meters 0.059400077299576845 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.51, Z:-3.87 [[ 9.94265830e-01 5.70617837e-02 9.04401023e-02 3.46054509e+01] [-5.67108424e-02 9.98369826e-01 -6.44747543e-03 -1.51191933e+00] [-9.06605736e-02 1.28157012e-03 9.95881026e-01 -3.86713399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282401008 meters 0.059000005601440926 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.51, Z:-3.87 [[ 9.93976091e-01 6.19792890e-02 9.03885908e-02 3.46671192e+01] [-6.16491697e-02 9.98077090e-01 -6.44226948e-03 -1.51180172e+00] [-9.06140689e-02 8.31080265e-04 9.95885736e-01 -3.87333257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342401007999996 meters 0.058608560532353866 Centerline is valid? [True, True] Translation: X:34.73, Y:-1.51, Z:-3.88 [[ 9.93412716e-01 6.80698749e-02 9.21827965e-02 3.47289114e+01] [-6.77502884e-02 9.97680509e-01 -6.59547582e-03 -1.50975672e+00] [-9.24179326e-02 3.06618496e-04 9.95720258e-01 -3.87889041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402401008 meters 0.05876049951374494 Centerline is valid? [True, True] Translation: X:34.79, Y:-1.51, Z:-3.89 [[ 9.93254780e-01 7.21864227e-02 9.07417324e-02 3.47889189e+01] [-7.18936379e-02 9.97391155e-01 -6.49535705e-03 -1.50858600e+00] [-9.09738778e-02 -7.22088087e-05 9.95853277e-01 -3.88988461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462401008 meters 0.058898716355862676 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.52, Z:-3.90 [[ 9.93228124e-01 7.39937572e-02 8.95701853e-02 3.48493776e+01] [-7.37151246e-02 9.97258679e-01 -6.41934238e-03 -1.51627711e+00] [-8.97996359e-02 -2.26805981e-04 9.95959825e-01 -3.89880189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522401007999996 meters 0.05878652290606904 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.52, Z:-3.91 [[ 9.93315097e-01 7.27248134e-02 8.96449618e-02 3.49117130e+01] [-7.24389666e-02 9.97352040e-01 -6.44232317e-03 -1.52452811e+00] [-8.98761023e-02 -9.45315296e-05 9.95952949e-01 -3.90590660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582401008 meters 0.058808779179495056 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.54, Z:-3.91 [[ 9.93569087e-01 6.58958263e-02 9.20771928e-02 3.49714855e+01] [-6.55624294e-02 9.97826348e-01 -6.64430059e-03 -1.53974996e+00] [-9.23148807e-02 5.64767214e-04 9.95729704e-01 -3.91169430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642401008 meters 0.05959153961938517 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.56, Z:-3.91 [[ 9.94056427e-01 5.06426684e-02 9.63698088e-02 3.50311522e+01] [-5.02044255e-02 9.98714652e-01 -6.96839696e-03 -1.56338912e+00] [-9.65988383e-02 2.08878889e-03 9.95321205e-01 -3.91088410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702401007999995 meters 0.061897167553684615 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.58, Z:-3.92 [[ 9.94253280e-01 3.95490678e-02 9.94800801e-02 3.50892721e+01] [-3.90260640e-02 9.99212263e-01 -7.19864067e-03 -1.58229739e+00] [-9.96864155e-02 3.27495612e-03 9.95013514e-01 -3.91683382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762401008 meters 0.0629288424450567 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.59, Z:-3.93 [[ 9.94395877e-01 3.68217748e-02 9.91009419e-02 3.51502622e+01] [-3.62893830e-02 9.99315601e-01 -7.17007492e-03 -1.58876810e+00] [-9.92971322e-02 3.53358090e-03 9.95051553e-01 -3.92660539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822401008 meters 0.06240870147428015 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.59, Z:-3.93 [[ 9.94709799e-01 3.69218978e-02 9.58602616e-02 3.52113515e+01] [-3.64238435e-02 9.99312328e-01 -6.94086962e-03 -1.59207039e+00] [-9.60506113e-02 3.41255185e-03 9.95370602e-01 -3.93226987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882401007999995 meters 0.06305718587213763 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.60, Z:-3.94 [[ 9.94761739e-01 3.64970704e-02 9.54832215e-02 3.52722870e+01] [-3.59990531e-02 9.99327770e-01 -6.93373398e-03 -1.59536767e+00] [-9.56720957e-02 3.46010771e-03 9.95406891e-01 -3.94175936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942401008 meters 0.0643013322590967 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.59, Z:-3.96 [[ 9.95148440e-01 3.50828816e-02 9.19172104e-02 3.53312449e+01] [-3.46134225e-02 9.99378337e-01 -6.69709618e-03 -1.59435713e+00] [-9.20950223e-02 3.48303558e-03 9.95744131e-01 -3.95686300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002401008 meters 0.0637172542671133 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.59, Z:-3.96 [[ 9.95201677e-01 3.91151485e-02 8.96862762e-02 3.53921128e+01] [-3.86839234e-02 9.99230082e-01 -6.54200071e-03 -1.59354750e+00] [-8.98731164e-02 3.04119303e-03 9.95948580e-01 -3.96498153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062401007999995 meters 0.06092995402328692 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.58, Z:-3.97 [[ 9.94926471e-01 4.44774896e-02 9.02389651e-02 3.54544001e+01] [-4.40626159e-02 9.99007066e-01 -6.58544130e-03 -1.58474267e+00] [-9.04422677e-02 2.57586501e-03 9.95898369e-01 -3.96630836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122401008 meters 0.06176017281415776 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.58, Z:-3.98 [[ 9.94482497e-01 4.92628365e-02 9.26160698e-02 3.55134683e+01] [-4.88462509e-02 9.98783427e-01 -6.76084741e-03 -1.58293194e+00] [-9.28364542e-02 2.19959663e-03 9.95678942e-01 -3.97837644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182401008 meters 0.060615911287037395 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.58, Z:-3.98 [[ 9.94228022e-01 4.85073248e-02 9.56957714e-02 3.55761324e+01] [-4.80593754e-02 9.98820081e-01 -6.98162925e-03 -1.57918378e+00] [-9.59215183e-02 2.34225243e-03 9.95386144e-01 -3.97955869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242401008 meters 0.06039349191249163 Centerline is valid? [True, True] Translation: X:35.64, Y:-1.58, Z:-3.98 [[ 9.93902621e-01 4.65817924e-02 9.99385620e-02 3.56385537e+01] [-4.60809850e-02 9.98910924e-01 -7.31498859e-03 -1.58262693e+00] [-1.00170467e-01 2.66511896e-03 9.94966720e-01 -3.98060863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302401008 meters 0.060121879834545304 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.58, Z:-3.99 [[ 9.93797465e-01 4.69652085e-02 1.00801132e-01 3.57009750e+01] [-4.64550751e-02 9.98892944e-01 -7.40348438e-03 -1.58179697e+00] [-1.01037245e-01 2.67483987e-03 9.94879048e-01 -3.98775077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362401008 meters 0.060135251444949425 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.58, Z:-4.00 [[ 9.93656425e-01 4.94033043e-02 1.01025847e-01 3.57621158e+01] [-4.89027623e-02 9.98775933e-01 -7.42668658e-03 -1.58210304e+00] [-1.01269088e-01 2.43913183e-03 9.94856081e-01 -3.99599222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422401008 meters 0.059833265778070556 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.58, Z:-4.00 [[ 9.93573442e-01 4.96443689e-02 1.01721444e-01 3.58242628e+01] [-4.91357153e-02 9.98763941e-01 -7.50150270e-03 -1.58056097e+00] [-1.01968118e-01 2.45513793e-03 9.94784638e-01 -4.00339903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482401008 meters 0.06019648945343593 Centerline is valid? [True, True] Translation: X:35.89, Y:-1.58, Z:-4.01 [[ 9.93861932e-01 4.95647111e-02 9.89029801e-02 3.58851015e+01] [-4.90813057e-02 9.98767990e-01 -7.31631648e-03 -1.58056433e+00] [-9.91437617e-02 2.41712102e-03 9.95070184e-01 -4.01406394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542401008 meters 0.060379397624397986 Centerline is valid? [True, True] Translation: X:35.95, Y:-1.58, Z:-4.02 [[ 9.94118337e-01 5.11089595e-02 9.54809256e-02 3.59464742e+01] [-5.06637864e-02 9.98690652e-01 -7.08247189e-03 -1.58122054e+00] [-9.57178857e-02 2.20338994e-03 9.95406064e-01 -4.02496563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602401008 meters 0.060481558697059463 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.58, Z:-4.03 [[ 9.94281112e-01 5.32502163e-02 9.25715154e-02 3.60080050e+01] [-5.28391987e-02 9.98579285e-01 -6.88706081e-03 -1.58250722e+00] [-9.28067351e-02 1.95626978e-03 9.95682220e-01 -4.03472270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662401007999996 meters 0.06051558608276548 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.59, Z:-4.04 [[ 9.94325578e-01 5.34570403e-02 9.19727620e-02 3.60700225e+01] [-5.30502954e-02 9.98568256e-01 -6.86331261e-03 -1.58632977e+00] [-9.22079728e-02 1.94518509e-03 9.95737870e-01 -4.04151730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722401008 meters 0.061229077681844345 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.60, Z:-4.05 [[ 9.94527888e-01 4.98040491e-02 9.18359232e-02 3.61303680e+01] [-4.93809901e-02 9.98756355e-01 -6.87463828e-03 -1.59600748e+00] [-9.20640967e-02 2.30207068e-03 9.95750422e-01 -4.04819452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782401008 meters 0.06319428786735753 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.61, Z:-4.05 [[ 9.94489123e-01 4.20979893e-02 9.60163696e-02 3.61893765e+01] [-4.15971720e-02 9.99108430e-01 -7.21252975e-03 -1.61022951e+00] [-9.62343973e-02 3.17877294e-03 9.95353624e-01 -4.05172678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842401007999996 meters 0.061984689612551776 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.61, Z:-4.05 [[ 9.94269229e-01 3.99052602e-02 9.91779712e-02 3.62516988e+01] [-3.93602467e-02 9.99197337e-01 -7.44668990e-03 -1.60930804e+00] [-9.93955268e-02 3.50034522e-03 9.95041847e-01 -4.05144734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902401008 meters 0.061913757843575196 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.61, Z:-4.06 [[ 9.94180258e-01 4.07681018e-02 9.97174869e-02 3.63135491e+01] [-4.02190815e-02 9.99162657e-01 -7.51069967e-03 -1.61166111e+00] [-9.99401861e-02 3.45644361e-03 9.94987443e-01 -4.05630644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962401008 meters 0.061290482400065786 Centerline is valid? [True, True] Translation: X:36.38, Y:-1.61, Z:-4.07 [[ 9.94045573e-01 4.32362769e-02 1.00020114e-01 3.63750500e+01] [-4.26937326e-02 9.99059607e-01 -7.55949890e-03 -1.60637245e+00] [-1.00252900e-01 3.24425442e-03 9.94956698e-01 -4.06566168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022401007999996 meters 0.06128688632083802 Centerline is valid? [True, True] Translation: X:36.44, Y:-1.61, Z:-4.08 [[ 9.94187678e-01 4.53024749e-02 9.76654792e-02 3.64356824e+01] [-4.47951748e-02 9.98968919e-01 -7.38186639e-03 -1.60512499e+00] [-9.78991950e-02 2.96401839e-03 9.95191922e-01 -4.07541345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082401008 meters 0.06095959567774636 Centerline is valid? [True, True] Translation: X:36.50, Y:-1.61, Z:-4.08 [[ 9.94196244e-01 4.69469375e-02 9.67977964e-02 3.64975888e+01] [-4.64544227e-02 9.98893467e-01 -7.33670217e-03 -1.60524525e+00] [-9.70351222e-02 2.79743598e-03 9.95277026e-01 -4.08226571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142401008 meters 0.06016367265376855 Centerline is valid? [True, True] Translation: X:36.56, Y:-1.60, Z:-4.09 [[ 9.94069805e-01 5.10881301e-02 9.59959695e-02 3.65588958e+01] [-5.06205604e-02 9.98691268e-01 -7.30133529e-03 -1.59935045e+00] [-9.62433481e-02 2.39866717e-03 9.95354944e-01 -4.09029612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202401007999995 meters 0.060111387236856224 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.60, Z:-4.10 [[ 9.94118016e-01 5.42598260e-02 9.37296203e-02 3.66191687e+01] [-5.38282473e-02 9.98524764e-01 -7.12847871e-03 -1.59792633e+00] [-9.39781370e-02 2.04124794e-03 9.95572169e-01 -4.10027357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262401008 meters 0.05933639484494587 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.59, Z:-4.11 [[ 9.94364013e-01 5.76811956e-02 8.89555461e-02 3.66811966e+01] [-5.73047320e-02 9.98333696e-01 -6.78224033e-03 -1.59309099e+00] [-8.91985269e-02 1.64644198e-03 9.96012506e-01 -4.10880760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322401008 meters 0.05947904387111081 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.60, Z:-4.12 [[ 9.94433880e-01 5.85402301e-02 8.76030815e-02 3.67416863e+01] [-5.81764125e-02 9.98283817e-01 -6.70260368e-03 -1.59653811e+00] [-8.78451106e-02 1.56886318e-03 9.96132910e-01 -4.11639925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382401007999995 meters 0.059200038250203556 Centerline is valid? [True, True] Translation: X:36.80, Y:-1.60, Z:-4.12 [[ 9.94067563e-01 6.15283187e-02 8.96880522e-02 3.68030934e+01] [-6.11577762e-02 9.98104425e-01 -6.87634051e-03 -1.59626224e+00] [-8.99411314e-02 1.35042523e-03 9.95946168e-01 -4.12259365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442401008 meters 0.05892797226024228 Centerline is valid? [True, True] Translation: X:36.87, Y:-1.60, Z:-4.13 [[ 9.93862139e-01 6.50131440e-02 8.95060928e-02 3.68652128e+01] [-6.46583608e-02 9.97883875e-01 -6.86066473e-03 -1.59645784e+00] [-8.97627201e-02 1.03123768e-03 9.95962645e-01 -4.12943700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502401008 meters 0.058649636196421585 Centerline is valid? [True, True] Translation: X:36.93, Y:-1.60, Z:-4.13 [[ 9.93543822e-01 6.98824891e-02 8.93706456e-02 3.69272062e+01] [-6.95465691e-02 9.97555043e-01 -6.87099591e-03 -1.59886944e+00] [-8.96323005e-02 6.11213751e-04 9.95974737e-01 -4.13496002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562401007999995 meters 0.058342724289541625 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.60, Z:-4.14 [[ 9.93330645e-01 7.29288926e-02 8.93062520e-02 3.69890168e+01] [-7.26039188e-02 9.97337079e-01 -6.88631836e-03 -1.59995942e+00] [-8.95706481e-02 3.56407184e-04 9.95980407e-01 -4.14048624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622401008 meters 0.058321595570342305 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.60, Z:-4.15 [[ 9.92798196e-01 7.90329254e-02 9.00307657e-02 3.70502722e+01] [-7.87257276e-02 9.96871991e-01 -6.96372275e-03 -1.59867693e+00] [-9.02995120e-02 -1.74166155e-04 9.95914639e-01 -4.14806563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682401008 meters 0.05822486860880667 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.60, Z:-4.15 [[ 9.92528502e-01 8.07901615e-02 9.14337093e-02 3.71121289e+01] [-8.04789556e-02 9.96731081e-01 -7.09156136e-03 -1.60370092e+00] [-9.17077483e-02 -3.19912670e-04 9.95785914e-01 -4.15197848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742401008 meters 0.05845406498182865 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.62, Z:-4.16 [[ 9.92868480e-01 7.80801666e-02 9.00870113e-02 3.71716768e+01] [-7.77650288e-02 9.96947083e-01 -7.00820656e-03 -1.61537406e+00] [-9.03591851e-02 -4.73916390e-05 9.95909241e-01 -4.16383287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802401008 meters 0.05893827395373531 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.63, Z:-4.17 [[ 9.93581696e-01 7.19375901e-02 8.72948791e-02 3.72304223e+01] [-7.16160544e-02 9.97409001e-01 -6.81367664e-03 -1.63487204e+00] [-8.75588576e-02 5.18229582e-04 9.96159213e-01 -4.17306112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862401008 meters 0.059028755480410075 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.65, Z:-4.18 [[ 9.94039687e-01 6.66514492e-02 8.62709921e-02 3.72912993e+01] [-6.63174022e-02 9.97775844e-01 -6.73547675e-03 -1.64959074e+00] [-8.65280413e-02 9.74063120e-04 9.96248939e-01 -4.17772765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922401008 meters 0.06026533372014913 Centerline is valid? [True, True] Translation: X:37.35, Y:-1.67, Z:-4.18 [[ 9.94654695e-01 5.65525670e-02 8.63935477e-02 3.73503772e+01] [-5.61789146e-02 9.98397886e-01 -6.75214974e-03 -1.67189007e+00] [-8.66369868e-02 1.86256170e-03 9.96238206e-01 -4.18462813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982401008 meters 0.06142109997021614 Centerline is valid? [True, True] Translation: X:37.41, Y:-1.69, Z:-4.19 [[ 9.95126874e-01 4.67339582e-02 8.68242011e-02 3.74098473e+01] [-4.63191419e-02 9.98903634e-01 -6.78725328e-03 -1.68841363e+00] [-8.70462052e-02 2.73255565e-03 9.96200528e-01 -4.18899484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042401008 meters 0.0638335371287107 Centerline is valid? [True, True] Translation: X:37.47, Y:-1.71, Z:-4.19 [[ 9.95435858e-01 3.00722926e-02 9.05710181e-02 3.74698420e+01] [-2.95519019e-02 9.99538162e-01 -7.08152871e-03 -1.70687547e+00] [-9.07421468e-02 4.37266177e-03 9.95864821e-01 -4.19171728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102401008 meters 0.06702498577665275 Centerline is valid? [True, True] Translation: X:37.53, Y:-1.72, Z:-4.20 [[ 9.95517487e-01 1.87484988e-02 9.27007351e-02 3.75288744e+01] [-1.81542212e-02 9.99808913e-01 -7.24990603e-03 -1.72212247e+00] [-9.28189461e-02 5.53449859e-03 9.95667622e-01 -4.19724742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401007999996 meters 0.07190700551404353 Centerline is valid? [True, True] Translation: X:37.59, Y:-1.73, Z:-4.21 [[ 9.95579272e-01 9.78738691e-03 9.34137024e-02 3.75871174e+01] [-9.14431909e-03 9.99931473e-01 -7.30965207e-03 -1.73121513e+00] [-9.34788434e-02 6.42313339e-03 9.95600547e-01 -4.20651887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222401008 meters 0.06787403267781882 Centerline is valid? [True, True] Translation: X:37.65, Y:-1.72, Z:-4.21 [[ 9.95433135e-01 1.21034496e-02 9.46909722e-02 3.76489969e+01] [-1.14531928e-02 9.99906971e-01 -7.40763381e-03 -1.71943719e+00] [-9.47718212e-02 6.28929019e-03 9.95479154e-01 -4.20968889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282401008 meters 0.06671149888045744 Centerline is valid? [True, True] Translation: X:37.71, Y:-1.70, Z:-4.22 [[ 9.95470250e-01 1.77745325e-02 9.33972569e-02 3.77107418e+01] [-1.71666579e-02 9.99825935e-01 -7.30793839e-03 -1.70370097e+00] [-9.35108949e-02 5.67151650e-03 9.95602102e-01 -4.21795052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342401007999996 meters 0.06729599040846576 Centerline is valid? [True, True] Translation: X:37.77, Y:-1.70, Z:-4.23 [[ 9.95691952e-01 1.81718611e-02 9.09248025e-02 3.77724645e+01] [-1.75978104e-02 9.99819857e-01 -7.11125339e-03 -1.69694260e+00] [-9.10376477e-02 5.48054034e-03 9.95832371e-01 -4.22793319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402401008 meters 0.06775292453152128 Centerline is valid? [True, True] Translation: X:37.83, Y:-1.69, Z:-4.24 [[ 9.95938416e-01 1.70505379e-02 8.84078621e-02 3.78339875e+01] [-1.65013669e-02 9.99839765e-01 -6.93898263e-03 -1.68729151e+00] [-8.85120094e-02 5.45194880e-03 9.96060189e-01 -4.23696402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters 0.06715326100127625 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.68, Z:-4.24 [[ 9.96037283e-01 1.83490203e-02 8.70232358e-02 3.78960965e+01] [-1.78221161e-02 9.99817859e-01 -6.82790209e-03 -1.67948994e+00] [-8.71326707e-02 5.24990684e-03 9.96182883e-01 -4.24434917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522401007999996 meters 0.06573145341894442 Centerline is valid? [True, True] Translation: X:37.96, Y:-1.66, Z:-4.25 [[ 9.96104201e-01 2.87364479e-02 8.33704789e-02 3.79565967e+01] [-2.82870796e-02 9.99578272e-01 -6.56647476e-03 -1.65834759e+00] [-8.35240164e-02 4.18258572e-03 9.96496987e-01 -4.25396396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582401008 meters 0.06349462392970122 Centerline is valid? [True, True] Translation: X:38.02, Y:-1.64, Z:-4.26 [[ 9.95726387e-01 4.05350854e-02 8.29811424e-02 3.80184214e+01] [-4.01307902e-02 9.99173065e-01 -6.53496405e-03 -1.64194844e+00] [-8.31774177e-02 3.17693732e-03 9.96529691e-01 -4.26265906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642401008 meters 0.05900738553721482 Centerline is valid? [True, True] Translation: X:38.08, Y:-1.61, Z:-4.26 [[ 9.94569231e-01 6.05149638e-02 8.46757583e-02 3.80820901e+01] [-6.01660210e-02 9.98166105e-01 -6.66911615e-03 -1.61200462e+00] [-8.49240531e-02 1.53829427e-03 9.96386240e-01 -4.26227951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702401007999995 meters 0.058533282449072126 Centerline is valid? [True, True] Translation: X:38.14, Y:-1.60, Z:-4.27 [[ 9.93657602e-01 7.30163778e-02 8.55171274e-02 3.81422645e+01] [-7.27065333e-02 9.97330628e-01 -6.73631647e-03 -1.59738550e+00] [-8.57807119e-02 4.75938192e-04 9.96313928e-01 -4.27126947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762401008 meters 0.0582630160782174 Centerline is valid? [True, True] Translation: X:38.21, Y:-1.58, Z:-4.28 [[ 9.92581395e-01 8.49829033e-02 8.69487285e-02 3.82055659e+01] [-8.47090953e-02 9.96382243e-01 -6.84062884e-03 -1.58497464e+00] [-8.72155057e-02 -5.75467215e-04 9.96189301e-01 -4.27589706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822401008 meters 0.05841199191418113 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.59, Z:-4.28 [[ 9.92280753e-01 8.79728353e-02 8.74053094e-02 3.82681144e+01] [-8.77058876e-02 9.96122535e-01 -6.89728719e-03 -1.58679511e+00] [-8.76731723e-02 -8.21914922e-04 9.96148954e-01 -4.28291389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882401007999995 meters 0.058592913936795915 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.59, Z:-4.29 [[ 9.92516593e-01 8.53664494e-02 8.73119761e-02 3.83286924e+01] [-8.50877904e-02 9.96349461e-01 -6.91511059e-03 -1.59416643e+00] [-8.75835588e-02 -5.65821116e-04 9.96157016e-01 -4.29457551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942401008 meters 0.0585684989558245 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.61, Z:-4.30 [[ 9.92927838e-01 8.09461123e-02 8.68448925e-02 3.83906116e+01] [-8.06518331e-02 9.96718467e-01 -6.89775498e-03 -1.60756575e+00] [-8.71182546e-02 -1.55226832e-04 9.96197965e-01 -4.30324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002401008 meters 0.058926748449296344 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.63, Z:-4.31 [[ 9.93341746e-01 7.76566954e-02 8.50976641e-02 3.84498572e+01] [-7.73599974e-02 9.96980147e-01 -6.78360228e-03 -1.62582177e+00] [-8.53674738e-02 1.55280259e-04 9.96349522e-01 -4.31335949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062401007999995 meters 0.058837679370754715 Centerline is valid? [True, True] Translation: X:38.51, Y:-1.64, Z:-4.32 [[ 9.93323547e-01 7.59969452e-02 8.67916760e-02 3.85108510e+01] [-7.56802739e-02 9.97107998e-01 -6.93803538e-03 -1.63595719e+00] [-8.70679438e-02 3.23296102e-04 9.96202323e-01 -4.32001258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122401008 meters 0.05883586951122792 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.65, Z:-4.33 [[ 9.93356101e-01 7.36583671e-02 8.84200258e-02 3.85705638e+01] [-7.33184789e-02 9.97283376e-01 -7.09009849e-03 -1.65209586e+00] [-8.87020669e-02 5.60170804e-04 9.96058045e-01 -4.32839102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182401008 meters 0.05877323620934422 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.67, Z:-4.33 [[ 9.93401383e-01 6.91399821e-02 9.15060408e-02 3.86311989e+01] [-6.87548883e-02 9.97606449e-01 -7.35788470e-03 -1.66544922e+00] [-9.17957404e-02 1.01784523e-03 9.95777338e-01 -4.33470401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242401008 meters 0.05997791616059919 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.69, Z:-4.34 [[ 9.94233873e-01 5.81622292e-02 9.00897336e-02 3.86896947e+01] [-5.77417006e-02 9.98305090e-01 -7.26936199e-03 -1.68512613e+00] [-9.03598419e-02 2.02551151e-03 9.95907122e-01 -4.34384213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302401008 meters 0.06069927733477123 Centerline is valid? [True, True] Translation: X:38.75, Y:-1.69, Z:-4.35 [[ 9.94513870e-01 5.38533273e-02 8.96770968e-02 3.87491510e+01] [-5.34190587e-02 9.98545955e-01 -7.23738126e-03 -1.69482748e+00] [-8.99364593e-02 2.40720995e-03 9.95944596e-01 -4.35251275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362401008 meters 0.06293245124565068 Centerline is valid? [True, True] Translation: X:38.81, Y:-1.71, Z:-4.36 [[ 9.95142068e-01 4.23177943e-02 8.88902060e-02 3.88083786e+01] [-4.18450959e-02 9.99098344e-01 -7.17540189e-03 -1.71181904e+00] [-8.91137048e-02 3.42092509e-03 9.96015585e-01 -4.35858022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422401008 meters 0.0643720142888796 Centerline is valid? [True, True] Translation: X:38.87, Y:-1.72, Z:-4.36 [[ 9.95053886e-01 3.60998087e-02 9.25449530e-02 3.88684861e+01] [-3.55604007e-02 9.99339599e-01 -7.47154084e-03 -1.72410196e+00] [-9.27535574e-02 4.14365013e-03 9.95680475e-01 -4.36128723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482401008 meters 0.06723475757474968 Centerline is valid? [True, True] Translation: X:38.93, Y:-1.73, Z:-4.37 [[ 9.95206901e-01 2.80401743e-02 9.36854979e-02 3.89277720e+01] [-2.74516678e-02 9.99594507e-01 -7.56483157e-03 -1.72876984e+00] [-9.38596283e-02 4.95674942e-03 9.95573102e-01 -4.37035661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008 meters 0.06632355259848713 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.73, Z:-4.38 [[ 9.95425423e-01 2.58023762e-02 9.19916570e-02 3.89885877e+01] [-2.52252348e-02 9.99654172e-01 -7.43124981e-03 -1.72802722e+00] [-9.21515876e-02 5.07674384e-03 9.95732048e-01 -4.37545889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters 0.0663786936848641 Centerline is valid? [True, True] Translation: X:39.05, Y:-1.72, Z:-4.38 [[ 9.95645532e-01 2.84846083e-02 8.87614848e-02 3.90503358e+01] [-2.79583726e-02 9.99583398e-01 -7.16653988e-03 -1.72355808e+00] [-8.89286427e-02 4.65370674e-03 9.96027128e-01 -4.38408306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401007999996 meters 0.0650733282060885 Centerline is valid? [True, True] Translation: X:39.11, Y:-1.71, Z:-4.39 [[ 9.95537512e-01 3.60558902e-02 8.72068484e-02 3.91112437e+01] [-3.55747046e-02 9.99342039e-01 -7.06611788e-03 -1.71393684e+00] [-8.74042448e-02 3.93222754e-03 9.96165165e-01 -4.39283377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008 meters 0.06045149844600862 Centerline is valid? [True, True] Translation: X:39.17, Y:-1.69, Z:-4.39 [[ 9.94584221e-01 5.01641205e-02 9.10263065e-02 3.91744681e+01] [-4.96985520e-02 9.98737030e-01 -7.37555057e-03 -1.68918898e+00] [-9.12813310e-02 2.81173060e-03 9.95821175e-01 -4.39352596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782401008 meters 0.0604835347355568 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.69, Z:-4.40 [[ 9.94012614e-01 5.78541268e-02 9.26920838e-02 3.92339619e+01] [-5.74044815e-02 9.98322740e-01 -7.51209441e-03 -1.68805171e+00] [-9.29712208e-02 2.14617559e-03 9.95666483e-01 -4.40060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842401007999996 meters 0.058965660377784716 Centerline is valid? [True, True] Translation: X:39.30, Y:-1.68, Z:-4.40 [[ 9.93967114e-01 5.89853814e-02 9.24667569e-02 3.92966158e+01] [-5.85433184e-02 9.98256783e-01 -7.48835413e-03 -1.67738168e+00] [-9.27472707e-02 2.02986696e-03 9.95687613e-01 -4.40476242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902401008 meters 0.06200310781104461 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.69, Z:-4.42 [[ 9.94211216e-01 5.36745284e-02 9.30757968e-02 3.93544030e+01] [-5.32007543e-02 9.98555176e-01 -7.56578579e-03 -1.69033979e+00] [-9.33474086e-02 2.57028650e-03 9.95630280e-01 -4.41788781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962401008 meters 0.060084968201149135 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.68, Z:-4.42 [[ 9.94364078e-01 5.16751202e-02 9.25730106e-02 3.94171311e+01] [-5.11980645e-02 9.98660188e-01 -7.52237594e-03 -1.68471650e+00] [-9.28376999e-02 2.74042144e-03 9.95677484e-01 -4.41790748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022401007999996 meters 0.059733086294836354 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.68, Z:-4.43 [[ 9.94350152e-01 5.77955606e-02 8.90362155e-02 3.94794332e+01] [-5.73779190e-02 9.98326240e-01 -7.24516664e-03 -1.68243193e+00] [-8.93059288e-02 2.09551979e-03 9.96002038e-01 -4.42659059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008 meters 0.05904374385199005 Centerline is valid? [True, True] Translation: X:39.54, Y:-1.67, Z:-4.44 [[ 9.94033949e-01 6.96663910e-02 8.39231927e-02 3.95425987e+01] [-6.93368095e-02 9.97569865e-01 -6.83898827e-03 -1.66861302e+00] [-8.41956956e-02 9.79220088e-04 9.96448757e-01 -4.43688579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters 0.05909518054799765 Centerline is valid? [True, True] Translation: X:39.61, Y:-1.66, Z:-4.45 [[ 9.93598853e-01 7.75761739e-02 8.21173378e-02 3.96056215e+01] [-7.72870947e-02 9.96986380e-01 -6.69797888e-03 -1.66489811e+00] [-8.23894709e-02 3.08493668e-04 9.96600161e-01 -4.44691947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401007999995 meters 0.05870506344982575 Centerline is valid? [True, True] Translation: X:39.67, Y:-1.66, Z:-4.45 [[ 9.92830730e-01 8.66190374e-02 8.23667641e-02 3.96690458e+01] [-8.63573571e-02 9.96241419e-01 -6.74100685e-03 -1.66346190e+00] [-8.26410815e-02 -4.20297307e-04 9.96579287e-01 -4.45102836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008 meters 0.058660161167031696 Centerline is valid? [True, True] Translation: X:39.73, Y:-1.67, Z:-4.46 [[ 9.92223768e-01 8.97458131e-02 8.62420007e-02 3.97287310e+01] [-8.94677430e-02 9.95964471e-01 -7.09190688e-03 -1.67096112e+00] [-8.65304376e-02 -6.79118587e-04 9.96248976e-01 -4.45800660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters 0.05852488740270309 Centerline is valid? [True, True] Translation: X:39.79, Y:-1.68, Z:-4.47 [[ 9.92120396e-01 8.94801487e-02 8.76950585e-02 3.97900392e+01] [-8.91916984e-02 9.95988382e-01 -7.21004511e-03 -1.68229812e+00] [-8.79884153e-02 -6.68438407e-04 9.96121274e-01 -4.46622411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401007999995 meters 0.05857247486550265 Centerline is valid? [True, True] Translation: X:39.85, Y:-1.70, Z:-4.47 [[ 9.92105737e-01 8.94743845e-02 8.78666123e-02 3.98513654e+01] [-8.91840717e-02 9.95988904e-01 -7.23215473e-03 -1.69687214e+00] [-8.81612635e-02 -6.61240062e-04 9.96105996e-01 -4.47401556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442401008 meters 0.05855960903478857 Centerline is valid? [True, True] Translation: X:39.91, Y:-1.71, Z:-4.48 [[ 9.91868164e-01 9.17831400e-02 8.81668869e-02 3.99127236e+01] [-9.14977548e-02 9.95778661e-01 -7.28144312e-03 -1.71041473e+00] [-8.84630183e-02 -8.44840572e-04 9.96079104e-01 -4.48358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters 0.058738101402668476 Centerline is valid? [True, True] Translation: X:39.97, Y:-1.72, Z:-4.49 [[ 9.91485531e-01 9.33386703e-02 9.07983140e-02 3.99739265e+01] [-9.30400521e-02 9.95633928e-01 -7.52526517e-03 -1.71948558e+00] [-9.11042803e-02 -9.86688336e-04 9.95840869e-01 -4.49210104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562401007999995 meters 0.05852273423234154 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.74, Z:-4.50 [[ 9.91941808e-01 8.91125465e-02 9.00577751e-02 4.00340086e+01] [-8.87995230e-02 9.96021398e-01 -7.48457057e-03 -1.74310499e+00] [-9.03664402e-02 -5.72828997e-04 9.95908419e-01 -4.49683388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622401008 meters 0.05862690020056735 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.76, Z:-4.51 [[ 9.92645658e-01 8.17538913e-02 8.92798900e-02 4.00939447e+01] [-8.14144546e-02 9.96652541e-01 -7.44309369e-03 -1.76114539e+00] [-8.95895311e-02 1.19681089e-04 9.95978766e-01 -4.50592155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682401008 meters 0.05913726634544654 Centerline is valid? [True, True] Translation: X:40.15, Y:-1.79, Z:-4.51 [[ 9.93781715e-01 6.77949932e-02 8.83274728e-02 4.01524987e+01] [-6.74060268e-02 9.97698315e-01 -7.38245442e-03 -1.78821734e+00] [-8.86246642e-02 1.38274422e-03 9.96064133e-01 -4.51136961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742401008 meters 0.06030346269215801 Centerline is valid? [True, True] Translation: X:40.21, Y:-1.81, Z:-4.52 [[ 9.94139518e-01 5.79028241e-02 9.12900912e-02 4.02108104e+01] [-5.74454728e-02 9.98319475e-01 -7.63174049e-03 -1.81290380e+00] [-9.15785753e-02 2.34281236e-03 9.95795097e-01 -4.51779229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802401008 meters 0.06011819307005991 Centerline is valid? [True, True] Translation: X:40.27, Y:-1.82, Z:-4.52 [[ 9.94257742e-01 5.72154512e-02 9.04319329e-02 4.02721653e+01] [-5.67641696e-02 9.98359018e-01 -7.55647417e-03 -1.82061386e+00] [-9.07158828e-02 2.37978937e-03 9.95873971e-01 -4.52415697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862401008 meters 0.05995595872814509 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.83, Z:-4.53 [[ 9.94139027e-01 6.41488050e-02 8.70202569e-02 4.03318527e+01] [-6.37557383e-02 9.97938895e-01 -7.29163490e-03 -1.82659878e+00] [-8.73086487e-02 1.70085811e-03 9.96179857e-01 -4.53467455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922401008 meters 0.059491155054170186 Centerline is valid? [True, True] Translation: X:40.39, Y:-1.83, Z:-4.54 [[ 9.93769474e-01 7.17776154e-02 8.52655034e-02 4.03930018e+01] [-7.14267664e-02 9.97420131e-01 -7.16231573e-03 -1.82831381e+00] [-8.55596235e-02 1.02745154e-03 9.96332522e-01 -4.54407108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982401008 meters 0.05932253875359388 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.83, Z:-4.55 [[ 9.93158568e-01 7.88463239e-02 8.61354547e-02 4.04525089e+01] [-7.85125326e-02 9.96886681e-01 -7.26130398e-03 -1.83384864e+00] [-8.64398147e-02 4.48913571e-04 9.96256973e-01 -4.55221259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042401008 meters 0.05892083546242804 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.84, Z:-4.56 [[ 9.92659146e-01 8.13183591e-02 8.95273352e-02 4.05131677e+01] [-8.09676297e-02 9.96688148e-01 -7.54838342e-03 -1.84332463e+00] [-8.98446561e-02 2.44155717e-04 9.95955761e-01 -4.55501534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102401008 meters 0.058640969955442185 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.85, Z:-4.56 [[ 9.92092145e-01 8.42675275e-02 9.30169852e-02 4.05744677e+01] [-8.39015276e-02 9.96443166e-01 -7.84539957e-03 -1.84941168e+00] [-9.33472517e-02 -2.09078618e-05 9.95633612e-01 -4.55942921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162401007999996 meters 0.05903874175186696 Centerline is valid? [True, True] Translation: X:40.63, Y:-1.86, Z:-4.57 [[ 9.92010651e-01 8.72352742e-02 9.11310903e-02 4.06339862e+01] [-8.68964127e-02 9.96187694e-01 -7.68716457e-03 -1.85630675e+00] [-9.14542626e-02 -2.93215700e-04 9.95809235e-01 -4.57170456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222401008 meters 0.059711837940499224 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.87, Z:-4.58 [[ 9.91995663e-01 9.05519449e-02 8.80053981e-02 4.06932895e+01] [-9.02469937e-02 9.95891579e-01 -7.44605539e-03 -1.86503852e+00] [-8.83180896e-02 -5.55767953e-04 9.96092168e-01 -4.58139943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282401008 meters 0.05987111418370598 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.88, Z:-4.59 [[ 9.92043486e-01 9.25027094e-02 8.53988928e-02 4.07542841e+01] [-9.22226583e-02 9.95712182e-01 -7.22711126e-03 -1.87643444e+00] [-8.57012453e-02 -7.06104260e-04 9.96320630e-01 -4.58717436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342401007999996 meters 0.06005633120501192 Centerline is valid? [True, True] Translation: X:40.82, Y:-1.89, Z:-4.60 [[ 9.91894041e-01 9.44066647e-02 8.50505299e-02 4.08152389e+01] [-9.41358078e-02 9.95533340e-01 -7.19848997e-03 -1.88810920e+00] [-8.53502236e-02 -8.66161037e-04 9.96350636e-01 -4.59685481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402401008 meters 0.06057978112177719 Centerline is valid? [True, True] Translation: X:40.88, Y:-1.90, Z:-4.60 [[ 9.91700896e-01 9.71057852e-02 8.42603032e-02 4.08757044e+01] [-9.68480200e-02 9.95273492e-01 -7.15100336e-03 -1.90437181e+00] [-8.45564500e-02 -1.06878709e-03 9.96418117e-01 -4.60359120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462401008 meters 0.06064402451245448 Centerline is valid? [True, True] Translation: X:40.94, Y:-1.92, Z:-4.61 [[ 9.91575495e-01 9.77448459e-02 8.49940210e-02 4.09362748e+01] [-9.74832137e-02 9.95210885e-01 -7.23308216e-03 -1.91884705e+00] [-8.52939714e-02 -1.11334330e-03 9.96355207e-01 -4.60787687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522401007999996 meters 0.06100081321155253 Centerline is valid? [True, True] Translation: X:41.00, Y:-1.94, Z:-4.62 [[ 9.91548830e-01 9.63286162e-02 8.69006119e-02 4.09955404e+01] [-9.60477639e-02 9.95349091e-01 -7.41712511e-03 -1.93561220e+00] [-8.72109265e-02 -9.92167732e-04 9.96189375e-01 -4.61589530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582401008 meters 0.06096252531937763 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.95, Z:-4.62 [[ 9.91601489e-01 9.54652013e-02 8.72518371e-02 4.10559272e+01] [-9.51771015e-02 9.95432360e-01 -7.46568892e-03 -1.95278826e+00] [-8.75660156e-02 -9.01388706e-04 9.96158311e-01 -4.62003601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642401008 meters 0.06122683811774523 Centerline is valid? [True, True] Translation: X:41.11, Y:-1.97, Z:-4.63 [[ 9.91927226e-01 9.32802787e-02 8.59020816e-02 4.11146903e+01] [-9.29910918e-02 9.95639659e-01 -7.37059164e-03 -1.97241190e+00] [-8.62150501e-02 -6.77037842e-04 9.96276320e-01 -4.62991388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702401007999995 meters 0.06137238229614081 Centerline is valid? [True, True] Translation: X:41.18, Y:-1.99, Z:-4.64 [[ 9.92147168e-01 9.15894385e-02 8.51784694e-02 4.11760305e+01] [-9.12974631e-02 9.95796724e-01 -7.32513065e-03 -1.98750197e+00] [-8.54913454e-02 -5.08970540e-04 9.96338783e-01 -4.63753507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762401008 meters 0.061649814998310765 Centerline is valid? [True, True] Translation: X:41.24, Y:-2.01, Z:-4.64 [[ 9.92348529e-01 8.75322505e-02 8.70775599e-02 4.12365640e+01] [-8.72089442e-02 9.96161677e-01 -7.51750422e-03 -2.01027455e+00] [-8.74013522e-02 -1.33957802e-04 9.96173171e-01 -4.64457686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822401008 meters 0.061833027487729376 Centerline is valid? [True, True] Translation: X:41.30, Y:-2.03, Z:-4.65 [[ 9.92451829e-01 8.52445128e-02 8.81631422e-02 4.12973949e+01] [-8.49037376e-02 9.96360059e-01 -7.61495193e-03 -2.02819313e+00] [-8.84913665e-02 7.20926756e-05 9.96076941e-01 -4.64937691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882401007999995 meters 0.06207294702994605 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.04, Z:-4.66 [[ 9.92380204e-01 8.60447589e-02 8.81920020e-02 4.13581536e+01] [-8.57051608e-02 9.96291272e-01 -7.63717018e-03 -2.04169107e+00] [-8.85220604e-02 2.04667889e-05 9.96074216e-01 -4.65957427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942401008 meters 0.062674014259729 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.05, Z:-4.67 [[ 9.91668683e-01 9.41529227e-02 8.79116030e-02 4.14179010e+01] [-9.38450984e-02 9.95557517e-01 -7.63727128e-03 -2.04839319e+00] [-8.82401286e-02 -6.76430281e-04 9.96099002e-01 -4.67199960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002401008 meters 0.06319983670737309 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.05, Z:-4.68 [[ 9.91095924e-01 1.00431881e-01 8.74202840e-02 4.14789879e+01] [-1.00149789e-01 9.94943207e-01 -7.61802909e-03 -2.05196359e+00] [-8.77433107e-02 -1.20492538e-03 9.96142389e-01 -4.67961644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401007999995 meters 0.06309064911192629 Centerline is valid? [True, True] Translation: X:41.54, Y:-2.06, Z:-4.68 [[ 9.90914631e-01 1.02015009e-01 8.76420703e-02 4.15402664e+01] [-1.01737076e-01 9.94781955e-01 -7.64396080e-03 -2.06467913e+00] [-8.79645487e-02 -1.34193537e-03 9.96122702e-01 -4.68268852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008 meters 0.0626857141556158 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.08, Z:-4.69 [[ 9.91324156e-01 9.58005682e-02 8.99926000e-02 4.15989008e+01] [-9.54794533e-02 9.95400239e-01 -7.87642603e-03 -2.08485350e+00] [-9.03332217e-02 -7.84352857e-04 9.95911288e-01 -4.69118729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182401008 meters 0.062725810683763 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.11, Z:-4.70 [[ 9.92358421e-01 8.44464264e-02 8.99642429e-02 4.16587718e+01] [-8.40787287e-02 9.96427989e-01 -7.87588896e-03 -2.10931533e+00] [-9.03079803e-02 2.51625562e-04 9.95913854e-01 -4.70183901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242401007999995 meters 0.0626611291838351 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.12, Z:-4.71 [[ 9.92734524e-01 8.08026311e-02 8.91577230e-02 4.17197999e+01] [-8.04265224e-02 9.96729952e-01 -7.80882566e-03 -2.12486961e+00] [-8.94971466e-02 5.81445222e-04 9.95986909e-01 -4.70512151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302401008 meters 0.06253915784336639 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.14, Z:-4.71 [[ 9.92807119e-01 8.10946199e-02 8.80777376e-02 4.17797739e+01] [-8.07267986e-02 9.96706244e-01 -7.73605027e-03 -2.14354995e+00] [-8.84149831e-02 5.70172002e-04 9.96083564e-01 -4.70935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362401008 meters 0.06225539982885732 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.15, Z:-4.72 [[ 9.92471716e-01 8.39200938e-02 8.92037600e-02 4.18413499e+01] [-8.35520527e-02 9.96472427e-01 -7.85852950e-03 -2.14857676e+00] [-8.95485758e-02 3.46210998e-04 9.95982396e-01 -4.71946353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422401008 meters 0.06302368957394773 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.14, Z:-4.73 [[ 9.91373745e-01 9.77756909e-02 8.72812285e-02 4.19034734e+01] [-9.74765930e-02 9.95208087e-01 -7.69264355e-03 -2.13693067e+00] [-8.76151380e-02 -8.81591936e-04 9.96154009e-01 -4.73002096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482401008 meters 0.0636221765113542 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.14, Z:-4.74 [[ 9.90501583e-01 1.05908216e-01 8.76930066e-02 4.19651995e+01] [-1.05636079e-01 9.94374645e-01 -7.75137024e-03 -2.13525119e+00] [-8.80206362e-02 -1.58580088e-03 9.96117389e-01 -4.73515583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542401008 meters 0.06362634754742154 Centerline is valid? [True, True] Translation: X:42.03, Y:-2.14, Z:-4.74 [[ 9.90415184e-01 1.06507355e-01 8.79428651e-02 4.20273136e+01] [-1.06235463e-01 9.94310566e-01 -7.77974520e-03 -2.14350887e+00] [-8.82711200e-02 -1.63747320e-03 9.96095140e-01 -4.74072971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602401008 meters 0.06310806456225551 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.15, Z:-4.75 [[ 9.90955787e-01 1.01677468e-01 8.75689511e-02 4.20872152e+01] [-1.01386771e-01 9.94816722e-01 -7.77260051e-03 -2.15489457e+00] [-8.79053552e-02 -1.17602970e-03 9.96128137e-01 -4.74991669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662401007999996 meters 0.06326892768055552 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.16, Z:-4.76 [[ 9.91012764e-01 1.02132665e-01 8.63864584e-02 4.21483736e+01] [-1.01849876e-01 9.94770086e-01 -7.68629896e-03 -2.16018262e+00] [-8.67196868e-02 -1.18122972e-03 9.96232052e-01 -4.75856149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722401008 meters 0.0629633010139571 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.17, Z:-4.76 [[ 9.91098916e-01 1.01300934e-01 8.63774206e-02 4.22091190e+01] [-1.01013217e-01 9.94855235e-01 -7.70658298e-03 -2.17031234e+00] [-8.67137131e-02 -1.08727511e-03 9.96232679e-01 -4.76317587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782401008 meters 0.06215144417782301 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.19, Z:-4.77 [[ 9.91554937e-01 9.60447965e-02 8.71447318e-02 4.22696018e+01] [-9.57298093e-02 9.95376824e-01 -7.79622102e-03 -2.18585719e+00] [-8.74906329e-02 -6.11967119e-04 9.96165154e-01 -4.76676856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842401007999996 meters 0.06168530601391694 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.20, Z:-4.77 [[ 9.91997097e-01 8.83630366e-02 9.01872102e-02 4.23302298e+01] [-8.79914602e-02 9.96088332e-01 -8.09556776e-03 -2.20003407e+00] [-9.05497767e-02 9.50754049e-05 9.95891926e-01 -4.76933773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902401008 meters 0.06214625383650649 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.21, Z:-4.78 [[ 9.92376327e-01 8.21070151e-02 9.19111737e-02 4.23896123e+01] [-8.16941712e-02 9.96623287e-01 -8.25146316e-03 -2.20921182e+00] [-9.22783191e-02 6.79949542e-04 9.95733021e-01 -4.78084682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962401008 meters 0.062200243058424844 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.21, Z:-4.79 [[ 9.92319713e-01 8.35395859e-02 9.12289700e-02 4.24520473e+01] [-8.31380583e-02 9.96504307e-01 -8.19940110e-03 -2.21463785e+00] [-9.15950361e-02 5.51827921e-04 9.95796186e-01 -4.78737738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022401007999996 meters 0.06179871747256757 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.22, Z:-4.79 [[ 9.92075948e-01 8.94095473e-02 8.82680311e-02 4.25134259e+01] [-8.90548114e-02 9.95994946e-01 -7.95668328e-03 -2.21933135e+00] [-8.86259163e-02 3.29412478e-05 9.96064981e-01 -4.79386358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082401008 meters 0.0618164747036711 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.22, Z:-4.80 [[ 9.91964729e-01 9.12526288e-02 8.76295308e-02 4.25744479e+01] [-9.09083735e-02 9.95827769e-01 -7.91972404e-03 -2.22359315e+00] [-8.79866158e-02 -1.10171205e-04 9.96121651e-01 -4.80074320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142401008 meters 0.061856512861970206 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.23, Z:-4.81 [[ 9.92344180e-01 8.82656982e-02 8.63839947e-02 4.26350486e+01] [-8.79182703e-02 9.96096952e-01 -7.82562836e-03 -2.23179686e+00] [-8.67375684e-02 1.70985367e-04 9.96231180e-01 -4.81102062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401007999995 meters 0.062384071399197515 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.24, Z:-4.82 [[ 9.92603114e-01 8.34601574e-02 8.81672323e-02 4.26951469e+01] [-8.30773298e-02 9.96510919e-01 -8.00911891e-03 -2.24297467e+00] [-8.85280520e-02 6.25178131e-04 9.96073488e-01 -4.81803669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008 meters 0.062098585508711064 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.25, Z:-4.82 [[ 9.92463777e-01 8.27216218e-02 9.04034522e-02 4.27570928e+01] [-8.23142218e-02 9.96572427e-01 -8.23202955e-03 -2.25174594e+00] [-9.07745546e-02 7.28501322e-04 9.95871201e-01 -4.82038940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters 0.06183917289277466 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.26, Z:-4.82 [[ 9.92363234e-01 8.21157009e-02 9.20446781e-02 4.28190218e+01] [-8.16887230e-02 9.96622466e-01 -8.40316893e-03 -2.25895081e+00] [-9.24238262e-02 8.19983686e-04 9.95719420e-01 -4.82450945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382401007999995 meters 0.061624690402093944 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.26, Z:-4.83 [[ 9.92213123e-01 8.26012231e-02 9.32210086e-02 4.28803225e+01] [-8.21633197e-02 9.96582354e-01 -8.53238248e-03 -2.26195390e+00] [-9.36071973e-02 8.06594346e-04 9.95608880e-01 -4.83214118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442401008 meters 0.061719331860962026 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.27, Z:-4.84 [[ 9.92297576e-01 8.13445391e-02 9.34269075e-02 4.29420868e+01] [-8.08970943e-02 9.96685590e-01 -8.57289857e-03 -2.26825330e+00] [-9.38146109e-02 9.48901125e-04 9.95589232e-01 -4.83782141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters 0.06250113653156232 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.28, Z:-4.85 [[ 9.92569367e-01 7.80585072e-02 9.33430289e-02 4.30010724e+01] [-7.75949920e-02 9.96947953e-01 -8.59043178e-03 -2.28085945e+00] [-9.37286979e-02 1.28364786e-03 9.95596948e-01 -4.84803957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401007999995 meters 0.06294924070068246 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.29, Z:-4.85 [[ 9.93156491e-01 7.05223765e-02 9.30955398e-02 4.30613160e+01] [-7.00259518e-02 9.97508163e-01 -8.59243832e-03 -2.28812512e+00] [-9.34695201e-02 2.01453210e-03 9.95620103e-01 -4.85373211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622401008 meters 0.06411776095658459 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.30, Z:-4.86 [[ 9.93651732e-01 6.23673289e-02 9.36298706e-02 4.31214306e+01] [-6.18289033e-02 9.98049337e-01 -8.64333573e-03 -2.29734861e+00] [-9.39862920e-02 2.79943330e-03 9.95569556e-01 -4.86005513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682401008 meters 0.06615159116028023 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.31, Z:-4.86 [[ 9.94058396e-01 5.18588819e-02 9.57003720e-02 4.31816547e+01] [-5.12475986e-02 9.98646889e-01 -8.83596850e-03 -2.30896505e+00] [-9.60291022e-02 3.87905443e-03 9.95370968e-01 -4.86455164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742401007999995 meters 0.0665344565213247 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.31, Z:-4.87 [[ 9.94150609e-01 5.10123398e-02 9.51961593e-02 4.32416809e+01] [-5.04035441e-02 9.98690248e-01 -8.79039891e-03 -2.31389913e+00] [-9.55198947e-02 3.94075661e-03 9.95419721e-01 -4.87202133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802401008 meters 0.06529560879381989 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.31, Z:-4.88 [[ 9.93878064e-01 5.66846263e-02 9.48327272e-02 4.33026132e+01] [-5.61049814e-02 9.98386360e-01 -8.76962439e-03 -2.30918711e+00] [-9.51768043e-02 3.39534892e-03 9.95454593e-01 -4.87960898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862401008 meters 0.06345602128822796 Centerline is valid? [True, True] Translation: X:43.36, Y:-2.30, Z:-4.89 [[ 9.93716260e-01 6.08860782e-02 9.39195377e-02 4.33646073e+01] [-6.03362422e-02 9.98140320e-01 -8.68556850e-03 -2.30371317e+00] [-9.42737076e-02 2.96423867e-03 9.95541903e-01 -4.88635948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922401008 meters 0.06381607127358604 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.31, Z:-4.89 [[ 9.93439435e-01 6.27681188e-02 9.55942059e-02 4.34250042e+01] [-6.22063450e-02 9.98024086e-01 -8.84842478e-03 -2.30537490e+00] [-9.59607189e-02 2.84380796e-03 9.95381059e-01 -4.89324163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982401008 meters 0.06330687919847652 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.31, Z:-4.90 [[ 9.93324367e-01 6.34735327e-02 9.63214022e-02 4.34868170e+01] [-6.29064685e-02 9.97979603e-01 -8.91559843e-03 -2.30651320e+00] [-9.66926993e-02 2.79684191e-03 9.95310353e-01 -4.89753160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042401008 meters 0.06243911109784657 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.30, Z:-4.91 [[ 9.93060299e-01 6.75387351e-02 9.62795977e-02 4.35482845e+01] [-6.69886302e-02 9.97713702e-01 -8.93826152e-03 -2.29922900e+00] [-9.66631527e-02 2.42659430e-03 9.95314195e-01 -4.90545633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102401008 meters 0.062144401401142364 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.30, Z:-4.91 [[ 9.92719703e-01 7.14320626e-02 9.69796481e-02 4.36098541e+01] [-7.08920907e-02 9.97443328e-01 -9.00662239e-03 -2.29537957e+00] [-9.73750645e-02 2.06596150e-03 9.95245612e-01 -4.91380386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162401007999996 meters 0.06172104367331855 Centerline is valid? [True, True] Translation: X:43.67, Y:-2.29, Z:-4.92 [[ 9.92550171e-01 7.48299767e-02 9.61490155e-02 4.36714296e+01] [-7.43151692e-02 9.97194828e-01 -8.92918001e-03 -2.29493238e+00] [-9.65474714e-02 1.71732878e-03 9.95326899e-01 -4.92092444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222401008 meters 0.06175463306920164 Centerline is valid? [True, True] Translation: X:43.73, Y:-2.30, Z:-4.93 [[ 9.92502016e-01 7.69499379e-02 9.49655440e-02 4.37322914e+01] [-7.64552953e-02 9.97033807e-01 -8.84167836e-03 -2.29904134e+00] [-9.53642245e-02 1.51476489e-03 9.95441294e-01 -4.92912245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282401008 meters 0.06172678143201651 Centerline is valid? [True, True] Translation: X:43.79, Y:-2.30, Z:-4.93 [[ 9.92456456e-01 7.64364588e-02 9.58522363e-02 4.37943731e+01] [-7.59279652e-02 9.97073169e-01 -8.94650924e-03 -2.30330774e+00] [-9.62555325e-02 1.60115559e-03 9.95355368e-01 -4.93485319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342401007999996 meters 0.061777512007054475 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.31, Z:-4.94 [[ 9.92289690e-01 7.59302294e-02 9.79580100e-02 4.38559812e+01] [-7.53938487e-02 9.97111658e-01 -9.17105378e-03 -2.31031057e+00] [-9.83714340e-02 1.71491073e-03 9.95148290e-01 -4.94000710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402401008 meters 0.06202706829780284 Centerline is valid? [True, True] Translation: X:43.92, Y:-2.32, Z:-4.95 [[ 9.92358486e-01 7.53255259e-02 9.77276900e-02 4.39174272e+01] [-7.47864830e-02 9.97157384e-01 -9.17245928e-03 -2.32026868e+00] [-9.81408080e-02 1.79365757e-03 9.95170922e-01 -4.94591212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462401008 meters 0.06239807122189668 Centerline is valid? [True, True] Translation: X:43.98, Y:-2.33, Z:-4.95 [[ 9.92299510e-01 7.51255060e-02 9.84776168e-02 4.39777702e+01] [-7.45748957e-02 9.97172370e-01 -9.26552053e-03 -2.32967768e+00] [-9.88952354e-02 1.85021349e-03 9.95096131e-01 -4.95359255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522401007999996 meters 0.062396851351518644 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.34, Z:-4.96 [[ 9.92300053e-01 7.68957133e-02 9.70961087e-02 4.40400363e+01] [-7.63666981e-02 9.97037738e-01 -9.15844611e-03 -2.33571435e+00] [-9.75127298e-02 1.67301735e-03 9.95232872e-01 -4.96310701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582401008 meters 0.062256210570548365 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.34, Z:-4.97 [[ 9.92421587e-01 7.89432805e-02 9.41666146e-02 4.41006986e+01] [-7.84526764e-02 9.96878053e-01 -8.90649019e-03 -2.34082601e+00] [-9.45757390e-02 1.45137019e-03 9.95516611e-01 -4.97271767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642401008 meters 0.0628212735632478 Centerline is valid? [True, True] Translation: X:44.16, Y:-2.35, Z:-4.98 [[ 9.92731752e-01 7.69087424e-02 9.25673494e-02 4.41607259e+01] [-7.64240209e-02 9.97036792e-01 -8.77516356e-03 -2.35190157e+00] [-9.29679399e-02 1.63701445e-03 9.95667757e-01 -4.98105102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702401007999995 meters 0.06328398320932213 Centerline is valid? [True, True] Translation: X:44.22, Y:-2.36, Z:-4.99 [[ 9.92678813e-01 7.38737314e-02 9.55586029e-02 4.42223043e+01] [-7.33410651e-02 9.97265588e-01 -9.07933723e-03 -2.36212315e+00] [-9.59680309e-02 2.00449598e-03 9.95382398e-01 -4.98600995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762401008 meters 0.06455360224721013 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.38, Z:-4.99 [[ 9.92731058e-01 6.78582762e-02 9.93997061e-02 4.42821212e+01] [-6.72488779e-02 9.97691265e-01 -9.47246098e-03 -2.37743114e+00] [-9.98130034e-02 2.71908751e-03 9.95002498e-01 -4.98799010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822401008 meters 0.06455733162366657 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.38, Z:-4.99 [[ 9.92854883e-01 6.43137510e-02 1.00513295e-01 4.43430471e+01] [-6.36702996e-02 9.97924814e-01 -9.59992563e-03 -2.38291320e+00] [-1.00922119e-01 3.13162141e-03 9.94889400e-01 -4.99381562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882401007999995 meters 0.06504384441074784 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.39, Z:-5.00 [[ 9.92979238e-01 6.31568507e-02 1.00017224e-01 4.44044615e+01] [-6.25117397e-02 9.97998307e-01 -9.57405441e-03 -2.38974555e+00] [-1.00421688e-01 3.25458656e-03 9.94939643e-01 -5.00273964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942401008 meters 0.06446664384444364 Centerline is valid? [True, True] Translation: X:44.47, Y:-2.39, Z:-5.01 [[ 9.93063088e-01 6.48508656e-02 9.80819442e-02 4.44664277e+01] [-6.42366080e-02 9.97890321e-01 -9.41097469e-03 -2.39098271e+00] [-9.84853326e-02 3.04524019e-03 9.95133843e-01 -5.01006470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002401008 meters 0.06417301195729752 Centerline is valid? [True, True] Translation: X:44.53, Y:-2.39, Z:-5.02 [[ 9.93053505e-01 6.67704643e-02 9.68836521e-02 4.45281170e+01] [-6.61780765e-02 9.97764314e-01 -9.31855571e-03 -2.39382605e+00] [-9.72892550e-02 2.84225066e-03 9.95252090e-01 -5.01774831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062401007999995 meters 0.06377092249189034 Centerline is valid? [True, True] Translation: X:44.59, Y:-2.40, Z:-5.03 [[ 9.92879116e-01 6.86154058e-02 9.73806316e-02 4.45895815e+01] [-6.80234849e-02 9.97639537e-01 -9.38938397e-03 -2.39547065e+00] [-9.77950246e-02 2.69835333e-03 9.95202920e-01 -5.02513759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122401008 meters 0.06379950553603402 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.40, Z:-5.03 [[ 9.92750462e-01 7.24206341e-02 9.59258652e-02 4.46501639e+01] [-7.18618664e-02 9.97371501e-01 -9.27148772e-03 -2.39664791e+00] [-9.63451712e-02 2.31086200e-03 9.95345301e-01 -5.03450592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182401008 meters 0.0628500195254949 Centerline is valid? [True, True] Translation: X:44.71, Y:-2.40, Z:-5.04 [[ 9.92484990e-01 7.52535119e-02 9.64906890e-02 4.47128799e+01] [-7.46992441e-02 9.97162284e-01 -9.34893618e-03 -2.39684626e+00] [-9.69204161e-02 2.07089730e-03 9.95289980e-01 -5.03926498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242401007999995 meters 0.06229915538137693 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.40, Z:-5.04 [[ 9.92096359e-01 7.90918674e-02 9.74129875e-02 4.47740013e+01] [-7.85444598e-02 9.96865845e-01 -9.44749341e-03 -2.39684648e+00] [-9.78549000e-02 1.72157333e-03 9.95199204e-01 -5.04492865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302401008 meters 0.06193340660158334 Centerline is valid? [True, True] Translation: X:44.84, Y:-2.39, Z:-5.06 [[ 9.91238351e-01 8.94146412e-02 9.72191037e-02 4.48355535e+01] [-8.89185652e-02 9.95994240e-01 -9.43205212e-03 -2.38857014e+00] [-9.76730308e-02 7.04828581e-04 9.95218309e-01 -5.05560105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362401008 meters 0.06208097452202199 Centerline is valid? [True, True] Translation: X:44.90, Y:-2.38, Z:-5.06 [[ 9.90262215e-01 1.01664397e-01 9.51057104e-02 4.48977495e+01] [-1.01246062e-01 9.94818631e-01 -9.22643585e-03 -2.38273763e+00] [-9.55509326e-02 -4.92487879e-04 9.95424420e-01 -5.06438087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422401008 meters 0.06219175577314001 Centerline is valid? [True, True] Translation: X:44.96, Y:-2.39, Z:-5.07 [[ 9.89680309e-01 1.06788966e-01 9.55458116e-02 4.49593555e+01] [-1.06388322e-01 9.94281237e-01 -9.29227240e-03 -2.38614742e+00] [-9.59917200e-02 -9.68579589e-04 9.95381661e-01 -5.06832840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482401008 meters 0.0623570868798554 Centerline is valid? [True, True] Translation: X:45.02, Y:-2.39, Z:-5.08 [[ 9.89397649e-01 1.07062829e-01 9.81317611e-02 4.50198345e+01] [-1.06639056e-01 9.94251757e-01 -9.56850154e-03 -2.39227703e+00] [-9.85921067e-02 -9.97625440e-04 9.95127430e-01 -5.07659904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542401008 meters 0.062447369512386545 Centerline is valid? [True, True] Translation: X:45.08, Y:-2.40, Z:-5.09 [[ 9.89398941e-01 1.07154125e-01 9.80190197e-02 4.50816360e+01] [-1.06729689e-01 9.94241934e-01 -9.57857971e-03 -2.39976803e+00] [-9.84810040e-02 -9.84502909e-04 9.95138444e-01 -5.08679426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602401008 meters 0.06287878409460618 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.41, Z:-5.09 [[ 9.89221314e-01 1.11077213e-01 9.54098755e-02 4.51420762e+01] [-1.10690837e-01 9.93810913e-01 -9.34925618e-03 -2.41040813e+00] [-9.58578648e-02 -1.31251546e-03 9.95394167e-01 -5.09465164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662401007999996 meters 0.06373812733592374 Centerline is valid? [True, True] Translation: X:45.20, Y:-2.42, Z:-5.10 [[ 9.88796573e-01 1.17214045e-01 9.24240510e-02 4.52023190e+01] [-1.16876229e-01 9.93104997e-01 -9.07814613e-03 -2.41723453e+00] [-9.28508731e-02 -1.82573477e-03 9.95678353e-01 -5.10318737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722401008 meters 0.06460110485885723 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.42, Z:-5.11 [[ 9.88405313e-01 1.19698532e-01 9.34194750e-02 4.52619933e+01] [-1.19363200e-01 9.92808131e-01 -9.18925451e-03 -2.42194935e+00] [-9.38475546e-02 -2.06813947e-03 9.95584431e-01 -5.11379776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782401008 meters 0.06435116118306951 Centerline is valid? [True, True] Translation: X:45.32, Y:-2.44, Z:-5.12 [[ 9.88588126e-01 1.18370541e-01 9.31768904e-02 4.53217214e+01] [-1.18030090e-01 9.92967624e-01 -9.17577225e-03 -2.43782276e+00] [-9.36077766e-02 -1.92661726e-03 9.95607288e-01 -5.12105155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842401007999996 meters 0.06276194766747525 Centerline is valid? [True, True] Translation: X:45.38, Y:-2.46, Z:-5.12 [[ 9.89436358e-01 1.10561054e-01 9.37653829e-02 4.53809080e+01] [-1.10178942e-01 9.93868645e-01 -9.25835896e-03 -2.45992625e+00] [-9.42140880e-02 -1.17041370e-03 9.95551272e-01 -5.12479302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902401008 meters 0.061951717846441365 Centerline is valid? [True, True] Translation: X:45.44, Y:-2.48, Z:-5.13 [[ 9.90165158e-01 1.02852050e-01 9.48388957e-02 4.54399953e+01] [-1.02425499e-01 9.94696569e-01 -9.36768468e-03 -2.48078630e+00] [-9.52994097e-02 -4.38366198e-04 9.95448557e-01 -5.13274949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962401008 meters 0.061776713607329656 Centerline is valid? [True, True] Translation: X:45.50, Y:-2.50, Z:-5.14 [[ 9.90746957e-01 9.67367522e-02 9.51969962e-02 4.55001901e+01] [-9.62788287e-02 9.95309991e-01 -9.40260108e-03 -2.49747969e+00] [-9.56600985e-02 1.50143112e-04 9.95414046e-01 -5.14087126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022401007999996 meters 0.0618417540511109 Centerline is valid? [True, True] Translation: X:45.56, Y:-2.52, Z:-5.15 [[ 9.91513516e-01 9.10393301e-02 9.28051025e-02 4.55607537e+01] [-9.05769292e-02 9.95847047e-01 -9.19128846e-03 -2.51512015e+00] [-9.32564560e-02 7.07285542e-04 9.95641870e-01 -5.14566154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082401008 meters 0.06202149262597664 Centerline is valid? [True, True] Translation: X:45.62, Y:-2.53, Z:-5.15 [[ 9.91864331e-01 8.79142780e-02 9.20664391e-02 4.56214262e+01] [-8.74455385e-02 9.96127546e-01 -9.12084328e-03 -2.52672346e+00] [-9.25117684e-02 9.95839773e-04 9.95711093e-01 -5.15162461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142401008 meters 0.06241898637229788 Centerline is valid? [True, True] Translation: X:45.68, Y:-2.54, Z:-5.15 [[ 9.91987231e-01 7.77893092e-02 9.95497685e-02 4.56826903e+01] [-7.71874870e-02 9.96967555e-01 -9.88868155e-03 -2.53658027e+00] [-1.00017123e-01 2.12544937e-03 9.94983446e-01 -5.15099099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202401007999995 meters 0.06486184861121116 Centerline is valid? [True, True] Translation: X:45.74, Y:-2.54, Z:-5.16 [[ 9.92878971e-01 6.38683938e-02 1.00559319e-01 4.57419066e+01] [-6.31803663e-02 9.97951871e-01 -1.00152422e-02 -2.54350567e+00] [-1.00993018e-01 3.59054876e-03 9.94880655e-01 -5.15877144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262401008 meters 0.06598457833478248 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.54, Z:-5.17 [[ 9.93664718e-01 5.97008390e-02 9.52167980e-02 4.58022400e+01] [-5.90650630e-02 9.98209081e-01 -9.48415118e-03 -2.54467957e+00] [-9.56124842e-02 3.80008024e-03 9.95411378e-01 -5.17286358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322401008 meters 0.0650831105637525 Centerline is valid? [True, True] Translation: X:45.87, Y:-2.54, Z:-5.18 [[ 9.93750444e-01 6.29213486e-02 9.22006477e-02 4.58652990e+01] [-6.23389931e-02 9.98012764e-01 -9.18547741e-03 -2.54081544e+00] [-9.25953859e-02 3.38037672e-03 9.95698081e-01 -5.17917690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382401007999995 meters 0.064054556474665 Centerline is valid? [True, True] Translation: X:45.93, Y:-2.54, Z:-5.19 [[ 9.93473331e-01 7.00067358e-02 9.00544167e-02 4.59261982e+01] [-6.94794570e-02 9.97542959e-01 -8.98055681e-03 -2.53716337e+00] [-9.04618487e-02 2.66501172e-03 9.95896356e-01 -5.18592158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442401008 meters 0.062133468933149444 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.52, Z:-5.19 [[ 9.92163147e-01 8.42984935e-02 9.22282679e-02 4.59869122e+01] [-8.38066910e-02 9.96439567e-01 -9.19939212e-03 -2.52313752e+00] [-9.26753902e-02 1.39795189e-03 9.95695394e-01 -5.19340634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502401008 meters 0.061443288541743725 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.51, Z:-5.20 [[ 9.91049211e-01 9.49358226e-02 9.38544117e-02 4.60495409e+01] [-9.44742129e-02 9.95483311e-01 -9.35952617e-03 -2.51432892e+00] [-9.43190548e-02 4.08929355e-04 9.95541937e-01 -5.20113010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562401007999995 meters 0.061903576366468004 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.50, Z:-5.21 [[ 9.89473436e-01 1.09453316e-01 9.46693763e-02 4.61127394e+01] [-1.09049200e-01 9.93991459e-01 -9.44734748e-03 -2.50371038e+00] [-9.51345950e-02 -9.75720388e-04 9.95463940e-01 -5.20782069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622401008 meters 0.06318548446591529 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.50, Z:-5.21 [[ 9.88309624e-01 1.17619228e-01 9.70041451e-02 4.61752641e+01] [-1.17233261e-01 9.93057143e-01 -9.68879892e-03 -2.50193846e+00] [-9.74702482e-02 -1.79657908e-03 9.95236818e-01 -5.21277744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682401008 meters 0.0654038781006795 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.50, Z:-5.22 [[ 9.87521635e-01 1.24513709e-01 9.64228025e-02 4.62350813e+01] [-1.24164385e-01 9.92214852e-01 -9.63812749e-03 -2.49882519e+00] [-9.68722157e-02 -2.45441852e-03 9.95293801e-01 -5.22243337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742401007999995 meters 0.06645952666777438 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.50, Z:-5.24 [[ 9.87396893e-01 1.26146249e-01 9.55745745e-02 4.62960718e+01] [-1.25811004e-01 9.92008261e-01 -9.54988840e-03 -2.50371751e+00] [-9.60154501e-02 -2.59480306e-03 9.95376462e-01 -5.23521116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802401008 meters 0.06585410840930483 Centerline is valid? [True, True] Translation: X:46.36, Y:-2.52, Z:-5.24 [[ 9.87629564e-01 1.24913270e-01 9.47867060e-02 4.63569248e+01] [-1.24575905e-01 9.92164680e-01 -9.49170699e-03 -2.51634679e+00] [-9.52296619e-02 -2.43384922e-03 9.95452353e-01 -5.24341651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862401008 meters 0.06277299927721498 Centerline is valid? [True, True] Translation: X:46.42, Y:-2.54, Z:-5.25 [[ 9.88488566e-01 1.17368217e-01 9.54728081e-02 4.64163239e+01] [-1.16988488e-01 9.93087020e-01 -9.58461597e-03 -2.54373606e+00] [-9.59377358e-02 -1.69493619e-03 9.95385894e-01 -5.24650943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922401008 meters 0.06228619502937191 Centerline is valid? [True, True] Translation: X:46.48, Y:-2.56, Z:-5.25 [[ 9.88841084e-01 1.14758698e-01 9.49934255e-02 4.64766478e+01] [-1.14370559e-01 9.93392364e-01 -9.53862135e-03 -2.55581816e+00] [-9.54603833e-02 -1.43227054e-03 9.95432200e-01 -5.25343278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982401008 meters 0.061623706385673695 Centerline is valid? [True, True] Translation: X:46.54, Y:-2.57, Z:-5.26 [[ 9.89836361e-01 1.08149434e-01 9.23454267e-02 4.65361071e+01] [-1.07751954e-01 9.94134365e-01 -9.29409595e-03 -2.57466385e+00] [-9.28089134e-02 -7.50766015e-04 9.95683656e-01 -5.26393005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042401008 meters 0.061262841359224315 Centerline is valid? [True, True] Translation: X:46.60, Y:-2.59, Z:-5.27 [[ 9.90665210e-01 1.02871550e-01 8.94420867e-02 4.65966572e+01] [-1.02475410e-01 9.94694623e-01 -9.02208016e-03 -2.59054698e+00] [-8.98956780e-02 -2.27753583e-04 9.95951161e-01 -5.27173835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102401008 meters 0.061400963196939704 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.60, Z:-5.28 [[ 9.91229981e-01 9.85501524e-02 8.80397186e-02 4.66568029e+01] [-9.81474669e-02 9.95132069e-01 -8.90172374e-03 -2.60171096e+00] [-8.84884136e-02 1.82780086e-04 9.96077189e-01 -5.28066930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162401007999996 meters 0.061626175465829165 Centerline is valid? [True, True] Translation: X:46.72, Y:-2.61, Z:-5.29 [[ 9.91747842e-01 9.37653276e-02 8.74315782e-02 4.67167547e+01] [-9.33477332e-02 9.95594129e-01 -8.86174879e-03 -2.61293547e+00] [-8.78772907e-02 6.27080608e-04 9.96131110e-01 -5.28740618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222401008 meters 0.06147259461704484 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.62, Z:-5.29 [[ 9.91894635e-01 9.18480034e-02 8.78007838e-02 4.67791957e+01] [-9.14187369e-02 9.95772711e-01 -8.90630674e-03 -2.61881066e+00] [-8.82476510e-02 8.07481118e-04 9.96098238e-01 -5.29252827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282401008 meters 0.06181822157965565 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.62, Z:-5.30 [[ 9.92088968e-01 8.94168440e-02 8.81141703e-02 4.68396057e+01] [-8.89724588e-02 9.95993732e-01 -8.96588290e-03 -2.62409048e+00] [-8.85628623e-02 1.05521913e-03 9.96070031e-01 -5.30207873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342401007999996 meters 0.061568237606499855 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.63, Z:-5.30 [[ 9.92137001e-01 8.67397542e-02 9.02240932e-02 4.69020110e+01] [-8.62618770e-02 9.96230111e-01 -9.18995128e-03 -2.62988485e+00] [-9.06810925e-02 1.33479107e-03 9.95879088e-01 -5.30274129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402401008 meters 0.06166189932304004 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.64, Z:-5.31 [[ 9.92191806e-01 8.47232590e-02 9.15280764e-02 4.69631583e+01] [-8.42208017e-02 9.96403294e-01 -9.34516546e-03 -2.63739908e+00] [-9.19906297e-02 1.56362864e-03 9.95758645e-01 -5.30822216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462401008 meters 0.06151646463149338 Centerline is valid? [True, True] Translation: X:47.03, Y:-2.64, Z:-5.31 [[ 9.92021939e-01 8.38350293e-02 9.41496688e-02 4.70257293e+01] [-8.32966430e-02 9.96478160e-01 -9.64080341e-03 -2.64047100e+00] [-9.46263258e-02 1.72153715e-03 9.95511374e-01 -5.31232308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522401007999996 meters 0.06147248031444282 Centerline is valid? [True, True] Translation: X:47.09, Y:-2.64, Z:-5.32 [[ 9.92043531e-01 8.30507446e-02 9.46161001e-02 4.70877637e+01] [-8.25029975e-02 9.96543676e-01 -9.69316352e-03 -2.64408293e+00] [-9.50941006e-02 1.80992829e-03 9.95466642e-01 -5.31905587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582401008 meters 0.062149045011983005 Centerline is valid? [True, True] Translation: X:47.15, Y:-2.65, Z:-5.33 [[ 9.92392065e-01 8.06618915e-02 9.30142414e-02 4.71477512e+01] [-8.01195502e-02 9.96739451e-01 -9.55642457e-03 -2.65441579e+00] [-9.34818031e-02 2.03146073e-03 9.95618916e-01 -5.32658935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642401008 meters 0.06175320963715924 Centerline is valid? [True, True] Translation: X:47.21, Y:-2.66, Z:-5.33 [[ 9.92589693e-01 7.95098722e-02 9.18906010e-02 4.72099242e+01] [-7.89749959e-02 9.96831822e-01 -9.44823353e-03 -2.65808376e+00] [-9.23507030e-02 2.12115938e-03 9.95724283e-01 -5.33190910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702401007999995 meters 0.0620911268435882 Centerline is valid? [True, True] Translation: X:47.27, Y:-2.66, Z:-5.34 [[ 9.92596183e-01 8.13700118e-02 9.01761545e-02 4.72711787e+01] [-8.08606095e-02 9.96682087e-01 -9.29404170e-03 -2.66335559e+00] [-9.06332142e-02 1.93353150e-03 9.95882464e-01 -5.34311453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762401008 meters 0.06175427135656977 Centerline is valid? [True, True] Translation: X:47.33, Y:-2.66, Z:-5.35 [[ 9.92434713e-01 8.60787009e-02 8.75431202e-02 4.73323544e+01] [-8.56158600e-02 9.96287253e-01 -9.03510193e-03 -2.66491962e+00] [-8.79958246e-02 1.47166926e-03 9.96119756e-01 -5.35376866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822401008 meters 0.06099241553151758 Centerline is valid? [True, True] Translation: X:47.39, Y:-2.66, Z:-5.36 [[ 9.91615273e-01 9.68619901e-02 8.55389082e-02 4.73945551e+01] [-9.64582052e-02 9.95297683e-01 -8.85076574e-03 -2.66130695e+00] [-8.59939800e-02 5.25624926e-04 9.96295518e-01 -5.35977235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882401007999995 meters 0.06080206889888806 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.66, Z:-5.37 [[ 9.90539912e-01 1.06363009e-01 8.67040539e-02 4.74573735e+01] [-1.05983934e-01 9.94327321e-01 -8.97684676e-03 -2.65894342e+00] [-8.71670141e-02 -2.97311698e-04 9.96193668e-01 -5.36633433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942401008 meters 0.06126934503059425 Centerline is valid? [True, True] Translation: X:47.52, Y:-2.66, Z:-5.37 [[ 9.89794866e-01 1.11845255e-01 8.82992813e-02 4.75185556e+01] [-1.11472590e-01 9.93725329e-01 -9.15597461e-03 -2.65957938e+00] [-8.87692847e-02 -7.80412892e-04 9.96051909e-01 -5.37310900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002401008 meters 0.06152992558777785 Centerline is valid? [True, True] Translation: X:47.58, Y:-2.66, Z:-5.38 [[ 9.89220806e-01 1.15568702e-01 8.99225937e-02 4.75806862e+01] [-1.15196687e-01 9.93298851e-01 -9.33357216e-03 -2.66356163e+00] [-9.03986779e-02 -1.12582115e-03 9.95905021e-01 -5.37861690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062401007999995 meters 0.06165443617543396 Centerline is valid? [True, True] Translation: X:47.64, Y:-2.67, Z:-5.38 [[ 9.88826035e-01 1.17378380e-01 9.18987954e-02 4.76416891e+01] [-1.16995199e-01 9.93086422e-01 -9.56460891e-03 -2.67390370e+00] [-9.23861242e-02 -1.29398359e-03 9.95722416e-01 -5.38176108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122401008 meters 0.06112745943085735 Centerline is valid? [True, True] Translation: X:47.70, Y:-2.69, Z:-5.39 [[ 9.89203413e-01 1.15195711e-01 9.05900387e-02 4.77031709e+01] [-1.14812459e-01 9.93342255e-01 -9.44796363e-03 -2.68904630e+00] [-9.10752782e-02 -1.05490721e-03 9.95843452e-01 -5.38741938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182401008 meters 0.060939909601131374 Centerline is valid? [True, True] Translation: X:47.76, Y:-2.70, Z:-5.40 [[ 9.89417934e-01 1.13106918e-01 9.08789106e-02 4.77640244e+01] [-1.12710081e-01 9.93582467e-01 -9.50358585e-03 -2.69865729e+00] [-9.13706135e-02 -8.39951064e-04 9.95816602e-01 -5.39531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242401007999995 meters 0.06126103279895983 Centerline is valid? [True, True] Translation: X:47.82, Y:-2.71, Z:-5.41 [[ 9.89684235e-01 1.11813461e-01 8.95704501e-02 4.78232661e+01] [-1.11420752e-01 9.93728975e-01 -9.38829536e-03 -2.70760174e+00] [-9.00584894e-02 -6.88559011e-04 9.95936240e-01 -5.40665131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302401008 meters 0.061432993404661185 Centerline is valid? [True, True] Translation: X:47.88, Y:-2.72, Z:-5.41 [[ 9.89684575e-01 1.13280425e-01 8.77039740e-02 4.78847285e+01] [-1.12908056e-01 9.93562744e-01 -9.21107900e-03 -2.71508497e+00] [-8.81828360e-02 -7.86422442e-04 9.96103995e-01 -5.41297411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362401008 meters 0.06217826569064301 Centerline is valid? [True, True] Translation: X:47.95, Y:-2.72, Z:-5.42 [[ 9.89289258e-01 1.17444658e-01 8.66805360e-02 4.79464939e+01] [-1.17095111e-01 9.93078793e-01 -9.12389324e-03 -2.71724395e+00] [-8.71521546e-02 -1.12369742e-03 9.96194378e-01 -5.42254834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422401008 meters 0.06299041453490058 Centerline is valid? [True, True] Translation: X:48.01, Y:-2.72, Z:-5.43 [[ 9.88668624e-01 1.22212363e-01 8.71693149e-02 4.80085754e+01] [-1.21875573e-01 9.92502791e-01 -9.19538899e-03 -2.71743373e+00] [-8.76395785e-02 -1.53261765e-03 9.96151071e-01 -5.43087779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482401008 meters 0.06378399737937401 Centerline is valid? [True, True] Translation: X:48.07, Y:-2.72, Z:-5.44 [[ 9.88066460e-01 1.26638912e-01 8.76769974e-02 4.80700323e+01] [-1.26313700e-01 9.91947033e-01 -9.26995739e-03 -2.72024549e+00] [-8.81448747e-02 -1.91547197e-03 9.96105824e-01 -5.43637197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542401008 meters 0.06398583976005177 Centerline is valid? [True, True] Translation: X:48.13, Y:-2.73, Z:-5.44 [[ 9.87684528e-01 1.29320553e-01 8.80651385e-02 4.81314205e+01] [-1.29001396e-01 9.91600520e-01 -9.32996074e-03 -2.72718336e+00] [-8.85319928e-02 -2.14546798e-03 9.96071023e-01 -5.44221157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602401008 meters 0.06403771043050765 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.74, Z:-5.45 [[ 9.87747071e-01 1.28294473e-01 8.88608526e-02 4.81916646e+01] [-1.27963343e-01 9.91734000e-01 -9.43692413e-03 -2.73641226e+00] [-8.93370340e-02 -2.04963762e-03 9.95999344e-01 -5.44877644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662401007999996 meters 0.06283206973328234 Centerline is valid? [True, True] Translation: X:48.25, Y:-2.75, Z:-5.45 [[ 9.88312192e-01 1.23426399e-01 8.94703043e-02 4.82519143e+01] [-1.23068585e-01 9.92352446e-01 -9.52612456e-03 -2.75156953e+00] [-8.99618506e-02 -1.59619875e-03 9.95943933e-01 -5.45357627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722401008 meters 0.06159677641394333 Centerline is valid? [True, True] Translation: X:48.31, Y:-2.77, Z:-5.46 [[ 9.89329105e-01 1.14533755e-01 9.00552157e-02 4.83117101e+01] [-1.14134016e-01 9.93419045e-01 -9.59310574e-03 -2.76802648e+00] [-9.05613007e-02 -7.87624735e-04 9.95890572e-01 -5.46076475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782401008 meters 0.061226717745761834 Centerline is valid? [True, True] Translation: X:48.37, Y:-2.78, Z:-5.47 [[ 9.90137263e-01 1.08370754e-01 8.87917795e-02 4.83729273e+01] [-1.07957495e-01 9.94110522e-01 -9.45771944e-03 -2.78068686e+00] [-8.92937825e-02 -2.21297676e-04 9.96005307e-01 -5.46954587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842401007999996 meters 0.06124191010876015 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.79, Z:-5.48 [[ 9.90161890e-01 1.08463369e-01 8.84032210e-02 4.84346642e+01] [-1.08052005e-01 9.94100425e-01 -9.43974237e-03 -2.78692429e+00] [-8.89055458e-02 -2.05272150e-04 9.96040040e-01 -5.47630883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902401008 meters 0.061469088579274196 Centerline is valid? [True, True] Translation: X:48.50, Y:-2.79, Z:-5.49 [[ 9.90832322e-01 1.02797972e-01 8.76577867e-02 4.84953661e+01] [-1.02369207e-01 9.94702202e-01 -9.38478706e-03 -2.79498453e+00] [-8.81581306e-02 3.25292210e-04 9.96106439e-01 -5.48547999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962401008 meters 0.06206809042721153 Centerline is valid? [True, True] Translation: X:48.55, Y:-2.81, Z:-5.50 [[ 9.91514008e-01 9.72402046e-02 8.62804371e-02 4.85541751e+01] [-9.68015983e-02 9.95260594e-01 -9.26285288e-03 -2.80632429e+00] [-8.67722408e-02 8.32164173e-04 9.96227828e-01 -5.49674949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022401007999996 meters 0.06273291813210145 Centerline is valid? [True, True] Translation: X:48.61, Y:-2.82, Z:-5.50 [[ 9.92295824e-01 9.11997836e-02 8.38546137e-02 4.86140290e+01] [-9.07637759e-02 9.95831735e-01 -9.00514390e-03 -2.81790406e+00] [-8.43263527e-02 1.32480532e-03 9.96437309e-01 -5.50422174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082401008 meters 0.06253734928007895 Centerline is valid? [True, True] Translation: X:48.68, Y:-2.82, Z:-5.51 [[ 9.92151212e-01 9.18566407e-02 8.48429707e-02 4.86760610e+01] [-9.14129099e-02 9.95771418e-01 -9.10845086e-03 -2.82384999e+00] [-8.53208769e-02 1.28121773e-03 9.96352702e-01 -5.50850855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142401008 meters 0.06209802176097077 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.83, Z:-5.51 [[ 9.91653700e-01 9.49402482e-02 8.72312378e-02 4.87374785e+01] [-9.44807175e-02 9.95482397e-01 -9.39104783e-03 -2.82626864e+00] [-8.77287501e-02 1.07099739e-03 9.96143825e-01 -5.51307538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202401007999995 meters 0.06114468040742003 Centerline is valid? [True, True] Translation: X:48.80, Y:-2.82, Z:-5.51 [[ 9.90471570e-01 1.01830377e-01 9.27180800e-02 4.87996262e+01] [-1.01340834e-01 9.94801654e-01 -9.98524585e-03 -2.82457653e+00] [-9.32529006e-02 4.93974615e-04 9.95642332e-01 -5.51415332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262401008 meters 0.06103042065038142 Centerline is valid? [True, True] Translation: X:48.86, Y:-2.83, Z:-5.52 [[ 9.90083965e-01 1.03294128e-01 9.52053884e-02 4.88603803e+01] [-1.02784776e-01 9.94650788e-01 -1.02518055e-02 -2.83167284e+00] [-9.57550659e-02 3.64483770e-04 9.95404860e-01 -5.51979691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322401008 meters 0.06115105248324761 Centerline is valid? [True, True] Translation: X:48.92, Y:-2.84, Z:-5.53 [[ 9.90215367e-01 1.02308423e-01 9.49026556e-02 4.89227884e+01] [-1.01795779e-01 9.94752611e-01 -1.02402394e-02 -2.83840612e+00] [-9.54523272e-02 4.79352612e-04 9.95433887e-01 -5.52683939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382401007999995 meters 0.061609234264334144 Centerline is valid? [True, True] Translation: X:48.98, Y:-2.85, Z:-5.54 [[ 9.90596819e-01 1.03534274e-01 8.94348751e-02 4.89829135e+01] [-1.03081946e-01 9.94625820e-01 -9.67423613e-03 -2.84614321e+00] [-8.99558510e-02 3.64146576e-04 9.95945687e-01 -5.53862982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442401008 meters 0.061811908443914765 Centerline is valid? [True, True] Translation: X:49.04, Y:-2.85, Z:-5.55 [[ 9.90703395e-01 1.04242367e-01 8.74088756e-02 4.90440997e+01] [-1.03811490e-01 9.94551875e-01 -9.47324763e-03 -2.85282633e+00] [-8.79201749e-02 3.11132963e-04 9.96127475e-01 -5.54863047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502401008 meters 0.061719328248766886 Centerline is valid? [True, True] Translation: X:49.11, Y:-2.86, Z:-5.55 [[ 9.90547384e-01 1.05457393e-01 8.77189701e-02 4.91061943e+01] [-1.05026027e-01 9.94423796e-01 -9.53140289e-03 -2.85825233e+00] [-8.82349882e-02 2.28531245e-04 9.96099661e-01 -5.55463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562401007999995 meters 0.06147500636015358 Centerline is valid? [True, True] Translation: X:49.17, Y:-2.86, Z:-5.56 [[ 9.90003915e-01 1.08036235e-01 9.06665337e-02 4.91686357e+01] [-1.07585381e-01 9.94146957e-01 -9.85971382e-03 -2.86108408e+00] [-9.12010650e-02 6.76173311e-06 9.95832499e-01 -5.55908178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622401008 meters 0.06165594508921258 Centerline is valid? [True, True] Translation: X:49.23, Y:-2.86, Z:-5.57 [[ 9.89763543e-01 1.11260770e-01 8.93821566e-02 4.92303252e+01] [-1.10835375e-01 9.93791206e-01 -9.72410503e-03 -2.86425288e+00] [-8.99091126e-02 -2.82140186e-04 9.95949934e-01 -5.56750623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682401008 meters 0.06178996107630646 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.87, Z:-5.57 [[ 9.89594733e-01 1.12075522e-01 9.02293798e-02 4.92911954e+01] [-1.11643356e-01 9.93699634e-01 -9.83857060e-03 -2.87086435e+00] [-9.07635647e-02 -3.37313125e-04 9.95872412e-01 -5.57358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742401007999995 meters 0.061666979096207816 Centerline is valid? [True, True] Translation: X:49.35, Y:-2.88, Z:-5.58 [[ 9.90117121e-01 1.07361137e-01 9.02312152e-02 4.93524430e+01] [-1.06907496e-01 9.94220083e-01 -9.85973946e-03 -2.88346645e+00] [-9.07682391e-02 1.15903543e-04 9.95872037e-01 -5.58195722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802401008 meters 0.06277523316242332 Centerline is valid? [True, True] Translation: X:49.41, Y:-2.91, Z:-5.59 [[ 9.91464039e-01 9.38496277e-02 9.05058366e-02 4.94121132e+01] [-9.33343032e-02 9.95585418e-01 -9.91886931e-03 -2.90540943e+00] [-9.10371733e-02 1.38690303e-03 9.95846529e-01 -5.58898034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862401008 meters 0.06436762011306348 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.93, Z:-5.59 [[ 9.92236772e-01 8.28331091e-02 9.27624104e-02 4.94708915e+01] [-8.22430143e-02 9.96560385e-01 -1.01727855e-02 -2.92587669e+00] [-9.32859869e-02 2.46475164e-03 9.95636304e-01 -5.59258237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922401008 meters 0.06845864619251373 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.95, Z:-5.60 [[ 9.93099138e-01 7.02705145e-02 9.38943950e-02 4.95287928e+01] [-6.96092857e-02 9.97521125e-01 -1.03030752e-02 -2.94915298e+00] [-9.43856449e-02 3.69605330e-03 9.95528849e-01 -5.59925667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982401008 meters 0.06868395634962815 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.96, Z:-5.61 [[ 9.93254681e-01 6.78590866e-02 9.40227744e-02 4.95903664e+01] [-6.71849625e-02 9.97687160e-01 -1.03204880e-02 -2.95577018e+00] [-9.45056536e-02 3.93395642e-03 9.95516552e-01 -5.60550247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042401008 meters 0.06707250632984368 Centerline is valid? [True, True] Translation: X:49.65, Y:-2.95, Z:-5.62 [[ 9.93181924e-01 7.30128181e-02 9.08779069e-02 4.96517619e+01] [-7.24040828e-02 9.97325431e-01 -9.98167840e-03 -2.95140900e+00] [-9.13636381e-02 3.33369107e-03 9.95812016e-01 -5.61521022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102401008 meters 0.06605465836873622 Centerline is valid? [True, True] Translation: X:49.71, Y:-2.95, Z:-5.62 [[ 9.92933800e-01 7.84717954e-02 8.90204772e-02 4.97135582e+01] [-7.79093983e-02 9.96912470e-01 -9.78018151e-03 -2.95083244e+00] [-8.95130922e-02 2.77554097e-03 9.95981778e-01 -5.62277393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162401007999996 meters 0.0649738272762252 Centerline is valid? [True, True] Translation: X:49.78, Y:-2.95, Z:-5.63 [[ 9.92527622e-01 8.28712878e-02 8.95615368e-02 4.97755957e+01] [-8.23194643e-02 9.96557374e-01 -9.84407847e-03 -2.94846202e+00] [-9.00690014e-02 2.39786206e-03 9.95932641e-01 -5.62997015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222401008 meters 0.06332979374109853 Centerline is valid? [True, True] Translation: X:49.84, Y:-2.94, Z:-5.63 [[ 9.91797303e-01 8.86039302e-02 9.21273736e-02 4.98373354e+01] [-8.80440657e-02 9.96065053e-01 -1.01317492e-02 -2.94039784e+00] [-9.26625700e-02 1.93737297e-03 9.95695684e-01 -5.63375141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282401008 meters 0.0625970133611636 Centerline is valid? [True, True] Translation: X:49.90, Y:-2.94, Z:-5.64 [[ 9.91393183e-01 9.24602568e-02 9.26858039e-02 4.98989733e+01] [-9.19103708e-02 9.95715112e-01 -1.01931462e-02 -2.93823255e+00] [-9.32311165e-02 1.58662907e-03 9.95643230e-01 -5.63898956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342401007999996 meters 0.061991132023114286 Centerline is valid? [True, True] Translation: X:49.96, Y:-2.94, Z:-5.64 [[ 9.90765591e-01 9.77117213e-02 9.39998047e-02 4.99606858e+01] [-9.71693406e-02 9.95214140e-01 -1.03409517e-02 -2.94039102e+00] [-9.45603669e-02 1.11156013e-03 9.95518509e-01 -5.64065958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402401008 meters 0.062149425892022436 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.94, Z:-5.65 [[ 9.90602745e-01 9.95578125e-02 9.37786898e-02 5.00220326e+01] [-9.90260297e-02 9.95031340e-01 -1.03188334e-02 -2.93975498e+00] [-9.43400559e-02 9.35333409e-04 9.95539592e-01 -5.65122531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462401008 meters 0.062360762149711264 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.94, Z:-5.66 [[ 9.90816154e-01 9.94982169e-02 9.15611974e-02 5.00833783e+01] [-9.89907055e-02 9.95037313e-01 -1.00790314e-02 -2.94374993e+00] [-9.21096534e-02 9.22759656e-04 9.95748442e-01 -5.65999217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522401007999996 meters 0.06270562179349609 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.95, Z:-5.66 [[ 9.91469355e-01 9.47144173e-02 8.95415938e-02 5.01443361e+01] [-9.42074264e-02 9.95503554e-01 -9.88102564e-03 -2.95384085e+00] [-9.00748505e-02 1.36125101e-03 9.95934068e-01 -5.66456810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582401008 meters 0.06337944562419309 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.96, Z:-5.67 [[ 9.91683631e-01 9.09854680e-02 9.10231926e-02 5.02044949e+01] [-9.04449097e-02 9.95850703e-01 -1.00546448e-02 -2.96366628e+00] [-9.15603369e-02 1.73844217e-03 9.95798013e-01 -5.67120887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642401008 meters 0.06382850308998933 Centerline is valid? [True, True] Translation: X:50.27, Y:-2.97, Z:-5.67 [[ 9.91775872e-01 8.49302612e-02 9.57469083e-02 5.02663667e+01] [-8.43027265e-02 9.96383938e-01 -1.05876841e-02 -2.96995859e+00] [-9.62998963e-02 2.42888424e-03 9.95349401e-01 -5.67499192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702401007999995 meters 0.06416036934167849 Centerline is valid? [True, True] Translation: X:50.33, Y:-2.98, Z:-5.68 [[ 9.91929465e-01 8.25672465e-02 9.62215429e-02 5.03276181e+01] [-8.19201462e-02 9.96581853e-01 -1.06630247e-02 -2.97718032e+00] [-9.67730601e-02 2.69448555e-03 9.95302826e-01 -5.68210785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762401008 meters 0.06537761593620965 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.99, Z:-5.69 [[ 9.92440138e-01 7.60288439e-02 9.63441088e-02 5.03870970e+01] [-7.53468318e-02 9.97099949e-01 -1.07026388e-02 -2.98579737e+00] [-9.68784153e-02 3.36250492e-03 9.95290544e-01 -5.68995478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822401008 meters 0.06718694238957972 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.99, Z:-5.70 [[ 9.93211874e-01 6.94799398e-02 9.32883225e-02 5.04464075e+01] [-6.88115704e-02 9.97575817e-01 -1.03661308e-02 -2.99450797e+00] [-9.37824127e-02 3.87644819e-03 9.95585171e-01 -5.69891258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882401007999995 meters 0.06737758810969091 Centerline is valid? [True, True] Translation: X:50.51, Y:-2.99, Z:-5.71 [[ 9.93732620e-01 6.67565591e-02 8.96607003e-02 5.05074054e+01] [-6.61279018e-02 9.97761372e-01 -9.96716284e-03 -2.99304511e+00] [-9.01253569e-02 3.97562086e-03 9.95922494e-01 -5.71038438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942401008 meters 0.06918235561933861 Centerline is valid? [True, True] Translation: X:50.57, Y:-3.00, Z:-5.72 [[ 9.94331716e-01 6.29557703e-02 8.56796905e-02 5.05670458e+01] [-6.23675068e-02 9.98007771e-01 -9.52802166e-03 -2.99538825e+00] [-8.61088408e-02 4.13038545e-03 9.96277174e-01 -5.72085969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002401008 meters 0.07118057494886643 Centerline is valid? [True, True] Translation: X:50.63, Y:-3.00, Z:-5.73 [[ 9.94626180e-01 5.66529617e-02 8.66556617e-02 5.06272478e+01] [-5.60273500e-02 9.98382728e-01 -9.63663855e-03 -3.00186153e+00] [-8.70614600e-02 4.72976590e-03 9.96191714e-01 -5.72673151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062401007999995 meters 0.07121438637444359 Centerline is valid? [True, True] Translation: X:50.69, Y:-3.00, Z:-5.73 [[ 9.94975743e-01 4.78009583e-02 8.79678331e-02 5.06890574e+01] [-4.71215619e-02 9.98841236e-01 -9.78490929e-03 -2.99747331e+00] [-8.83336272e-02 5.59056570e-03 9.96075256e-01 -5.73098931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122401008 meters 0.07018029145836452 Centerline is valid? [True, True] Translation: X:50.75, Y:-2.99, Z:-5.74 [[ 9.94651298e-01 5.14043926e-02 8.95900912e-02 5.07516337e+01] [-5.07140322e-02 9.98663483e-01 -9.96663623e-03 -2.98570099e+00] [-8.99826814e-02 5.36985289e-03 9.95928854e-01 -5.73568942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182401008 meters 0.06671741596832174 Centerline is valid? [True, True] Translation: X:50.81, Y:-2.97, Z:-5.74 [[ 9.94014893e-01 5.98951359e-02 9.13617326e-02 5.08146004e+01] [-5.92125496e-02 9.98193631e-01 -1.01660403e-02 -2.97213087e+00] [-9.18055960e-02 4.69543432e-03 9.95765879e-01 -5.73846352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242401007999995 meters 0.06610751003367236 Centerline is valid? [True, True] Translation: X:50.88, Y:-2.96, Z:-5.75 [[ 9.93339999e-01 6.69591141e-02 9.37663195e-02 5.08757207e+01] [-6.62711479e-02 9.97747082e-01 -1.04352891e-02 -2.96229664e+00] [-9.42538094e-02 4.15178846e-03 9.95539543e-01 -5.74701437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302401008 meters 0.06338617639091229 Centerline is valid? [True, True] Translation: X:50.94, Y:-2.94, Z:-5.75 [[ 9.92492672e-01 7.49026479e-02 9.66844830e-02 5.09395109e+01] [-7.42085431e-02 9.97184693e-01 -1.07601412e-02 -2.94005691e+00] [-9.72182496e-02 3.50454668e-03 9.95256917e-01 -5.75312803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362401008 meters 0.06271839544887467 Centerline is valid? [True, True] Translation: X:51.00, Y:-2.93, Z:-5.76 [[ 9.91870507e-01 8.39054414e-02 9.56701366e-02 5.10009382e+01] [-8.32672249e-02 9.96470334e-01 -1.06509580e-02 -2.92702410e+00] [-9.62261263e-02 2.59818432e-03 9.95356108e-01 -5.76348242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422401007999994 meters 0.06207959572767404 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.92, Z:-5.77 [[ 9.91650648e-01 8.87151109e-02 9.35875028e-02 5.10634932e+01] [-8.81262247e-02 9.96054869e-01 -1.04147483e-02 -2.92215793e+00] [-9.41422333e-02 2.08027858e-03 9.95556584e-01 -5.77182778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482401008 meters 0.06173143904532553 Centerline is valid? [True, True] Translation: X:51.13, Y:-2.92, Z:-5.78 [[ 9.91599040e-01 9.14413429e-02 9.14867501e-02 5.11263974e+01] [-9.08884003e-02 9.95808837e-01 -1.02008978e-02 -2.91665408e+00] [-9.20360980e-02 1.80011609e-03 9.95754044e-01 -5.78098806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542401008 meters 0.061814750300991324 Centerline is valid? [True, True] Translation: X:51.19, Y:-2.92, Z:-5.79 [[ 9.91831141e-01 9.13707715e-02 8.90076905e-02 5.11872562e+01] [-9.08446834e-02 9.95815342e-01 -9.95228693e-03 -2.91607822e+00] [-8.95445719e-02 1.78511265e-03 9.95981216e-01 -5.79104961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602401008 meters 0.06209193010076257 Centerline is valid? [True, True] Translation: X:51.25, Y:-2.92, Z:-5.80 [[ 9.91931511e-01 8.93984872e-02 8.98876384e-02 5.12474429e+01] [-8.88530181e-02 9.95993947e-01 -1.00597102e-02 -2.92291055e+00] [-9.04268666e-02 1.99175562e-03 9.95901107e-01 -5.79721485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662401007999996 meters 0.0622525700699471 Centerline is valid? [True, True] Translation: X:51.31, Y:-2.92, Z:-5.80 [[ 9.91877640e-01 8.82978201e-02 9.15545834e-02 5.13102099e+01] [-8.77253954e-02 9.96091798e-01 -1.02657469e-02 -2.92364413e+00] [-9.21032126e-02 2.15070280e-03 9.95747143e-01 -5.80448023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722401008 meters 0.061517980432273404 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.92, Z:-5.81 [[ 9.91767726e-01 8.94163911e-02 9.16596220e-02 5.13731302e+01] [-8.88451166e-02 9.95992172e-01 -1.03023164e-02 -2.92272283e+00] [-9.22134620e-02 2.07399509e-03 9.95737102e-01 -5.80817412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782401008 meters 0.061735085983892414 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.92, Z:-5.82 [[ 9.91354435e-01 9.24279222e-02 9.31314339e-02 5.14332750e+01] [-9.18487045e-02 9.95717657e-01 -1.04958504e-02 -2.92452262e+00] [-9.37027228e-02 1.85110630e-03 9.95598500e-01 -5.81536762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842401007999996 meters 0.06128679032733228 Centerline is valid? [True, True] Translation: X:51.50, Y:-2.92, Z:-5.82 [[ 9.91066718e-01 9.68193687e-02 9.17211585e-02 5.14958509e+01] [-9.62766403e-02 9.95300969e-01 -1.03339034e-02 -2.92155325e+00] [-9.22906800e-02 1.41098277e-03 9.95731108e-01 -5.82396946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902401008 meters 0.06077227829124625 Centerline is valid? [True, True] Translation: X:51.56, Y:-2.91, Z:-5.83 [[ 9.90073155e-01 1.07735776e-01 9.02671055e-02 5.15586563e+01] [-1.07253128e-01 9.94179477e-01 -1.01947966e-02 -2.91361194e+00] [-9.08400480e-02 4.12165021e-04 9.95865410e-01 -5.83088656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters 0.060488534585121545 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.91, Z:-5.83 [[ 9.89271461e-01 1.15075724e-01 8.99975230e-02 5.16215936e+01] [-1.14626320e-01 9.93356688e-01 -1.01635317e-02 -2.91343242e+00] [-9.05692171e-02 -2.61593042e-04 9.95890129e-01 -5.83479880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401007999996 meters 0.06083894679916876 Centerline is valid? [True, True] Translation: X:51.68, Y:-2.91, Z:-5.84 [[ 9.88411159e-01 1.23203695e-01 8.86804927e-02 5.16827281e+01] [-1.22797653e-01 9.92380934e-01 -1.00408554e-02 -2.91254209e+00] [-8.92419007e-02 -9.65262834e-04 9.96009514e-01 -5.84424137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008 meters 0.06097403752926832 Centerline is valid? [True, True] Translation: X:51.74, Y:-2.92, Z:-5.85 [[ 9.88046340e-01 1.26617746e-01 8.79339317e-02 5.17441943e+01] [-1.26230301e-01 9.91950805e-01 -9.97553002e-03 -2.91940206e+00] [-8.84892135e-02 -1.24364079e-03 9.96076359e-01 -5.85101382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters 0.06146511102169409 Centerline is valid? [True, True] Translation: X:51.80, Y:-2.93, Z:-5.86 [[ 9.87728168e-01 1.29274313e-01 8.76425627e-02 5.18034151e+01] [-1.28897909e-01 9.91607804e-01 -9.96458571e-03 -2.93137437e+00] [-8.81952141e-02 -1.45464109e-03 9.96102147e-01 -5.85949097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401007999995 meters 0.06180231667433999 Centerline is valid? [True, True] Translation: X:51.86, Y:-2.94, Z:-5.87 [[ 9.87670331e-01 1.31256636e-01 8.53171252e-02 5.18640894e+01] [-1.30905363e-01 9.91347187e-01 -9.72318096e-03 -2.94113584e+00] [-8.58551242e-02 -1.56517190e-03 9.96306403e-01 -5.86804249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008 meters 0.06168772585789904 Centerline is valid? [True, True] Translation: X:51.92, Y:-2.96, Z:-5.87 [[ 9.87291955e-01 1.33921529e-01 8.55547700e-02 5.19244405e+01] [-1.33578197e-01 9.90990303e-01 -9.75115498e-03 -2.95695266e+00] [-8.60898371e-02 -1.80101502e-03 9.96285750e-01 -5.87214202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322401008 meters 0.062324975195267814 Centerline is valid? [True, True] Translation: X:51.98, Y:-2.97, Z:-5.88 [[ 9.86756974e-01 1.35767364e-01 8.87575233e-02 5.19839828e+01] [-1.35403121e-01 9.90738701e-01 -1.01400758e-02 -2.96853354e+00] [-8.93122047e-02 -2.01225513e-03 9.96001647e-01 -5.87828676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382401007999995 meters 0.06274586892637819 Centerline is valid? [True, True] Translation: X:52.05, Y:-2.98, Z:-5.88 [[ 9.86128558e-01 1.38302241e-01 9.17766729e-02 5.20450836e+01] [-1.37921386e-01 9.90387414e-01 -1.05100898e-02 -2.98229027e+00] [-9.23480307e-02 -2.29366622e-03 9.95724149e-01 -5.88478669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442401008 meters 0.06270625739142753 Centerline is valid? [True, True] Translation: X:52.11, Y:-3.00, Z:-5.89 [[ 9.85912074e-01 1.38912300e-01 9.31705714e-02 5.21052468e+01] [-1.38522036e-01 9.90301822e-01 -1.06745762e-02 -2.99658434e+00] [-9.37498165e-02 -2.38198366e-03 9.95592938e-01 -5.89101970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502401008 meters 0.06266624097476628 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.02, Z:-5.90 [[ 9.86390324e-01 1.34978740e-01 9.38875286e-02 5.21633898e+01] [-1.34562133e-01 9.90846482e-01 -1.07833614e-02 -3.02024655e+00] [-9.44836519e-02 -1.99710282e-03 9.95524410e-01 -5.89863210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562401007999995 meters 0.06187554246169862 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.04, Z:-5.91 [[ 9.87149054e-01 1.30318428e-01 9.24870425e-02 5.22233099e+01] [-1.29893647e-01 9.91471017e-01 -1.06236912e-02 -3.04218645e+00] [-9.30826848e-02 -1.52631249e-03 9.95657212e-01 -5.90641467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622401008 meters 0.06168596883061977 Centerline is valid? [True, True] Translation: X:52.28, Y:-3.05, Z:-5.91 [[ 9.87407952e-01 1.28660422e-01 9.20436450e-02 5.22834841e+01] [-1.28231662e-01 9.91687785e-01 -1.05820011e-02 -3.05469890e+00] [-9.26400432e-02 -1.35415754e-03 9.95698744e-01 -5.91434489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682401008 meters 0.061992495449071205 Centerline is valid? [True, True] Translation: X:52.34, Y:-3.08, Z:-5.93 [[ 9.87977072e-01 1.26496241e-01 8.88819768e-02 5.23428725e+01] [-1.26085910e-01 9.91966487e-01 -1.02387907e-02 -3.07595152e+00] [-8.94631108e-02 -1.09107449e-03 9.95989539e-01 -5.92705003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742401007999995 meters 0.06224904033981926 Centerline is valid? [True, True] Translation: X:52.40, Y:-3.10, Z:-5.94 [[ 9.88271679e-01 1.25351832e-01 8.72124196e-02 5.24007881e+01] [-1.24950522e-01 9.92111899e-01 -1.00671756e-02 -3.10260028e+00] [-8.77864181e-02 -9.48132775e-04 9.96138869e-01 -5.93592655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802401008 meters 0.06219157120243525 Centerline is valid? [True, True] Translation: X:52.46, Y:-3.12, Z:-5.94 [[ 9.88574357e-01 1.23703981e-01 8.61281916e-02 5.24611007e+01] [-1.23304884e-01 9.92318862e-01 -9.95895207e-03 -3.12057722e+00] [-8.66985911e-02 -7.74862052e-04 9.96234287e-01 -5.94395461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862401008 meters 0.06236192270550346 Centerline is valid? [True, True] Translation: X:52.52, Y:-3.14, Z:-5.95 [[ 9.88256075e-01 1.25293111e-01 8.74732299e-02 5.25203467e+01] [-1.24885420e-01 9.92119358e-01 -1.01396247e-02 -3.14136486e+00] [-8.80543098e-02 -9.03585354e-04 9.96115265e-01 -5.95071585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922401007999994 meters 0.06248300408653803 Centerline is valid? [True, True] Translation: X:52.58, Y:-3.16, Z:-5.95 [[ 9.87462447e-01 1.29769090e-01 8.98771366e-02 5.25817898e+01] [-1.29355227e-01 9.91543366e-01 -1.04392671e-02 -3.15686595e+00] [-9.04717728e-02 -1.31769317e-03 9.95898148e-01 -5.95176912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008 meters 0.06340763798429935 Centerline is valid? [True, True] Translation: X:52.64, Y:-3.17, Z:-5.96 [[ 9.86102139e-01 1.38123395e-01 9.23282188e-02 5.26421247e+01] [-1.37720590e-01 9.90412772e-01 -1.07508328e-02 -3.16751225e+00] [-9.29279886e-02 -2.11407762e-03 9.95670588e-01 -5.95948406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008 meters 0.06475549390851554 Centerline is valid? [True, True] Translation: X:52.70, Y:-3.18, Z:-5.97 [[ 9.85585499e-01 1.42075035e-01 9.18472059e-02 5.27027544e+01] [-1.41691388e-01 9.89852857e-01 -1.07178251e-02 -3.17786149e+00] [-9.24379546e-02 -2.45062512e-03 9.95715431e-01 -5.96962344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters 0.06529964388376977 Centerline is valid? [True, True] Translation: X:52.76, Y:-3.20, Z:-5.98 [[ 9.85878652e-01 1.39999591e-01 9.18879691e-02 5.27611181e+01] [-1.39606149e-01 9.90149000e-01 -1.07275439e-02 -3.19762735e+00] [-9.24846325e-02 -2.25206902e-03 9.95711565e-01 -5.98033111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162401007999996 meters 0.06369000017500759 Centerline is valid? [True, True] Translation: X:52.82, Y:-3.22, Z:-5.99 [[ 9.86760260e-01 1.34746592e-01 9.02637556e-02 5.28201718e+01] [-1.34343275e-01 9.90878618e-01 -1.05569649e-02 -3.22441045e+00] [-9.08629404e-02 -1.70913511e-03 9.95861941e-01 -5.98582550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222401008 meters 0.06272292738139472 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.26, Z:-6.00 [[ 9.88224147e-01 1.25393820e-01 8.76893721e-02 5.28781535e+01] [-1.24974584e-01 9.92106720e-01 -1.02766186e-02 -3.25534584e+00] [-8.82858398e-02 -8.03340211e-04 9.96094857e-01 -5.99516774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282401008 meters 0.0626157157816357 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.28, Z:-6.00 [[ 9.88993192e-01 1.20089135e-01 8.64353243e-02 5.29367607e+01] [-1.19659837e-01 9.92763067e-01 -1.01497179e-02 -3.27751589e+00] [-8.70286684e-02 -3.04834905e-04 9.96205761e-01 -6.00448095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342401007999996 meters 0.0625070298423887 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.30, Z:-6.01 [[ 9.89175881e-01 1.17809588e-01 8.74755807e-02 5.29964196e+01] [-1.17358910e-01 9.93036200e-01 -1.02952415e-02 -3.29956901e+00] [-8.80792963e-02 -8.22341954e-05 9.96113463e-01 -6.01219796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402401008 meters 0.06237683518240556 Centerline is valid? [True, True] Translation: X:53.06, Y:-3.32, Z:-6.02 [[ 9.89383637e-01 1.16926017e-01 8.63036840e-02 5.30569324e+01] [-1.16482291e-01 9.93140628e-01 -1.01769241e-02 -3.31515231e+00] [-8.69016421e-02 1.60314228e-05 9.96216896e-01 -6.01745208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462401008 meters 0.062179457968034604 Centerline is valid? [True, True] Translation: X:53.12, Y:-3.34, Z:-6.02 [[ 9.89948005e-01 1.11304851e-01 8.72592576e-02 5.31168158e+01] [-1.10827342e-01 9.93786164e-01 -1.03131096e-02 -3.33757475e+00] [-8.78649420e-02 5.38730613e-04 9.96132251e-01 -6.02007070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522401007999996 meters 0.0623674852400487 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.35, Z:-6.03 [[ 9.90368491e-01 1.07955380e-01 8.66942185e-02 5.31778052e+01] [-1.07470103e-01 9.94155383e-01 -1.02592609e-02 -3.34681894e+00] [-8.72950663e-02 8.43412161e-04 9.96182142e-01 -6.02741881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582401008 meters 0.0627295897928867 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.35, Z:-6.04 [[ 9.90813780e-01 1.04358019e-01 8.60084665e-02 5.32391074e+01] [-1.03865085e-01 9.94539105e-01 -1.01986773e-02 -3.35448044e+00] [-8.66030970e-02 1.17171331e-03 9.96242205e-01 -6.03564614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642401008 meters 0.06290120656108605 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.36, Z:-6.04 [[ 9.91024345e-01 1.03196688e-01 8.49775966e-02 5.33001852e+01] [-1.02709451e-01 9.94660147e-01 -1.00975658e-02 -3.36323207e+00] [-8.55658641e-02 1.27893127e-03 9.96331695e-01 -6.04297342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702401007999995 meters 0.06298946988854612 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.37, Z:-6.05 [[ 9.91262247e-01 1.02135676e-01 8.34713201e-02 5.33612880e+01] [-1.01660137e-01 9.94769540e-01 -9.93878269e-03 -3.37258940e+00] [-8.40498310e-02 1.36623419e-03 9.96460616e-01 -6.04942048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762401008 meters 0.06394946729024474 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.38, Z:-6.06 [[ 9.91327759e-01 1.02309660e-01 8.24742897e-02 5.34203720e+01] [-1.01844335e-01 9.94751675e-01 -9.84051517e-03 -3.38101116e+00] [-8.30482177e-02 1.35563663e-03 9.96544608e-01 -6.06453016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822401008 meters 0.06321938400818387 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.39, Z:-6.07 [[ 9.91346012e-01 1.02069222e-01 8.25527598e-02 5.34829534e+01] [-1.01600762e-01 9.94776322e-01 -9.86684451e-03 -3.38655248e+00] [-8.31286319e-02 1.39403367e-03 9.96537850e-01 -6.06585281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882401007999995 meters 0.06319280747844615 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.40, Z:-6.07 [[ 9.91480576e-01 1.00217092e-01 8.32033771e-02 5.35443935e+01] [-9.97326795e-02 9.94964331e-01 -9.96855479e-03 -3.39578436e+00] [-8.37834120e-02 1.58553271e-03 9.96482727e-01 -6.07044240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942401008 meters 0.0633220452821886 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.40, Z:-6.08 [[ 9.91347590e-01 1.01639707e-01 8.30621847e-02 5.36042147e+01] [-1.01160204e-01 9.94820170e-01 -9.97211405e-03 -3.40032519e+00] [-8.36454994e-02 1.48324365e-03 9.96494471e-01 -6.07986385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002401008 meters 0.06319102118806111 Centerline is valid? [True, True] Translation: X:53.67, Y:-3.41, Z:-6.09 [[ 9.91021893e-01 1.03944611e-01 8.40899799e-02 5.36653465e+01] [-1.03459844e-01 9.94582207e-01 -1.01140427e-02 -3.40521946e+00] [-8.46856981e-02 1.32330153e-03 9.96406835e-01 -6.08771483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062401007999995 meters 0.062181676661842544 Centerline is valid? [True, True] Translation: X:53.73, Y:-3.41, Z:-6.09 [[ 9.90233590e-01 1.08454543e-01 8.76073552e-02 5.37269982e+01] [-1.07943544e-01 9.94100903e-01 -1.05634545e-02 -3.40647740e+00] [-8.82362055e-02 1.00363905e-03 9.96099074e-01 -6.08877156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008 meters 0.06191156742565479 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.41, Z:-6.10 [[ 9.89722339e-01 1.12164753e-01 8.87060277e-02 5.37872227e+01] [-1.11655885e-01 9.93689391e-01 -1.06937628e-02 -3.41101343e+00] [-8.93457019e-02 6.79305861e-04 9.96000444e-01 -6.09624819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182401008 meters 0.061748428544808186 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.42, Z:-6.10 [[ 9.89996943e-01 1.10872833e-01 8.72540401e-02 5.38478814e+01] [-1.10373904e-01 9.93834279e-01 -1.05369819e-02 -3.42195978e+00] [-8.78843210e-02 8.01010839e-04 9.96130365e-01 -6.10264103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242401007999995 meters 0.06180554017757513 Centerline is valid? [True, True] Translation: X:53.91, Y:-3.43, Z:-6.11 [[ 9.90382677e-01 1.07098104e-01 8.75908007e-02 5.39083909e+01] [-1.06578747e-01 9.94247780e-01 -1.05982325e-02 -3.43262899e+00] [-8.82220098e-02 1.16098808e-03 9.96100160e-01 -6.10835187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302401008 meters 0.06267738068110626 Centerline is valid? [True, True] Translation: X:53.97, Y:-3.44, Z:-6.12 [[ 9.91269911e-01 1.02159908e-01 8.33505624e-02 5.39662705e+01] [-1.01670047e-01 9.94766783e-01 -1.01118037e-02 -3.44485854e+00] [-8.39473918e-02 1.54927114e-03 9.96468984e-01 -6.11881364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362401008 meters 0.06360238038638666 Centerline is valid? [True, True] Translation: X:54.03, Y:-3.45, Z:-6.13 [[ 9.91835908e-01 9.78587407e-02 8.17630616e-02 5.40261804e+01] [-9.73728550e-02 9.95198546e-01 -9.91868880e-03 -3.45400131e+00] [-8.23411104e-02 1.87620897e-03 9.96602439e-01 -6.12821318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422401007999994 meters 0.06485414028055855 Centerline is valid? [True, True] Translation: X:54.08, Y:-3.46, Z:-6.14 [[ 9.92773758e-01 9.00140558e-02 7.93582732e-02 5.40847899e+01] [-8.95310979e-02 9.95937468e-01 -9.63032985e-03 -3.46490142e+00] [-7.99027427e-02 2.45570543e-03 9.96799639e-01 -6.13584254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482401008 meters 0.06449491849997298 Centerline is valid? [True, True] Translation: X:54.15, Y:-3.47, Z:-6.14 [[ 9.93194930e-01 8.42380878e-02 8.04224792e-02 5.41455873e+01] [-8.37231053e-02 9.96441257e-01 -9.76023584e-03 -3.47189401e+00] [-8.09584599e-02 2.96059706e-03 9.96713079e-01 -6.13536389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008 meters 0.06581290119480852 Centerline is valid? [True, True] Translation: X:54.21, Y:-3.48, Z:-6.14 [[ 9.93114303e-01 8.38811925e-02 8.17797486e-02 5.42052898e+01] [-8.33478230e-02 9.96471138e-01 -9.92020966e-03 -3.48220824e+00] [-8.23232782e-02 3.03573808e-03 9.96601055e-01 -6.14382073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters 0.06544008171218231 Centerline is valid? [True, True] Translation: X:54.27, Y:-3.49, Z:-6.15 [[ 9.92839527e-01 8.57202772e-02 8.31968021e-02 5.42651476e+01] [-8.51728012e-02 9.96314859e-01 -1.01141174e-02 -3.48584559e+00] [-8.37571951e-02 2.95559082e-03 9.96481810e-01 -6.14941232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662401007999996 meters 0.06314374144951627 Centerline is valid? [True, True] Translation: X:54.33, Y:-3.48, Z:-6.15 [[ 9.91993035e-01 9.24709513e-02 8.60170983e-02 5.43273246e+01] [-9.19099994e-02 9.95712300e-01 -1.04675027e-02 -3.47819915e+00] [-8.66162227e-02 2.47785828e-03 9.96238671e-01 -6.15271659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722401008 meters 0.062360236178132314 Centerline is valid? [True, True] Translation: X:54.39, Y:-3.48, Z:-6.16 [[ 9.91327654e-01 9.86928637e-02 8.67709731e-02 5.43870340e+01] [-9.81457227e-02 9.95116028e-01 -1.05597699e-02 -3.47801344e+00] [-8.73893600e-02 1.95199203e-03 9.96172319e-01 -6.15892938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782401008 meters 0.06119643073674651 Centerline is valid? [True, True] Translation: X:54.45, Y:-3.47, Z:-6.17 [[ 9.90400981e-01 1.08800173e-01 8.52550273e-02 5.44489371e+01] [-1.08308746e-01 9.94063088e-01 -1.03823471e-02 -3.47046621e+00] [-8.58784768e-02 1.04882164e-03 9.96305067e-01 -6.16766672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842401007999996 meters 0.06094078806469608 Centerline is valid? [True, True] Translation: X:54.51, Y:-3.47, Z:-6.18 [[ 9.89877245e-01 1.14672224e-01 8.36260811e-02 5.45114687e+01] [-1.14220672e-01 9.93403244e-01 -1.01800191e-02 -3.46953764e+00] [-8.42417857e-02 5.25142115e-04 9.96445205e-01 -6.17783064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902401008 meters 0.060828931621196944 Centerline is valid? [True, True] Translation: X:54.57, Y:-3.47, Z:-6.18 [[ 9.89400517e-01 1.19840002e-01 8.20060419e-02 5.45733416e+01] [-1.19421761e-01 9.92793213e-01 -1.00039972e-02 -3.47292335e+00] [-8.26139208e-02 1.04654073e-04 9.96581622e-01 -6.18333592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962401008 meters 0.061302772950453686 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.48, Z:-6.20 [[ 9.89240086e-01 1.21360986e-01 8.17041256e-02 5.46333095e+01] [-1.20949428e-01 9.92608438e-01 -9.98622811e-03 -3.48077884e+00] [-8.23121429e-02 -3.29012510e-06 9.96606598e-01 -6.19697394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022401007999996 meters 0.06112496549144299 Centerline is valid? [True, True] Translation: X:54.69, Y:-3.49, Z:-6.20 [[ 9.88694801e-01 1.23732773e-01 8.46923290e-02 5.46927011e+01] [-1.23296660e-01 9.92315559e-01 -1.03809720e-02 -3.48958981e+00] [-8.53259822e-02 -1.78668218e-04 9.96353072e-01 -6.20351734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082401008 meters 0.060359729674481534 Centerline is valid? [True, True] Translation: X:54.75, Y:-3.50, Z:-6.20 [[ 9.88293845e-01 1.25173828e-01 8.72169061e-02 5.47549272e+01] [-1.24717008e-01 9.92134776e-01 -1.06889490e-02 -3.50061791e+00] [-8.78689023e-02 -3.13609068e-04 9.96131998e-01 -6.20206159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142401008 meters 0.06006685095935281 Centerline is valid? [True, True] Translation: X:54.81, Y:-3.51, Z:-6.21 [[ 9.88214754e-01 1.22944881e-01 9.11929661e-02 5.48148537e+01] [-1.22434564e-01 9.92413495e-01 -1.11907425e-02 -3.51494908e+00] [-9.18769747e-02 -1.06314220e-04 9.95770360e-01 -6.20762415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202401007999995 meters 0.06016637307261584 Centerline is valid? [True, True] Translation: X:54.87, Y:-3.53, Z:-6.22 [[ 9.88980177e-01 1.18194986e-01 8.91524247e-02 5.48734538e+01] [-1.17688149e-01 9.92990352e-01 -1.09389481e-02 -3.53325136e+00] [-8.98204264e-02 3.26218990e-04 9.95957923e-01 -6.21796576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262401008 meters 0.06053142208591054 Centerline is valid? [True, True] Translation: X:54.93, Y:-3.55, Z:-6.23 [[ 9.89689017e-01 1.13080938e-01 8.79110362e-02 5.49332616e+01] [-1.12566365e-01 9.93585459e-01 -1.08050245e-02 -3.55046456e+00] [-8.85689696e-02 7.97788338e-04 9.96069727e-01 -6.22609758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322401008 meters 0.06080825508683347 Centerline is valid? [True, True] Translation: X:54.99, Y:-3.57, Z:-6.23 [[ 9.90219336e-01 1.07946110e-01 8.83928977e-02 5.49936153e+01] [-1.07403613e-01 9.94155917e-01 -1.08846942e-02 -3.56552885e+00] [-8.90512827e-02 1.28451806e-03 9.96026214e-01 -6.23175451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401007999995 meters 0.061907400015322606 Centerline is valid? [True, True] Translation: X:55.05, Y:-3.58, Z:-6.24 [[ 9.90944660e-01 1.01231932e-01 8.82087166e-02 5.50523544e+01] [-1.00662971e-01 9.94861022e-01 -1.08863373e-02 -3.58315009e+00] [-8.88574590e-02 1.90840630e-03 9.96042524e-01 -6.24036806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442401008 meters 0.06231109069727595 Centerline is valid? [True, True] Translation: X:55.11, Y:-3.59, Z:-6.25 [[ 9.91158700e-01 9.92653643e-02 8.80387302e-02 5.51131306e+01] [-9.86903231e-02 9.95058809e-01 -1.08713838e-02 -3.59465883e+00] [-8.86828659e-02 2.08669588e-03 9.96057727e-01 -6.24647413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502401008 meters 0.06212960555379208 Centerline is valid? [True, True] Translation: X:55.17, Y:-3.60, Z:-6.25 [[ 9.90915719e-01 9.98663331e-02 9.00708230e-02 5.51742669e+01] [-9.92648507e-02 9.94998642e-01 -1.11441730e-02 -3.60432711e+00] [-9.07332742e-02 2.10206938e-03 9.95873011e-01 -6.25095261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562401007999995 meters 0.061178269605212034 Centerline is valid? [True, True] Translation: X:55.24, Y:-3.61, Z:-6.26 [[ 9.90720737e-01 1.01726257e-01 9.01342886e-02 5.52366723e+01] [-1.01129394e-01 9.94810503e-01 -1.11762169e-02 -3.60654814e+00] [-9.08034517e-02 1.95728383e-03 9.95866910e-01 -6.25726640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622401008 meters 0.060684542239794956 Centerline is valid? [True, True] Translation: X:55.30, Y:-3.61, Z:-6.27 [[ 9.90330984e-01 1.05507202e-01 9.00709270e-02 5.52987962e+01] [-1.04926053e-01 9.94417223e-01 -1.11762745e-02 -3.60903996e+00] [-9.07472586e-02 1.61742405e-03 9.95872642e-01 -6.26558021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682401008 meters 0.06059601086787902 Centerline is valid? [True, True] Translation: X:55.36, Y:-3.62, Z:-6.27 [[ 9.90016776e-01 1.08056275e-01 9.05020692e-02 5.53589087e+01] [-1.07479531e-01 9.94143797e-01 -1.12366145e-02 -3.61506470e+00] [-9.11862574e-02 1.39731690e-03 9.95832875e-01 -6.27364162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742401007999995 meters 0.06003790782503037 Centerline is valid? [True, True] Translation: X:55.42, Y:-3.62, Z:-6.28 [[ 9.89294707e-01 1.12463069e-01 9.29948385e-02 5.54196818e+01] [-1.11871989e-01 9.93655367e-01 -1.15615617e-02 -3.61730919e+00] [-9.37050691e-02 1.03427423e-03 9.95599463e-01 -6.27787682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802401008 meters 0.05925300175147525 Centerline is valid? [True, True] Translation: X:55.48, Y:-3.62, Z:-6.28 [[ 9.88627437e-01 1.15082932e-01 9.68075930e-02 5.54814447e+01] [-1.14454453e-01 9.93355547e-01 -1.20388951e-02 -3.61972040e+00] [-9.75498309e-02 8.21921919e-04 9.95230302e-01 -6.28076723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862401008 meters 0.05911904039759078 Centerline is valid? [True, True] Translation: X:55.54, Y:-3.62, Z:-6.29 [[ 9.88105751e-01 1.17582590e-01 9.91027706e-02 5.55426379e+01] [-1.16936337e-01 9.93062932e-01 -1.23250350e-02 -3.62464410e+00] [-9.98644974e-02 5.89722985e-04 9.95000872e-01 -6.28549921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922401007999994 meters 0.05912570765989014 Centerline is valid? [True, True] Translation: X:55.60, Y:-3.63, Z:-6.29 [[ 9.88232223e-01 1.16065108e-01 9.96291305e-02 5.56040277e+01] [-1.15401966e-01 9.93241309e-01 -1.24132248e-02 -3.63499495e+00] [-1.00396510e-01 7.69751192e-04 9.94947209e-01 -6.29051023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982401008 meters 0.05951910026907528 Centerline is valid? [True, True] Translation: X:55.66, Y:-3.65, Z:-6.30 [[ 9.88620779e-01 1.11422504e-01 1.01064239e-01 5.56640605e+01] [-1.10712957e-01 9.93772292e-01 -1.26203630e-02 -3.64794825e+00] [-1.01841032e-01 1.28763236e-03 9.94799852e-01 -6.29724840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042401008 meters 0.060317261533564336 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.66, Z:-6.30 [[ 9.89528844e-01 1.03689312e-01 1.00405148e-01 5.57238999e+01] [-1.02946861e-01 9.94607532e-01 -1.25619298e-02 -3.65956761e+00] [-1.01166255e-01 2.09399702e-03 9.94867330e-01 -6.30430831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102401008 meters 0.061544071749863746 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.67, Z:-6.31 [[ 9.89971702e-01 1.01090992e-01 9.86744203e-02 5.57830822e+01] [-1.00360900e-01 9.94874477e-01 -1.23476451e-02 -3.67010981e+00] [-9.94168980e-02 2.32076552e-03 9.95043162e-01 -6.31497454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162401007999996 meters 0.06194179971709354 Centerline is valid? [True, True] Translation: X:55.84, Y:-3.67, Z:-6.32 [[ 9.90245614e-01 1.01716117e-01 9.52231883e-02 5.58439086e+01] [-1.01038423e-01 9.94811062e-01 -1.19242346e-02 -3.67452298e+00] [-9.59419680e-02 2.18672027e-03 9.95384527e-01 -6.32483941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222401008 meters 0.06281185727739058 Centerline is valid? [True, True] Translation: X:55.90, Y:-3.68, Z:-6.34 [[ 9.90161833e-01 1.02590747e-01 9.51561023e-02 5.59040749e+01] [-1.01915866e-01 9.94721384e-01 -1.19383689e-02 -3.68209254e+00] [-9.58785760e-02 2.12300061e-03 9.95390773e-01 -6.33544532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282401008 meters 0.06164182691114843 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.68, Z:-6.34 [[ 9.90454025e-01 1.00837472e-01 9.39820692e-02 5.59661628e+01] [-1.00169451e-01 9.94900291e-01 -1.18106996e-02 -3.68322223e+00] [-9.46937491e-02 2.28382272e-03 9.95503831e-01 -6.33665791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342401007999996 meters 0.06245475463049158 Centerline is valid? [True, True] Translation: X:56.03, Y:-3.69, Z:-6.34 [[ 9.90629613e-01 9.79104965e-02 9.52181974e-02 5.60258699e+01] [-9.72091479e-02 9.95191777e-01 -1.19878395e-02 -3.69069466e+00] [-9.59341024e-02 2.61942897e-03 9.95384241e-01 -6.34497724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402401008 meters 0.06254412961125869 Centerline is valid? [True, True] Translation: X:56.09, Y:-3.69, Z:-6.35 [[ 9.90699616e-01 9.90582095e-02 9.32831332e-02 5.60866476e+01] [-9.83883255e-02 9.95078557e-01 -1.17644416e-02 -3.69385652e+00] [-9.39894101e-02 2.47705644e-03 9.95570116e-01 -6.35148059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462401008 meters 0.06237786109414117 Centerline is valid? [True, True] Translation: X:56.15, Y:-3.70, Z:-6.36 [[ 9.90546105e-01 1.00695583e-01 9.31601523e-02 5.61482073e+01] [-1.00032840e-01 9.94914535e-01 -1.17685456e-02 -3.69963119e+00] [-9.38714302e-02 2.33821246e-03 9.95581582e-01 -6.35768711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522401007999996 meters 0.06214580737841244 Centerline is valid? [True, True] Translation: X:56.21, Y:-3.70, Z:-6.36 [[ 9.90210966e-01 1.01849694e-01 9.54404672e-02 5.62104665e+01] [-1.01157218e-01 9.94797126e-01 -1.20786926e-02 -3.70176686e+00] [-9.61741136e-02 2.30596176e-03 9.95361855e-01 -6.36349735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582401008 meters 0.06152861036043089 Centerline is valid? [True, True] Translation: X:56.27, Y:-3.70, Z:-6.37 [[ 9.89947739e-01 1.04174638e-01 9.56614839e-02 5.62732879e+01] [-1.03487647e-01 9.94556789e-01 -1.21285032e-02 -3.70013331e+00] [-9.64042606e-02 2.10680240e-03 9.95340032e-01 -6.36923596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642401008 meters 0.061621890095276605 Centerline is valid? [True, True] Translation: X:56.33, Y:-3.71, Z:-6.38 [[ 9.89622902e-01 1.05723169e-01 9.73094193e-02 5.63338607e+01] [-1.05017325e-01 9.94393562e-01 -1.23614842e-02 -3.70582569e+00] [-9.80707554e-02 2.01403296e-03 9.95177407e-01 -6.37550504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702401007999995 meters 0.06177509526442403 Centerline is valid? [True, True] Translation: X:56.39, Y:-3.71, Z:-6.38 [[ 9.89486144e-01 1.05566807e-01 9.88575725e-02 5.63945409e+01] [-1.04835269e-01 9.94410029e-01 -1.25801740e-02 -3.71020335e+00] [-9.96330103e-02 2.08414762e-03 9.95022070e-01 -6.38024746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762401008 meters 0.06161966394667041 Centerline is valid? [True, True] Translation: X:56.46, Y:-3.71, Z:-6.39 [[ 9.89315494e-01 1.06656769e-01 9.93940995e-02 5.64562823e+01] [-1.05920569e-01 9.94293874e-01 -1.26698847e-02 -3.70972593e+00] [-1.00178273e-01 2.00663365e-03 9.94967480e-01 -6.38970994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822401008 meters 0.06183847487088584 Centerline is valid? [True, True] Translation: X:56.52, Y:-3.71, Z:-6.40 [[ 9.89403615e-01 1.08391766e-01 9.66007869e-02 5.65161917e+01] [-1.07702543e-01 9.94106624e-01 -1.23362083e-02 -3.71499811e+00] [-9.73686256e-02 1.80133871e-03 9.95246756e-01 -6.40029292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882401007999995 meters 0.06203413775269971 Centerline is valid? [True, True] Translation: X:56.58, Y:-3.72, Z:-6.41 [[ 9.89741904e-01 1.07637673e-01 9.39419728e-02 5.65778881e+01] [-1.06980744e-01 9.94188481e-01 -1.20160264e-02 -3.71742820e+00] [-9.46894043e-02 1.84278265e-03 9.95505159e-01 -6.40952579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942401008 meters 0.06235278199304039 Centerline is valid? [True, True] Translation: X:56.64, Y:-3.72, Z:-6.42 [[ 9.90045195e-01 1.06932187e-01 9.15205922e-02 5.66388804e+01] [-1.06303865e-01 9.94264537e-01 -1.17268801e-02 -3.72440382e+00] [-9.22496601e-02 1.88114864e-03 9.95734132e-01 -6.41720269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002401008 meters 0.06266095670915371 Centerline is valid? [True, True] Translation: X:56.70, Y:-3.73, Z:-6.43 [[ 9.90292392e-01 1.06165467e-01 8.97210810e-02 5.66991074e+01] [-1.05556523e-01 9.94346592e-01 -1.15184622e-02 -3.72658748e+00] [-9.04367140e-02 1.93600012e-03 9.95900323e-01 -6.42650156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062401007999995 meters 0.06259539811851605 Centerline is valid? [True, True] Translation: X:56.76, Y:-3.73, Z:-6.43 [[ 9.90095977e-01 1.08013489e-01 8.96830144e-02 5.67602230e+01] [-1.07411918e-01 9.94147845e-01 -1.15213418e-02 -3.73051323e+00] [-9.04026359e-02 1.77420958e-03 9.95903718e-01 -6.43357292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122401008 meters 0.061285781494419274 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.72, Z:-6.44 [[ 9.89088888e-01 1.14362299e-01 9.28678385e-02 5.68231335e+01] [-1.13742619e-01 9.93438307e-01 -1.19560054e-02 -3.72472612e+00] [-9.36257846e-02 1.26252098e-03 9.95606659e-01 -6.43565248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182401008 meters 0.0608947037907227 Centerline is valid? [True, True] Translation: X:56.88, Y:-3.72, Z:-6.44 [[ 9.87670037e-01 1.24070348e-01 9.54696122e-02 5.68845071e+01] [-1.23460236e-01 9.92273361e-01 -1.22942311e-02 -3.71705189e+00] [-9.62573025e-02 3.55942842e-04 9.95356421e-01 -6.44130445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242401007999995 meters 0.06089725007096326 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.71, Z:-6.45 [[ 9.86822991e-01 1.30747799e-01 9.53173488e-02 5.69478758e+01] [-1.30170943e-01 9.91415616e-01 -1.22719544e-02 -3.71480872e+00] [-9.61036392e-02 -2.97302521e-04 9.95371289e-01 -6.44792042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302401008 meters 0.06134115173096012 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.71, Z:-6.46 [[ 9.85902979e-01 1.37764100e-01 9.49545570e-02 5.70103879e+01] [-1.37221664e-01 9.90464611e-01 -1.22502624e-02 -3.71214860e+00] [-9.57367747e-02 -9.52252044e-04 9.95406230e-01 -6.45524316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362401008 meters 0.06170149356986911 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.72, Z:-6.46 [[ 9.85619501e-01 1.40961148e-01 9.31888130e-02 5.70718551e+01] [-1.40451024e-01 9.90014379e-01 -1.20432458e-02 -3.71723748e+00] [-9.39558946e-02 -1.21840626e-03 9.95575615e-01 -6.46326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422401007999994 meters 0.062379229046570006 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.73, Z:-6.48 [[ 9.85771303e-01 1.41667059e-01 9.04731031e-02 5.71310190e+01] [-1.41186930e-01 9.89913607e-01 -1.17175698e-02 -3.72591432e+00] [-9.12205494e-02 -1.22277568e-03 9.95829963e-01 -6.47555052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482401008 meters 0.06225775282651295 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.74, Z:-6.48 [[ 9.85975151e-01 1.40236860e-01 9.04799708e-02 5.71913293e+01] [-1.39750772e-01 9.90117382e-01 -1.17171117e-02 -3.73817562e+00] [-9.12289628e-02 -1.09186488e-03 9.95829345e-01 -6.48386360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542401008 meters 0.0622613580349751 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.75, Z:-6.49 [[ 9.86110376e-01 1.39401308e-01 9.02972915e-02 5.72507703e+01] [-1.38911579e-01 9.90235475e-01 -1.17165306e-02 -3.75156884e+00] [-9.10488811e-02 -9.89546892e-04 9.95845933e-01 -6.49203346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602401007999994 meters 0.062409488413836346 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.76, Z:-6.50 [[ 9.85804452e-01 1.40817157e-01 9.14336467e-02 5.73111403e+01] [-1.40320168e-01 9.90034981e-01 -1.18737991e-02 -3.76360794e+00] [-9.21945433e-02 -1.12474065e-03 9.95740378e-01 -6.49736949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662401007999996 meters 0.062486859489447495 Centerline is valid? [True, True] Translation: X:57.37, Y:-3.78, Z:-6.50 [[ 9.85529640e-01 1.41849253e-01 9.27907168e-02 5.73717991e+01] [-1.41339920e-01 9.89887522e-01 -1.20715196e-02 -3.77819352e+00] [-9.35647088e-02 -1.21819215e-03 9.95612455e-01 -6.50327385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722401008 meters 0.06209012883750266 Centerline is valid? [True, True] Translation: X:57.43, Y:-3.80, Z:-6.51 [[ 9.85772593e-01 1.38473797e-01 9.52754044e-02 5.74297120e+01] [-1.37918512e-01 9.90365692e-01 -1.24209251e-02 -3.79696163e+00] [-9.60774645e-02 -8.96034400e-04 9.95373457e-01 -6.51158742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782401008 meters 0.06207242503910618 Centerline is valid? [True, True] Translation: X:57.49, Y:-3.81, Z:-6.52 [[ 9.86012417e-01 1.37253778e-01 9.45564117e-02 5.74903312e+01] [-1.36701536e-01 9.90535613e-01 -1.23243168e-02 -3.81322786e+00] [-9.53530523e-02 -7.74077318e-04 9.95443216e-01 -6.52062170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842401007999996 meters 0.06170145562334051 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.83, Z:-6.53 [[ 9.86514901e-01 1.34897259e-01 9.26880720e-02 5.75500728e+01] [-1.34354051e-01 9.90859459e-01 -1.21045908e-02 -3.83448802e+00] [-9.34737290e-02 -5.11658791e-04 9.95621615e-01 -6.52642778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902401008 meters 0.061698672130893306 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.85, Z:-6.54 [[ 9.86805226e-01 1.32993833e-01 9.23476413e-02 5.76091108e+01] [-1.32444244e-01 9.91116817e-01 -1.20820890e-02 -3.85146558e+00] [-9.31341436e-02 -3.08244990e-04 9.95653522e-01 -6.53555087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962401008 meters 0.06172721355863538 Centerline is valid? [True, True] Translation: X:57.67, Y:-3.87, Z:-6.55 [[ 9.87528567e-01 1.28357918e-01 9.11678383e-02 5.76684095e+01] [-1.27800389e-01 9.91727897e-01 -1.19515035e-02 -3.87094361e+00] [-9.19477587e-02 1.51165855e-04 9.95763821e-01 -6.54505010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022401007999996 meters 0.0619007384907597 Centerline is valid? [True, True] Translation: X:57.73, Y:-3.89, Z:-6.55 [[ 9.88091275e-01 1.24168878e-01 9.08720115e-02 5.77279470e+01] [-1.23595271e-01 9.92260941e-01 -1.19345735e-02 -3.88818632e+00] [-9.16506503e-02 5.61097069e-04 9.95791064e-01 -6.55270314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082401008 meters 0.06198606408609138 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.91, Z:-6.56 [[ 9.88626819e-01 1.19025742e-01 9.19232642e-02 5.77879305e+01] [-1.18414514e-01 9.92890590e-01 -1.20945942e-02 -3.90851489e+00] [-9.27093121e-02 1.07199153e-03 9.95692640e-01 -6.55776710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142401008 meters 0.062091490019039006 Centerline is valid? [True, True] Translation: X:57.85, Y:-3.92, Z:-6.56 [[ 9.88616718e-01 1.17441963e-01 9.40445152e-02 5.78471031e+01] [-1.16792666e-01 9.93078932e-01 -1.23979336e-02 -3.92243987e+00] [-9.48496643e-02 1.27309479e-03 9.95490794e-01 -6.56310065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202401007999995 meters 0.061864221126725676 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.93, Z:-6.57 [[ 9.88535833e-01 1.15910840e-01 9.67552791e-02 5.79077502e+01] [-1.15213974e-01 9.93258514e-01 -1.27774643e-02 -3.93430742e+00] [-9.75840514e-02 1.48342110e-03 9.95226182e-01 -6.56716301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262401008 meters 0.06252963687972476 Centerline is valid? [True, True] Translation: X:57.97, Y:-3.95, Z:-6.57 [[ 9.88847093e-01 1.09694327e-01 1.00740172e-01 5.79677861e+01] [-1.08903877e-01 9.93962913e-01 -1.33294464e-02 -3.95202912e+00] [-1.01594159e-01 2.20978913e-03 9.94823474e-01 -6.57200895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322401008 meters 0.06264369356884848 Centerline is valid? [True, True] Translation: X:58.03, Y:-3.96, Z:-6.58 [[ 9.88922438e-01 1.08314094e-01 1.01491223e-01 5.80287642e+01] [-1.07501974e-01 9.94113839e-01 -1.34536383e-02 -3.96152433e+00] [-1.02351048e-01 2.39409801e-03 9.94745461e-01 -6.57932890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382401007999995 meters 0.0631715999535701 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.97, Z:-6.59 [[ 9.89225663e-01 1.06991886e-01 9.99265924e-02 5.80891893e+01] [-1.06195559e-01 9.94256712e-01 -1.32700195e-02 -3.97240980e+00] [-1.00772470e-01 2.51528350e-03 9.94906319e-01 -6.58850524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442401008 meters 0.06303666221544153 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.98, Z:-6.60 [[ 9.89384964e-01 1.08258915e-01 9.69401845e-02 5.81499550e+01] [-1.07513491e-01 9.94119987e-01 -1.28957931e-02 -3.97825080e+00] [-9.77662595e-02 2.33652620e-03 9.95206662e-01 -6.59724620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502401008 meters 0.06295400996846615 Centerline is valid? [True, True] Translation: X:58.21, Y:-3.98, Z:-6.61 [[ 9.89331298e-01 1.10627688e-01 9.47897576e-02 5.82112001e+01] [-1.09923745e-01 9.93859747e-01 -1.26322229e-02 -3.98328473e+00] [-9.56051981e-02 2.07780830e-03 9.95417163e-01 -6.60762149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562401007999995 meters 0.06258580616990227 Centerline is valid? [True, True] Translation: X:58.27, Y:-3.99, Z:-6.62 [[ 9.89021580e-01 1.15774233e-01 9.18294108e-02 5.82711557e+01] [-1.15133803e-01 9.93274342e-01 -1.22592520e-02 -3.98516544e+00] [-9.26311031e-02 1.55199559e-03 9.95699287e-01 -6.61968617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622401008 meters 0.062196645492643726 Centerline is valid? [True, True] Translation: X:58.33, Y:-3.99, Z:-6.63 [[ 9.88671775e-01 1.19247738e-01 9.11487679e-02 5.83323423e+01] [-1.18629726e-01 9.92863761e-01 -1.21877240e-02 -3.98887166e+00] [-9.19516670e-02 1.23670540e-03 9.95762703e-01 -6.62790168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682401008 meters 0.061471703394413595 Centerline is valid? [True, True] Translation: X:58.39, Y:-3.99, Z:-6.63 [[ 9.87901896e-01 1.25077988e-01 9.16806462e-02 5.83948254e+01] [-1.24475463e-01 9.92146650e-01 -1.22835170e-02 -3.99280704e+00] [-9.24970435e-02 7.22918875e-04 9.95712697e-01 -6.63303138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742401007999995 meters 0.06108827313810274 Centerline is valid? [True, True] Translation: X:58.46, Y:-4.00, Z:-6.64 [[ 9.87347355e-01 1.26962780e-01 9.50034335e-02 5.84552039e+01] [-1.26323806e-01 9.91907317e-01 -1.27346400e-02 -4.00034679e+00] [-9.58514261e-02 5.72317849e-04 9.95395488e-01 -6.63749384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802401008 meters 0.060919229986785846 Centerline is valid? [True, True] Translation: X:58.52, Y:-4.01, Z:-6.64 [[ 9.87114195e-01 1.24997203e-01 9.99062853e-02 5.85160890e+01] [-1.24278091e-01 9.92156751e-01 -1.34140852e-02 -4.01211304e+00] [-1.00799419e-01 8.25071482e-04 9.94906426e-01 -6.64047147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862401008 meters 0.06075419041833015 Centerline is valid? [True, True] Translation: X:58.58, Y:-4.02, Z:-6.64 [[ 9.87035055e-01 1.22950495e-01 1.03174495e-01 5.85770595e+01] [-1.22169653e-01 9.92412203e-01 -1.38778584e-02 -4.02373186e+00] [-1.04097917e-01 1.09314057e-03 9.94566453e-01 -6.64395794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922401007999994 meters 0.060989283395410876 Centerline is valid? [True, True] Translation: X:58.64, Y:-4.04, Z:-6.65 [[ 9.87481332e-01 1.19250967e-01 1.03246431e-01 5.86355331e+01] [-1.18445982e-01 9.92862992e-01 -1.39150190e-02 -4.04057667e+00] [-1.04168940e-01 1.51169665e-03 9.94558468e-01 -6.65088072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982401008 meters 0.061270877505413185 Centerline is valid? [True, True] Translation: X:58.70, Y:-4.05, Z:-6.66 [[ 9.87749592e-01 1.17602266e-01 1.02569247e-01 5.86952558e+01] [-1.16798247e-01 9.93059354e-01 -1.38307398e-02 -4.05239102e+00] [-1.03483876e-01 1.68139937e-03 9.94629710e-01 -6.65951674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042401008 meters 0.06153177262889738 Centerline is valid? [True, True] Translation: X:58.76, Y:-4.06, Z:-6.67 [[ 9.88148575e-01 1.16390859e-01 1.00077775e-01 5.87559024e+01] [-1.15617196e-01 9.93201883e-01 -1.35160137e-02 -4.06074638e+00] [-1.00970575e-01 1.78511801e-03 9.94887811e-01 -6.67078570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102401007999994 meters 0.06217307933019311 Centerline is valid? [True, True] Translation: X:58.82, Y:-4.07, Z:-6.68 [[ 9.88909122e-01 1.13869709e-01 9.53542750e-02 5.88153286e+01] [-1.13153703e-01 9.93493743e-01 -1.29004675e-02 -4.07100444e+00] [-9.62028481e-02 1.96770073e-03 9.95359804e-01 -6.68265412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162401007999996 meters 0.062173411989004446 Centerline is valid? [True, True] Translation: X:58.88, Y:-4.08, Z:-6.69 [[ 9.89048709e-01 1.16103665e-01 9.11185468e-02 5.88751667e+01] [-1.15457864e-01 9.93235664e-01 -1.23449035e-02 -4.07579403e+00] [-9.19354789e-02 1.68935809e-03 9.95763533e-01 -6.69210055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222401008 meters 0.0625289724538714 Centerline is valid? [True, True] Translation: X:58.94, Y:-4.08, Z:-6.70 [[ 9.89170820e-01 1.13287355e-01 9.33116455e-02 5.89359642e+01] [-1.12595518e-01 9.93560213e-01 -1.26630238e-02 -4.08410760e+00] [-9.41452989e-02 2.01942059e-03 9.95556420e-01 -6.69979037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282401008 meters 0.06247842695338223 Centerline is valid? [True, True] Translation: X:59.00, Y:-4.09, Z:-6.70 [[ 9.89576130e-01 1.07481310e-01 9.58480621e-02 5.89979021e+01] [-1.06721545e-01 9.94203525e-01 -1.30331634e-02 -4.08989110e+00] [-9.66933026e-02 2.66825408e-03 9.95310648e-01 -6.70379706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342401007999996 meters 0.06367921177591282 Centerline is valid? [True, True] Translation: X:59.06, Y:-4.10, Z:-6.71 [[ 9.89811237e-01 1.05423651e-01 9.57056383e-02 5.90567702e+01] [-1.04656150e-01 9.94423261e-01 -1.30180148e-02 -4.10459177e+00] [-9.65443195e-02 2.86919371e-03 9.95324551e-01 -6.71054992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402401008 meters 0.06298485912553141 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.11, Z:-6.71 [[ 9.89849075e-01 1.03925162e-01 9.69451898e-02 5.91187803e+01] [-1.03128326e-01 9.94580363e-01 -1.32079542e-02 -4.11082269e+00] [-9.77924209e-02 3.07608606e-03 9.95202080e-01 -6.71384130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462401008 meters 0.0637380497689184 Centerline is valid? [True, True] Translation: X:59.18, Y:-4.12, Z:-6.73 [[ 9.89898181e-01 1.04851102e-01 9.54349965e-02 5.91797893e+01] [-1.04081142e-01 9.94483528e-01 -1.30241627e-02 -4.11650840e+00] [-9.62741298e-02 2.95961152e-03 9.95350457e-01 -6.72613172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522401007999996 meters 0.06293932076247112 Centerline is valid? [True, True] Translation: X:59.24, Y:-4.12, Z:-6.73 [[ 9.89572047e-01 1.08393110e-01 9.48583063e-02 5.92413091e+01] [-1.07646102e-01 9.94104642e-01 -1.29721893e-02 -4.11930766e+00] [-9.57051785e-02 2.62578901e-03 9.95406261e-01 -6.73249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582401008 meters 0.0610135446248651 Centerline is valid? [True, True] Translation: X:59.30, Y:-4.12, Z:-6.74 [[ 9.88582532e-01 1.14676679e-01 9.77437279e-02 5.93036422e+01] [-1.13913225e-01 9.93400675e-01 -1.33744250e-02 -4.11605010e+00] [-9.86324200e-02 2.08741963e-03 9.95121746e-01 -6.73510444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642401008 meters 0.06044097974726913 Centerline is valid? [True, True] Translation: X:59.36, Y:-4.12, Z:-6.74 [[ 9.87796515e-01 1.21258392e-01 9.77468484e-02 5.93644604e+01] [-1.20526693e-01 9.92619941e-01 -1.33779277e-02 -4.11666581e+00] [-9.86476569e-02 1.43356591e-03 9.95121392e-01 -6.74425474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702401007999995 meters 0.059562182553508314 Centerline is valid? [True, True] Translation: X:59.43, Y:-4.11, Z:-6.75 [[ 9.86084286e-01 1.34371386e-01 9.78882647e-02 5.94273901e+01] [-1.33701585e-01 9.90931034e-01 -1.34004237e-02 -4.10796891e+00] [-9.88011529e-02 1.26131100e-04 9.95107188e-01 -6.75153118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762401008 meters 0.059775959474953594 Centerline is valid? [True, True] Translation: X:59.49, Y:-4.11, Z:-6.76 [[ 9.85058401e-01 1.41461986e-01 9.82265437e-02 5.94890623e+01] [-1.40822453e-01 9.89943516e-01 -1.34488664e-02 -4.10910790e+00] [-9.91412334e-02 -5.84584045e-04 9.95073200e-01 -6.75962845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822401008 meters 0.05998056072160505 Centerline is valid? [True, True] Translation: X:59.55, Y:-4.12, Z:-6.77 [[ 9.84622827e-01 1.45656932e-01 9.64465990e-02 5.95497718e+01] [-1.45058080e-01 9.89334690e-01 -1.32296948e-02 -4.11560986e+00] [-9.73449629e-02 -9.64098989e-04 9.95250234e-01 -6.77033377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882401007999995 meters 0.059832026480960504 Centerline is valid? [True, True] Translation: X:59.61, Y:-4.13, Z:-6.78 [[ 9.84779065e-01 1.44664928e-01 9.63444444e-02 5.96099598e+01] [-1.44060400e-01 9.89480343e-01 -1.32383030e-02 -4.12981690e+00] [-9.72460520e-02 -8.42615532e-04 9.95260014e-01 -6.77686517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942401008 meters 0.05940423239544854 Centerline is valid? [True, True] Translation: X:59.67, Y:-4.15, Z:-6.78 [[ 9.85089194e-01 1.41013404e-01 9.85621591e-02 5.96696422e+01] [-1.40359944e-01 9.90007576e-01 -1.35678267e-02 -4.14757338e+00] [-9.94905297e-02 -4.68659645e-04 9.95038399e-01 -6.78188001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002401008 meters 0.059147575709795695 Centerline is valid? [True, True] Translation: X:59.73, Y:-4.17, Z:-6.79 [[ 9.85016192e-01 1.39592950e-01 1.01276404e-01 5.97294943e+01] [-1.38892815e-01 9.90208924e-01 -1.39668611e-02 -4.16503513e+00] [-1.02234474e-01 -3.08980440e-04 9.94760281e-01 -6.78798589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062401007999995 meters 0.05931240989831332 Centerline is valid? [True, True] Translation: X:59.79, Y:-4.18, Z:-6.80 [[ 9.84620348e-01 1.42618087e-01 1.00910112e-01 5.97888260e+01] [-1.41936230e-01 9.89777615e-01 -1.39420106e-02 -4.17509476e+00] [-1.01866953e-01 -5.95213591e-04 9.94797854e-01 -6.79536813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122401008 meters 0.06023444936700269 Centerline is valid? [True, True] Translation: X:59.85, Y:-4.17, Z:-6.80 [[ 9.83421441e-01 1.50720754e-01 1.00824218e-01 5.98512109e+01] [-1.50081184e-01 9.88575357e-01 -1.39427679e-02 -4.17480062e+00] [-1.01773802e-01 -1.42020119e-03 9.94806552e-01 -6.80356274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182401008 meters 0.06173194475845606 Centerline is valid? [True, True] Translation: X:59.91, Y:-4.18, Z:-6.81 [[ 9.82366719e-01 1.57292518e-01 1.01067764e-01 5.99120491e+01] [-1.56683845e-01 9.87549824e-01 -1.39827415e-02 -4.17551017e+00] [-1.02008833e-01 -2.09950590e-03 9.94781278e-01 -6.81089255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242401007999995 meters 0.061307050037275386 Centerline is valid? [True, True] Translation: X:59.97, Y:-4.19, Z:-6.82 [[ 9.82323065e-01 1.56008535e-01 1.03454017e-01 5.99732680e+01] [-1.55362445e-01 9.87753678e-01 -1.43241529e-02 -4.18584282e+00] [-1.04421776e-01 -2.00192333e-03 9.94531088e-01 -6.81517531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302401008 meters 0.06066535014325296 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.20, Z:-6.82 [[ 9.82729832e-01 1.53106291e-01 1.03925654e-01 6.00334785e+01] [-1.52435574e-01 9.88208303e-01 -1.44134091e-02 -4.19803426e+00] [-1.04906978e-01 -1.67747963e-03 9.94480624e-01 -6.82385613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362401008 meters 0.05992811628980446 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.21, Z:-6.83 [[ 9.83308652e-01 1.48363577e-01 1.05320202e-01 6.00928952e+01] [-1.47644809e-01 9.88932202e-01 -1.46325282e-02 -4.21497502e+00] [-1.06325473e-01 -1.16168948e-03 9.94330702e-01 -6.83125877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422401007999994 meters 0.05945715367513791 Centerline is valid? [True, True] Translation: X:60.15, Y:-4.23, Z:-6.83 [[ 9.83302520e-01 1.46528124e-01 1.07915069e-01 6.01533183e+01] [-1.45761901e-01 9.89206016e-01 -1.49975117e-02 -4.22914591e+00] [-1.08947792e-01 -9.82814424e-04 9.94046987e-01 -6.83484750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482401008 meters 0.059304432525391575 Centerline is valid? [True, True] Translation: X:60.21, Y:-4.24, Z:-6.84 [[ 9.83598556e-01 1.43775955e-01 1.08914438e-01 6.02135399e+01] [-1.42975667e-01 9.89610045e-01 -1.51630061e-02 -4.24181220e+00] [-1.09962898e-01 -6.57803512e-04 9.93935475e-01 -6.84193052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542401008 meters 0.059328328819011025 Centerline is valid? [True, True] Translation: X:60.28, Y:-4.25, Z:-6.85 [[ 9.83588336e-01 1.43766767e-01 1.09018814e-01 6.02756657e+01] [-1.42961945e-01 9.89611398e-01 -1.52040709e-02 -4.24952330e+00] [-1.10072101e-01 -6.30994847e-04 9.93923405e-01 -6.85112157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602401007999994 meters 0.05960143754767935 Centerline is valid? [True, True] Translation: X:60.34, Y:-4.26, Z:-6.86 [[ 9.83745372e-01 1.43648715e-01 1.07750130e-01 6.03361561e+01] [-1.42858593e-01 9.89628571e-01 -1.50569973e-02 -4.25575870e+00] [-1.08795526e-01 -5.80780613e-04 9.94063980e-01 -6.86106345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662401007999996 meters 0.059594026476202655 Centerline is valid? [True, True] Translation: X:60.40, Y:-4.27, Z:-6.87 [[ 9.84392627e-01 1.40738731e-01 1.05658719e-01 6.03975901e+01] [-1.39959488e-01 9.90046745e-01 -1.47913518e-02 -4.26803216e+00] [-1.06688787e-01 -2.27442487e-04 9.94292437e-01 -6.86962946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722401008 meters 0.0595444488826159 Centerline is valid? [True, True] Translation: X:60.46, Y:-4.28, Z:-6.88 [[ 9.85301919e-01 1.35671981e-01 1.03794231e-01 6.04570987e+01] [-1.34888872e-01 9.90753751e-01 -1.45601423e-02 -4.28424957e+00] [-1.04809927e-01 3.45449376e-04 9.94492212e-01 -6.87780988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782401008 meters 0.05988366431271464 Centerline is valid? [True, True] Translation: X:60.52, Y:-4.30, Z:-6.89 [[ 9.86017904e-01 1.30042992e-01 1.04199389e-01 6.05157267e+01] [-1.29219527e-01 9.91507877e-01 -1.46438872e-02 -4.30200456e+00] [-1.05218850e-01 9.74539138e-04 9.94448613e-01 -6.88547506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842401007999996 meters 0.06056403741784861 Centerline is valid? [True, True] Translation: X:60.58, Y:-4.32, Z:-6.89 [[ 9.86871597e-01 1.23141277e-01 1.04502039e-01 6.05755853e+01] [-1.22271661e-01 9.92387623e-01 -1.47121482e-02 -4.32123253e+00] [-1.05518203e-01 1.74136327e-03 9.94415847e-01 -6.89228527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902401008 meters 0.060752258903243185 Centerline is valid? [True, True] Translation: X:60.64, Y:-4.33, Z:-6.90 [[ 9.87078911e-01 1.21411273e-01 1.04568282e-01 6.06355168e+01] [-1.20530239e-01 9.92600405e-01 -1.47274272e-02 -4.33376094e+00] [-1.05582595e-01 1.93349272e-03 9.94408657e-01 -6.89937509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962401008 meters 0.060952766099448615 Centerline is valid? [True, True] Translation: X:60.69, Y:-4.34, Z:-6.91 [[ 9.86973499e-01 1.22763665e-01 1.03982663e-01 6.06947951e+01] [-1.21897539e-01 9.92434298e-01 -1.46681344e-02 -4.34386272e+00] [-1.04996675e-01 1.80182925e-03 9.94470941e-01 -6.90732990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022401007999996 meters 0.0618988121804013 Centerline is valid? [True, True] Translation: X:60.75, Y:-4.36, Z:-6.92 [[ 9.87364539e-01 1.22706152e-01 1.00271965e-01 6.07538543e+01] [-1.21898462e-01 9.92441479e-01 -1.41660429e-02 -4.35678580e+00] [-1.01252318e-01 1.76405017e-03 9.94859214e-01 -6.91985666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082401008 meters 0.06174169672058286 Centerline is valid? [True, True] Translation: X:60.81, Y:-4.37, Z:-6.93 [[ 9.88171064e-01 1.18486084e-01 9.73601401e-02 6.08146991e+01] [-1.17702089e-01 9.92953375e-01 -1.37772909e-02 -4.36605895e+00] [-9.83064969e-02 2.15482836e-03 9.95153852e-01 -6.92655693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142401008 meters 0.06403445061994155 Centerline is valid? [True, True] Translation: X:60.87, Y:-4.38, Z:-6.94 [[ 9.89845184e-01 1.10615385e-01 8.92790527e-02 6.08721354e+01] [-1.09924156e-01 9.93859634e-01 -1.26375682e-02 -4.38034744e+00] [-9.01287561e-02 2.69531158e-03 9.95926475e-01 -6.94268946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202401007999995 meters 0.0657760853683095 Centerline is valid? [True, True] Translation: X:60.93, Y:-4.39, Z:-6.95 [[ 9.90651247e-01 1.05736253e-01 8.61971703e-02 6.09304289e+01] [-1.05073193e-01 9.94389578e-01 -1.22061794e-02 -4.39146798e+00] [-8.70042035e-02 3.03505499e-03 9.96203321e-01 -6.95376746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262401008 meters 0.06590490511648674 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.40, Z:-6.96 [[ 9.91337002e-01 1.01634550e-01 8.31947564e-02 6.09916600e+01] [-1.01001982e-01 9.94816384e-01 -1.17881677e-02 -4.39642756e+00] [-8.39615919e-02 3.28321153e-03 9.96463583e-01 -6.95946042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322401008 meters 0.06646706217680141 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.40, Z:-6.97 [[ 9.91477207e-01 1.00719996e-01 8.26343121e-02 6.10522621e+01] [-1.00093059e-01 9.94909224e-01 -1.17053913e-02 -4.40099469e+00] [-8.33926063e-02 3.33450762e-03 9.96511191e-01 -6.96612737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382401007999995 meters 0.06563619859741687 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.39, Z:-6.98 [[ 9.90881736e-01 1.08496724e-01 7.98864545e-02 6.11136596e+01] [-1.07934212e-01 9.94093372e-01 -1.13390363e-02 -4.39189929e+00] [-8.06448433e-02 2.61316250e-03 9.96739475e-01 -6.97721033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442401008 meters 0.06384990431614301 Centerline is valid? [True, True] Translation: X:61.18, Y:-4.38, Z:-6.99 [[ 9.90033126e-01 1.18288342e-01 7.64347888e-02 6.11770027e+01] [-1.17802583e-01 9.92977770e-01 -1.08489110e-02 -4.37944632e+00] [-7.71813458e-02 1.73656564e-03 9.97015559e-01 -6.98715937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502401008 meters 0.06232428765348895 Centerline is valid? [True, True] Translation: X:61.24, Y:-4.35, Z:-7.00 [[ 9.88106829e-01 1.35823190e-01 7.20899130e-02 6.12431209e+01] [-1.35437603e-01 9.90733032e-01 -1.02330602e-02 -4.35482746e+00] [-7.28117449e-02 3.47671629e-04 9.97345642e-01 -6.99717863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562401007999995 meters 0.0626637415407254 Centerline is valid? [True, True] Translation: X:61.31, Y:-4.34, Z:-7.01 [[ 9.87073332e-01 1.44046433e-01 7.02628171e-02 6.13066930e+01] [-1.43700515e-01 9.89570899e-01 -9.97983707e-03 -4.34468916e+00] [-7.09675991e-02 -2.45972006e-04 9.97478591e-01 -7.00739784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622401008 meters 0.06255780541904735 Centerline is valid? [True, True] Translation: X:61.37, Y:-4.34, Z:-7.01 [[ 9.86674667e-01 1.47197669e-01 6.93249365e-02 6.13695381e+01] [-1.46868878e-01 9.89106984e-01 -9.84409463e-03 -4.33845340e+00] [-7.00188066e-02 -4.68756827e-04 9.97545561e-01 -7.01394126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682401008 meters 0.06199670874700219 Centerline is valid? [True, True] Translation: X:61.43, Y:-4.34, Z:-7.02 [[ 9.87111576e-01 1.44321291e-01 6.91527367e-02 6.14319424e+01] [-1.43985682e-01 9.89530851e-01 -9.83961376e-03 -4.34330062e+00] [-6.98488321e-02 -2.44207310e-04 9.97557558e-01 -7.01875343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742401007999995 meters 0.06161474305929838 Centerline is valid? [True, True] Translation: X:61.49, Y:-4.35, Z:-7.02 [[ 9.88193848e-01 1.35813597e-01 7.09054662e-02 6.14936933e+01] [-1.35438482e-01 9.90734338e-01 -1.00939954e-02 -4.35336781e+00] [-7.16193819e-02 3.71495466e-04 9.97431966e-01 -7.02070959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802401008 meters 0.061600000870705184 Centerline is valid? [True, True] Translation: X:61.55, Y:-4.37, Z:-7.02 [[ 9.89072347e-01 1.27811013e-01 7.34863007e-02 6.15543554e+01] [-1.27384670e-01 9.91798033e-01 -1.04789169e-02 -4.36535835e+00] [-7.42228894e-02 1.00337874e-03 9.97241172e-01 -7.02353699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862401008 meters 0.06245996480990251 Centerline is valid? [True, True] Translation: X:61.62, Y:-4.38, Z:-7.02 [[ 9.90712594e-01 1.13438067e-01 7.49690621e-02 6.16152708e+01] [-1.12951366e-01 9.93542750e-01 -1.07141273e-02 -4.37698528e+00] [-7.57003580e-02 2.14676291e-03 9.97128300e-01 -7.02376965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922401007999994 meters 0.0643866151072078 Centerline is valid? [True, True] Translation: X:61.68, Y:-4.39, Z:-7.03 [[ 9.91670129e-01 1.05625977e-01 7.37123319e-02 6.16752432e+01] [-1.05133658e-01 9.94402262e-01 -1.05382909e-02 -4.39006756e+00] [-7.44128269e-02 2.70086116e-03 9.97223865e-01 -7.03012871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982401008 meters 0.06398475172781207 Centerline is valid? [True, True] Translation: X:61.74, Y:-4.40, Z:-7.03 [[ 9.92294214e-01 9.96882105e-02 7.35829751e-02 6.17365039e+01] [-9.91812083e-02 9.95013762e-01 -1.05214860e-02 -4.39623731e+00] [-7.42649410e-02 3.14236126e-03 9.97233596e-01 -7.02980170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042401008 meters 0.064913101013378 Centerline is valid? [True, True] Translation: X:61.80, Y:-4.40, Z:-7.03 [[ 9.92390143e-01 9.55796686e-02 7.76294487e-02 6.17982216e+01] [-9.50030112e-02 9.95415140e-01 -1.10962702e-02 -4.40273909e+00] [-7.83341064e-02 3.63679784e-03 9.96920529e-01 -7.03353222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102401007999994 meters 0.0652009051943588 Centerline is valid? [True, True] Translation: X:61.86, Y:-4.41, Z:-7.04 [[ 9.92295982e-01 9.20575147e-02 8.29101780e-02 6.18601533e+01] [-9.13855511e-02 9.95744820e-01 -1.18716208e-02 -4.40982426e+00] [-8.36502522e-02 4.20336928e-03 9.96486310e-01 -7.03865746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162401007999996 meters 0.06529172361750415 Centerline is valid? [True, True] Translation: X:61.92, Y:-4.42, Z:-7.04 [[ 9.92308198e-01 9.10234535e-02 8.38997710e-02 6.19218168e+01] [-9.03295768e-02 9.95839177e-01 -1.20374762e-02 -4.41874943e+00] [-8.46463715e-02 4.36625549e-03 9.96401489e-01 -7.04326716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008 meters 0.0665346641875616 Centerline is valid? [True, True] Translation: X:61.98, Y:-4.43, Z:-7.05 [[ 9.92743642e-01 8.60341620e-02 8.40129987e-02 6.19824862e+01] [-8.53183873e-02 9.96280507e-01 -1.20799396e-02 -4.42770143e+00] [-8.47398004e-02 4.82442970e-03 9.96391435e-01 -7.04691372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282401008 meters 0.06683654276164469 Centerline is valid? [True, True] Translation: X:62.04, Y:-4.43, Z:-7.05 [[ 9.92791216e-01 8.56294698e-02 8.38641449e-02 6.20441883e+01] [-8.49151429e-02 9.96315265e-01 -1.20544950e-02 -4.43072834e+00] [-8.45873478e-02 4.84626088e-03 9.96404283e-01 -7.05356632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401007999996 meters 0.0668590783270228 Centerline is valid? [True, True] Translation: X:62.11, Y:-4.43, Z:-7.06 [[ 9.92975086e-01 8.44027568e-02 8.29255847e-02 6.21061654e+01] [-8.36980849e-02 9.96419578e-01 -1.19437963e-02 -4.43201755e+00] [-8.36367655e-02 4.91917949e-03 9.96484166e-01 -7.06015731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008 meters 0.06745125156927782 Centerline is valid? [True, True] Translation: X:62.17, Y:-4.43, Z:-7.07 [[ 9.93143308e-01 8.25349856e-02 8.27909824e-02 6.21675347e+01] [-8.18255514e-02 9.96575244e-01 -1.19315489e-02 -4.43032550e+00] [-8.34922137e-02 5.07532011e-03 9.96495505e-01 -7.06886476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462401008 meters 0.06843791492077933 Centerline is valid? [True, True] Translation: X:62.23, Y:-4.43, Z:-7.08 [[ 9.93052600e-01 8.41775126e-02 8.22233563e-02 6.22287069e+01] [-8.34838302e-02 9.96438737e-01 -1.18445629e-02 -4.43318847e+00] [-8.29275831e-02 4.89795322e-03 9.96543539e-01 -7.07811870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522401007999996 meters 0.06528617717993704 Centerline is valid? [True, True] Translation: X:62.29, Y:-4.42, Z:-7.08 [[ 9.92584277e-01 8.95117020e-02 8.22442040e-02 6.22921864e+01] [-8.88337423e-02 9.95975699e-01 -1.18732266e-02 -4.42236140e+00] [-8.29760212e-02 4.47911765e-03 9.96541478e-01 -7.08207936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582401008 meters 0.06324175210873863 Centerline is valid? [True, True] Translation: X:62.35, Y:-4.41, Z:-7.09 [[ 9.91709488e-01 9.83526462e-02 8.26985359e-02 6.23542832e+01] [-9.76976079e-02 9.95144515e-01 -1.19403768e-02 -4.41345380e+00] [-8.34713620e-02 3.76193583e-03 9.96503076e-01 -7.08836167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642401008 meters 0.06137963725091404 Centerline is valid? [True, True] Translation: X:62.42, Y:-4.40, Z:-7.10 [[ 9.89636870e-01 1.17217832e-01 8.29388117e-02 6.24167171e+01] [-1.16624660e-01 9.93103833e-01 -1.19776772e-02 -4.39878317e+00] [-8.37708492e-02 2.18084027e-03 9.96482659e-01 -7.09611329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702401007999995 meters 0.06061086540956308 Centerline is valid? [True, True] Translation: X:62.48, Y:-4.39, Z:-7.11 [[ 9.88390953e-01 1.27598362e-01 8.24741263e-02 6.24790513e+01] [-1.27047829e-01 9.91825077e-01 -1.19107791e-02 -4.39097806e+00] [-8.33197026e-02 1.29434769e-03 9.96522028e-01 -7.10591611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762401008 meters 0.06069997097156407 Centerline is valid? [True, True] Translation: X:62.54, Y:-4.39, Z:-7.12 [[ 9.87390754e-01 1.35699086e-01 8.15184433e-02 6.25401953e+01] [-1.35189140e-01 9.90749917e-01 -1.17685159e-02 -4.38695669e+00] [-8.23613678e-02 5.99715503e-04 9.96602351e-01 -7.11614128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822401008 meters 0.06045401794620944 Centerline is valid? [True, True] Translation: X:62.60, Y:-4.39, Z:-7.12 [[ 9.86951294e-01 1.37878383e-01 8.31666705e-02 6.26020797e+01] [-1.37353767e-01 9.90449067e-01 -1.20245032e-02 -4.39338188e+00] [-8.40302703e-02 4.44343447e-04 9.96463103e-01 -7.12006215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882401007999995 meters 0.06015467443965224 Centerline is valid? [True, True] Translation: X:62.66, Y:-4.40, Z:-7.12 [[ 9.86490189e-01 1.39586461e-01 8.57480484e-02 6.26638661e+01] [-1.39033331e-01 9.90209832e-01 -1.24185814e-02 -4.39831949e+00] [-8.66420264e-02 3.28971912e-04 9.96239455e-01 -7.12402897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942401008 meters 0.06030436060689424 Centerline is valid? [True, True] Translation: X:62.73, Y:-4.40, Z:-7.13 [[ 9.85503603e-01 1.45597080e-01 8.70869637e-02 6.27252462e+01] [-1.45047923e-01 9.89343953e-01 -1.26349571e-02 -4.39887595e+00] [-8.79985738e-02 -1.79987434e-04 9.96120584e-01 -7.13267137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002401008 meters 0.060641391435585425 Centerline is valid? [True, True] Translation: X:62.79, Y:-4.41, Z:-7.14 [[ 9.84630924e-01 1.50727048e-01 8.82230138e-02 6.27866555e+01] [-1.50182274e-01 9.88575219e-01 -1.28187943e-02 -4.40799841e+00] [-8.91472242e-02 -6.27751535e-04 9.96018262e-01 -7.13930334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401007999995 meters 0.060635324461308475 Centerline is valid? [True, True] Translation: X:62.85, Y:-4.42, Z:-7.15 [[ 9.84461837e-01 1.51701261e-01 8.84399119e-02 6.28484462e+01] [-1.51155516e-01 9.88426146e-01 -1.28749148e-02 -4.42011586e+00] [-8.93694621e-02 -6.93318225e-04 9.95998302e-01 -7.14706343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008 meters 0.06114560983475733 Centerline is valid? [True, True] Translation: X:62.91, Y:-4.43, Z:-7.16 [[ 9.84857396e-01 1.51778153e-01 8.37812761e-02 6.29058350e+01] [-1.51286253e-01 9.88414382e-01 -1.22261673e-02 -4.43213091e+00] [-8.46662833e-02 -6.33924078e-04 9.96409162e-01 -7.16051674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182401008 meters 0.061369443111060774 Centerline is valid? [True, True] Translation: X:62.97, Y:-4.45, Z:-7.17 [[ 9.84558000e-01 1.53716219e-01 8.37667470e-02 6.29657632e+01] [-1.53232064e-01 9.88114706e-01 -1.22172875e-02 -4.44661293e+00] [-8.46491498e-02 -8.07123316e-04 9.96410493e-01 -7.16756284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242401007999995 meters 0.06126213497171283 Centerline is valid? [True, True] Translation: X:63.03, Y:-4.47, Z:-7.17 [[ 9.84272381e-01 1.55151508e-01 8.44741916e-02 6.30257786e+01] [-1.54662685e-01 9.87890260e-01 -1.23405092e-02 -4.46610624e+00] [-8.53658797e-02 -9.18582931e-04 9.96349247e-01 -7.17296716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302401008 meters 0.0615601556556514 Centerline is valid? [True, True] Translation: X:63.09, Y:-4.49, Z:-7.18 [[ 9.84171890e-01 1.55663101e-01 8.47035396e-02 6.30856198e+01] [-1.55171854e-01 9.87809750e-01 -1.23932477e-02 -4.48504086e+00] [-8.56001536e-02 -9.46519313e-04 9.96329121e-01 -7.18337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008 meters 0.06151126806531656 Centerline is valid? [True, True] Translation: X:63.15, Y:-4.50, Z:-7.18 [[ 9.83538132e-01 1.58817662e-01 8.61956690e-02 6.31461769e+01] [-1.58318968e-01 9.87307178e-01 -1.26349280e-02 -4.50492406e+00] [-8.71082524e-02 -1.21947591e-03 9.96198105e-01 -7.18411806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401007999994 meters 0.06180129671571139 Centerline is valid? [True, True] Translation: X:63.21, Y:-4.52, Z:-7.19 [[ 9.82967543e-01 1.60966526e-01 8.86825070e-02 6.32056894e+01] [-1.60444865e-01 9.86958839e-01 -1.30267158e-02 -4.52000160e+00] [-8.96228494e-02 -1.42381405e-03 9.95974758e-01 -7.19138777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008 meters 0.062329638913688486 Centerline is valid? [True, True] Translation: X:63.26, Y:-4.54, Z:-7.20 [[ 9.83116404e-01 1.59472643e-01 8.97252040e-02 6.32636070e+01] [-1.58930315e-01 9.87201518e-01 -1.32029216e-02 -4.53904126e+00] [-9.06823624e-02 -1.28004619e-03 9.95879044e-01 -7.20371641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008 meters 0.061792385465538495 Centerline is valid? [True, True] Translation: X:63.32, Y:-4.57, Z:-7.21 [[ 9.83517893e-01 1.55739820e-01 9.18567492e-02 6.33222530e+01] [-1.55152866e-01 9.87797669e-01 -1.35407728e-02 -4.56517942e+00] [-9.28447203e-02 -9.34245571e-04 9.95680162e-01 -7.20592467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602401007999994 meters 0.06169564524448392 Centerline is valid? [True, True] Translation: X:63.38, Y:-4.58, Z:-7.21 [[ 9.83977812e-01 1.53108680e-01 9.13531526e-02 6.33811340e+01] [-1.52516732e-01 9.88209122e-01 -1.34676672e-02 -4.58373752e+00] [-9.23380354e-02 -6.80998553e-04 9.95727485e-01 -7.21381796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401007999996 meters 0.06164271575637311 Centerline is valid? [True, True] Translation: X:63.44, Y:-4.61, Z:-7.22 [[ 9.84697781e-01 1.49868682e-01 8.89362552e-02 6.34402975e+01] [-1.49292824e-01 9.88705849e-01 -1.31299674e-02 -4.60671253e+00] [-8.98995666e-02 -3.48494939e-04 9.95950775e-01 -7.22160242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008 meters 0.06182872866364816 Centerline is valid? [True, True] Translation: X:63.50, Y:-4.62, Z:-7.23 [[ 9.84644545e-01 1.50560146e-01 8.83558896e-02 6.34990718e+01] [-1.49992646e-01 9.88600775e-01 -1.30657529e-02 -4.61987834e+00] [-8.93158825e-02 -3.87611362e-04 9.96003275e-01 -7.23143157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782401008 meters 0.06215825390177177 Centerline is valid? [True, True] Translation: X:63.56, Y:-4.63, Z:-7.24 [[ 9.84479462e-01 1.52782456e-01 8.63580384e-02 6.35593326e+01] [-1.52247358e-01 9.88259687e-01 -1.27879885e-02 -4.63310570e+00] [-8.72979483e-02 -5.58271175e-04 9.96182090e-01 -7.24126940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401007999996 meters 0.0626801747986292 Centerline is valid? [True, True] Translation: X:63.62, Y:-4.64, Z:-7.25 [[ 9.84014106e-01 1.56072189e-01 8.57770980e-02 6.36184630e+01] [-1.55554933e-01 9.87745308e-01 -1.27227861e-02 -4.64320544e+00] [-8.67115992e-02 -8.23649752e-04 9.96233115e-01 -7.25237834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008 meters 0.06334091752300532 Centerline is valid? [True, True] Translation: X:63.68, Y:-4.66, Z:-7.26 [[ 9.82927266e-01 1.62896406e-01 8.55497001e-02 6.36793139e+01] [-1.62405675e-01 9.86642187e-01 -1.27119111e-02 -4.65526181e+00] [-8.64776678e-02 -1.39887270e-03 9.96252807e-01 -7.25755499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962401008 meters 0.06459993063563484 Centerline is valid? [True, True] Translation: X:63.74, Y:-4.67, Z:-7.27 [[ 9.82020306e-01 1.67817374e-01 8.64491025e-02 6.37384765e+01] [-1.67335084e-01 9.85816367e-01 -1.28476018e-02 -4.66614220e+00] [-8.73789909e-02 -1.84936197e-03 9.96173425e-01 -7.26679261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022401008 meters 0.06438049411857803 Centerline is valid? [True, True] Translation: X:63.80, Y:-4.68, Z:-7.27 [[ 9.81619744e-01 1.68916886e-01 8.88243426e-02 6.37992144e+01] [-1.68410084e-01 9.85628314e-01 -1.32238733e-02 -4.68320785e+00] [-8.97815225e-02 -1.97809989e-03 9.95959520e-01 -7.27037088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters 0.06440159097253086 Centerline is valid? [True, True] Translation: X:63.86, Y:-4.70, Z:-7.28 [[ 9.81622526e-01 1.68542929e-01 8.95013876e-02 6.38594220e+01] [-1.68026431e-01 9.85692376e-01 -1.33288495e-02 -4.69569425e+00] [-9.04673188e-02 -1.95469987e-03 9.95897506e-01 -7.27754397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters 0.06413061856287314 Centerline is valid? [True, True] Translation: X:63.92, Y:-4.72, Z:-7.29 [[ 9.82350930e-01 1.64705874e-01 8.86488831e-02 6.39181700e+01] [-1.64181724e-01 9.86341485e-01 -1.32225760e-02 -4.71912929e+00] [-8.96159069e-02 -1.56531668e-03 9.95975170e-01 -7.28720676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20240100800001 meters 0.06314957718372455 Centerline is valid? [True, True] Translation: X:63.97, Y:-4.75, Z:-7.30 [[ 9.83836187e-01 1.56177136e-01 8.76074153e-02 6.39748907e+01] [-1.55629509e-01 9.87728773e-01 -1.30891696e-02 -4.75013148e+00] [-8.85765939e-02 -7.56700221e-04 9.96069081e-01 -7.29509164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262401008 meters 0.06288952435279979 Centerline is valid? [True, True] Translation: X:64.03, Y:-4.78, Z:-7.30 [[ 9.85107572e-01 1.47745532e-01 8.79450342e-02 6.40333335e+01] [-1.47158882e-01 9.89025408e-01 -1.31531661e-02 -4.77602485e+00] [-8.89231948e-02 1.53906013e-05 9.96038486e-01 -7.30010491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322401008 meters 0.06352129539018934 Centerline is valid? [True, True] Translation: X:64.09, Y:-4.81, Z:-7.31 [[ 9.86604867e-01 1.35864899e-01 9.02860174e-02 6.40905488e+01] [-1.35194723e-01 9.90726719e-01 -1.35260569e-02 -4.80719253e+00] [-9.12864862e-02 1.13868042e-03 9.95824021e-01 -7.30673615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382401008 meters 0.06411239362913553 Centerline is valid? [True, True] Translation: X:64.15, Y:-4.83, Z:-7.31 [[ 9.86931909e-01 1.32056354e-01 9.23391916e-02 6.41497303e+01] [-1.31336723e-01 9.91241006e-01 -1.38540266e-02 -4.82590350e+00] [-9.33599054e-02 1.54545406e-03 9.95631227e-01 -7.31336160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442401008 meters 0.06425200639684754 Centerline is valid? [True, True] Translation: X:64.21, Y:-4.85, Z:-7.32 [[ 9.86890524e-01 1.30624381e-01 9.47858939e-02 6.42090137e+01] [-1.29857051e-01 9.91430385e-01 -1.42456555e-02 -4.84538949e+00] [-9.58344452e-02 1.75028574e-03 9.95395748e-01 -7.31665864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502401008 meters 0.06441179215969184 Centerline is valid? [True, True] Translation: X:64.27, Y:-4.86, Z:-7.32 [[ 9.86999825e-01 1.29034486e-01 9.58198646e-02 6.42697465e+01] [-1.28241708e-01 9.91638215e-01 -1.44122951e-02 -4.86108170e+00] [-9.68783226e-02 1.93682961e-03 9.95294348e-01 -7.32091761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56240100800001 meters 0.06467482459126508 Centerline is valid? [True, True] Translation: X:64.33, Y:-4.87, Z:-7.33 [[ 9.87217901e-01 1.29119688e-01 9.34287034e-02 6.43289494e+01] [-1.28364482e-01 9.91627195e-01 -1.40736041e-02 -4.86841964e+00] [-9.44636225e-02 1.90078676e-03 9.95526499e-01 -7.33353019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62240100800001 meters 0.0637186053782616 Centerline is valid? [True, True] Translation: X:64.39, Y:-4.87, Z:-7.34 [[ 9.87050145e-01 1.32983342e-01 8.97075305e-02 6.43918460e+01] [-1.32301612e-01 9.91117158e-01 -1.35300432e-02 -4.86574113e+00] [-9.07099431e-02 1.48638020e-03 9.95876246e-01 -7.34125655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682401008 meters 0.0632993382145065 Centerline is valid? [True, True] Translation: X:64.45, Y:-4.86, Z:-7.35 [[ 9.86052464e-01 1.42313950e-01 8.62976113e-02 6.44533454e+01] [-1.41716965e-01 9.89821372e-01 -1.30365894e-02 -4.86256138e+00] [-8.72745086e-02 6.24925525e-04 9.96184104e-01 -7.35323002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742401008 meters 0.06308103147210602 Centerline is valid? [True, True] Translation: X:64.51, Y:-4.86, Z:-7.36 [[ 9.84902941e-01 1.49934741e-01 8.65203512e-02 6.45149412e+01] [-1.49362228e-01 9.88695895e-01 -1.30901560e-02 -4.85780605e+00] [-8.75049852e-02 -3.03393269e-05 9.96164081e-01 -7.36316656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802401008 meters 0.06321036145486172 Centerline is valid? [True, True] Translation: X:64.58, Y:-4.86, Z:-7.37 [[ 9.84315622e-01 1.53628595e-01 8.67237607e-02 6.45777292e+01] [-1.53066118e-01 9.88128604e-01 -1.31387087e-02 -4.86222578e+00] [-8.77127099e-02 -3.41833139e-04 9.96145754e-01 -7.37130979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862401008 meters 0.06303573076443776 Centerline is valid? [True, True] Translation: X:64.64, Y:-4.87, Z:-7.37 [[ 9.84012295e-01 1.55078275e-01 8.75815682e-02 6.46389325e+01] [-1.54508132e-01 9.87902083e-01 -1.32933123e-02 -4.87160018e+00] [-8.85835175e-02 -4.51281717e-04 9.96068651e-01 -7.37392286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92240100800001 meters 0.062490508068451474 Centerline is valid? [True, True] Translation: X:64.70, Y:-4.89, Z:-7.38 [[ 9.84099446e-01 1.53250690e-01 8.97914598e-02 6.46999957e+01] [-1.52641809e-01 9.88187306e-01 -1.36501504e-02 -4.88643368e+00] [-9.08226757e-02 -2.72825455e-04 9.95867043e-01 -7.37545023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98240100800001 meters 0.06230369120635054 Centerline is valid? [True, True] Translation: X:64.76, Y:-4.90, Z:-7.38 [[ 9.84305693e-01 1.50243580e-01 9.25698098e-02 6.47603607e+01] [-1.49580911e-01 9.88649010e-01 -1.40955703e-02 -4.90073183e+00] [-9.36368198e-02 2.76735971e-05 9.95606421e-01 -7.38165976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042401008 meters 0.062480152817750746 Centerline is valid? [True, True] Translation: X:64.82, Y:-4.91, Z:-7.39 [[ 9.84837138e-01 1.48431215e-01 8.97997009e-02 6.48199705e+01] [-1.47798241e-01 9.88922711e-01 -1.36949541e-02 -4.91481165e+00] [-9.08377223e-02 2.15061560e-04 9.95865685e-01 -7.39216384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102401008 meters 0.06264887384581577 Centerline is valid? [True, True] Translation: X:64.88, Y:-4.93, Z:-7.40 [[ 9.85217462e-01 1.46292549e-01 8.91349646e-02 6.48797857e+01] [-1.45658267e-01 9.89241277e-01 -1.36148559e-02 -4.92781050e+00] [-9.01677382e-02 4.30349281e-04 9.95926500e-01 -7.40129740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162401008 meters 0.06316433786604374 Centerline is valid? [True, True] Translation: X:64.94, Y:-4.95, Z:-7.41 [[ 9.86459365e-01 1.38487999e-01 8.78578176e-02 6.49382758e+01] [-1.37838998e-01 9.90363446e-01 -1.34408259e-02 -4.94906197e+00] [-8.88725641e-02 1.14859500e-03 9.96042343e-01 -7.40765058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters 0.06416685297051444 Centerline is valid? [True, True] Translation: X:65.00, Y:-4.96, Z:-7.42 [[ 9.87361026e-01 1.32327750e-01 8.72213867e-02 6.49963767e+01] [-1.31662400e-01 9.91204540e-01 -1.33630618e-02 -4.96487873e+00] [-8.82225384e-02 1.71038938e-03 9.96099321e-01 -7.41647357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters 0.06592925934365355 Centerline is valid? [True, True] Translation: X:65.05, Y:-4.98, Z:-7.43 [[ 9.88460730e-01 1.25016225e-01 8.55355375e-02 6.50549135e+01] [-1.24347615e-01 9.92151952e-01 -1.31215359e-02 -4.97991041e+00] [-8.65046554e-02 2.33398292e-03 9.96248712e-01 -7.42524960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34240100800001 meters 0.0666355161807644 Centerline is valid? [True, True] Translation: X:65.11, Y:-4.99, Z:-7.43 [[ 9.88880742e-01 1.22990031e-01 8.35962355e-02 6.51147995e+01] [-1.22342961e-01 9.92404835e-01 -1.28391418e-02 -4.98956248e+00] [-8.45403947e-02 2.46896912e-03 9.96416994e-01 -7.43201875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402401008 meters 0.06586816919342219 Centerline is valid? [True, True] Translation: X:65.18, Y:-4.99, Z:-7.43 [[ 9.89919035e-01 1.15596138e-01 8.18403104e-02 6.51770040e+01] [-1.14950331e-01 9.93291642e-01 -1.25751858e-02 -4.99056765e+00] [-8.27449392e-02 3.04084504e-03 9.96566118e-01 -7.43221475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462401008 meters 0.06690593608610541 Centerline is valid? [True, True] Translation: X:65.24, Y:-5.00, Z:-7.44 [[ 9.90655568e-01 1.09480376e-01 8.13362910e-02 6.52369302e+01] [-1.08821620e-01 9.93982675e-01 -1.25018467e-02 -5.00036666e+00] [-8.22155710e-02 3.53387709e-03 9.96608304e-01 -7.43752648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522401008 meters 0.06797813815216633 Centerline is valid? [True, True] Translation: X:65.30, Y:-5.01, Z:-7.44 [[ 9.91099526e-01 1.03290744e-01 8.39806658e-02 6.52976152e+01] [-1.02565798e-01 9.94642404e-01 -1.29129688e-02 -5.00737074e+00] [-8.48645215e-02 4.18449324e-03 9.96383713e-01 -7.44093693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582401008 meters 0.06779065946761571 Centerline is valid? [True, True] Translation: X:65.36, Y:-5.01, Z:-7.44 [[ 9.90857245e-01 1.04015995e-01 8.59220117e-02 6.53590874e+01] [-1.03259605e-01 9.94566671e-01 -1.32133137e-02 -5.01080992e+00] [-8.68295650e-02 4.22023462e-03 9.96214242e-01 -7.44294673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64240100800001 meters 0.06604433441172332 Centerline is valid? [True, True] Translation: X:65.42, Y:-5.00, Z:-7.45 [[ 9.89647783e-01 1.12255637e-01 8.94200040e-02 6.54218172e+01] [-1.11469345e-01 9.93672676e-01 -1.37549619e-02 -5.00133037e+00] [-9.03982867e-02 3.64497828e-03 9.95899023e-01 -7.44724234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters 0.06476059124516388 Centerline is valid? [True, True] Translation: X:65.48, Y:-4.99, Z:-7.45 [[ 9.88782041e-01 1.20624827e-01 8.80893141e-02 6.54847478e+01] [-1.19894890e-01 9.92694114e-01 -1.35503572e-02 -4.99303369e+00] [-8.90802531e-02 2.83689127e-03 9.96020412e-01 -7.45453815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762401008 meters 0.06403477632636513 Centerline is valid? [True, True] Translation: X:65.55, Y:-4.99, Z:-7.46 [[ 9.88406320e-01 1.24780885e-01 8.65024702e-02 6.55469488e+01] [-1.24093070e-01 9.92181381e-01 -1.33047713e-02 -4.99055625e+00] [-8.74863215e-02 2.41616298e-03 9.96162791e-01 -7.46293631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822401008 meters 0.06378696895126036 Centerline is valid? [True, True] Translation: X:65.61, Y:-4.99, Z:-7.47 [[ 9.88026273e-01 1.29316864e-01 8.41500550e-02 6.56098675e+01] [-1.28680435e-01 9.91601340e-01 -1.29664198e-02 -4.98929760e+00] [-8.51200840e-02 1.98269775e-03 9.96368727e-01 -7.47215793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882401008 meters 0.06353116477997979 Centerline is valid? [True, True] Translation: X:65.67, Y:-4.99, Z:-7.48 [[ 9.87857377e-01 1.32506218e-01 8.11166127e-02 6.56712229e+01] [-1.31925517e-01 9.91180805e-01 -1.25008289e-02 -4.99216436e+00] [-8.20576670e-02 1.64768500e-03 9.96626221e-01 -7.48166245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942401008 meters 0.06320564518850315 Centerline is valid? [True, True] Translation: X:65.73, Y:-5.00, Z:-7.49 [[ 9.88129257e-01 1.31428548e-01 7.95431230e-02 6.57333651e+01] [-1.30864831e-01 9.91324143e-01 -1.22817031e-02 -4.99582758e+00] [-8.04671847e-02 1.72651279e-03 9.96755763e-01 -7.48681064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002401008 meters 0.06351669405227191 Centerline is valid? [True, True] Translation: X:65.79, Y:-5.01, Z:-7.49 [[ 9.88388789e-01 1.29663075e-01 7.92154578e-02 6.57942216e+01] [-1.29098353e-01 9.91556362e-01 -1.22309712e-02 -5.00558567e+00] [-8.01324964e-02 1.86236966e-03 9.96782481e-01 -7.49455532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters 0.0640982481510387 Centerline is valid? [True, True] Translation: X:65.86, Y:-5.01, Z:-7.50 [[ 9.89159614e-01 1.22032743e-01 8.16778277e-02 6.58551995e+01] [-1.21404113e-01 9.92522709e-01 -1.26377416e-02 -5.01184613e+00] [-8.26093171e-02 2.58471935e-03 9.96578657e-01 -7.49940964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters 0.0645447748697722 Centerline is valid? [True, True] Translation: X:65.92, Y:-5.02, Z:-7.50 [[ 9.89556411e-01 1.17692481e-01 8.32261310e-02 6.59167745e+01] [-1.17024256e-01 9.93045542e-01 -1.28792614e-02 -5.02132326e+00] [-8.41631306e-02 3.00527969e-03 9.96447458e-01 -7.50325551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182401008 meters 0.06539791182697818 Centerline is valid? [True, True] Translation: X:65.98, Y:-5.03, Z:-7.51 [[ 9.89842322e-01 1.14210884e-01 8.46643415e-02 6.59774772e+01] [-1.13506452e-01 9.93450845e-01 -1.31036189e-02 -5.02687307e+00] [-8.56064374e-02 3.36056750e-03 9.96323363e-01 -7.50774296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242401008 meters 0.06441175160712508 Centerline is valid? [True, True] Translation: X:66.04, Y:-5.03, Z:-7.51 [[ 9.89770482e-01 1.15014967e-01 8.44153397e-02 6.60406633e+01] [-1.14316061e-01 9.93358280e-01 -1.30830078e-02 -5.02568524e+00] [-8.53594184e-02 3.29914573e-03 9.96344762e-01 -7.51289368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302401008 meters 0.06382752053081751 Centerline is valid? [True, True] Translation: X:66.10, Y:-5.02, Z:-7.52 [[ 9.89152301e-01 1.19630708e-01 8.52421180e-02 6.61022722e+01] [-1.18932714e-01 9.92814056e-01 -1.32385317e-02 -5.02334119e+00] [-8.62133079e-02 2.95684760e-03 9.96272313e-01 -7.51869673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters 0.06300505663783278 Centerline is valid? [True, True] Translation: X:66.16, Y:-5.02, Z:-7.53 [[ 9.88586370e-01 1.25421022e-01 8.34658945e-02 6.61644988e+01] [-1.24772454e-01 9.92100703e-01 -1.29626268e-02 -5.02296055e+00] [-8.44323585e-02 2.40043177e-03 9.96426322e-01 -7.52631278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters 0.061651044032609084 Centerline is valid? [True, True] Translation: X:66.23, Y:-5.01, Z:-7.53 [[ 9.86775720e-01 1.39945322e-01 8.17862141e-02 6.62268847e+01] [-1.39371921e-01 9.90158577e-01 -1.27067034e-02 -5.01434895e+00] [-8.27595650e-02 1.13996467e-03 9.96568891e-01 -7.53433188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48240100800001 meters 0.06118369841983862 Centerline is valid? [True, True] Translation: X:66.29, Y:-5.01, Z:-7.54 [[ 9.85036070e-01 1.51964159e-01 8.13070407e-02 6.62889330e+01] [-1.51438166e-01 9.88385996e-01 -1.26334713e-02 -5.01208366e+00] [-8.22825752e-02 1.31435725e-04 9.96609031e-01 -7.54385205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542401008 meters 0.06166982819466589 Centerline is valid? [True, True] Translation: X:66.35, Y:-5.01, Z:-7.55 [[ 9.82710764e-01 1.65902333e-01 8.21947096e-02 6.63511390e+01] [-1.65413437e-01 9.86141633e-01 -1.27700719e-02 -5.01165601e+00] [-8.31742098e-02 -1.04682232e-03 9.96534473e-01 -7.55112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602401008 meters 0.06172479369774325 Centerline is valid? [True, True] Translation: X:66.41, Y:-5.02, Z:-7.56 [[ 9.82153520e-01 1.68202664e-01 8.41565646e-02 6.64121653e+01] [-1.67696762e-01 9.85751642e-01 -1.30956698e-02 -5.02365079e+00] [-8.51601983e-02 -1.25082523e-03 9.96366487e-01 -7.55614520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662401008 meters 0.06140087930933264 Centerline is valid? [True, True] Translation: X:66.47, Y:-5.04, Z:-7.56 [[ 9.82822141e-01 1.63298197e-01 8.59903367e-02 6.64717578e+01] [-1.62748967e-01 9.86576418e-01 -1.34068726e-02 -5.04120536e+00] [-8.70253565e-02 -8.18267202e-04 9.96205761e-01 -7.56262681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722401008 meters 0.06115560281371909 Centerline is valid? [True, True] Translation: X:66.53, Y:-5.07, Z:-7.57 [[ 9.84756137e-01 1.52544305e-01 8.35798131e-02 6.65298265e+01] [-1.51986891e-01 9.88296625e-01 -1.30294325e-02 -5.06643108e+00] [-8.45892129e-02 1.27777603e-04 9.96415901e-01 -7.56907049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78240100800001 meters 0.061595956402381885 Centerline is valid? [True, True] Translation: X:66.59, Y:-5.08, Z:-7.58 [[ 9.85946296e-01 1.45949140e-01 8.12942190e-02 6.65881458e+01] [-1.45397784e-01 9.89291851e-01 -1.26932542e-02 -5.08442267e+00] [-8.22762779e-02 6.94867713e-04 9.96609317e-01 -7.58083298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84240100800001 meters 0.06169627348224537 Centerline is valid? [True, True] Translation: X:66.65, Y:-5.10, Z:-7.59 [[ 9.86725353e-01 1.39999958e-01 8.22987759e-02 6.66478421e+01] [-1.39412641e-01 9.90150752e-01 -1.28686829e-02 -5.10240202e+00] [-8.32898099e-02 1.22436596e-03 9.96524615e-01 -7.58575811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902401008 meters 0.06187151598025692 Centerline is valid? [True, True] Translation: X:66.71, Y:-5.12, Z:-7.59 [[ 9.87143997e-01 1.35565887e-01 8.46677020e-02 6.67084961e+01] [-1.34926101e-01 9.90766933e-01 -1.32601661e-02 -5.11661157e+00] [-8.56835856e-02 1.66581042e-03 9.96321007e-01 -7.59215292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962401008 meters 0.062286431126754804 Centerline is valid? [True, True] Translation: X:66.77, Y:-5.13, Z:-7.60 [[ 9.87402555e-01 1.33446663e-01 8.50187179e-02 6.67677204e+01] [-1.32791895e-01 9.91054217e-01 -1.33361359e-02 -5.13088503e+00] [-8.60378217e-02 1.87833799e-03 9.96290101e-01 -7.60073761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022401008 meters 0.06163856035540084 Centerline is valid? [True, True] Translation: X:66.83, Y:-5.14, Z:-7.61 [[ 9.86674758e-01 1.38506451e-01 8.53749705e-02 6.68286643e+01] [-1.37862997e-01 9.90360445e-01 -1.34157740e-02 -5.13598403e+00] [-8.64101650e-02 1.46695624e-03 9.96258567e-01 -7.60726172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082401008 meters 0.061073558070790644 Centerline is valid? [True, True] Translation: X:66.89, Y:-5.14, Z:-7.62 [[ 9.85282509e-01 1.49901933e-01 8.21449243e-02 6.68910988e+01] [-1.49346096e-01 9.88700769e-01 -1.29047543e-02 -5.13546863e+00] [-8.31511974e-02 4.46804955e-04 9.96536843e-01 -7.61653895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14240100800001 meters 0.061020827171490245 Centerline is valid? [True, True] Translation: X:66.95, Y:-5.14, Z:-7.63 [[ 9.84566383e-01 1.54787299e-01 8.16696347e-02 6.69528199e+01] [-1.54253152e-01 9.87947817e-01 -1.28481886e-02 -5.14021508e+00] [-8.26740738e-02 5.20960125e-05 9.96576638e-01 -7.62584586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20240100800001 meters 0.060939616397249916 Centerline is valid? [True, True] Translation: X:67.01, Y:-5.16, Z:-7.63 [[ 9.84815693e-01 1.54181417e-01 7.97881099e-02 6.70132340e+01] [-1.53667919e-01 9.88042548e-01 -1.25735698e-02 -5.15579020e+00] [-8.07726582e-02 1.21776004e-04 9.96732543e-01 -7.63056294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262401008 meters 0.0614846858198312 Centerline is valid? [True, True] Translation: X:67.07, Y:-5.17, Z:-7.64 [[ 9.85659518e-01 1.48860506e-01 7.94724161e-02 6.70708961e+01] [-1.48331911e-01 9.88858036e-01 -1.25470921e-02 -5.17373579e+00] [-8.04547037e-02 5.78865385e-04 9.96758098e-01 -7.64175991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322401008 meters 0.06117394134904711 Centerline is valid? [True, True] Translation: X:67.13, Y:-5.19, Z:-7.64 [[ 9.86352351e-01 1.40050314e-01 8.65733772e-02 6.71310868e+01] [-1.39387745e-01 9.90143359e-01 -1.36815538e-02 -5.19409235e+00] [-8.76361604e-02 1.42756488e-03 9.96151527e-01 -7.63891347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382401008 meters 0.06106282709101751 Centerline is valid? [True, True] Translation: X:67.19, Y:-5.21, Z:-7.64 [[ 9.86522573e-01 1.36472272e-01 9.02692239e-02 6.71922493e+01] [-1.35736545e-01 9.90642213e-01 -1.42687336e-02 -5.20838038e+00] [-9.13717902e-02 1.82359515e-03 9.95815179e-01 -7.64238339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442401008 meters 0.06094044107511027 Centerline is valid? [True, True] Translation: X:67.25, Y:-5.22, Z:-7.65 [[ 9.86382428e-01 1.37614621e-01 9.00662049e-02 6.72530014e+01] [-1.36886113e-01 9.90484350e-01 -1.42458802e-02 -5.21872742e+00] [-9.11696078e-02 1.72307320e-03 9.95833889e-01 -7.64848522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502401008 meters 0.06053039224775499 Centerline is valid? [True, True] Translation: X:67.31, Y:-5.23, Z:-7.66 [[ 9.85961407e-01 1.39868729e-01 9.11967225e-02 6.73137289e+01] [-1.39129331e-01 9.90168833e-01 -1.44468444e-02 -5.22587955e+00] [-9.23208141e-02 1.55589206e-03 9.95728099e-01 -7.65502231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56240100800001 meters 0.06046639121147854 Centerline is valid? [True, True] Translation: X:67.38, Y:-5.23, Z:-7.66 [[ 9.85773155e-01 1.40794503e-01 9.18052034e-02 6.73754322e+01] [-1.40047152e-01 9.90037704e-01 -1.45650105e-02 -5.23275924e+00] [-9.29412862e-02 1.50073912e-03 9.95670460e-01 -7.66241058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62240100800001 meters 0.06072244172864591 Centerline is valid? [True, True] Translation: X:67.44, Y:-5.24, Z:-7.67 [[ 9.85898855e-01 1.41804050e-01 8.88541417e-02 6.74354503e+01] [-1.41106304e-01 9.89893785e-01 -1.41175690e-02 -5.24431024e+00] [-8.99580910e-02 1.38061557e-03 9.95944595e-01 -7.67076078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682401008 meters 0.06078000421484534 Centerline is valid? [True, True] Translation: X:67.50, Y:-5.25, Z:-7.68 [[ 9.85781281e-01 1.44652812e-01 8.55033891e-02 6.74962554e+01] [-1.44016000e-01 9.89481867e-01 -1.36024701e-02 -5.25215565e+00] [-8.65716886e-02 1.09520429e-03 9.96245022e-01 -7.67944830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742401008 meters 0.06105601268638304 Centerline is valid? [True, True] Translation: X:67.56, Y:-5.26, Z:-7.69 [[ 9.85074266e-01 1.50730272e-01 8.31208448e-02 6.75567284e+01] [-1.50148518e-01 9.88574765e-01 -1.32421889e-02 -5.25954582e+00] [-8.41671684e-02 5.64067840e-04 9.96451489e-01 -7.69350558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802401008 meters 0.06089569967078138 Centerline is valid? [True, True] Translation: X:67.62, Y:-5.27, Z:-7.70 [[ 9.84460861e-01 1.53533481e-01 8.52307679e-02 6.76174198e+01] [-1.52929826e-01 9.88143380e-01 -1.36061743e-02 -5.27098634e+00] [-8.63092225e-02 3.60419579e-04 9.96268331e-01 -7.69796538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862401008 meters 0.06088948991991261 Centerline is valid? [True, True] Translation: X:67.68, Y:-5.28, Z:-7.70 [[ 9.83890305e-01 1.56196953e-01 8.69619453e-02 6.76781681e+01] [-1.55578888e-01 9.87725921e-01 -1.38821600e-02 -5.28212603e+00] [-8.80629186e-02 1.29079885e-04 9.96114906e-01 -7.70274023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92240100800001 meters 0.061111197904576156 Centerline is valid? [True, True] Translation: X:67.74, Y:-5.29, Z:-7.71 [[ 9.83670240e-01 1.57381704e-01 8.73147024e-02 6.77378866e+01] [-1.56761338e-01 9.87537846e-01 -1.39601511e-02 -5.29128877e+00] [-8.84236455e-02 4.46155836e-05 9.96082957e-01 -7.71164372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98240100800001 meters 0.0610835361854624 Centerline is valid? [True, True] Translation: X:67.80, Y:-5.30, Z:-7.71 [[ 9.82801672e-01 1.61565126e-01 8.94292145e-02 6.77995651e+01] [-1.60929429e-01 9.86862001e-01 -1.43216244e-02 -5.30227984e+00] [-9.05681687e-02 -3.16476016e-04 9.95890208e-01 -7.71465900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042401008 meters 0.06109954910738443 Centerline is valid? [True, True] Translation: X:67.86, Y:-5.31, Z:-7.72 [[ 9.81890407e-01 1.65366643e-01 9.24397248e-02 6.78605125e+01] [-1.64703644e-01 9.86231923e-01 -1.48089376e-02 -5.31275502e+00] [-9.36159118e-02 -6.84405688e-04 9.95608152e-01 -7.72002607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102401008 meters 0.061520758120546574 Centerline is valid? [True, True] Translation: X:67.92, Y:-5.32, Z:-7.73 [[ 9.81892447e-01 1.66605429e-01 9.01657019e-02 6.79212402e+01] [-1.65978038e-01 9.86023352e-01 -1.44651635e-02 -5.32166368e+00] [-9.13154624e-02 -7.62291511e-04 9.95821724e-01 -7.73194636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162401008 meters 0.06163864495285836 Centerline is valid? [True, True] Translation: X:67.98, Y:-5.34, Z:-7.74 [[ 9.82008729e-01 1.65214658e-01 9.14492869e-02 6.79795316e+01] [-1.64561166e-01 9.86257437e-01 -1.46932125e-02 -5.33831240e+00] [-9.26200734e-02 -6.20138254e-04 9.95701329e-01 -7.73988214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222401008 meters 0.061460777296122586 Centerline is valid? [True, True] Translation: X:68.04, Y:-5.36, Z:-7.74 [[ 9.82841361e-01 1.59783530e-01 9.21524974e-02 6.80388648e+01] [-1.59094248e-01 9.87152073e-01 -1.48258146e-02 -5.36178347e+00] [-9.33374499e-02 -8.95085341e-05 9.95634528e-01 -7.74443011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28240100800001 meters 0.06136597954539084 Centerline is valid? [True, True] Translation: X:68.10, Y:-5.38, Z:-7.75 [[ 9.83621136e-01 1.54110375e-01 9.34850414e-02 6.80977794e+01] [-1.53373337e-01 9.88053523e-01 -1.50616972e-02 -5.38376715e+00] [-9.46893883e-02 4.76890901e-04 9.95506752e-01 -7.74785200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34240100800001 meters 0.062062564165911015 Centerline is valid? [True, True] Translation: X:68.16, Y:-5.41, Z:-7.76 [[ 9.84717441e-01 1.46345718e-01 9.44165920e-02 6.81552426e+01] [-1.45555953e-01 9.89232705e-01 -1.52355103e-02 -5.41058931e+00] [-9.56296323e-02 1.25977562e-03 9.95416188e-01 -7.75649366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402401008 meters 0.06311125436535295 Centerline is valid? [True, True] Translation: X:68.21, Y:-5.43, Z:-7.77 [[ 9.85233877e-01 1.44167916e-01 9.23570237e-02 6.82128252e+01] [-1.43400880e-01 9.89552163e-01 -1.49232659e-02 -5.42945294e+00] [-9.35435487e-02 1.45882873e-03 9.95614120e-01 -7.77012202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462401008 meters 0.06259838146047134 Centerline is valid? [True, True] Translation: X:68.27, Y:-5.45, Z:-7.77 [[ 9.85152061e-01 1.46276084e-01 8.98817237e-02 6.82733729e+01] [-1.45556761e-01 9.89243025e-01 -1.45419157e-02 -5.44582008e+00] [-9.10420027e-02 1.24310564e-03 9.95846278e-01 -7.77388083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522401008 meters 0.0627188187220299 Centerline is valid? [True, True] Translation: X:68.33, Y:-5.46, Z:-7.79 [[ 9.84880839e-01 1.49729598e-01 8.71250827e-02 6.83335326e+01] [-1.49065486e-01 9.88726559e-01 -1.41163642e-02 -5.45631468e+00] [-8.82565208e-02 9.15593808e-04 9.96097359e-01 -7.78503489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582401008 meters 0.06281359524854688 Centerline is valid? [True, True] Translation: X:68.39, Y:-5.46, Z:-7.80 [[ 9.84091709e-01 1.54217219e-01 8.82074640e-02 6.83932316e+01] [-1.53552438e-01 9.88036819e-01 -1.43140848e-02 -5.46488407e+00] [-8.93597005e-02 5.41900970e-04 9.95999272e-01 -7.79563801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64240100800001 meters 0.06270217336442985 Centerline is valid? [True, True] Translation: X:68.45, Y:-5.48, Z:-7.80 [[ 9.83611781e-01 1.55263838e-01 9.16569955e-02 6.84530640e+01] [-1.54548362e-01 9.87872919e-01 -1.48963168e-02 -5.47601278e+00] [-9.28583230e-02 4.86754224e-04 9.95679213e-01 -7.79964827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70240100800001 meters 0.06277338407083102 Centerline is valid? [True, True] Translation: X:68.51, Y:-5.49, Z:-7.81 [[ 9.83193784e-01 1.57507253e-01 9.23116940e-02 6.85135082e+01] [-1.56789796e-01 9.87517787e-01 -1.50193481e-02 -5.48537661e+00] [-9.35250960e-02 2.93398018e-04 9.95616879e-01 -7.80868785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762401008 meters 0.06275385164953061 Centerline is valid? [True, True] Translation: X:68.58, Y:-5.49, Z:-7.81 [[ 9.82475814e-01 1.61891545e-01 9.23710012e-02 6.85759365e+01] [-1.61190509e-01 9.86808551e-01 -1.50500092e-02 -5.49192609e+00] [-9.35889632e-02 -1.03058710e-04 9.95610916e-01 -7.81490903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822401008 meters 0.06343387944215934 Centerline is valid? [True, True] Translation: X:68.64, Y:-5.49, Z:-7.83 [[ 9.81751368e-01 1.68489187e-01 8.81796237e-02 6.86355113e+01] [-1.67874519e-01 9.85703273e-01 -1.43945385e-02 -5.49475176e+00] [-8.93442678e-02 -6.71254089e-04 9.96000578e-01 -7.82688342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882401008 meters 0.06425956254366325 Centerline is valid? [True, True] Translation: X:68.69, Y:-5.50, Z:-7.84 [[ 9.81517784e-01 1.71161672e-01 8.55951017e-02 6.86949989e+01] [-1.70592119e-01 9.85242562e-01 -1.39793669e-02 -5.50061287e+00] [-8.67246691e-02 -8.80852556e-04 9.96231929e-01 -7.84001633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942401008 meters 0.06434438163298022 Centerline is valid? [True, True] Translation: X:68.76, Y:-5.52, Z:-7.85 [[ 9.81596181e-01 1.70716331e-01 8.55854673e-02 6.87555192e+01] [-1.70143717e-01 9.85319874e-01 -1.39950236e-02 -5.51618695e+00] [-8.67182409e-02 -8.24367875e-04 9.96232537e-01 -7.84699229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002401008 meters 0.06390471647390272 Centerline is valid? [True, True] Translation: X:68.82, Y:-5.54, Z:-7.85 [[ 9.81961115e-01 1.67562969e-01 8.76071928e-02 6.88152133e+01] [-1.66948138e-01 9.85861231e-01 -1.43510449e-02 -5.53601213e+00] [-8.87732386e-02 -5.33689682e-04 9.96051719e-01 -7.85077911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06240100800001 meters 0.06362458297927323 Centerline is valid? [True, True] Translation: X:68.87, Y:-5.56, Z:-7.85 [[ 9.81981705e-01 1.65734776e-01 9.07960049e-02 6.88730865e+01] [-1.65064231e-01 9.86170298e-01 -1.48977745e-02 -5.55767925e+00] [-9.20094025e-02 -3.57830709e-04 9.95758074e-01 -7.85434642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12240100800001 meters 0.06373377120037446 Centerline is valid? [True, True] Translation: X:68.93, Y:-5.57, Z:-7.86 [[ 9.81581337e-01 1.67990105e-01 9.09802343e-02 6.89341687e+01] [-1.67325214e-01 9.85788524e-01 -1.49418227e-02 -5.57167367e+00] [-9.21973493e-02 -5.56672913e-04 9.95740598e-01 -7.86388373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182401008 meters 0.06317565882115155 Centerline is valid? [True, True] Translation: X:68.99, Y:-5.59, Z:-7.86 [[ 9.81614851e-01 1.65757365e-01 9.46402671e-02 6.89931754e+01] [-1.65024651e-01 9.86166510e-01 -1.55717444e-02 -5.59257393e+00] [-9.59121932e-02 -3.32521437e-04 9.95389743e-01 -7.86477242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242401008 meters 0.06380097567274633 Centerline is valid? [True, True] Translation: X:69.05, Y:-5.61, Z:-7.88 [[ 9.83837108e-01 1.53853278e-01 9.16172147e-02 6.90524245e+01] [-1.53113493e-01 9.88093364e-01 -1.50917768e-02 -5.61034949e+00] [-9.28482812e-02 8.20018197e-04 9.95679931e-01 -7.87688810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302401008 meters 0.06557264086265403 Centerline is valid? [True, True] Translation: X:69.11, Y:-5.62, Z:-7.90 [[ 9.85094233e-01 1.50453768e-01 8.33847468e-02 6.91093734e+01] [-1.49828693e-01 9.88616497e-01 -1.37398697e-02 -5.62241179e+00] [-8.45027515e-02 1.04163875e-03 9.96422701e-01 -7.89734721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362401008 meters 0.0648075741674236 Centerline is valid? [True, True] Translation: X:69.17, Y:-5.63, Z:-7.90 [[ 9.84093447e-01 1.57034972e-01 8.30668730e-02 6.91712303e+01] [-1.56437595e-01 9.87592926e-01 -1.36927628e-02 -5.62797625e+00] [-8.41864987e-02 4.80176238e-04 9.96449900e-01 -7.89952786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters 0.06446369174697056 Centerline is valid? [True, True] Translation: X:69.23, Y:-5.64, Z:-7.90 [[ 9.83544357e-01 1.60046310e-01 8.38193044e-02 6.92328784e+01] [-1.59447217e-01 9.87109477e-01 -1.38371256e-02 -5.63572033e+00] [-8.49534106e-02 2.44672018e-04 9.96384895e-01 -7.90460851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters 0.06460425305348791 Centerline is valid? [True, True] Translation: X:69.29, Y:-5.64, Z:-7.92 [[ 9.83142068e-01 1.62106100e-01 8.45771061e-02 6.92945182e+01] [-1.61501952e-01 9.86773330e-01 -1.39826573e-02 -5.63939796e+00] [-8.57251067e-02 8.75709063e-05 9.96318824e-01 -7.91554684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542401008 meters 0.06473085974887319 Centerline is valid? [True, True] Translation: X:69.36, Y:-5.65, Z:-7.92 [[ 9.82673287e-01 1.63628570e-01 8.70568935e-02 6.93555418e+01] [-1.62992471e-01 9.86522017e-01 -1.44140236e-02 -5.64551905e+00] [-8.82420882e-02 -2.53422347e-05 9.96099058e-01 -7.92231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602401008 meters 0.0645404016887969 Centerline is valid? [True, True] Translation: X:69.42, Y:-5.66, Z:-7.93 [[ 9.82501502e-01 1.64890292e-01 8.66140258e-02 6.94163921e+01] [-1.64263793e-01 9.86311907e-01 -1.43606679e-02 -5.65529576e+00] [-8.77963797e-02 -1.18170631e-04 9.96138435e-01 -7.92618793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662401008 meters 0.06412920207963346 Centerline is valid? [True, True] Translation: X:69.48, Y:-5.67, Z:-7.93 [[ 9.82588675e-01 1.62002544e-01 9.09652211e-02 6.94769361e+01] [-1.61296585e-01 9.86790325e-01 -1.51084739e-02 -5.66931053e+00] [-9.22112113e-02 1.73035797e-04 9.95739455e-01 -7.92692438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters 0.06417494861044716 Centerline is valid? [True, True] Translation: X:69.54, Y:-5.68, Z:-7.93 [[ 9.83091491e-01 1.58051604e-01 9.24705923e-02 6.95369222e+01] [-1.57304480e-01 9.87430698e-01 -1.53595802e-02 -5.68155909e+00] [-9.37359078e-02 5.53834150e-04 9.95596943e-01 -7.93365334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters 0.0646847587333718 Centerline is valid? [True, True] Translation: X:69.60, Y:-5.69, Z:-7.94 [[ 9.83561915e-01 1.54111060e-01 9.41049445e-02 6.95976980e+01] [-1.53317057e-01 9.88053057e-01 -1.56536486e-02 -5.69470431e+00] [-9.53930784e-02 9.68439437e-04 9.95439211e-01 -7.94174258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84240100800001 meters 0.0648736170104879 Centerline is valid? [True, True] Translation: X:69.66, Y:-5.71, Z:-7.95 [[ 9.84219395e-01 1.49907583e-01 9.40207334e-02 6.96582836e+01] [-1.49093356e-01 9.88699021e-01 -1.56657778e-02 -5.70932947e+00] [-9.53066259e-02 1.40069563e-03 9.95446978e-01 -7.94730587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902401008 meters 0.06543984663451825 Centerline is valid? [True, True] Translation: X:69.72, Y:-5.72, Z:-7.96 [[ 9.85017454e-01 1.45775641e-01 9.21416177e-02 6.97180155e+01] [-1.44973528e-01 9.89316061e-01 -1.53755394e-02 -5.72310751e+00] [-9.33985614e-02 1.78707925e-03 9.95627197e-01 -7.95538417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962401008 meters 0.06572076819450594 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.74, Z:-7.96 [[ 9.85545417e-01 1.41840215e-01 9.26368406e-02 6.97786199e+01] [-1.41009793e-01 9.89887131e-01 -1.54824755e-02 -5.73513013e+00] [-9.38960540e-02 2.19598106e-03 9.95579584e-01 -7.96130759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022401008 meters 0.06623699101786076 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.75, Z:-7.97 [[ 9.85956467e-01 1.38891337e-01 9.27310170e-02 6.98390473e+01] [-1.38045595e-01 9.90304507e-01 -1.55047315e-02 -5.74601033e+00] [-9.39854170e-02 2.48588187e-03 9.95570471e-01 -7.97028702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082401008 meters 0.06647366744242868 Centerline is valid? [True, True] Translation: X:69.90, Y:-5.76, Z:-7.98 [[ 9.85855635e-01 1.38537831e-01 9.43182727e-02 6.98986121e+01] [-1.37660816e-01 9.90353816e-01 -1.57740233e-02 -5.75703683e+00] [-9.55937602e-02 2.56697931e-03 9.95417120e-01 -7.97596665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14240100800001 meters 0.0658133181555836 Centerline is valid? [True, True] Translation: X:69.96, Y:-5.76, Z:-7.98 [[ 9.85229815e-01 1.42177545e-01 9.54345750e-02 6.99591350e+01] [-1.41294204e-01 9.89838581e-01 -1.59853725e-02 -5.76356975e+00] [-9.67375853e-02 2.26491324e-03 9.95307344e-01 -7.98079919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20240100800001 meters 0.06496934268445279 Centerline is valid? [True, True] Translation: X:70.02, Y:-5.76, Z:-7.99 [[ 9.84382697e-01 1.48505398e-01 9.45349265e-02 7.00203439e+01] [-1.47667452e-01 9.88910252e-01 -1.58378158e-02 -5.76480938e+00] [-9.58385591e-02 1.63074013e-03 9.95395555e-01 -7.99001703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262401008 meters 0.06441693221656568 Centerline is valid? [True, True] Translation: X:70.08, Y:-5.76, Z:-8.00 [[ 9.82567900e-01 1.59967688e-01 9.47135707e-02 7.00825034e+01] [-1.59179304e-01 9.87122116e-01 -1.58706693e-02 -5.76178846e+00] [-9.60326546e-02 5.17569895e-04 9.95378049e-01 -7.99982724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322401008 meters 0.06428049350175744 Centerline is valid? [True, True] Translation: X:70.14, Y:-5.77, Z:-8.00 [[ 9.81134751e-01 1.67621318e-01 9.63207863e-02 7.01433688e+01] [-1.66842261e-01 9.85851429e-01 -1.61437263e-02 -5.76846717e+00] [-9.76640175e-02 -2.31206822e-04 9.95219416e-01 -8.00464182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382401008 meters 0.06435249694357498 Centerline is valid? [True, True] Translation: X:70.20, Y:-5.78, Z:-8.01 [[ 9.80625818e-01 1.70287494e-01 9.68254808e-02 7.02046302e+01] [-1.69512071e-01 9.85394302e-01 -1.62396576e-02 -5.77849970e+00] [-9.81766877e-02 -4.88060269e-04 9.95168880e-01 -8.01114664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442401008 meters 0.06464328346834564 Centerline is valid? [True, True] Translation: X:70.26, Y:-5.79, Z:-8.02 [[ 9.80267532e-01 1.72946141e-01 9.57350430e-02 7.02642128e+01] [-1.72198166e-01 9.84931020e-01 -1.60834345e-02 -5.78881493e+00] [-9.70739816e-02 -7.19330195e-04 9.95276909e-01 -8.02139928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502401008 meters 0.06476941069274872 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.80, Z:-8.03 [[ 9.80067691e-01 1.74201577e-01 9.55046177e-02 7.03245487e+01] [-1.73461153e-01 9.84709671e-01 -1.60652543e-02 -5.80227942e+00] [-9.68429133e-02 -8.21304397e-04 9.95299340e-01 -8.02934793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56240100800001 meters 0.06440334063856618 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.82, Z:-8.03 [[ 9.80379106e-01 1.72412906e-01 9.55541645e-02 7.03833510e+01] [-1.71661020e-01 9.85024569e-01 -1.60963293e-02 -5.82446807e+00] [-9.68984146e-02 -6.22420434e-04 9.95294082e-01 -8.03230268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622401008 meters 0.06414002427649959 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.84, Z:-8.04 [[ 9.80925590e-01 1.68396121e-01 9.70965124e-02 7.04426581e+01] [-1.67597701e-01 9.85719384e-01 -1.63800680e-02 -5.84134090e+00] [-9.84682543e-02 -2.05524372e-04 9.95140171e-01 -8.03954684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682401008 meters 0.06438902332095027 Centerline is valid? [True, True] Translation: X:70.50, Y:-5.85, Z:-8.05 [[ 9.81520348e-01 1.65086636e-01 9.67688397e-02 7.05033008e+01] [-1.64275298e-01 9.86279058e-01 -1.63476683e-02 -5.85375882e+00] [-9.81398616e-02 1.48839149e-04 9.95172621e-01 -8.05066372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742401008 meters 0.06433303857718974 Centerline is valid? [True, True] Translation: X:70.56, Y:-5.87, Z:-8.06 [[ 9.81481572e-01 1.65701465e-01 9.61090423e-02 7.05644511e+01] [-1.64901536e-01 9.86175954e-01 -1.62625841e-02 -5.86507174e+00] [-9.74751604e-02 1.12897949e-04 9.95237952e-01 -8.05766951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802401008 meters 0.06390906611977705 Centerline is valid? [True, True] Translation: X:70.63, Y:-5.87, Z:-8.06 [[ 9.81079887e-01 1.67661059e-01 9.68092165e-02 7.06256573e+01] [-1.66856211e-01 9.85844697e-01 -1.64084829e-02 -5.87420664e+00] [-9.81899163e-02 -5.51865234e-05 9.95167693e-01 -8.06092040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862401008 meters 0.06391088544714457 Centerline is valid? [True, True] Translation: X:70.69, Y:-5.88, Z:-8.07 [[ 9.80688270e-01 1.69008611e-01 9.84205560e-02 7.06872804e+01] [-1.68180887e-01 9.85614560e-01 -1.67071295e-02 -5.88158826e+00] [-9.98283818e-02 -1.67970480e-04 9.95004656e-01 -8.06794730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92240100800001 meters 0.06417616520568076 Centerline is valid? [True, True] Translation: X:70.75, Y:-5.88, Z:-8.08 [[ 9.80038489e-01 1.72687486e-01 9.85068153e-02 7.07479128e+01] [-1.71874128e-01 9.84976530e-01 -1.67486943e-02 -5.88461820e+00] [-9.99191910e-02 -5.16407955e-04 9.94995421e-01 -8.07807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98240100800001 meters 0.06424248801872179 Centerline is valid? [True, True] Translation: X:70.81, Y:-5.89, Z:-8.09 [[ 9.79965296e-01 1.74056043e-01 9.68117348e-02 7.08084327e+01] [-1.73276009e-01 9.84735545e-01 -1.64721537e-02 -5.89431781e+00] [-9.82010343e-02 -6.33012037e-04 9.95166396e-01 -8.08638793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042401008 meters 0.06387564871242976 Centerline is valid? [True, True] Translation: X:70.87, Y:-5.91, Z:-8.09 [[ 9.81503657e-01 1.67069045e-01 9.34799766e-02 7.08681306e+01] [-1.66308150e-01 9.85945195e-01 -1.59270986e-02 -5.91287802e+00] [-9.48270589e-02 8.60235047e-05 9.95493758e-01 -8.09337532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102401008 meters 0.0642788279752431 Centerline is valid? [True, True] Translation: X:70.93, Y:-5.93, Z:-8.10 [[ 9.82203096e-01 1.63993018e-01 9.15607322e-02 7.09267525e+01] [-1.63247419e-01 9.86461418e-01 -1.56253102e-02 -5.92583405e+00] [-9.28835715e-02 4.00174843e-04 9.95676896e-01 -8.10429205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162401008 meters 0.06417657332593289 Centerline is valid? [True, True] Translation: X:70.99, Y:-5.94, Z:-8.11 [[ 9.82551170e-01 1.60876907e-01 9.33371248e-02 7.09865519e+01] [-1.60087001e-01 9.86974217e-01 -1.59388859e-02 -5.94223020e+00] [-9.46855343e-02 7.18710629e-04 9.95506973e-01 -8.10967307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222401008 meters 0.06441868040926131 Centerline is valid? [True, True] Translation: X:71.05, Y:-5.95, Z:-8.12 [[ 9.82730386e-01 1.58876500e-01 9.48643621e-02 7.10477191e+01] [-1.58048945e-01 9.87298008e-01 -1.62226497e-02 -5.95414987e+00] [-9.62367935e-02 9.49278441e-04 9.95358015e-01 -8.11558365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28240100800001 meters 0.06383083807883601 Centerline is valid? [True, True] Translation: X:71.11, Y:-5.96, Z:-8.12 [[ 9.81702296e-01 1.63642018e-01 9.73750036e-02 7.11084313e+01] [-1.62790291e-01 9.86519647e-01 -1.66825422e-02 -5.96113342e+00] [-9.87923191e-02 5.25584742e-04 9.95107935e-01 -8.11853190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34240100800001 meters 0.06362375258793114 Centerline is valid? [True, True] Translation: X:71.17, Y:-5.97, Z:-8.13 [[ 9.81010589e-01 1.68590104e-01 9.58937006e-02 7.11696707e+01] [-1.67786628e-01 9.85686246e-01 -1.64399452e-02 -5.96673769e+00] [-9.72927138e-02 3.80795787e-05 9.95255810e-01 -8.12630871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402401008 meters 0.0641286847635336 Centerline is valid? [True, True] Translation: X:71.23, Y:-5.97, Z:-8.14 [[ 9.80247576e-01 1.75744811e-01 9.07108108e-02 7.12305347e+01] [-1.75054244e-01 9.84435568e-01 -1.55763691e-02 -5.97072840e+00] [-9.20364146e-02 -6.10614303e-04 9.95755455e-01 -8.13792413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462401008 meters 0.06480765200002399 Centerline is valid? [True, True] Translation: X:71.29, Y:-5.98, Z:-8.15 [[ 9.79675828e-01 1.78955488e-01 9.06101780e-02 7.12902928e+01] [-1.78279609e-01 9.83856755e-01 -1.55649427e-02 -5.97768792e+00] [-9.19328676e-02 -9.05348976e-04 9.95764796e-01 -8.14896983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522401008 meters 0.06431535674241468 Centerline is valid? [True, True] Translation: X:71.35, Y:-5.99, Z:-8.15 [[ 9.79600453e-01 1.78928475e-01 9.14743353e-02 7.13502264e+01] [-1.78237548e-01 9.83861681e-01 -1.57343365e-02 -5.99448955e+00] [-9.28134141e-02 -8.90798025e-04 9.95683121e-01 -8.15189864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582401008 meters 0.06406797159259082 Centerline is valid? [True, True] Translation: X:71.41, Y:-6.01, Z:-8.16 [[ 9.79489192e-01 1.78436728e-01 9.36015810e-02 7.14108982e+01] [-1.77708753e-01 9.83951029e-01 -1.61236500e-02 -6.00610881e+00] [-9.49764233e-02 -8.40879296e-04 9.95479167e-01 -8.15684136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64240100800001 meters 0.06464495220409684 Centerline is valid? [True, True] Translation: X:71.47, Y:-6.01, Z:-8.17 [[ 9.79077194e-01 1.81584211e-01 9.18423828e-02 7.14723120e+01] [-1.80895093e-01 9.83374781e-01 -1.58431630e-02 -6.01065544e+00] [-9.31923513e-02 -1.10215680e-03 9.95647513e-01 -8.16691968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70240100800001 meters 0.06455851790184974 Centerline is valid? [True, True] Translation: X:71.53, Y:-6.02, Z:-8.18 [[ 9.79297282e-01 1.80732040e-01 9.11743579e-02 7.15331796e+01] [-1.80047207e-01 9.83531873e-01 -1.57498472e-02 -6.02252986e+00] [-9.25193890e-02 -9.91905868e-04 9.95710389e-01 -8.17523687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762401008 meters 0.06463052884244526 Centerline is valid? [True, True] Translation: X:71.59, Y:-6.04, Z:-8.18 [[ 9.80186426e-01 1.77807471e-01 8.72873043e-02 7.15922928e+01] [-1.77166076e-01 9.84065073e-01 -1.51034521e-02 -6.03725496e+00] [-8.85818940e-02 -6.60150380e-04 9.96068678e-01 -8.18481542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822401008 meters 0.06487203992652021 Centerline is valid? [True, True] Translation: X:71.65, Y:-6.05, Z:-8.19 [[ 9.80552521e-01 1.76233909e-01 8.63618155e-02 7.16522921e+01] [-1.75598034e-01 9.84348195e-01 -1.49653649e-02 -6.04760688e+00] [-8.76475020e-02 -4.90638730e-04 9.96151432e-01 -8.19417876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882401008 meters 0.06453492839703287 Centerline is valid? [True, True] Translation: X:71.71, Y:-6.07, Z:-8.20 [[ 9.81455698e-01 1.69633250e-01 8.92707863e-02 7.17104983e+01] [-1.68925467e-01 9.85507254e-01 -1.54802729e-02 -6.06809761e+00] [-9.06029765e-02 1.13092810e-04 9.95887086e-01 -8.19821628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942401008 meters 0.064548244299091 Centerline is valid? [True, True] Translation: X:71.77, Y:-6.09, Z:-8.20 [[ 9.82728659e-01 1.60694219e-01 9.17700950e-02 7.17704514e+01] [-1.59905503e-01 9.87003750e-01 -1.59319456e-02 -6.09131969e+00] [-9.31375995e-02 9.82236315e-04 9.95652762e-01 -8.19959200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002401008 meters 0.06540337850685715 Centerline is valid? [True, True] Translation: X:71.83, Y:-6.11, Z:-8.20 [[ 9.84155746e-01 1.50554799e-01 9.36521223e-02 7.18297820e+01] [-1.49684432e-01 9.88599614e-01 -1.62903109e-02 -6.10993779e+00] [-9.50370364e-02 2.01393834e-03 9.95471700e-01 -8.20402677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06240100800001 meters 0.06650649606837965 Centerline is valid? [True, True] Translation: X:71.89, Y:-6.12, Z:-8.22 [[ 9.85046721e-01 1.47066188e-01 8.97468363e-02 7.18878510e+01] [-1.46252234e-01 9.89124080e-01 -1.56153090e-02 -6.12265575e+00] [-9.10672409e-02 2.25613364e-03 9.95842190e-01 -8.21516435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122401008 meters 0.0665199061108003 Centerline is valid? [True, True] Translation: X:71.95, Y:-6.13, Z:-8.23 [[ 9.85016810e-01 1.49036492e-01 8.67756139e-02 7.19484187e+01] [-1.48282776e-01 9.88829653e-01 -1.51041886e-02 -6.13102083e+00] [-8.80573754e-02 2.01055069e-03 9.96113375e-01 -8.22546646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182401008 meters 0.06651551100884857 Centerline is valid? [True, True] Translation: X:72.01, Y:-6.14, Z:-8.24 [[ 9.84764354e-01 1.51568453e-01 8.52418422e-02 7.20083474e+01] [-1.50848874e-01 9.88445173e-01 -1.48578722e-02 -6.13751947e+00] [-8.65088722e-02 1.77286709e-03 9.96249503e-01 -8.23563066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242401008 meters 0.06533094122305176 Centerline is valid? [True, True] Translation: X:72.07, Y:-6.14, Z:-8.24 [[ 9.83788668e-01 1.57835450e-01 8.51341700e-02 7.20695737e+01] [-1.57139037e-01 9.87464644e-01 -1.48626884e-02 -6.13916225e+00] [-8.64128420e-02 1.24384295e-03 9.96258638e-01 -8.24312939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302401008 meters 0.0643193773176439 Centerline is valid? [True, True] Translation: X:72.13, Y:-6.14, Z:-8.25 [[ 9.82702819e-01 1.63226199e-01 8.74778693e-02 7.21310484e+01] [-1.62511766e-01 9.86588352e-01 -1.52758136e-02 -6.14456647e+00] [-8.87980599e-02 7.95402038e-04 9.96049332e-01 -8.24706416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362401008 meters 0.06324145913425797 Centerline is valid? [True, True] Translation: X:72.19, Y:-6.14, Z:-8.25 [[ 9.80990817e-01 1.71409668e-01 9.09711110e-02 7.21933003e+01] [-1.70671550e-01 9.85199839e-01 -1.58902570e-02 -6.14497301e+00] [-9.23484675e-02 6.20157495e-05 9.95726748e-01 -8.24927771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42240100800001 meters 0.06319752566520737 Centerline is valid? [True, True] Translation: X:72.25, Y:-6.15, Z:-8.26 [[ 9.80662489e-01 1.73622743e-01 9.03118300e-02 7.22536356e+01] [-1.72904439e-01 9.84812227e-01 -1.57775889e-02 -6.15260294e+00] [-9.16795427e-02 -1.42826715e-04 9.95788552e-01 -8.25706125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48240100800001 meters 0.06315653482377796 Centerline is valid? [True, True] Translation: X:72.31, Y:-6.16, Z:-8.27 [[ 9.80877709e-01 1.73315841e-01 8.85468241e-02 7.23140352e+01] [-1.72622414e-01 9.84866291e-01 -1.54884237e-02 -6.16460385e+00] [-8.98911714e-02 -9.29170561e-05 9.95951590e-01 -8.26668639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542401008 meters 0.06337795081009522 Centerline is valid? [True, True] Translation: X:72.37, Y:-6.18, Z:-8.28 [[ 9.81312852e-01 1.71102803e-01 8.80279375e-02 7.23745034e+01] [-1.70406768e-01 9.85253173e-01 -1.54181455e-02 -6.17641311e+00] [-8.93678926e-02 1.29468016e-04 9.95998676e-01 -8.27679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602401008 meters 0.06368139583173273 Centerline is valid? [True, True] Translation: X:72.43, Y:-6.19, Z:-8.28 [[ 9.81913240e-01 1.67541488e-01 8.81829798e-02 7.24348718e+01] [-1.66826810e-01 9.85864912e-01 -1.54658067e-02 -6.19375691e+00] [-8.95276699e-02 4.74795133e-04 9.95984222e-01 -8.28399837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662401008 meters 0.06335201010297559 Centerline is valid? [True, True] Translation: X:72.50, Y:-6.21, Z:-8.29 [[ 9.81947446e-01 1.66492322e-01 8.97748280e-02 7.24950717e+01] [-1.65744783e-01 9.86042564e-01 -1.57711109e-02 -6.20902388e+00] [-9.11475705e-02 6.06692660e-04 9.95837212e-01 -8.28723521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722401008 meters 0.06348597462611641 Centerline is valid? [True, True] Translation: X:72.55, Y:-6.22, Z:-8.30 [[ 9.81919556e-01 1.65438229e-01 9.20009661e-02 7.25539300e+01] [-1.64646120e-01 9.86219871e-01 -1.61870551e-02 -6.22166928e+00] [-9.34111387e-02 7.46783884e-04 9.95627341e-01 -8.29518906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78240100800001 meters 0.0633335126820928 Centerline is valid? [True, True] Translation: X:72.61, Y:-6.24, Z:-8.30 [[ 9.82210685e-01 1.63705614e-01 9.19926247e-02 7.26143943e+01] [-1.62905094e-01 9.86508805e-01 -1.61959278e-02 -6.23530949e+00] [-9.34028986e-02 9.21746167e-04 9.95627967e-01 -8.30100871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84240100800001 meters 0.06427925735303898 Centerline is valid? [True, True] Translation: X:72.67, Y:-6.25, Z:-8.31 [[ 9.83389925e-01 1.57851860e-01 8.95937844e-02 7.26736627e+01] [-1.57066049e-01 9.87461719e-01 -1.57990737e-02 -6.25128209e+00] [-9.09643455e-02 1.46450822e-03 9.95853073e-01 -8.31075549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902401008 meters 0.06536754329417667 Centerline is valid? [True, True] Translation: X:72.73, Y:-6.27, Z:-8.32 [[ 9.84422395e-01 1.52254760e-01 8.79263133e-02 7.27310397e+01] [-1.51475359e-01 9.88339360e-01 -1.55088552e-02 -6.26940796e+00] [-8.92623333e-02 1.94859451e-03 9.96006244e-01 -8.31974666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962401008 meters 0.06756856856386136 Centerline is valid? [True, True] Translation: X:72.79, Y:-6.29, Z:-8.33 [[ 9.86002500e-01 1.41541753e-01 8.81192543e-02 7.27891612e+01] [-1.40715392e-01 9.89927938e-01 -1.55517370e-02 -6.29026015e+00] [-8.94329318e-02 2.93431615e-03 9.95988524e-01 -8.32579539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022401008 meters 0.06917083523990296 Centerline is valid? [True, True] Translation: X:72.85, Y:-6.31, Z:-8.33 [[ 9.86738198e-01 1.34484291e-01 9.08939170e-02 7.28481984e+01] [-1.33574008e-01 9.90908823e-01 -1.60527121e-02 -6.30679494e+00] [-9.22264219e-02 3.69875942e-03 9.95731192e-01 -8.33095481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082401008 meters 0.07074420218580557 Centerline is valid? [True, True] Translation: X:72.91, Y:-6.32, Z:-8.33 [[ 9.87820418e-01 1.25451111e-01 9.20480366e-02 7.29084486e+01] [-1.24476268e-01 9.92089031e-01 -1.62792324e-02 -6.32128050e+00] [-9.33620952e-02 4.62316206e-03 9.95621487e-01 -8.33190576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14240100800001 meters 0.07122358712104696 Centerline is valid? [True, True] Translation: X:72.97, Y:-6.33, Z:-8.34 [[ 9.88015602e-01 1.23568129e-01 9.24991214e-02 7.29696922e+01] [-1.22575159e-01 9.92324346e-01 -1.63622516e-02 -6.33243690e+00] [-9.38109829e-02 4.82806536e-03 9.95578319e-01 -8.33722115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20240100800001 meters 0.06945528935230397 Centerline is valid? [True, True] Translation: X:73.03, Y:-6.33, Z:-8.34 [[ 9.88124906e-01 1.23262647e-01 9.17359850e-02 7.30324131e+01] [-1.22284463e-01 9.92362379e-01 -1.62301624e-02 -6.32903661e+00] [-9.30359131e-02 4.81954199e-03 9.95651089e-01 -8.34337455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262401008 meters 0.0703990236540546 Centerline is valid? [True, True] Translation: X:73.09, Y:-6.34, Z:-8.35 [[ 9.88082205e-01 1.24064923e-01 9.11123024e-02 7.30922800e+01] [-1.23101516e-01 9.92262819e-01 -1.61404438e-02 -6.33566462e+00] [-9.24098130e-02 4.73202275e-03 9.95709814e-01 -8.35138980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322401008 meters 0.06789868596686152 Centerline is valid? [True, True] Translation: X:73.16, Y:-6.33, Z:-8.36 [[ 9.88078750e-01 1.27349605e-01 8.65012202e-02 7.31556347e+01] [-1.26492531e-01 9.91848932e-01 -1.53406774e-02 -6.33104305e+00] [-8.77497721e-02 4.21603902e-03 9.96133627e-01 -8.35559859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382401008 meters 0.06731842767284799 Centerline is valid? [True, True] Translation: X:73.22, Y:-6.33, Z:-8.36 [[ 9.87784403e-01 1.30782499e-01 8.47225515e-02 7.32177864e+01] [-1.29970817e-01 9.91403590e-01 -1.50502164e-02 -6.33041165e+00] [-8.59625466e-02 3.85490972e-03 9.96290911e-01 -8.36438362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442401008 meters 0.06630712366333189 Centerline is valid? [True, True] Translation: X:73.28, Y:-6.33, Z:-8.37 [[ 9.87145071e-01 1.34674348e-01 8.60664167e-02 7.32801479e+01] [-1.33850898e-01 9.90883455e-01 -1.52943274e-02 -6.32562071e+00] [-8.73415419e-02 3.57765267e-03 9.96172001e-01 -8.37095043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502401008 meters 0.065448842631347 Centerline is valid? [True, True] Translation: X:73.34, Y:-6.33, Z:-8.37 [[ 9.86745291e-01 1.35993897e-01 8.85403334e-02 7.33419906e+01] [-1.35127467e-01 9.90703270e-01 -1.57352693e-02 -6.32855101e+00] [-8.98570984e-02 3.56247186e-03 9.95948297e-01 -8.37444962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56240100800001 meters 0.06432397406426525 Centerline is valid? [True, True] Translation: X:73.40, Y:-6.32, Z:-8.38 [[ 9.86106095e-01 1.39297199e-01 9.05044716e-02 7.34045702e+01] [-1.38405333e-01 9.90244994e-01 -1.60877328e-02 -6.32432431e+00] [-9.18625761e-02 3.33790986e-03 9.95766100e-01 -8.37812619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622401008 meters 0.0641252925662265 Centerline is valid? [True, True] Translation: X:73.47, Y:-6.33, Z:-8.39 [[ 9.85754949e-01 1.41466572e-01 9.09636657e-02 7.34655280e+01] [-1.40574637e-01 9.89938010e-01 -1.61712111e-02 -6.33117751e+00] [-9.23360760e-02 3.15366712e-03 9.95722905e-01 -8.38592007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682401008 meters 0.06315887679644584 Centerline is valid? [True, True] Translation: X:73.53, Y:-6.33, Z:-8.39 [[ 9.85057844e-01 1.47477274e-01 8.89465992e-02 7.35273609e+01] [-1.46648530e-01 9.89062190e-01 -1.58174750e-02 -6.32990582e+00] [-9.03064363e-02 2.53723984e-03 9.95910794e-01 -8.39469053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742401008 meters 0.06314997952148123 Centerline is valid? [True, True] Translation: X:73.59, Y:-6.32, Z:-8.41 [[ 9.83982588e-01 1.56728345e-01 8.49381690e-02 7.35888818e+01] [-1.56006877e-01 9.87640430e-01 -1.51074532e-02 -6.32229587e+00] [-8.62561359e-02 1.61453243e-03 9.96271686e-01 -8.41076881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802401008 meters 0.06235601665640745 Centerline is valid? [True, True] Translation: X:73.65, Y:-6.32, Z:-8.41 [[ 9.83423203e-01 1.59942104e-01 8.54243964e-02 7.36516658e+01] [-1.59224629e-01 9.87125490e-01 -1.51915971e-02 -6.32445715e+00] [-8.67543752e-02 1.33810126e-03 9.96228833e-01 -8.41461218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862401008 meters 0.0617100004842319 Centerline is valid? [True, True] Translation: X:73.71, Y:-6.33, Z:-8.42 [[ 9.83274273e-01 1.58706204e-01 8.93534778e-02 7.37137271e+01] [-1.57913933e-01 9.87324658e-01 -1.59125360e-02 -6.33298349e+00] [-9.07463101e-02 1.53622815e-03 9.95872857e-01 -8.41531678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92240100800001 meters 0.06132848987351254 Centerline is valid? [True, True] Translation: X:73.78, Y:-6.33, Z:-8.43 [[ 9.83002655e-01 1.62027615e-01 8.63297854e-02 7.37757376e+01] [-1.61299229e-01 9.86785486e-01 -1.53936263e-02 -6.33162719e+00] [-8.76831718e-02 1.20704765e-03 9.96147682e-01 -8.42561399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98240100800001 meters 0.060704729369369353 Centerline is valid? [True, True] Translation: X:73.84, Y:-6.33, Z:-8.43 [[ 9.81638689e-01 1.70630144e-01 8.52692153e-02 7.38372987e+01] [-1.69950295e-01 9.85335044e-01 -1.52232635e-02 -6.33276484e+00] [-8.66162937e-02 4.52216091e-04 9.96241644e-01 -8.43311374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042401008 meters 0.06029704521559891 Centerline is valid? [True, True] Translation: X:73.90, Y:-6.33, Z:-8.44 [[ 9.79293780e-01 1.82981251e-01 8.66115132e-02 7.39015344e+01] [-1.82325872e-01 9.83116203e-01 -1.54856999e-02 -6.32827931e+00] [-8.79827748e-02 -6.26470122e-04 9.96121799e-01 -8.43794543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102401008 meters 0.06016907675116351 Centerline is valid? [True, True] Translation: X:73.96, Y:-6.34, Z:-8.44 [[ 9.78597516e-01 1.85381495e-01 8.93342172e-02 7.39614232e+01] [-1.84693713e-01 9.82666248e-01 -1.59774093e-02 -6.33606919e+00] [-9.07476361e-02 -8.64015198e-04 9.95873546e-01 -8.44467001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162401008 meters 0.05938437845431954 Centerline is valid? [True, True] Translation: X:74.02, Y:-6.36, Z:-8.45 [[ 9.79237496e-01 1.79415885e-01 9.43603060e-02 7.40191979e+01] [-1.78618372e-01 9.83773270e-01 -1.69005947e-02 -6.35826957e+00] [-9.58613820e-02 -3.04788160e-04 9.95394647e-01 -8.44826001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222401008 meters 0.05923760907688551 Centerline is valid? [True, True] Translation: X:74.08, Y:-6.38, Z:-8.45 [[ 9.80397706e-01 1.73807780e-01 9.27965168e-02 7.40776704e+01] [-1.73010919e-01 9.84779567e-01 -1.66260851e-02 -6.38098768e+00] [-9.42738566e-02 2.45365069e-04 9.95546272e-01 -8.45375939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28240100800001 meters 0.05942161198653114 Centerline is valid? [True, True] Translation: X:74.14, Y:-6.40, Z:-8.46 [[ 9.81042442e-01 1.72037215e-01 8.92127989e-02 7.41372846e+01] [-1.71291356e-01 9.85090360e-01 -1.60079226e-02 -6.39781685e+00] [-9.06366266e-02 4.23070128e-04 9.95883940e-01 -8.46440052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34240100800001 meters 0.059653233860933776 Centerline is valid? [True, True] Translation: X:74.20, Y:-6.41, Z:-8.47 [[ 9.79847034e-01 1.80881627e-01 8.47444846e-02 7.41967713e+01] [-1.80241604e-01 9.83504803e-01 -1.52074586e-02 -6.41142904e+00] [-8.60973575e-02 -3.73498591e-04 9.96286658e-01 -8.47382265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402401008 meters 0.061717138668965894 Centerline is valid? [True, True] Translation: X:74.26, Y:-6.41, Z:-8.49 [[ 9.77368570e-01 1.95462889e-01 8.09007896e-02 7.42559095e+01] [-1.94927694e-01 9.80709857e-01 -1.45385508e-02 -6.41356670e+00] [-8.21819489e-02 -1.56028174e-03 9.96616121e-01 -8.48875194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462401008 meters 0.06350895389901 Centerline is valid? [True, True] Translation: X:74.32, Y:-6.42, Z:-8.50 [[ 9.75907134e-01 2.02380587e-01 8.15313710e-02 7.43161369e+01] [-2.01860514e-01 9.79304582e-01 -1.46584084e-02 -6.42224164e+00] [-8.28106225e-02 -2.15271916e-03 9.96562977e-01 -8.49875884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522401008 meters 0.06454704939030259 Centerline is valid? [True, True] Translation: X:74.38, Y:-6.44, Z:-8.50 [[ 9.75086164e-01 2.05941903e-01 8.24312131e-02 7.43750276e+01] [-2.05422489e-01 9.78561085e-01 -1.48257554e-02 -6.44183693e+00] [-8.37172216e-02 -2.47683604e-03 9.96486474e-01 -8.50431935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582401008 meters 0.0645973156784282 Centerline is valid? [True, True] Translation: X:74.43, Y:-6.46, Z:-8.51 [[ 9.74627367e-01 2.06659380e-01 8.59848635e-02 7.44337384e+01] [-2.06096105e-01 9.78409390e-01 -1.54745090e-02 -6.46123038e+00] [-8.73263503e-02 -2.63926554e-03 9.96176261e-01 -8.50784736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64240100800001 meters 0.06366131441493048 Centerline is valid? [True, True] Translation: X:74.49, Y:-6.48, Z:-8.51 [[ 9.74679737e-01 2.05204922e-01 8.88276452e-02 7.44925030e+01] [-2.04595998e-01 9.78715646e-01 -1.60050841e-02 -6.48370304e+00] [-9.02213282e-02 -2.57394956e-03 9.95918414e-01 -8.50952794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70240100800001 meters 0.06149034658736238 Centerline is valid? [True, True] Translation: X:74.55, Y:-6.51, Z:-8.51 [[ 9.76112908e-01 1.98583666e-01 8.81369301e-02 7.45490594e+01] [-1.97957111e-01 9.80082010e-01 -1.58819680e-02 -6.51358000e+00] [-8.95353190e-02 -1.94473801e-03 9.95981749e-01 -8.51450895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762401008 meters 0.060442831546540864 Centerline is valid? [True, True] Translation: X:74.61, Y:-6.54, Z:-8.52 [[ 9.77452628e-01 1.92923651e-01 8.58302038e-02 7.46070323e+01] [-1.92306510e-01 9.81212808e-01 -1.54800304e-02 -6.53574359e+00] [-8.72041593e-02 -1.37471056e-03 9.96189512e-01 -8.52354828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822401008 meters 0.05905606738141396 Centerline is valid? [True, True] Translation: X:74.66, Y:-6.57, Z:-8.53 [[ 9.80032081e-01 1.80242740e-01 8.39623444e-02 7.46625864e+01] [-1.79603902e-01 9.83622136e-01 -1.51634998e-02 -6.56527233e+00] [-8.53203312e-02 -2.19248445e-04 9.96353548e-01 -8.53407919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882401008 meters 0.05931841536431204 Centerline is valid? [True, True] Translation: X:74.72, Y:-6.59, Z:-8.54 [[ 9.81762377e-01 1.72191127e-01 8.05782231e-02 7.47206067e+01] [-1.71573911e-01 9.85063441e-01 -1.45743220e-02 -6.58797318e+00] [-8.18842306e-02 4.83400107e-04 9.96641731e-01 -8.54498257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942401008 meters 0.05950550393785214 Centerline is valid? [True, True] Translation: X:74.78, Y:-6.60, Z:-8.55 [[ 9.81553977e-01 1.73954647e-01 7.93194207e-02 7.47809166e+01] [-1.73362395e-01 9.84753610e-01 -1.43460230e-02 -6.59592623e+00] [-8.06056432e-02 3.30391230e-04 9.96746016e-01 -8.55437323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002401008 meters 0.059188800854681235 Centerline is valid? [True, True] Translation: X:74.84, Y:-6.60, Z:-8.56 [[ 9.80005389e-01 1.82540314e-01 7.91736796e-02 7.48448850e+01] [-1.81976971e-01 9.83198304e-01 -1.43344926e-02 -6.59525474e+00] [-8.04600502e-02 -3.59906358e-04 9.96757769e-01 -8.55789442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06240100800001 meters 0.05923563017480719 Centerline is valid? [True, True] Translation: X:74.91, Y:-6.60, Z:-8.57 [[ 9.79214261e-01 1.86158266e-01 8.05265839e-02 7.49067022e+01] [-1.85585714e-01 9.82519559e-01 -1.46033722e-02 -6.60121250e+00] [-8.18374822e-02 -6.44753295e-04 9.96645479e-01 -8.56502927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122401008 meters 0.059224600007372716 Centerline is valid? [True, True] Translation: X:74.97, Y:-6.61, Z:-8.57 [[ 9.79101019e-01 1.86778360e-01 8.04676291e-02 7.49678148e+01] [-1.86207238e-01 9.82401845e-01 -1.46109553e-02 -6.61145783e+00] [-8.17805576e-02 -6.78053730e-04 9.96650130e-01 -8.57224039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182401008 meters 0.05846776384701041 Centerline is valid? [True, True] Translation: X:75.03, Y:-6.63, Z:-8.58 [[ 9.80247383e-01 1.80180374e-01 8.15481519e-02 7.50267845e+01] [-1.79569003e-01 9.83633581e-01 -1.48307664e-02 -6.63148880e+00] [-8.28857137e-02 -1.05700343e-04 9.96559054e-01 -8.57646239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242401008 meters 0.05818833688032689 Centerline is valid? [True, True] Translation: X:75.09, Y:-6.65, Z:-8.58 [[ 9.81163099e-01 1.74705801e-01 8.24430540e-02 7.50858775e+01] [-1.74059897e-01 9.84620606e-01 -1.50137980e-02 -6.65242956e+00] [-8.37981274e-02 3.80955057e-04 9.96482679e-01 -8.58160120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302401008 meters 0.058303732106191206 Centerline is valid? [True, True] Translation: X:75.14, Y:-6.67, Z:-8.59 [[ 9.82447292e-01 1.68488577e-01 8.00557163e-02 7.51445508e+01] [-1.67857447e-01 9.85703192e-01 -1.45977591e-02 -6.67305212e+00] [-8.13707308e-02 9.03580770e-04 9.96683494e-01 -8.58531232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362401008 meters 0.058541794911617866 Centerline is valid? [True, True] Translation: X:75.20, Y:-6.69, Z:-8.59 [[ 9.82880394e-01 1.66694808e-01 7.84791195e-02 7.52047176e+01] [-1.66080881e-01 9.86007978e-01 -1.43320695e-02 -6.68742203e+00] [-7.97701195e-02 1.05282878e-03 9.96812730e-01 -8.59353903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42240100800001 meters 0.05862465649336151 Centerline is valid? [True, True] Translation: X:75.26, Y:-6.70, Z:-8.60 [[ 9.82976480e-01 1.66239809e-01 7.82404374e-02 7.52640302e+01] [-1.65628154e-01 9.86084755e-01 -1.42887951e-02 -6.69844049e+00] [-7.95270692e-02 1.08673026e-03 9.96832114e-01 -8.60121770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48240100800001 meters 0.05777397181330286 Centerline is valid? [True, True] Translation: X:75.33, Y:-6.70, Z:-8.60 [[ 9.81866526e-01 1.71510130e-01 8.07613803e-02 7.53257506e+01] [-1.70874230e-01 9.85182105e-01 -1.47722059e-02 -6.70413832e+00] [-8.20982495e-02 7.04295747e-04 9.96623992e-01 -8.60184322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542401008 meters 0.0577088747612633 Centerline is valid? [True, True] Translation: X:75.39, Y:-6.71, Z:-8.61 [[ 9.81490184e-01 1.73501886e-01 8.10809064e-02 7.53856939e+01] [-1.72867213e-01 9.84833386e-01 -1.48367474e-02 -6.71274780e+00] [-8.24253872e-02 5.45891624e-04 9.96597089e-01 -8.61010589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602401008 meters 0.057784073646918996 Centerline is valid? [True, True] Translation: X:75.45, Y:-6.71, Z:-8.62 [[ 9.79490007e-01 1.84764355e-01 8.03832005e-02 7.54498472e+01] [-1.84177820e-01 9.82782774e-01 -1.47156541e-02 -6.71107997e+00] [-8.17181531e-02 -3.90966408e-04 9.96655402e-01 -8.61652496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662401008 meters 0.05829254190978322 Centerline is valid? [True, True] Translation: X:75.51, Y:-6.71, Z:-8.63 [[ 9.78382365e-01 1.90333561e-01 8.08769626e-02 7.55123638e+01] [-1.89756848e-01 9.81719121e-01 -1.48292256e-02 -6.71171991e+00] [-8.22209600e-02 -8.38304652e-04 9.96613772e-01 -8.62508761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722401008 meters 0.05837959430696074 Centerline is valid? [True, True] Translation: X:75.57, Y:-6.72, Z:-8.63 [[ 9.78583917e-01 1.90109703e-01 7.89418675e-02 7.55728389e+01] [-1.89558069e-01 9.81762543e-01 -1.44930366e-02 -6.72385533e+00] [-8.02574355e-02 -7.81415440e-04 9.96773863e-01 -8.63320871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78240100800001 meters 0.0583056312140034 Centerline is valid? [True, True] Translation: X:75.63, Y:-6.74, Z:-8.64 [[ 9.79257768e-01 1.86636959e-01 7.88724915e-02 7.56315852e+01] [-1.86073186e-01 9.82428838e-01 -1.45033866e-02 -6.73963198e+00] [-8.01934782e-02 -4.73501786e-04 9.96779204e-01 -8.64266002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84240100800001 meters 0.0578048155506968 Centerline is valid? [True, True] Translation: X:75.69, Y:-6.76, Z:-8.65 [[ 9.80803518e-01 1.78487163e-01 7.85289223e-02 7.56906578e+01] [-1.77901672e-01 9.83942220e-01 -1.44465251e-02 -6.76462458e+00] [-7.98464414e-02 1.98776109e-04 9.96807156e-01 -8.64620286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902401008 meters 0.058437010622807053 Centerline is valid? [True, True] Translation: X:75.75, Y:-6.78, Z:-8.66 [[ 9.81835364e-01 1.73413357e-01 7.69878256e-02 7.57483784e+01] [-1.72833311e-01 9.84848933e-01 -1.41854008e-02 -6.78135917e+00] [-7.82813159e-02 6.21667396e-04 9.96931116e-01 -8.65794458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962401008 meters 0.05920785947671285 Centerline is valid? [True, True] Translation: X:75.81, Y:-6.80, Z:-8.66 [[ 9.83410941e-01 1.64558373e-01 7.63116221e-02 7.58073901e+01] [-1.63960105e-01 9.86366440e-01 -1.40829857e-02 -6.80266663e+00] [-7.75886963e-02 1.33730062e-03 9.96984556e-01 -8.66241800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022401008 meters 0.05978066529456531 Centerline is valid? [True, True] Translation: X:75.87, Y:-6.82, Z:-8.66 [[ 9.84551521e-01 1.56298210e-01 7.89250976e-02 7.58664614e+01] [-1.55631742e-01 9.87707772e-01 -1.45643013e-02 -6.82275161e+00] [-8.02313065e-02 2.05605458e-03 9.96774152e-01 -8.66331273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082401008 meters 0.06018288271716055 Centerline is valid? [True, True] Translation: X:75.93, Y:-6.84, Z:-8.67 [[ 9.84892358e-01 1.53088846e-01 8.09373076e-02 7.59257479e+01] [-1.52375475e-01 9.88209524e-01 -1.49549621e-02 -6.83778931e+00] [-8.22724561e-02 2.39616718e-03 9.96606994e-01 -8.66666152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14240100800001 meters 0.060686411728361096 Centerline is valid? [True, True] Translation: X:75.98, Y:-6.85, Z:-8.67 [[ 9.84958682e-01 1.52472247e-01 8.12933508e-02 7.59846637e+01] [-1.51748919e-01 9.88304648e-01 -1.50395416e-02 -6.84957881e+00] [-8.26357092e-02 2.47714893e-03 9.96576742e-01 -8.67462046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20240100800001 meters 0.05985778285905993 Centerline is valid? [True, True] Translation: X:76.05, Y:-6.86, Z:-8.68 [[ 9.84370206e-01 1.56069520e-01 8.15941292e-02 7.60456629e+01] [-1.55351303e-01 9.87743612e-01 -1.51172272e-02 -6.85653710e+00] [-8.29534183e-02 2.20519374e-03 9.96550986e-01 -8.68066769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262401008 meters 0.05767523877159385 Centerline is valid? [True, True] Translation: X:76.11, Y:-6.86, Z:-8.68 [[ 9.82591153e-01 1.65824492e-01 8.37667180e-02 7.61080146e+01] [-1.65102525e-01 9.86154256e-01 -1.55222520e-02 -6.85853300e+00] [-8.51808750e-02 1.42193092e-03 9.96364490e-01 -8.68278795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322401008 meters 0.05762543552246337 Centerline is valid? [True, True] Translation: X:76.17, Y:-6.86, Z:-8.69 [[ 9.81426010e-01 1.73008162e-01 8.28924731e-02 7.61683324e+01] [-1.72325342e-01 9.84920060e-01 -1.53769892e-02 -6.86444979e+00] [-8.43028042e-02 8.06903460e-04 9.96439856e-01 -8.69461300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382401008 meters 0.057521137425964756 Centerline is valid? [True, True] Translation: X:76.23, Y:-6.87, Z:-8.70 [[ 9.79906300e-01 1.81422961e-01 8.28815528e-02 7.62310353e+01] [-1.80768398e-01 9.83405155e-01 -1.53976666e-02 -6.86660498e+00] [-8.42996365e-02 1.05905017e-04 9.96440445e-01 -8.70358354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442401008 meters 0.05889609970456422 Centerline is valid? [True, True] Translation: X:76.29, Y:-6.87, Z:-8.71 [[ 9.77616837e-01 1.94413377e-01 8.04285916e-02 7.62929357e+01] [-1.93840605e-01 9.80919201e-01 -1.49446240e-02 -6.86773263e+00] [-8.17993846e-02 -9.80210824e-04 9.96648333e-01 -8.71084209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502401008 meters 0.06080981240988991 Centerline is valid? [True, True] Translation: X:76.35, Y:-6.87, Z:-8.72 [[ 9.75982409e-01 2.02546532e-01 8.02074755e-02 7.63535752e+01] [-2.02002547e-01 9.79271273e-01 -1.49246461e-02 -6.87361892e+00] [-8.15678120e-02 -1.63592223e-03 9.96666452e-01 -8.71910230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56240100800001 meters 0.060450585891453995 Centerline is valid? [True, True] Translation: X:76.41, Y:-6.89, Z:-8.73 [[ 9.75874693e-01 2.02500693e-01 8.16213954e-02 7.64138085e+01] [-2.01937058e-01 9.79280713e-01 -1.51891280e-02 -6.88839996e+00] [-8.30060672e-02 -1.65969888e-03 9.96547660e-01 -8.72521861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622401008 meters 0.05882852881288306 Centerline is valid? [True, True] Translation: X:76.47, Y:-6.91, Z:-8.73 [[ 9.77324487e-01 1.94486444e-01 8.37369118e-02 7.64715944e+01] [-1.93861711e-01 9.80904716e-01 -1.56068969e-02 -6.91315867e+00] [-8.51732615e-02 -9.80378511e-04 9.96365673e-01 -8.73188568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682401008 meters 0.05773302495860947 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.94, Z:-8.73 [[ 9.78113288e-01 1.89253902e-01 8.64717102e-02 7.65294679e+01] [-1.88566144e-01 9.81928042e-01 -1.61285390e-02 -6.93660695e+00] [-8.79613860e-02 -5.30098624e-04 9.96123744e-01 -8.73304322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742401008 meters 0.056782505714257366 Centerline is valid? [True, True] Translation: X:76.59, Y:-6.96, Z:-8.73 [[ 9.79086238e-01 1.82554238e-01 8.98002710e-02 7.65877806e+01] [-1.81782409e-01 9.83195780e-01 -1.67694617e-02 -6.96323303e+00] [-9.13525838e-02 9.46395967e-05 9.95818606e-01 -8.73324708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802401008 meters 0.05708837244595053 Centerline is valid? [True, True] Translation: X:76.65, Y:-6.98, Z:-8.74 [[ 9.79582161e-01 1.79708985e-01 9.01303003e-02 7.66479369e+01] [-1.78919453e-01 9.83719752e-01 -1.68308953e-02 -6.97797682e+00] [-9.16876198e-02 3.61180805e-04 9.95787753e-01 -8.74417741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862401008 meters 0.05804477034650078 Centerline is valid? [True, True] Translation: X:76.71, Y:-6.98, Z:-8.76 [[ 9.79426417e-01 1.83242963e-01 8.45334829e-02 7.67070192e+01] [-1.82559365e-01 9.83067655e-01 -1.58134400e-02 -6.98171780e+00] [-8.59998344e-02 5.57219801e-05 9.96295150e-01 -8.76116004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92240100800001 meters 0.05865256652513151 Centerline is valid? [True, True] Translation: X:76.77, Y:-6.99, Z:-8.77 [[ 9.79458097e-01 1.84751766e-01 8.07998801e-02 7.67664523e+01] [-1.84132035e-01 9.82785216e-01 -1.51199607e-02 -6.99296758e+00] [-8.22023670e-02 -6.84784046e-05 9.96615656e-01 -8.77160285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98240100800001 meters 0.05864101891934989 Centerline is valid? [True, True] Translation: X:76.83, Y:-7.00, Z:-8.78 [[ 9.79645183e-01 1.84631640e-01 7.87811706e-02 7.68268566e+01] [-1.84040830e-01 9.82807792e-01 -1.47586267e-02 -7.00469597e+00] [-8.01516578e-02 -4.07344688e-05 9.96782679e-01 -8.77775872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042401008 meters 0.05853490331621418 Centerline is valid? [True, True] Translation: X:76.89, Y:-7.02, Z:-8.79 [[ 9.80135603e-01 1.80799160e-01 8.15221703e-02 7.68869593e+01] [-1.80151030e-01 9.83519989e-01 -1.52982846e-02 -7.01573302e+00] [-8.29446011e-02 3.08090428e-04 9.96554112e-01 -8.78584229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102401008 meters 0.058050458429318975 Centerline is valid? [True, True] Translation: X:76.95, Y:-7.04, Z:-8.78 [[ 9.81091268e-01 1.72844597e-01 8.70900103e-02 7.69459866e+01] [-1.72073334e-01 9.84948549e-01 -1.63438953e-02 -7.03724829e+00] [-8.86041333e-02 1.04898452e-03 9.96066367e-01 -8.78129491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162401008 meters 0.0585069473242466 Centerline is valid? [True, True] Translation: X:77.00, Y:-7.06, Z:-8.78 [[ 9.81682667e-01 1.67565979e-01 9.06685431e-02 7.70048198e+01] [-1.66705540e-01 9.85859552e-01 -1.70354800e-02 -7.05737795e+00] [-9.22410161e-02 1.60848697e-03 9.95735411e-01 -8.78317163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222401008 meters 0.05972590099478863 Centerline is valid? [True, True] Translation: X:77.06, Y:-7.08, Z:-8.79 [[ 9.83237393e-01 1.58240657e-01 9.05766210e-02 7.70635897e+01] [-1.57340063e-01 9.87397392e-01 -1.70438950e-02 -7.07614677e+00] [-9.21321565e-02 2.50686360e-03 9.95743632e-01 -8.78724527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28240100800001 meters 0.061384740691487576 Centerline is valid? [True, True] Translation: X:77.12, Y:-7.09, Z:-8.80 [[ 9.84188282e-01 1.52518810e-01 9.00635201e-02 7.71231002e+01] [-1.51602423e-01 9.88295868e-01 -1.69700397e-02 -7.08951570e+00] [-9.15976551e-02 3.04786633e-03 9.95791434e-01 -8.79809956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34240100800001 meters 0.062011688270491215 Centerline is valid? [True, True] Translation: X:77.18, Y:-7.10, Z:-8.81 [[ 9.84184967e-01 1.53077437e-01 8.91473459e-02 7.71843301e+01] [-1.52181722e-01 9.88209741e-01 -1.67997233e-02 -7.09511068e+00] [-9.06679342e-02 2.96743846e-03 9.95876759e-01 -8.80880361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402401008 meters 0.061753970963403036 Centerline is valid? [True, True] Translation: X:77.25, Y:-7.10, Z:-8.81 [[ 9.83992262e-01 1.54418159e-01 8.89621242e-02 7.72461062e+01] [-1.53530055e-01 9.88001457e-01 -1.67821972e-02 -7.10406949e+00] [-9.04861844e-02 2.85519237e-03 9.95893618e-01 -8.81494503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462401008 meters 0.06072025738373524 Centerline is valid? [True, True] Translation: X:77.31, Y:-7.11, Z:-8.82 [[ 9.82909476e-01 1.61448618e-01 8.84494522e-02 7.73067815e+01] [-1.60598471e-01 9.86878662e-01 -1.66924370e-02 -7.10899309e+00] [-8.99838479e-02 2.20230771e-03 9.95940790e-01 -8.81928333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522401008 meters 0.058973247675406466 Centerline is valid? [True, True] Translation: X:77.37, Y:-7.10, Z:-8.83 [[ 9.81226249e-01 1.71084156e-01 8.90239319e-02 7.73696077e+01] [-1.70261395e-01 9.85255509e-01 -1.68118611e-02 -7.10429708e+00] [-9.05875624e-02 1.33890063e-03 9.95887595e-01 -8.82532857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582401008 meters 0.05852970131685296 Centerline is valid? [True, True] Translation: X:77.43, Y:-7.09, Z:-8.83 [[ 9.78506573e-01 1.84961168e-01 9.11825267e-02 7.74331177e+01] [-1.84157628e-01 9.82745828e-01 -1.72222346e-02 -7.09437537e+00] [-9.27946923e-02 6.01119216e-05 9.95685262e-01 -8.83444136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64240100800001 meters 0.058856685370914485 Centerline is valid? [True, True] Translation: X:77.49, Y:-7.10, Z:-8.84 [[ 9.77273072e-01 1.90306248e-01 9.33856283e-02 7.74943573e+01] [-1.89486958e-01 9.81724671e-01 -1.76455028e-02 -7.09911775e+00] [-9.50370246e-02 -4.50883953e-04 9.95473636e-01 -8.83968490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70240100800001 meters 0.05866412485146722 Centerline is valid? [True, True] Translation: X:77.56, Y:-7.11, Z:-8.84 [[ 9.77409219e-01 1.89726881e-01 9.31392985e-02 7.75551820e+01] [-1.88907462e-01 9.81836835e-01 -1.76181867e-02 -7.11403702e+00] [-9.47902377e-02 -3.74530379e-04 9.95497198e-01 -8.84406716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762401008 meters 0.05913888777634203 Centerline is valid? [True, True] Translation: X:77.61, Y:-7.13, Z:-8.86 [[ 9.79085012e-01 1.82571431e-01 8.97786861e-02 7.76122408e+01] [-1.81777531e-01 9.83192535e-01 -1.70108539e-02 -7.13264121e+00] [-9.13754299e-02 3.35324225e-04 9.95816458e-01 -8.85936576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822401008 meters 0.05989796267808133 Centerline is valid? [True, True] Translation: X:77.67, Y:-7.15, Z:-8.87 [[ 9.80473723e-01 1.77047587e-01 8.55887294e-02 7.76708049e+01] [-1.76304143e-01 9.84201949e-01 -1.62287837e-02 -7.15067931e+00] [-8.71098612e-02 8.22248467e-04 9.96198372e-01 -8.87161629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882401008 meters 0.06088192528737408 Centerline is valid? [True, True] Translation: X:77.73, Y:-7.17, Z:-8.88 [[ 9.81513552e-01 1.72109240e-01 8.37230995e-02 7.77285960e+01] [-1.71379656e-01 9.85077093e-01 -1.58787137e-02 -7.17134381e+00] [-8.52065808e-02 1.23673668e-03 9.96362539e-01 -8.87829116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942401008 meters 0.060869339822291944 Centerline is valid? [True, True] Translation: X:77.79, Y:-7.19, Z:-8.88 [[ 9.81781780e-01 1.70491885e-01 8.38871483e-02 7.77885101e+01] [-1.69753249e-01 9.85358109e-01 -1.59132268e-02 -7.18626375e+00] [-8.53719579e-02 1.38320022e-03 9.96348190e-01 -8.88276053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002401008 meters 0.0605429433034258 Centerline is valid? [True, True] Translation: X:77.85, Y:-7.19, Z:-8.89 [[ 9.81266923e-01 1.71453092e-01 8.78582040e-02 7.78498935e+01] [-1.70644208e-01 9.85191308e-01 -1.66925664e-02 -7.19351789e+00] [-8.94191310e-02 1.38736963e-03 9.95993120e-01 -8.88844670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06240100800001 meters 0.05982135087645253 Centerline is valid? [True, True] Translation: X:77.91, Y:-7.20, Z:-8.89 [[ 9.80231897e-01 1.76235683e-01 8.99244846e-02 7.79107323e+01] [-1.75407843e-01 9.84347513e-01 -1.70898282e-02 -7.20312108e+00] [-9.15287803e-02 9.78534847e-04 9.95801951e-01 -8.88980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122401008 meters 0.05939032705145379 Centerline is valid? [True, True] Translation: X:77.97, Y:-7.21, Z:-8.89 [[ 9.78684209e-01 1.83838358e-01 9.15460376e-02 7.79717340e+01] [-1.83013211e-01 9.82956450e-01 -1.74006500e-02 -7.20819151e+00] [-9.31846750e-02 2.75607132e-04 9.95648804e-01 -8.89426576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182401008 meters 0.059824534810064056 Centerline is valid? [True, True] Translation: X:78.03, Y:-7.21, Z:-8.91 [[ 9.77838062e-01 1.88823850e-01 9.04338282e-02 7.80314329e+01] [-1.88038581e-01 9.82010957e-01 -1.72038310e-02 -7.21301258e+00] [-9.20555038e-02 -1.82487986e-04 9.95753861e-01 -8.90714783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242401008 meters 0.060274894744270426 Centerline is valid? [True, True] Translation: X:78.09, Y:-7.22, Z:-8.92 [[ 9.77537927e-01 1.91528679e-01 8.79566119e-02 7.80909817e+01] [-1.90795180e-01 9.81486933e-01 -1.67511104e-02 -7.22476784e+00] [-8.95365833e-02 -4.06851871e-04 9.95983451e-01 -8.91747819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302401008 meters 0.0602023999812945 Centerline is valid? [True, True] Translation: X:78.15, Y:-7.24, Z:-8.92 [[ 9.77817345e-01 1.90853980e-01 8.63017846e-02 7.81502166e+01] [-1.90143683e-01 9.81618386e-01 -1.64537077e-02 -7.24360526e+00] [-8.78556741e-02 -3.21018401e-04 9.96133163e-01 -8.92220761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362401008 meters 0.06086908986881069 Centerline is valid? [True, True] Translation: X:78.21, Y:-7.26, Z:-8.94 [[ 9.78399567e-01 1.89036591e-01 8.36627417e-02 7.82076255e+01] [-1.88360530e-01 9.81970035e-01 -1.59737376e-02 -7.25732421e+00] [-8.51739263e-02 -1.30060491e-04 9.96366090e-01 -8.94009150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42240100800001 meters 0.06049503858797881 Centerline is valid? [True, True] Translation: X:78.27, Y:-7.28, Z:-8.94 [[ 9.79157355e-01 1.85230334e-01 8.33102447e-02 7.82673177e+01] [-1.84545656e-01 9.82695111e-01 -1.59128885e-02 -7.27686909e+00] [-8.48161198e-02 2.06678016e-04 9.96396599e-01 -8.94276986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48240100800001 meters 0.06025846793837372 Centerline is valid? [True, True] Translation: X:78.33, Y:-7.30, Z:-8.94 [[ 9.79779527e-01 1.81449732e-01 8.43093918e-02 7.83260405e+01] [-1.80732719e-01 9.83400061e-01 -1.61246572e-02 -7.29999779e+00] [-8.58356758e-02 5.61143360e-04 9.96309150e-01 -8.94453815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542401008 meters 0.06003857701974021 Centerline is valid? [True, True] Translation: X:78.39, Y:-7.32, Z:-8.95 [[ 9.79658768e-01 1.80605108e-01 8.74671020e-02 7.83859424e+01] [-1.79827895e-01 9.83555454e-01 -1.67510373e-02 -7.31505897e+00] [-8.90540681e-02 6.81275717e-04 9.96026560e-01 -8.94875470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602401008 meters 0.05957947776783029 Centerline is valid? [True, True] Translation: X:78.45, Y:-7.32, Z:-8.95 [[ 9.78942375e-01 1.82092947e-01 9.22712571e-02 7.84470294e+01] [-1.81231768e-01 9.83281137e-01 -1.76989275e-02 -7.32395868e+00] [-9.39514365e-02 6.03747070e-04 9.95576598e-01 -8.95204174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662401008 meters 0.060031207893959576 Centerline is valid? [True, True] Translation: X:78.51, Y:-7.34, Z:-8.96 [[ 9.79472337e-01 1.79580778e-01 9.15679258e-02 7.85058994e+01] [-1.78721627e-01 9.83742873e-01 -1.75653237e-02 -7.33659828e+00] [-9.32336888e-02 8.39579975e-04 9.95643899e-01 -8.96438539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722401008 meters 0.06054668072532064 Centerline is valid? [True, True] Translation: X:78.57, Y:-7.35, Z:-8.97 [[ 9.80225434e-01 1.75990389e-01 9.04736566e-02 7.85653405e+01] [-1.75134618e-01 9.84391170e-01 -1.73749768e-02 -7.35248694e+00] [-9.21192976e-02 1.18632485e-03 9.95747271e-01 -8.97187528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78240100800001 meters 0.06134819542604366 Centerline is valid? [True, True] Translation: X:78.62, Y:-7.37, Z:-8.98 [[ 9.81983530e-01 1.68887112e-01 8.47672667e-02 7.86239445e+01] [-1.68108040e-01 9.85633840e-01 -1.62978711e-02 -7.37185612e+00] [-8.63019869e-02 1.75418192e-03 9.96267479e-01 -8.97777978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84240100800001 meters 0.06333628589612782 Centerline is valid? [True, True] Translation: X:78.68, Y:-7.38, Z:-9.00 [[ 9.83015169e-01 1.65248681e-01 7.98376514e-02 7.86818622e+01] [-1.64544130e-01 9.86249960e-01 -1.53703104e-02 -7.38155751e+00] [-8.12798040e-02 1.97243134e-03 9.96689371e-01 -8.99771134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902401008 meters 0.06382688157377726 Centerline is valid? [True, True] Translation: X:78.74, Y:-7.39, Z:-9.00 [[ 9.83764895e-01 1.61559808e-01 7.81348867e-02 7.87424908e+01] [-1.60872754e-01 9.86860388e-01 -1.50509807e-02 -7.39160011e+00] [-7.95398581e-02 2.23685211e-03 9.96829177e-01 -9.00455088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962401008 meters 0.0634799777890171 Centerline is valid? [True, True] Translation: X:78.80, Y:-7.41, Z:-9.00 [[ 9.83776311e-01 1.60585699e-01 7.99775110e-02 7.88029616e+01] [-1.59862671e-01 9.87019057e-01 -1.54047925e-02 -7.40895807e+00] [-8.14131169e-02 2.36945143e-03 9.96677626e-01 -9.00100720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022401008 meters 0.06461537705015359 Centerline is valid? [True, True] Translation: X:78.86, Y:-7.42, Z:-9.01 [[ 9.83701202e-01 1.58722221e-01 8.44937940e-02 7.88622624e+01] [-1.57906226e-01 9.87319615e-01 -1.62972699e-02 -7.42035945e+00] [-8.60091190e-02 2.68954788e-03 9.96290720e-01 -9.00831751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082401008 meters 0.06345659120828422 Centerline is valid? [True, True] Translation: X:78.92, Y:-7.42, Z:-9.02 [[ 9.83310412e-01 1.60886297e-01 8.49484111e-02 7.89249196e+01] [-1.60067922e-01 9.86969699e-01 -1.64034362e-02 -7.41967486e+00] [-8.64805958e-02 2.53215397e-03 9.96250317e-01 -9.01861575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14240100800001 meters 0.06186259064682066 Centerline is valid? [True, True] Translation: X:78.99, Y:-7.43, Z:-9.02 [[ 9.82360419e-01 1.67239506e-01 8.36597594e-02 7.89864326e+01] [-1.66466734e-01 9.85914337e-01 -1.61785766e-02 -7.42543879e+00] [-8.51870534e-02 1.96662632e-03 9.96363035e-01 -9.01958756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20240100800001 meters 0.061317060644194975 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.44, Z:-9.02 [[ 9.81943541e-01 1.69707044e-01 8.35846939e-02 7.90476776e+01] [-1.68944460e-01 9.85492998e-01 -1.61654214e-02 -7.43734480e+00] [-8.51155164e-02 1.75236015e-03 9.96369549e-01 -9.02069566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262401008 meters 0.06156472825243237 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.44, Z:-9.03 [[ 9.81801848e-01 1.69633997e-01 8.53782052e-02 7.91075867e+01] [-1.68836019e-01 9.85505453e-01 -1.65348288e-02 -7.44429904e+00] [-8.69455559e-02 1.81900919e-03 9.96211404e-01 -9.03411452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322401008 meters 0.061737749753006284 Centerline is valid? [True, True] Translation: X:79.17, Y:-7.45, Z:-9.04 [[ 9.81831579e-01 1.69355632e-01 8.55886718e-02 7.91688217e+01] [-1.68551041e-01 9.85553239e-01 -1.65939752e-02 -7.45499011e+00] [-8.71624759e-02 1.86642912e-03 9.96192361e-01 -9.04216629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382401008 meters 0.061995108701209146 Centerline is valid? [True, True] Translation: X:79.23, Y:-7.47, Z:-9.05 [[ 9.81833983e-01 1.68699010e-01 8.68485706e-02 7.92294135e+01] [-1.67865664e-01 9.85665627e-01 -1.68638607e-02 -7.46798220e+00] [-8.84485675e-02 1.97861863e-03 9.96078780e-01 -9.04842999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442401008 meters 0.06196624147289407 Centerline is valid? [True, True] Translation: X:79.29, Y:-7.48, Z:-9.05 [[ 9.81891849e-01 1.69265075e-01 8.50748547e-02 7.92906192e+01] [-1.68465881e-01 9.85568717e-01 -1.65394030e-02 -7.47971450e+00] [-8.66466586e-02 1.90769464e-03 9.96237280e-01 -9.05231505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502401008 meters 0.061651444517045746 Centerline is valid? [True, True] Translation: X:79.35, Y:-7.48, Z:-9.06 [[ 9.81718892e-01 1.72610346e-01 8.02102572e-02 7.93523665e+01] [-1.71909355e-01 9.84988979e-01 -1.56167893e-02 -7.48251005e+00] [-8.17018388e-02 1.54240348e-03 9.96655623e-01 -9.06401127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56240100800001 meters 0.06217181070881387 Centerline is valid? [True, True] Translation: X:79.41, Y:-7.49, Z:-9.08 [[ 9.81670886e-01 1.73610166e-01 7.86243075e-02 7.94119492e+01] [-1.72939853e-01 9.84813416e-01 -1.53082656e-02 -7.48986604e+00] [-8.00879434e-02 1.43040248e-03 9.96786775e-01 -9.07765215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622401008 meters 0.06279927336491453 Centerline is valid? [True, True] Translation: X:79.47, Y:-7.50, Z:-9.08 [[ 9.82034899e-01 1.70982381e-01 7.98278352e-02 7.94714554e+01] [-1.70281165e-01 9.85272640e-01 -1.55611872e-02 -7.50430464e+00] [-8.13128707e-02 1.68845214e-03 9.96687196e-01 -9.08262876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682401008 meters 0.06275649758744961 Centerline is valid? [True, True] Translation: X:79.53, Y:-7.52, Z:-9.08 [[ 9.82797696e-01 1.65721683e-01 8.15169442e-02 7.95314558e+01] [-1.64970821e-01 9.86170138e-01 -1.59087389e-02 -7.52054458e+00] [-8.30259991e-02 2.18715475e-03 9.96544981e-01 -9.08117179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742401008 meters 0.06415068027759432 Centerline is valid? [True, True] Translation: X:79.59, Y:-7.54, Z:-9.09 [[ 9.83512327e-01 1.59553320e-01 8.51248496e-02 7.95907272e+01] [-1.58709535e-01 9.87185202e-01 -1.66331241e-02 -7.53593480e+00] [-8.66878620e-02 2.84875730e-03 9.96231449e-01 -9.08584760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802401008 meters 0.06473197729249586 Centerline is valid? [True, True] Translation: X:79.65, Y:-7.55, Z:-9.09 [[ 9.84197280e-01 1.53218910e-01 8.87675599e-02 7.96516001e+01] [-1.52273336e-01 9.88185798e-01 -1.73683621e-02 -7.54815843e+00] [-9.03800035e-02 3.57696224e-03 9.95900929e-01 -9.08720074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862401008 meters 0.06389641191556096 Centerline is valid? [True, True] Translation: X:79.71, Y:-7.55, Z:-9.09 [[ 9.83847510e-01 1.55842776e-01 8.80744362e-02 7.97137358e+01] [-1.54922363e-01 9.87776326e-01 -1.72334143e-02 -7.55440321e+00] [-8.96835462e-02 3.31035194e-03 9.95964810e-01 -9.09129322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92240100800001 meters 0.061647183280085706 Centerline is valid? [True, True] Translation: X:79.78, Y:-7.55, Z:-9.10 [[ 9.82889675e-01 1.63453659e-01 8.49163546e-02 7.97767680e+01] [-1.62624492e-01 9.86547731e-01 -1.66387616e-02 -7.54852293e+00] [-8.64937034e-02 2.54458795e-03 9.96249148e-01 -9.10188642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98240100800001 meters 0.0602202251438432 Centerline is valid? [True, True] Translation: X:79.84, Y:-7.54, Z:-9.11 [[ 9.80573109e-01 1.77256377e-01 8.40033044e-02 7.98396632e+01] [-1.76495403e-01 9.84163833e-01 -1.64597026e-02 -7.54396857e+00] [-8.55906013e-02 1.31374463e-03 9.96329525e-01 -9.11000980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042401008 meters 0.05987592792672274 Centerline is valid? [True, True] Translation: X:79.90, Y:-7.55, Z:-9.12 [[ 9.79522653e-01 1.83077006e-01 8.37745952e-02 7.99020936e+01] [-1.82339829e-01 9.83098233e-01 -1.64332426e-02 -7.54816344e+00] [-8.53672054e-02 8.21288000e-04 9.96349219e-01 -9.11831989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102401008 meters 0.05924501776593678 Centerline is valid? [True, True] Translation: X:79.96, Y:-7.56, Z:-9.12 [[ 9.78581421e-01 1.84305273e-01 9.17058850e-02 7.99617057e+01] [-1.83426196e-01 9.82868731e-01 -1.79969086e-02 -7.56020134e+00] [-9.34517719e-02 7.90178772e-04 9.95623494e-01 -9.11746413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162401008 meters 0.05906252604202721 Centerline is valid? [True, True] Translation: X:80.02, Y:-7.57, Z:-9.12 [[ 9.78350280e-01 1.83752434e-01 9.52143498e-02 8.00227386e+01] [-1.82800753e-01 9.82972153e-01 -1.86984219e-02 -7.57343579e+00] [-9.70289350e-02 8.88351533e-04 9.95281165e-01 -9.12274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222401008 meters 0.059236201516217564 Centerline is valid? [True, True] Translation: X:80.08, Y:-7.58, Z:-9.14 [[ 9.78005638e-01 1.87187211e-01 9.20104363e-02 8.00820347e+01] [-1.86312734e-01 9.82324110e-01 -1.80806297e-02 -7.58247080e+00] [-9.37685325e-02 5.40241854e-04 9.95593878e-01 -9.13627449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28240100800001 meters 0.05944244299979554 Centerline is valid? [True, True] Translation: X:80.14, Y:-7.60, Z:-9.15 [[ 9.77404439e-01 1.92824756e-01 8.65977804e-02 8.01413595e+01] [-1.92071738e-01 9.81233210e-01 -1.70245152e-02 -7.59618123e+00] [-8.82553661e-02 6.85056735e-06 9.96097882e-01 -9.14552004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34240100800001 meters 0.06004098731502013 Centerline is valid? [True, True] Translation: X:80.20, Y:-7.61, Z:-9.16 [[ 9.77485569e-01 1.93908798e-01 8.31945938e-02 8.02009425e+01] [-1.93215958e-01 9.81019558e-01 -1.63774104e-02 -7.60758434e+00] [-8.47912476e-02 -6.58408053e-05 9.96398735e-01 -9.15972889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402401008 meters 0.06071008071791603 Centerline is valid? [True, True] Translation: X:80.26, Y:-7.63, Z:-9.17 [[ 9.78220177e-01 1.90384673e-01 8.26980185e-02 8.02588296e+01] [-1.89687407e-01 9.81709539e-01 -1.62809308e-02 -7.62704771e+00] [-8.42850733e-02 2.39562307e-04 9.96441654e-01 -9.17086863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462401008 meters 0.06086524234149719 Centerline is valid? [True, True] Translation: X:80.32, Y:-7.65, Z:-9.18 [[ 9.79123093e-01 1.85360243e-01 8.34239120e-02 8.03178353e+01] [-1.84630950e-01 9.82670391e-01 -1.64412736e-02 -7.65007503e+00] [-8.50257666e-02 6.95394533e-04 9.96378510e-01 -9.17690495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522401008 meters 0.061252946324362324 Centerline is valid? [True, True] Translation: X:80.38, Y:-7.67, Z:-9.18 [[ 9.79837479e-01 1.81661796e-01 8.31715532e-02 8.03771823e+01] [-1.80921629e-01 9.83360523e-01 -1.64148202e-02 -7.66914820e+00] [-8.47695678e-02 1.03632320e-03 9.96400043e-01 -9.18376241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582401008 meters 0.06040778472884308 Centerline is valid? [True, True] Translation: X:80.44, Y:-7.68, Z:-9.18 [[ 9.79775589e-01 1.80943218e-01 8.54362166e-02 8.04375806e+01] [-1.80157629e-01 9.83492874e-01 -1.68818127e-02 -7.68416065e+00] [-8.70805597e-02 1.14840176e-03 9.96200611e-01 -9.18436462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64240100800001 meters 0.061285648242100234 Centerline is valid? [True, True] Translation: X:80.50, Y:-7.70, Z:-9.20 [[ 9.80335006e-01 1.77786409e-01 8.56461870e-02 8.04954867e+01] [-1.76982977e-01 9.84068025e-01 -1.69454416e-02 -7.69981175e+00] [-8.72943434e-02 1.45429245e-03 9.96181501e-01 -9.19690645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70240100800001 meters 0.061982568319583556 Centerline is valid? [True, True] Translation: X:80.55, Y:-7.72, Z:-9.20 [[ 9.81504628e-01 1.70587402e-01 8.68827057e-02 8.05546650e+01] [-1.69730205e-01 9.85340204e-01 -1.72145111e-02 -7.72016943e+00] [-8.85456017e-02 2.14950280e-03 9.96069805e-01 -9.20261671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762401008 meters 0.06657011372702 Centerline is valid? [True, True] Translation: X:80.61, Y:-7.75, Z:-9.21 [[ 9.83551802e-01 1.58075327e-01 8.73958982e-02 8.06093995e+01] [-1.57158375e-01 9.87421546e-01 -1.73186608e-02 -7.75426830e+00] [-8.90342458e-02 3.29880272e-03 9.96023103e-01 -9.21038213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822401008 meters 0.06529259170299515 Centerline is valid? [True, True] Translation: X:80.67, Y:-7.77, Z:-9.21 [[ 9.83958170e-01 1.54290452e-01 8.95587870e-02 8.06698723e+01] [-1.53310131e-01 9.88018417e-01 -1.77654498e-02 -7.76579452e+00] [-9.12267703e-02 3.75019009e-03 9.95823083e-01 -9.21253073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882401008 meters 0.06395709570062842 Centerline is valid? [True, True] Translation: X:80.73, Y:-7.78, Z:-9.22 [[ 9.83431505e-01 1.57559133e-01 8.96526334e-02 8.07303632e+01] [-1.56588166e-01 9.87503445e-01 -1.78070736e-02 -7.77658679e+00] [-9.13379514e-02 3.47349569e-03 9.95813895e-01 -9.21893535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942401008 meters 0.06387149863671633 Centerline is valid? [True, True] Translation: X:80.79, Y:-7.78, Z:-9.23 [[ 9.82642356e-01 1.63454919e-01 8.77296438e-02 8.07892236e+01] [-1.62548092e-01 9.86546634e-01 -1.74315162e-02 -7.78361962e+00] [-8.93986518e-02 2.86865997e-03 9.95991793e-01 -9.23108081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002401008 meters 0.061620114135836526 Centerline is valid? [True, True] Translation: X:80.85, Y:-7.79, Z:-9.24 [[ 9.80714479e-01 1.75543697e-01 8.59274221e-02 8.08503122e+01] [-1.74719648e-01 9.84470111e-01 -1.70775984e-02 -7.78751118e+00] [-8.75908435e-02 1.73503906e-03 9.96155025e-01 -9.23784358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06240100800001 meters 0.060390924704272896 Centerline is valid? [True, True] Translation: X:80.91, Y:-7.79, Z:-9.25 [[ 9.78370857e-01 1.88347325e-01 8.55321607e-02 8.09126255e+01] [-1.87579169e-01 9.82102304e-01 -1.70035340e-02 -7.78649169e+00] [-8.72039022e-02 5.91710489e-04 9.96190308e-01 -9.24634358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122401008 meters 0.060293991250252296 Centerline is valid? [True, True] Translation: X:80.97, Y:-7.79, Z:-9.25 [[ 9.76472953e-01 1.97805821e-01 8.58686803e-02 8.09746847e+01] [-1.97068103e-01 9.80241191e-01 -1.70695658e-02 -7.78968195e+00] [-8.75484769e-02 -2.54008651e-04 9.96160228e-01 -9.25456936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182401008 meters 0.06120057937224408 Centerline is valid? [True, True] Translation: X:81.04, Y:-7.79, Z:-9.27 [[ 9.74832418e-01 2.05785722e-01 8.57554252e-02 8.10353168e+01] [-2.05078798e-01 9.78596617e-01 -1.70689020e-02 -7.79269153e+00] [-8.74325054e-02 -9.47300511e-04 9.96169995e-01 -9.26622977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242401008 meters 0.0612546091282818 Centerline is valid? [True, True] Translation: X:81.10, Y:-7.81, Z:-9.27 [[ 9.74426029e-01 2.07117223e-01 8.71571592e-02 8.10952610e+01] [-2.06390485e-01 9.78315554e-01 -1.73679393e-02 -7.80718953e+00] [-8.88644038e-02 -1.06463626e-03 9.96043164e-01 -9.27279538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302401008 meters 0.060082971252460864 Centerline is valid? [True, True] Translation: X:81.15, Y:-7.84, Z:-9.27 [[ 9.75175634e-01 2.01136035e-01 9.26109013e-02 8.11530399e+01] [-2.00285747e-01 9.79563178e-01 -1.84824227e-02 -7.83614778e+00] [-9.44357100e-02 -5.25035297e-04 9.95530824e-01 -9.27092968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362401008 meters 0.059857007343203865 Centerline is valid? [True, True] Translation: X:81.21, Y:-7.86, Z:-9.28 [[ 9.76464052e-01 1.93712405e-01 9.48338482e-02 8.12098448e+01] [-1.92785537e-01 9.81058339e-01 -1.89280834e-02 -7.86030118e+00] [-9.67041421e-02 1.99998651e-04 9.95313151e-01 -9.27848495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42240100800001 meters 0.059865850001272904 Centerline is valid? [True, True] Translation: X:81.27, Y:-7.88, Z:-9.28 [[ 9.77195968e-01 1.90065792e-01 9.46733064e-02 8.12685369e+01] [-1.89122935e-01 9.81771184e-01 -1.89171421e-02 -7.88081233e+00] [-9.65430257e-02 5.80861412e-04 9.95328643e-01 -9.28479085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48240100800001 meters 0.05997179636502963 Centerline is valid? [True, True] Translation: X:81.33, Y:-7.89, Z:-9.30 [[ 9.77074205e-01 1.92012946e-01 9.19620875e-02 8.13290504e+01] [-1.91129970e-01 9.81392312e-01 -1.83974238e-02 -7.89039395e+00] [-9.37834292e-02 3.98937228e-04 9.95592542e-01 -9.29572948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542401008 meters 0.060404660239376726 Centerline is valid? [True, True] Translation: X:81.39, Y:-7.90, Z:-9.31 [[ 9.77617479e-01 1.90770892e-01 8.87160179e-02 8.13875874e+01] [-1.89942009e-01 9.81634450e-01 -1.77718931e-02 -7.90145318e+00] [-9.04770593e-02 5.23214653e-04 9.95898402e-01 -9.30735341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602401008 meters 0.06097264331951997 Centerline is valid? [True, True] Translation: X:81.45, Y:-7.91, Z:-9.32 [[ 9.78443437e-01 1.87895666e-01 8.56951531e-02 8.14474552e+01] [-1.87110737e-01 9.82188692e-01 -1.71739584e-02 -7.91120173e+00] [-8.73957227e-02 7.69263626e-04 9.96173376e-01 -9.31815363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662401008 meters 0.061317290402861 Centerline is valid? [True, True] Translation: X:81.51, Y:-7.92, Z:-9.33 [[ 9.78267465e-01 1.89364442e-01 8.44622671e-02 8.15072396e+01] [-1.88605557e-01 9.81906658e-01 -1.69487138e-02 -7.91955405e+00] [-8.61435462e-02 6.50322413e-04 9.96282523e-01 -9.32661445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722401008 meters 0.060476230534196346 Centerline is valid? [True, True] Translation: X:81.57, Y:-7.93, Z:-9.32 [[ 9.77808945e-01 1.89888938e-01 8.84977902e-02 8.15682581e+01] [-1.89056493e-01 9.81805364e-01 -1.77727408e-02 -7.93165309e+00] [-9.02624519e-02 6.47263079e-04 9.95917803e-01 -9.32471788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78240100800001 meters 0.060267906575429846 Centerline is valid? [True, True] Translation: X:81.63, Y:-7.94, Z:-9.33 [[ 9.77105824e-01 1.90874288e-01 9.39745436e-02 8.16279283e+01] [-1.89939476e-01 9.81614309e-01 -1.88770744e-02 -7.93750868e+00] [-9.58499048e-02 5.95423825e-04 9.95395620e-01 -9.33191330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84240100800001 meters 0.06043241772429306 Centerline is valid? [True, True] Translation: X:81.69, Y:-7.94, Z:-9.34 [[ 9.76790589e-01 1.93091696e-01 9.27132207e-02 8.16891398e+01] [-1.92191140e-01 9.81180642e-01 -1.86309768e-02 -7.94411567e+00] [-9.45659044e-02 3.79903279e-04 9.95518531e-01 -9.34168349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902401008 meters 0.06035722518601574 Centerline is valid? [True, True] Translation: X:81.75, Y:-7.96, Z:-9.35 [[ 9.76771135e-01 1.93218153e-01 9.26547085e-02 8.17504629e+01] [-1.92317282e-01 9.81155744e-01 -1.86405076e-02 -7.95717338e+00] [-9.45103839e-02 3.88408102e-04 9.95523800e-01 -9.34619865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962401008 meters 0.06086847436319845 Centerline is valid? [True, True] Translation: X:81.81, Y:-7.98, Z:-9.35 [[ 9.78209015e-01 1.85582386e-01 9.30929705e-02 8.18075371e+01] [-1.84635780e-01 9.82628024e-01 -1.87561851e-02 -7.97978653e+00] [-9.49565793e-02 1.15917612e-03 9.95480740e-01 -9.35365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022401008 meters 0.062265612902457766 Centerline is valid? [True, True] Translation: X:81.87, Y:-8.00, Z:-9.36 [[ 9.79619348e-01 1.78086778e-01 9.29033527e-02 8.18658088e+01] [-1.77108348e-01 9.84012946e-01 -1.87391576e-02 -7.99982073e+00] [-9.47552979e-02 1.90328208e-03 9.95498775e-01 -9.36246495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082401008 meters 0.0630007277168981 Centerline is valid? [True, True] Translation: X:81.92, Y:-8.02, Z:-9.37 [[ 9.80910554e-01 1.70531902e-01 9.34524205e-02 8.19247610e+01] [-1.69505403e-01 9.85348533e-01 -1.88729260e-02 -8.02080895e+00] [-9.53016414e-02 2.67196210e-03 9.95444854e-01 -9.36603686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14240100800001 meters 0.0636224066862655 Centerline is valid? [True, True] Translation: X:81.98, Y:-8.04, Z:-9.37 [[ 9.81316441e-01 1.69056247e-01 9.18587392e-02 8.19832079e+01] [-1.68057664e-01 9.85602508e-01 -1.85558039e-02 -8.03505278e+00] [-9.36731784e-02 2.77155034e-03 9.95599143e-01 -9.37496394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20240100800001 meters 0.06294558805093431 Centerline is valid? [True, True] Translation: X:82.04, Y:-8.04, Z:-9.38 [[ 9.81005235e-01 1.71846845e-01 8.99855015e-02 8.20443477e+01] [-1.70899635e-01 9.85120603e-01 -1.81855002e-02 -8.04242085e+00] [-9.17716924e-02 2.46158154e-03 9.95777032e-01 -9.38449330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262401008 meters 0.062274303107014733 Centerline is valid? [True, True] Translation: X:82.10, Y:-8.05, Z:-9.39 [[ 9.79768912e-01 1.78398142e-01 9.07027174e-02 8.21028704e+01] [-1.77461288e-01 9.83956572e-01 -1.83563517e-02 -8.05244970e+00] [-9.25222739e-02 1.88876165e-03 9.95708824e-01 -9.39307497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322401008 meters 0.06122694442591831 Centerline is valid? [True, True] Translation: X:82.16, Y:-8.06, Z:-9.40 [[ 9.79038519e-01 1.81097411e-01 9.32057149e-02 8.21631801e+01] [-1.80119458e-01 9.83463717e-01 -1.88705696e-02 -8.06318537e+00] [-9.50818501e-02 1.68685169e-03 9.95468029e-01 -9.39545230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382401008 meters 0.06139960755902981 Centerline is valid? [True, True] Translation: X:82.22, Y:-8.08, Z:-9.40 [[ 9.78887759e-01 1.80233347e-01 9.64090012e-02 8.22219812e+01] [-1.79180733e-01 9.83622139e-01 -1.95384720e-02 -8.07869124e+00] [-9.83515122e-02 1.85133562e-03 9.95150015e-01 -9.40219753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442401008 meters 0.0616175193769662 Centerline is valid? [True, True] Translation: X:82.28, Y:-8.10, Z:-9.41 [[ 9.79260399e-01 1.78866997e-01 9.51612776e-02 8.22813257e+01] [-1.77833047e-01 9.83871264e-01 -1.93065723e-02 -8.09707175e+00] [-9.70797550e-02 1.98334174e-03 9.95274629e-01 -9.40890067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502401008 meters 0.06149329412825596 Centerline is valid? [True, True] Translation: X:82.34, Y:-8.11, Z:-9.42 [[ 9.79097928e-01 1.80524463e-01 9.36918674e-02 8.23419416e+01] [-1.79527723e-01 9.83568825e-01 -1.90305938e-02 -8.10969016e+00] [-9.55878876e-02 1.81252736e-03 9.95419344e-01 -9.41743619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56240100800001 meters 0.06140064862412717 Centerline is valid? [True, True] Translation: X:82.40, Y:-8.11, Z:-9.43 [[ 9.78097530e-01 1.88082817e-01 8.91631987e-02 8.24023058e+01] [-1.87209162e-01 9.82152613e-01 -1.81376464e-02 -8.11152819e+00] [-9.09832482e-02 1.04821937e-03 9.95851871e-01 -9.43291184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622401008 meters 0.06111779924589981 Centerline is valid? [True, True] Translation: X:82.46, Y:-8.12, Z:-9.44 [[ 9.76966142e-01 1.94533554e-01 8.77146140e-02 8.24646300e+01] [-1.93712840e-01 9.80895759e-01 -1.78562297e-02 -8.11690105e+00] [-8.95125287e-02 4.53484857e-04 9.95985593e-01 -9.44073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682401008 meters 0.06020290122931081 Centerline is valid? [True, True] Translation: X:82.53, Y:-8.13, Z:-9.44 [[ 9.75759253e-01 1.98082696e-01 9.30436749e-02 8.25256744e+01] [-1.97174183e-01 9.80185301e-01 -1.89503943e-02 -8.12805747e+00] [-9.49537877e-02 1.45212059e-04 9.95481671e-01 -9.44010467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742401008 meters 0.05997882596586809 Centerline is valid? [True, True] Translation: X:82.59, Y:-8.14, Z:-9.44 [[ 9.75921339e-01 1.95139441e-01 9.74583957e-02 8.25862311e+01] [-1.94127303e-01 9.80775402e-01 -1.98544772e-02 -8.14435521e+00] [-9.94591889e-02 4.57072453e-04 9.95041537e-01 -9.44426058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802401008 meters 0.060008926310967235 Centerline is valid? [True, True] Translation: X:82.65, Y:-8.16, Z:-9.45 [[ 9.76353570e-01 1.92499171e-01 9.83756809e-02 8.26459068e+01] [-1.91453825e-01 9.81296858e-01 -2.00476974e-02 -8.16264752e+00] [-1.00394912e-01 7.39240482e-04 9.94947393e-01 -9.45085334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862401008 meters 0.05969835568338878 Centerline is valid? [True, True] Translation: X:82.71, Y:-8.18, Z:-9.46 [[ 9.76155327e-01 1.94913683e-01 9.55480699e-02 8.27060107e+01] [-1.93936636e-01 9.80820271e-01 -1.94981538e-02 -8.17678736e+00] [-9.75159408e-02 5.02955413e-04 9.95233836e-01 -9.45608526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92240100800001 meters 0.0597278587186035 Centerline is valid? [True, True] Translation: X:82.77, Y:-8.19, Z:-9.46 [[ 9.76554765e-01 1.94756715e-01 9.17093880e-02 8.27655879e+01] [-1.93853926e-01 9.80851442e-01 -1.87377703e-02 -8.19270762e+00] [-9.36025920e-02 5.20233935e-04 9.95609504e-01 -9.46365032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98240100800001 meters 0.06024149114615086 Centerline is valid? [True, True] Translation: X:82.83, Y:-8.20, Z:-9.48 [[ 9.77016708e-01 1.93343580e-01 8.97586318e-02 8.28259528e+01] [-1.92470897e-01 9.81130888e-01 -1.83611996e-02 -8.19969597e+00] [-9.16149863e-02 6.63274367e-04 9.95794283e-01 -9.47671558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042401008 meters 0.06062777535175645 Centerline is valid? [True, True] Translation: X:82.89, Y:-8.21, Z:-9.49 [[ 9.77052301e-01 1.92811213e-01 9.05131826e-02 8.28855111e+01] [-1.91919231e-01 9.81235590e-01 -1.85398268e-02 -8.20685935e+00] [-9.23894426e-02 7.43160098e-04 9.95722672e-01 -9.48791612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102401008 meters 0.06044573978761766 Centerline is valid? [True, True] Translation: X:82.95, Y:-8.22, Z:-9.49 [[ 9.76689000e-01 1.94076298e-01 9.17223402e-02 8.29463582e+01] [-1.93163808e-01 9.80986220e-01 -1.88090249e-02 -8.21634419e+00] [-9.36287377e-02 6.53131237e-04 9.95606967e-01 -9.49241866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162401008 meters 0.05991461613584428 Centerline is valid? [True, True] Translation: X:83.01, Y:-8.23, Z:-9.49 [[ 9.76153639e-01 1.96384452e-01 9.25052472e-02 8.30071222e+01] [-1.95464371e-01 9.80526867e-01 -1.89932389e-02 -8.22948155e+00] [-9.44338570e-02 4.58839296e-04 9.95531032e-01 -9.49290843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222401008 meters 0.059504502001491745 Centerline is valid? [True, True] Translation: X:83.07, Y:-8.24, Z:-9.50 [[ 9.75292351e-01 1.99868659e-01 9.41134962e-02 8.30686905e+01] [-1.98930087e-01 9.79822687e-01 -1.93474310e-02 -8.23782120e+00] [-9.60814838e-02 1.47395427e-04 9.95373461e-01 -9.49648704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28240100800001 meters 0.06012689073240225 Centerline is valid? [True, True] Translation: X:83.13, Y:-8.25, Z:-9.51 [[ 9.75187928e-01 2.00971090e-01 9.28392447e-02 8.31283016e+01] [-2.00060630e-01 9.79597171e-01 -1.91083042e-02 -8.24506292e+00] [-9.47852782e-02 6.07098458e-05 9.95497739e-01 -9.50970639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34240100800001 meters 0.06026516877417802 Centerline is valid? [True, True] Translation: X:83.19, Y:-8.26, Z:-9.52 [[ 9.75793365e-01 1.99291759e-01 9.00561177e-02 8.31877044e+01] [-1.98426280e-01 9.79940171e-01 -1.85545757e-02 -8.26294318e+00] [-9.19473814e-02 2.35931372e-04 9.95763839e-01 -9.51817899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402401008 meters 0.06029312248834873 Centerline is valid? [True, True] Translation: X:83.25, Y:-8.28, Z:-9.52 [[ 9.76360083e-01 1.96710410e-01 8.95879571e-02 8.32467355e+01] [-1.95841033e-01 9.80461507e-01 -1.84803548e-02 -8.28088430e+00] [-9.14728215e-02 4.98482645e-04 9.95807448e-01 -9.52483853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462401008 meters 0.06060162779840926 Centerline is valid? [True, True] Translation: X:83.30, Y:-8.29, Z:-9.53 [[ 9.76404614e-01 1.96768454e-01 8.89730604e-02 8.33049914e+01] [-1.95909157e-01 9.80449853e-01 -1.83763162e-02 -8.29477662e+00] [-9.08495033e-02 5.12082711e-04 9.95864502e-01 -9.53483992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522401008 meters 0.06009911412283294 Centerline is valid? [True, True] Translation: X:83.37, Y:-8.31, Z:-9.54 [[ 9.76138256e-01 1.97438711e-01 9.03994467e-02 8.33662195e+01] [-1.96552200e-01 9.80315115e-01 -1.86951372e-02 -8.30917844e+00] [-9.23110877e-02 4.80828500e-04 9.95730100e-01 -9.53632323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582401008 meters 0.059846033382421455 Centerline is valid? [True, True] Translation: X:83.43, Y:-8.32, Z:-9.54 [[ 9.75783303e-01 1.98671515e-01 9.15236290e-02 8.34251116e+01] [-1.97767660e-01 9.80066064e-01 -1.89331307e-02 -8.32252745e+00] [-9.34606766e-02 3.74218885e-04 9.95622901e-01 -9.54233756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64240100800001 meters 0.060180860275347525 Centerline is valid? [True, True] Translation: X:83.49, Y:-8.33, Z:-9.55 [[ 9.76029564e-01 1.98281673e-01 8.97255217e-02 8.34855074e+01] [-1.97409610e-01 9.80144989e-01 -1.85808098e-02 -8.33139588e+00] [-9.16282545e-02 4.22739436e-04 9.95793194e-01 -9.55256302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70240100800001 meters 0.060624698698858455 Centerline is valid? [True, True] Translation: X:83.55, Y:-8.34, Z:-9.56 [[ 9.75680038e-01 2.01211753e-01 8.69614466e-02 8.35453096e+01] [-2.00402450e-01 9.79547755e-01 -1.80292641e-02 -8.33838423e+00] [-8.88105896e-02 1.63506196e-04 9.96048519e-01 -9.56433146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762401008 meters 0.06063091245950859 Centerline is valid? [True, True] Translation: X:83.61, Y:-8.35, Z:-9.57 [[ 9.74815337e-01 2.05746473e-01 8.60432882e-02 8.36063172e+01] [-2.04970180e-01 9.78605302e-01 -1.78574570e-02 -8.34558879e+00] [-8.78765268e-02 -2.28585317e-04 9.96131349e-01 -9.57144776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822401008 meters 0.06178217597305366 Centerline is valid? [True, True] Translation: X:83.67, Y:-8.34, Z:-9.58 [[ 9.73072057e-01 2.13863867e-01 8.59826646e-02 8.36683895e+01] [-2.13118403e-01 9.76863022e-01 -1.78657036e-02 -8.34224361e+00] [-8.78141140e-02 -9.39871230e-04 9.96136435e-01 -9.58207586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882401008 meters 0.06168612892200971 Centerline is valid? [True, True] Translation: X:83.73, Y:-8.35, Z:-9.59 [[ 9.72686045e-01 2.15237415e-01 8.69178531e-02 8.37292397e+01] [-2.14479447e-01 9.76561179e-01 -1.80784338e-02 -8.35235020e+00] [-8.87717565e-02 -1.05745277e-03 9.96051433e-01 -9.58657759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942401008 meters 0.060947849720113946 Centerline is valid? [True, True] Translation: X:83.79, Y:-8.37, Z:-9.59 [[ 9.72659931e-01 2.13848863e-01 9.05611537e-02 8.37892461e+01] [-2.13017411e-01 9.76866302e-01 -1.88629180e-02 -8.36881848e+00] [-9.24999530e-02 -9.43897970e-04 9.95712241e-01 -9.58801202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002401008 meters 0.060636102771164886 Centerline is valid? [True, True] Translation: X:83.85, Y:-8.39, Z:-9.59 [[ 9.72947924e-01 2.12096107e-01 9.15837202e-02 8.38483114e+01] [-2.11237636e-01 9.77248499e-01 -1.90796222e-02 -8.38624222e+00] [-9.35467667e-02 -7.82449669e-04 9.95614579e-01 -9.59297227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06240100800001 meters 0.060428242476393064 Centerline is valid? [True, True] Translation: X:83.91, Y:-8.41, Z:-9.60 [[ 9.73997741e-01 2.07057550e-01 9.19541823e-02 8.39066485e+01] [-2.06167570e-01 9.78328725e-01 -1.91791411e-02 -8.40773322e+00] [-9.39326039e-02 -2.77530137e-04 9.95578520e-01 -9.60181001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122401008 meters 0.06054632396923695 Centerline is valid? [True, True] Translation: X:83.97, Y:-8.43, Z:-9.61 [[ 9.74906573e-01 2.03517780e-01 9.02091344e-02 8.39653031e+01] [-2.02644266e-01 9.79071247e-01 -1.88360101e-02 -8.42684638e+00] [-9.21546327e-02 8.29861996e-05 9.95744705e-01 -9.60861098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182401008 meters 0.06116729693874909 Centerline is valid? [True, True] Translation: X:84.02, Y:-8.44, Z:-9.62 [[ 9.75403851e-01 2.03971802e-01 8.35633368e-02 8.40231836e+01] [-2.03222272e-01 9.78976762e-01 -1.74701922e-02 -8.43996492e+00] [-8.53699915e-02 5.85616310e-05 9.96349317e-01 -9.62372949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242401008 meters 0.061820315504564884 Centerline is valid? [True, True] Translation: X:84.08, Y:-8.46, Z:-9.64 [[ 9.76193831e-01 2.01811156e-01 7.94849806e-02 8.40817912e+01] [-2.01125079e-01 9.79424421e-01 -1.66284707e-02 -8.45623174e+00] [-8.12053420e-02 2.46187517e-04 9.96697362e-01 -9.63584146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302401008 meters 0.06168104469093625 Centerline is valid? [True, True] Translation: X:84.14, Y:-8.47, Z:-9.64 [[ 9.75820774e-01 2.03443013e-01 7.99046750e-02 8.41427122e+01] [-2.02753727e-01 9.79086781e-01 -1.67332607e-02 -8.46586095e+00] [-8.16378760e-02 1.27692779e-04 9.96662049e-01 -9.64232345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362401008 meters 0.0607980413960536 Centerline is valid? [True, True] Translation: X:84.20, Y:-8.48, Z:-9.64 [[ 9.75386197e-01 2.02190044e-01 8.79826883e-02 8.42015567e+01] [-2.01346616e-01 9.79346265e-01 -1.84508395e-02 -8.48220032e+00] [-8.98960933e-02 2.81677559e-04 9.95951110e-01 -9.64032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42240100800001 meters 0.0606739761578944 Centerline is valid? [True, True] Translation: X:84.26, Y:-8.50, Z:-9.64 [[ 9.75668487e-01 1.99150455e-01 9.17065934e-02 8.42630249e+01] [-1.98218693e-01 9.79968739e-01 -1.92514835e-02 -8.49523998e+00] [-9.37035364e-02 6.05104738e-04 9.95599960e-01 -9.64272142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482401008 meters 0.06155898560375116 Centerline is valid? [True, True] Translation: X:84.32, Y:-8.51, Z:-9.65 [[ 9.76873868e-01 1.92188475e-01 9.37071823e-02 8.43217387e+01] [-1.91182970e-01 9.81357163e-01 -1.96771319e-02 -8.51402344e+00] [-9.57419326e-02 1.30685852e-03 9.95405332e-01 -9.64888376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542401008 meters 0.06225433679048351 Centerline is valid? [True, True] Translation: X:84.38, Y:-8.53, Z:-9.65 [[ 9.78086255e-01 1.86658090e-01 9.22281663e-02 8.43803998e+01] [-1.85657288e-01 9.82423208e-01 -1.93910193e-02 -8.53319181e+00] [-9.42265816e-02 1.84325824e-03 9.95549071e-01 -9.65321310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602401008 meters 0.06408821970060205 Centerline is valid? [True, True] Translation: X:84.44, Y:-8.55, Z:-9.67 [[ 9.79364116e-01 1.82369122e-01 8.71058631e-02 8.44380735e+01] [-1.81459017e-01 9.83227814e-01 -1.83218795e-02 -8.54931190e+00] [-8.89862525e-02 2.13764705e-03 9.96030560e-01 -9.66662870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662401008 meters 0.0642632290164749 Centerline is valid? [True, True] Translation: X:84.50, Y:-8.56, Z:-9.68 [[ 9.79410475e-01 1.83445830e-01 8.42778121e-02 8.44991746e+01] [-1.82597504e-01 9.83027829e-01 -1.77324006e-02 -8.55615288e+00] [-8.61003696e-02 1.97838073e-03 9.96284504e-01 -9.67824572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722401008 meters 0.06341647671231128 Centerline is valid? [True, True] Translation: X:84.56, Y:-8.57, Z:-9.68 [[ 9.78578253e-01 1.87123550e-01 8.58450925e-02 8.45597972e+01] [-1.86255128e-01 9.82334896e-01 -1.80881076e-02 -8.56720016e+00] [-8.77133409e-02 1.71154010e-03 9.96144287e-01 -9.68344565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78240100800001 meters 0.06159377631714894 Centerline is valid? [True, True] Translation: X:84.62, Y:-8.57, Z:-9.68 [[ 9.76829329e-01 1.94459068e-01 8.93875406e-02 8.46213825e+01] [-1.93547491e-01 9.80910015e-01 -1.88391056e-02 -8.57210103e+00] [-9.13445687e-02 1.10185670e-03 9.95818736e-01 -9.68484511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84240100800001 meters 0.06106997726157949 Centerline is valid? [True, True] Translation: X:84.68, Y:-8.58, Z:-9.69 [[ 9.75204777e-01 2.01807134e-01 9.08268856e-02 8.46817549e+01] [-2.00896050e-01 9.79425183e-01 -1.91595420e-02 -8.57599572e+00] [-9.28246713e-02 4.37714365e-04 9.95682373e-01 -9.69432055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902401008 meters 0.0613806769702607 Centerline is valid? [True, True] Translation: X:84.74, Y:-8.58, Z:-9.70 [[ 9.73208619e-01 2.12077937e-01 8.88140321e-02 8.47439419e+01] [-2.11247853e-01 9.77252622e-01 -1.87525406e-02 -8.57785970e+00] [-9.07707458e-02 -5.11639482e-04 9.95871683e-01 -9.70428654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962401008 meters 0.06188573736799484 Centerline is valid? [True, True] Translation: X:84.80, Y:-8.59, Z:-9.71 [[ 9.72506988e-01 2.16044949e-01 8.69179927e-02 8.48047215e+01] [-2.15263708e-01 9.76383057e-01 -1.83755667e-02 -8.58686660e+00] [-8.88352038e-02 -8.39922337e-04 9.96045983e-01 -9.71342853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022401008 meters 0.062029643771409654 Centerline is valid? [True, True] Translation: X:84.86, Y:-8.60, Z:-9.72 [[ 9.73075135e-01 2.14284291e-01 8.48941945e-02 8.48633085e+01] [-2.13531706e-01 9.76771116e-01 -1.79554333e-02 -8.60294503e+00] [-8.67697643e-02 -6.55616485e-04 9.96228176e-01 -9.72356418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082401008 meters 0.06161222071713423 Centerline is valid? [True, True] Translation: X:84.92, Y:-8.63, Z:-9.73 [[ 9.75625085e-01 2.01841772e-01 8.61138352e-02 8.49201024e+01] [-2.01017157e-01 9.79418027e-01 -1.82327118e-02 -8.63451680e+00] [-8.80215654e-02 4.77932629e-04 9.96118455e-01 -9.72767415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14240100800001 meters 0.061992986843038285 Centerline is valid? [True, True] Translation: X:84.98, Y:-8.66, Z:-9.73 [[ 9.76812740e-01 1.94745074e-01 8.89450810e-02 8.49794105e+01] [-1.93833744e-01 9.80853185e-01 -1.88549581e-02 -8.65572605e+00] [-9.09139762e-02 1.17720519e-03 9.95858054e-01 -9.73051841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20240100800001 meters 0.062392746276118814 Centerline is valid? [True, True] Translation: X:85.04, Y:-8.67, Z:-9.74 [[ 9.77085236e-01 1.92505186e-01 9.08085624e-02 8.50390971e+01] [-1.91542994e-01 9.81294897e-01 -1.92770885e-02 -8.67039481e+00] [-9.28209184e-02 1.44161466e-03 9.95681776e-01 -9.73795823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262401008 meters 0.06203527549050095 Centerline is valid? [True, True] Translation: X:85.10, Y:-8.68, Z:-9.74 [[ 9.77230949e-01 1.92541079e-01 8.91493385e-02 8.50993957e+01] [-1.91611787e-01 9.81287865e-01 -1.89486074e-02 -8.68147201e+00] [-9.11295493e-02 1.43510151e-03 9.95838012e-01 -9.74379384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322401008 meters 0.061985890781970004 Centerline is valid? [True, True] Translation: X:85.16, Y:-8.69, Z:-9.75 [[ 9.77241486e-01 1.92968495e-01 8.81035661e-02 8.51596357e+01] [-1.92060896e-01 9.81203957e-01 -1.87458439e-02 -8.69299978e+00] [-9.00649250e-02 1.39796649e-03 9.95934915e-01 -9.75182370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382401008 meters 0.061999768314309596 Centerline is valid? [True, True] Translation: X:85.22, Y:-8.71, Z:-9.76 [[ 9.77124471e-01 1.93927504e-01 8.72919919e-02 8.52199823e+01] [-1.93038534e-01 9.81014978e-01 -1.85940314e-02 -8.70600381e+00] [-8.92406456e-02 1.31796490e-03 9.96009222e-01 -9.76070274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442401008 meters 0.06173568669018112 Centerline is valid? [True, True] Translation: X:85.28, Y:-8.72, Z:-9.77 [[ 9.76746452e-01 1.94579824e-01 9.00281095e-02 8.52804937e+01] [-1.93634584e-01 9.80885795e-01 -1.92016984e-02 -8.71787917e+00] [-9.20435569e-02 1.32263527e-03 9.95754103e-01 -9.76586514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502401008 meters 0.06181902482450128 Centerline is valid? [True, True] Translation: X:85.34, Y:-8.73, Z:-9.77 [[ 9.76436424e-01 1.94835423e-01 9.27958356e-02 8.53392744e+01] [-1.93829842e-01 9.80835002e-01 -1.98164643e-02 -8.73272116e+00] [-9.48783528e-02 1.36291545e-03 9.95487941e-01 -9.77312968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56240100800001 meters 0.06173438267351667 Centerline is valid? [True, True] Translation: X:85.40, Y:-8.75, Z:-9.78 [[ 9.76685750e-01 1.93652203e-01 9.26486337e-02 8.53986047e+01] [-1.92642502e-01 9.81069103e-01 -1.98060837e-02 -8.74904024e+00] [-9.47302037e-02 1.49625510e-03 9.95501858e-01 -9.77851489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622401008 meters 0.06200797536721577 Centerline is valid? [True, True] Translation: X:85.46, Y:-8.76, Z:-9.79 [[ 9.77319142e-01 1.91823761e-01 8.97270246e-02 8.54581916e+01] [-1.90867255e-01 9.81428016e-01 -1.92025884e-02 -8.76302048e+00] [-9.17441286e-02 1.64110632e-03 9.95781262e-01 -9.78559323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682401008 meters 0.06373596984102926 Centerline is valid? [True, True] Translation: X:85.52, Y:-8.78, Z:-9.80 [[ 9.79031936e-01 1.85748010e-01 8.36310095e-02 8.55157449e+01] [-1.84893647e-01 9.82595218e-01 -1.79158563e-02 -8.78087387e+00] [-8.55032646e-02 2.07735316e-03 9.96335725e-01 -9.79971908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742401008 meters 0.06579282816685254 Centerline is valid? [True, True] Translation: X:85.57, Y:-8.80, Z:-9.81 [[ 9.80334910e-01 1.79867338e-01 8.11862338e-02 8.55731052e+01] [-1.79040380e-01 9.83687609e-01 -1.74135020e-02 -8.79618520e+00] [-8.29940124e-02 2.53544981e-03 9.96546820e-01 -9.81110921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802401008 meters 0.06710314130665468 Centerline is valid? [True, True] Translation: X:85.63, Y:-8.81, Z:-9.81 [[ 9.80872096e-01 1.75621406e-01 8.39467278e-02 8.56325586e+01] [-1.74721109e-01 9.84453211e-01 -1.80113799e-02 -8.81125765e+00] [-8.58048096e-02 2.99959452e-03 9.96307451e-01 -9.81346931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862401008 meters 0.06604734488805641 Centerline is valid? [True, True] Translation: X:85.69, Y:-8.82, Z:-9.81 [[ 9.80556326e-01 1.75498681e-01 8.78037897e-02 8.56935533e+01] [-1.74511160e-01 9.84474561e-01 -1.88598276e-02 -8.82228231e+00] [-8.97504722e-02 3.17038198e-03 9.95959237e-01 -9.81194914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92240100800001 meters 0.06427722862401412 Centerline is valid? [True, True] Translation: X:85.76, Y:-8.82, Z:-9.81 [[ 9.79123159e-01 1.81960159e-01 9.05998903e-02 8.57554613e+01] [-1.80934314e-01 9.83302251e-01 -1.94796884e-02 -8.82432021e+00] [-9.26316033e-02 2.68038508e-03 9.95696842e-01 -9.81486918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982401008 meters 0.06301724323748506 Centerline is valid? [True, True] Translation: X:85.82, Y:-8.82, Z:-9.83 [[ 9.77490097e-01 1.90742631e-01 9.01685019e-02 8.58168554e+01] [-1.89761905e-01 9.81638320e-01 -1.94069156e-02 -8.82356274e+00] [-9.22145829e-02 1.85952115e-03 9.95737422e-01 -9.82678370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042401008 meters 0.061562604173841955 Centerline is valid? [True, True] Translation: X:85.88, Y:-8.82, Z:-9.84 [[ 9.74399120e-01 2.07071576e-01 8.75655044e-02 8.58798967e+01] [-2.06210994e-01 9.78325743e-01 -1.88617924e-02 -8.81702000e+00] [-8.95733282e-02 3.21944248e-04 9.95980178e-01 -9.83696751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102401008 meters 0.062070734113340124 Centerline is valid? [True, True] Translation: X:85.94, Y:-8.82, Z:-9.85 [[ 9.72412673e-01 2.17187588e-01 8.51066699e-02 8.59425928e+01] [-2.16412647e-01 9.76129710e-01 -1.83399971e-02 -8.81729015e+00] [-8.70583687e-02 -5.84114159e-04 9.96203041e-01 -9.84665387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162401008 meters 0.06341031507457524 Centerline is valid? [True, True] Translation: X:86.00, Y:-8.82, Z:-9.86 [[ 9.71052523e-01 2.24032656e-01 8.28635469e-02 8.60029128e+01] [-2.23322821e-01 9.74580942e-01 -1.78578996e-02 -8.82275074e+00] [-8.47579863e-02 -1.16436260e-03 9.96400887e-01 -9.85778778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222401008 meters 0.06277635397471762 Centerline is valid? [True, True] Translation: X:86.06, Y:-8.84, Z:-9.87 [[ 9.72228517e-01 2.19061581e-01 8.23634297e-02 8.60601063e+01] [-2.18341009e-01 9.75710777e-01 -1.77674728e-02 -8.84269695e+00] [-8.42550567e-02 -7.09270576e-04 9.96443969e-01 -9.86693689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28240100800001 meters 0.06204335875824179 Centerline is valid? [True, True] Translation: X:86.12, Y:-8.87, Z:-9.87 [[ 9.74334730e-01 2.09133756e-01 8.32760792e-02 8.61176910e+01] [-2.08359364e-01 9.77887030e-01 -1.79814211e-02 -8.86947658e+00] [-8.51951199e-02 1.68572099e-04 9.96364272e-01 -9.87032199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34240100800001 meters 0.061799343450314966 Centerline is valid? [True, True] Translation: X:86.18, Y:-8.89, Z:-9.87 [[ 9.75482628e-01 2.03035473e-01 8.49131237e-02 8.61764497e+01] [-2.02205334e-01 9.79171106e-01 -1.83561459e-02 -8.89472017e+00] [-8.68714260e-02 7.36214827e-04 9.96219260e-01 -9.87110495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402401008 meters 0.06235675167510455 Centerline is valid? [True, True] Translation: X:86.23, Y:-8.93, Z:-9.87 [[ 9.77355618e-01 1.91990311e-01 8.89703142e-02 8.62323194e+01] [-1.91030548e-01 9.81395119e-01 -1.92600654e-02 -8.92697938e+00] [-9.10127780e-02 1.82788522e-03 9.95848047e-01 -9.87279895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462401008 meters 0.06336557584595189 Centerline is valid? [True, True] Translation: X:86.29, Y:-8.95, Z:-9.88 [[ 9.78237614e-01 1.86770693e-01 9.03763179e-02 8.62911880e+01] [-1.85756825e-01 9.82400693e-01 -1.95775384e-02 -8.94852490e+00] [-9.24422678e-02 2.36346665e-03 9.95715241e-01 -9.87949620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522401008 meters 0.06305062870304903 Centerline is valid? [True, True] Translation: X:86.35, Y:-8.96, Z:-9.89 [[ 9.77912483e-01 1.87889932e-01 9.15671803e-02 8.63523772e+01] [-1.86853711e-01 9.82187419e-01 -1.98384548e-02 -8.95542429e+00] [-9.36635784e-02 2.29060515e-03 9.95601269e-01 -9.88712723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582401008 meters 0.06303282564321216 Centerline is valid? [True, True] Translation: X:86.41, Y:-8.97, Z:-9.90 [[ 9.77833775e-01 1.89108837e-01 8.98830147e-02 8.64126191e+01] [-1.88113535e-01 9.81953767e-01 -1.94960845e-02 -8.96611488e+00] [-9.19478467e-02 2.15571828e-03 9.95761491e-01 -9.89506222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64240100800001 meters 0.06424226161511096 Centerline is valid? [True, True] Translation: X:86.47, Y:-8.98, Z:-9.91 [[ 9.77956880e-01 1.91857968e-01 8.24066784e-02 8.64706903e+01] [-1.91029614e-01 9.81421125e-01 -1.78958555e-02 -8.97657122e+00] [-8.43091175e-02 1.75925904e-03 9.96438095e-01 -9.91145726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70240100800001 meters 0.06358776521272287 Centerline is valid? [True, True] Translation: X:86.53, Y:-8.98, Z:-9.92 [[ 9.77707224e-01 1.94685467e-01 7.86521063e-02 8.65330212e+01] [-1.93939433e-01 9.80864646e-01 -1.70892710e-02 -8.97909562e+00] [-8.04741030e-02 1.45455877e-03 9.96755639e-01 -9.91819627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762401008 meters 0.06377364127717777 Centerline is valid? [True, True] Translation: X:86.59, Y:-8.98, Z:-9.93 [[ 9.76935259e-01 1.99512224e-01 7.61076365e-02 8.65937791e+01] [-1.98826862e-01 9.79894784e-01 -1.65557087e-02 -8.98395751e+00] [-7.78805423e-02 1.04161299e-03 9.96962154e-01 -9.92883800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822401008 meters 0.06309105953703988 Centerline is valid? [True, True] Translation: X:86.66, Y:-8.99, Z:-9.93 [[ 9.76483825e-01 1.99889417e-01 8.07685639e-02 8.66555007e+01] [-1.99116490e-01 9.79817846e-01 -1.75957853e-02 -8.99370845e+00] [-8.26556916e-02 1.09964679e-03 9.96577557e-01 -9.92835103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882401008 meters 0.0627617446315727 Centerline is valid? [True, True] Translation: X:86.72, Y:-9.01, Z:-9.93 [[ 9.76459157e-01 1.98146899e-01 8.52368490e-02 8.67159075e+01] [-1.97279179e-01 9.80171449e-01 -1.85702796e-02 -9.00573279e+00] [-8.72263692e-02 1.31766397e-03 9.96187645e-01 -9.92903462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942401008 meters 0.06257188528900354 Centerline is valid? [True, True] Translation: X:86.78, Y:-9.02, Z:-9.93 [[ 9.76501122e-01 1.97282683e-01 8.67473385e-02 8.67760048e+01] [-1.96379095e-01 9.80345594e-01 -1.89147309e-02 -9.01833730e+00] [-8.87739200e-02 1.43489209e-03 9.96050768e-01 -9.93445264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002401008 meters 0.06335250831922365 Centerline is valid? [True, True] Translation: X:86.83, Y:-9.03, Z:-9.94 [[ 9.77209763e-01 1.92166269e-01 9.01842746e-02 8.68343367e+01] [-1.91165477e-01 9.81360345e-01 -1.96884182e-02 -9.03418045e+00] [-9.22867207e-02 1.99959468e-03 9.95730467e-01 -9.94022990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06240100800001 meters 0.06449364239000384 Centerline is valid? [True, True] Translation: X:86.89, Y:-9.05, Z:-9.95 [[ 9.78097207e-01 1.87521478e-01 9.03412945e-02 8.68918235e+01] [-1.86495249e-01 9.82257409e-01 -1.97459915e-02 -9.05213556e+00] [-9.24412033e-02 2.46527691e-03 9.95715093e-01 -9.94760688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122401008 meters 0.06634894937624347 Centerline is valid? [True, True] Translation: X:86.95, Y:-9.07, Z:-9.96 [[ 9.79424362e-01 1.82131726e-01 8.69249871e-02 8.69494582e+01] [-1.81159673e-01 9.83269947e-01 -1.90101336e-02 -9.07036016e+00] [-8.89330758e-02 2.87168582e-03 9.96033464e-01 -9.95871624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182401008 meters 0.0671873872512227 Centerline is valid? [True, True] Translation: X:87.01, Y:-9.08, Z:-9.97 [[ 9.79873929e-01 1.81484964e-01 8.31281566e-02 8.70086686e+01] [-1.80593710e-01 9.83389725e-01 -1.81813346e-02 -9.08252207e+00] [-8.50470139e-02 2.80299360e-03 9.96372997e-01 -9.97145229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242401008 meters 0.06705611315612939 Centerline is valid? [True, True] Translation: X:87.07, Y:-9.09, Z:-9.98 [[ 9.79574966e-01 1.85305232e-01 7.80695658e-02 8.70684422e+01] [-1.84530298e-01 9.82678240e-01 -1.70893538e-02 -9.08917457e+00] [-7.98840102e-02 2.33410293e-03 9.96801433e-01 -9.98489713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302401008 meters 0.06597563105108824 Centerline is valid? [True, True] Translation: X:87.13, Y:-9.10, Z:-9.99 [[ 9.78383187e-01 1.91666793e-01 7.76542355e-02 8.71295056e+01] [-1.90918327e-01 9.81458355e-01 -1.70202519e-02 -9.09689378e+00] [-7.94766154e-02 1.82671158e-03 9.96835057e-01 -9.99213559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362401008 meters 0.0634595144608945 Centerline is valid? [True, True] Translation: X:87.19, Y:-9.10, Z:-9.99 [[ 9.76254302e-01 2.01546082e-01 7.94148210e-02 8.71924412e+01] [-2.00795407e-01 9.79478469e-01 -1.74107028e-02 -9.09810289e+00] [-8.12941662e-02 1.05114216e-03 9.96689597e-01 -9.99008388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42240100800001 meters 0.06330113249091521 Centerline is valid? [True, True] Translation: X:87.25, Y:-9.11, Z:-10.00 [[ 9.74900133e-01 2.07072990e-01 8.17955220e-02 8.72517210e+01] [-2.06295526e-01 9.78325304e-01 -1.79375326e-02 -9.10523564e+00] [-8.37370074e-02 6.13252690e-04 9.96487701e-01 -1.00007810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482401008 meters 0.06338073094235064 Centerline is valid? [True, True] Translation: X:87.31, Y:-9.12, Z:-10.01 [[ 9.74898988e-01 2.06647171e-01 8.28788874e-02 8.73117545e+01] [-2.05846951e-01 9.78415304e-01 -1.81803897e-02 -9.11999827e+00] [-8.48468979e-02 6.63677329e-04 9.96393779e-01 -1.00067450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542401008 meters 0.06325297524633008 Centerline is valid? [True, True] Translation: X:87.37, Y:-9.14, Z:-10.01 [[ 9.75845748e-01 2.02278245e-01 8.25141687e-02 8.73706133e+01] [-2.01467811e-01 9.79327520e-01 -1.81198590e-02 -9.14263369e+00] [-8.44736495e-02 1.05823836e-03 9.96425152e-01 -1.00075597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602401008 meters 0.06402250990899379 Centerline is valid? [True, True] Translation: X:87.43, Y:-9.16, Z:-10.02 [[ 9.77214390e-01 1.95029903e-01 8.37578249e-02 8.74286338e+01] [-1.94165891e-01 9.80795758e-01 -1.84197535e-02 -9.16429056e+00] [-8.57417221e-02 1.73713546e-03 9.96315883e-01 -1.00161349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662401008 meters 0.06569441220218646 Centerline is valid? [True, True] Translation: X:87.49, Y:-9.18, Z:-10.03 [[ 9.78594773e-01 1.86688636e-01 8.66003712e-02 8.74856120e+01] [-1.85731722e-01 9.82415802e-01 -1.90504245e-02 -9.18442311e+00] [-8.86340710e-02 2.55820972e-03 9.96060971e-01 -1.00250144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722401008 meters 0.06553074931649695 Centerline is valid? [True, True] Translation: X:87.55, Y:-9.20, Z:-10.03 [[ 9.79001231e-01 1.84752131e-01 8.61582212e-02 8.75455437e+01] [-1.83796524e-01 9.82781356e-01 -1.89642601e-02 -9.20093407e+00] [-8.81783809e-02 2.73045243e-03 9.96100958e-01 -1.00287370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters 0.06617214698069292 Centerline is valid? [True, True] Translation: X:87.61, Y:-9.22, Z:-10.04 [[ 9.78909455e-01 1.85650337e-01 8.52656557e-02 8.76054843e+01] [-1.84717786e-01 9.82612372e-01 -1.87687638e-02 -9.21535129e+00] [-8.72675155e-02 2.62283717e-03 9.96181460e-01 -1.00373756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters 0.06551149462123837 Centerline is valid? [True, True] Translation: X:87.67, Y:-9.22, Z:-10.05 [[ 9.78526557e-01 1.89603322e-01 8.08477441e-02 8.76677849e+01] [-1.88776808e-01 9.81858371e-01 -1.78173010e-02 -9.21749866e+00] [-8.27592537e-02 2.17252310e-03 9.96567201e-01 -1.00492993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902401008 meters 0.065261599432854 Centerline is valid? [True, True] Translation: X:87.73, Y:-9.22, Z:-10.06 [[ 9.78045937e-01 1.92540423e-01 7.97140541e-02 8.77301946e+01] [-1.91744750e-01 9.81287164e-01 -1.75912701e-02 -9.22185154e+00] [-8.16094087e-02 1.92031880e-03 9.96662539e-01 -1.00586744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962401008 meters 0.06562539923201943 Centerline is valid? [True, True] Translation: X:87.79, Y:-9.23, Z:-10.06 [[ 9.78336145e-01 1.90708960e-01 8.05511054e-02 8.77901635e+01] [-1.89890028e-01 9.81644381e-01 -1.77787960e-02 -9.23468241e+00] [-8.24631157e-02 2.09778710e-03 9.96591909e-01 -1.00636425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022401008 meters 0.06583441879942864 Centerline is valid? [True, True] Translation: X:87.85, Y:-9.26, Z:-10.06 [[ 9.79435661e-01 1.83192228e-01 8.45363437e-02 8.78496379e+01] [-1.82259980e-01 9.83072861e-01 -1.86828852e-02 -9.25628015e+00] [-8.65279446e-02 2.89109169e-03 9.96245229e-01 -1.00611249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082401008 meters 0.06965039773618743 Centerline is valid? [True, True] Translation: X:87.91, Y:-9.28, Z:-10.07 [[ 9.81993045e-01 1.68112569e-01 8.61848237e-02 8.79053854e+01] [-1.67084978e-01 9.85758383e-01 -1.90530956e-02 -9.28185077e+00] [-8.81604772e-02 4.30981793e-03 9.96096961e-01 -1.00688527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters 0.07282177612363495 Centerline is valid? [True, True] Translation: X:87.96, Y:-9.30, Z:-10.08 [[ 9.83417901e-01 1.59810209e-01 8.57317324e-02 8.79635926e+01] [-1.58761627e-01 9.87134935e-01 -1.89569727e-02 -9.29855367e+00] [-8.76583058e-02 5.03171698e-03 9.96137894e-01 -1.00806883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20240100800001 meters 0.07763102962138263 Centerline is valid? [True, True] Translation: X:88.02, Y:-9.32, Z:-10.09 [[ 9.85270224e-01 1.49304417e-01 8.33713206e-02 8.80199518e+01] [-1.48273922e-01 9.88774152e-01 -1.84532058e-02 -9.32140253e+00] [-8.51905519e-02 5.81960150e-03 9.96347681e-01 -1.00865761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262401008 meters 0.07604497468542246 Centerline is valid? [True, True] Translation: X:88.08, Y:-9.33, Z:-10.09 [[ 9.86173195e-01 1.44382427e-01 8.13396789e-02 8.80818938e+01] [-1.43383973e-01 9.89503134e-01 -1.80162062e-02 -9.32525585e+00] [-8.30870908e-02 6.10429330e-03 9.96523594e-01 -1.00905562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322401008 meters 0.07279207439280971 Centerline is valid? [True, True] Translation: X:88.15, Y:-9.32, Z:-10.09 [[ 9.85976142e-01 1.46038398e-01 8.07702467e-02 8.81472404e+01] [-1.45058970e-01 9.89261160e-01 -1.78956022e-02 -9.31535065e+00] [-8.25163131e-02 5.92818807e-03 9.96572082e-01 -1.00930350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382401008 meters 0.07234670375017269 Centerline is valid? [True, True] Translation: X:88.21, Y:-9.31, Z:-10.10 [[ 9.85013799e-01 1.50906283e-01 8.35171194e-02 8.82098431e+01] [-1.49875990e-01 9.88531565e-01 -1.85076486e-02 -9.31317790e+00] [-8.53522291e-02 5.71307830e-03 9.96334461e-01 -1.00997515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442401008 meters 0.07003782576016951 Centerline is valid? [True, True] Translation: X:88.28, Y:-9.30, Z:-10.10 [[ 9.83996047e-01 1.55579144e-01 8.68729528e-02 8.82757912e+01] [-1.54482091e-01 9.87807983e-01 -1.92528629e-02 -9.29805930e+00] [-8.88091402e-02 5.52442553e-03 9.96033341e-01 -1.01035521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502401008 meters 0.07025518271271304 Centerline is valid? [True, True] Translation: X:88.34, Y:-9.30, Z:-10.11 [[ 9.83837050e-01 1.54771286e-01 9.00583636e-02 8.83392023e+01] [-1.53588769e-01 9.87933282e-01 -1.99579759e-02 -9.29978455e+00] [-9.20605763e-02 5.80344291e-03 9.95736496e-01 -1.01079532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56240100800001 meters 0.07194060853233873 Centerline is valid? [True, True] Translation: X:88.40, Y:-9.30, Z:-10.11 [[ 9.84689011e-01 1.48765411e-01 9.08647598e-02 8.84026390e+01] [-1.47533302e-01 9.88851463e-01 -2.01670359e-02 -9.29641676e+00] [-9.28519081e-02 6.45268055e-03 9.95659021e-01 -1.01141477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622401008 meters 0.07000391862103712 Centerline is valid? [True, True] Translation: X:88.47, Y:-9.29, Z:-10.12 [[ 9.85192804e-01 1.46677193e-01 8.87746573e-02 8.84665651e+01] [-1.45492568e-01 9.89163065e-01 -1.97064203e-02 -9.29161343e+00] [-9.07030945e-02 6.49857059e-03 9.95856775e-01 -1.01205710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682401008 meters 0.07014672464119735 Centerline is valid? [True, True] Translation: X:88.53, Y:-9.28, Z:-10.13 [[ 9.85403559e-01 1.49668929e-01 8.11112689e-02 8.85320423e+01] [-1.48690775e-01 9.88719857e-01 -1.80027110e-02 -9.28009244e+00] [-8.28907686e-02 5.67943800e-03 9.96542455e-01 -1.01318714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742401008 meters 0.06990419584491504 Centerline is valid? [True, True] Translation: X:88.60, Y:-9.27, Z:-10.14 [[ 9.85613216e-01 1.51344286e-01 7.52429118e-02 8.85966600e+01] [-1.50505901e-01 9.88467651e-01 -1.67235122e-02 -9.27371680e+00] [-7.69061923e-02 5.15841237e-03 9.97024989e-01 -1.01409444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802401008 meters 0.07337220569082743 Centerline is valid? [True, True] Translation: X:88.66, Y:-9.27, Z:-10.14 [[ 9.86388496e-01 1.46526258e-01 7.46176245e-02 8.86584925e+01] [-1.45687509e-01 9.89191518e-01 -1.65919050e-02 -9.27486586e+00] [-7.62422710e-02 5.49520836e-03 9.97074179e-01 -1.01435286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862401008 meters 0.06973288013118695 Centerline is valid? [True, True] Translation: X:88.72, Y:-9.27, Z:-10.14 [[ 9.86635839e-01 1.43996694e-01 7.62540101e-02 8.87213700e+01] [-1.43113170e-01 9.89561077e-01 -1.69557073e-02 -9.27438101e+00] [-7.78995662e-02 5.81615536e-03 9.96944246e-01 -1.01431636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters 0.07289969186069001 Centerline is valid? [True, True] Translation: X:88.78, Y:-9.26, Z:-10.15 [[ 9.87618505e-01 1.35729635e-01 7.86584752e-02 8.87849654e+01] [-1.34762808e-01 9.90723394e-01 -1.74969255e-02 -9.26382042e+00] [-8.03036428e-02 6.68005037e-03 9.96748063e-01 -1.01475480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982401008 meters 0.07450359951378349 Centerline is valid? [True, True] Translation: X:88.85, Y:-9.25, Z:-10.15 [[ 9.87637411e-01 1.36965666e-01 7.62413984e-02 8.88520630e+01] [-1.36061809e-01 9.90555330e-01 -1.69506116e-02 -9.25358387e+00] [-7.78429754e-02 6.36751562e-03 9.96945297e-01 -1.01475302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042401008 meters 0.07291198880709214 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.24, Z:-10.15 [[ 9.86775153e-01 1.42998982e-01 7.63288145e-02 8.89165096e+01] [-1.42108453e-01 9.89705070e-01 -1.70018003e-02 -9.24430236e+00] [-7.79742548e-02 5.92998444e-03 9.96937737e-01 -1.01476312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102401008 meters 0.06674106389610919 Centerline is valid? [True, True] Translation: X:88.98, Y:-9.22, Z:-10.15 [[ 9.83818773e-01 1.61423547e-01 7.77371277e-02 8.89847227e+01] [-1.60556808e-01 9.86874715e-01 -1.73149637e-02 -9.21568421e+00] [-7.95118486e-02 4.55356126e-03 9.96823520e-01 -1.01544323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162401008 meters 0.0661347176718091 Centerline is valid? [True, True] Translation: X:89.05, Y:-9.21, Z:-10.17 [[ 9.81771589e-01 1.74318511e-01 7.57469700e-02 8.90459092e+01] [-1.73533506e-01 9.84683369e-01 -1.68755579e-02 -9.21257237e+00] [-7.75285038e-02 3.42330605e-03 9.96984259e-01 -1.01656167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222401008 meters 0.06421689251364932 Centerline is valid? [True, True] Translation: X:89.11, Y:-9.21, Z:-10.17 [[ 9.80066809e-01 1.85295738e-01 7.16557056e-02 8.91093523e+01] [-1.84622630e-01 9.82679832e-01 -1.59634528e-02 -9.20908715e+00] [-7.33725765e-02 2.41598538e-03 9.97301674e-01 -1.01716311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28240100800001 meters 0.06318707480744161 Centerline is valid? [True, True] Translation: X:89.17, Y:-9.21, Z:-10.18 [[ 9.78634496e-01 1.93567641e-01 6.93259839e-02 8.91720309e+01] [-1.92958262e-01 9.81085392e-01 -1.54454894e-02 -9.20646061e+00] [-7.10044571e-02 1.73846740e-03 9.97474483e-01 -1.01807813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters 0.0638098215714484 Centerline is valid? [True, True] Translation: X:89.23, Y:-9.21, Z:-10.19 [[ 9.78287406e-01 1.94972424e-01 7.02816172e-02 8.92320442e+01] [-1.94350121e-01 9.80807330e-01 -1.56528330e-02 -9.21408131e+00] [-7.19845962e-02 1.65372853e-03 9.97404373e-01 -1.01944151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402401008 meters 0.0646939088216826 Centerline is valid? [True, True] Translation: X:89.29, Y:-9.23, Z:-10.20 [[ 9.79066708e-01 1.91195697e-01 6.98039201e-02 8.92906590e+01] [-1.90570440e-01 9.81550014e-01 -1.55716978e-02 -9.23272432e+00] [-7.14932803e-02 1.94316711e-03 9.97439189e-01 -1.02002855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462401008 meters 0.06552485161401451 Centerline is valid? [True, True] Translation: X:89.35, Y:-9.25, Z:-10.21 [[ 9.80176139e-01 1.84876164e-01 7.12428299e-02 8.93489137e+01] [-1.84207991e-01 9.82758755e-01 -1.58948125e-02 -9.25000856e+00] [-7.29530868e-02 2.45621739e-03 9.97332349e-01 -1.02061276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522401008 meters 0.06552280894495074 Centerline is valid? [True, True] Translation: X:89.41, Y:-9.26, Z:-10.21 [[ 9.80896677e-01 1.80319059e-01 7.29845592e-02 8.94097002e+01] [-1.79604970e-01 9.83603996e-01 -1.62860316e-02 -9.26142279e+00] [-7.47245859e-02 2.86652478e-03 9.97200090e-01 -1.02105239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582401008 meters 0.06645375368796631 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.28, Z:-10.22 [[ 9.81922722e-01 1.74613859e-01 7.30600301e-02 8.94685518e+01] [-1.73882031e-01 9.84631423e-01 -1.63095335e-02 -9.27705192e+00] [-7.47850719e-02 3.31087513e-03 9.97194179e-01 -1.02166753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64240100800001 meters 0.06652770093184765 Centerline is valid? [True, True] Translation: X:89.53, Y:-9.29, Z:-10.22 [[ 9.81947674e-01 1.74406776e-01 7.32191387e-02 8.95295838e+01] [-1.73671585e-01 9.84668064e-01 -1.63396322e-02 -9.28602076e+00] [-7.49462901e-02 3.32857997e-03 9.97182017e-01 -1.02240996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70240100800001 meters 0.06410003628426697 Centerline is valid? [True, True] Translation: X:89.59, Y:-9.29, Z:-10.22 [[ 9.81481542e-01 1.76173013e-01 7.52133733e-02 8.95913943e+01] [-1.75400243e-01 9.84353660e-01 -1.68114866e-02 -9.29462112e+00] [-7.69982895e-02 3.30771989e-03 9.97025738e-01 -1.02235508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762401008 meters 0.06397463699158967 Centerline is valid? [True, True] Translation: X:89.65, Y:-9.31, Z:-10.23 [[ 9.81201207e-01 1.76423350e-01 7.82239961e-02 8.96516084e+01] [-1.75587759e-01 9.84308422e-01 -1.74891170e-02 -9.30670559e+00] [-8.00820268e-02 3.42516656e-03 9.96782392e-01 -1.02301133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822401008 meters 0.0649620560225786 Centerline is valid? [True, True] Translation: X:89.71, Y:-9.32, Z:-10.24 [[ 9.82158480e-01 1.72503665e-01 7.48812810e-02 8.97101883e+01] [-1.71726354e-01 9.85002338e-01 -1.67467502e-02 -9.32229693e+00] [-7.66471126e-02 3.58887334e-03 9.97051824e-01 -1.02406705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882401008 meters 0.06454814117165887 Centerline is valid? [True, True] Translation: X:89.77, Y:-9.34, Z:-10.25 [[ 9.81902455e-01 1.74549628e-01 7.34846612e-02 8.97701355e+01] [-1.73807315e-01 9.84642651e-01 -1.64276352e-02 -9.33659123e+00] [-7.52235692e-02 3.35816368e-03 9.97161039e-01 -1.02481609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942401008 meters 0.06363335351942762 Centerline is valid? [True, True] Translation: X:89.83, Y:-9.35, Z:-10.26 [[ 9.79996231e-01 1.85465892e-01 7.21788756e-02 8.98284063e+01] [-1.84777176e-01 9.82647514e-01 -1.61634880e-02 -9.34900679e+00] [-7.39241684e-02 2.50314859e-03 9.97260724e-01 -1.02571471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters 0.0627162869767678 Centerline is valid? [True, True] Translation: X:89.89, Y:-9.36, Z:-10.27 [[ 9.78400449e-01 1.94458207e-01 7.01324949e-02 8.98880317e+01] [-1.93831005e-01 9.80909202e-01 -1.57060146e-02 -9.35822013e+00] [-7.18477731e-02 1.77291979e-03 9.97414034e-01 -1.02685501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters 0.06155464031122678 Centerline is valid? [True, True] Translation: X:89.95, Y:-9.36, Z:-10.28 [[ 9.75415852e-01 2.08876981e-01 7.02447377e-02 8.99484116e+01] [-2.08284756e-01 9.77941662e-01 -1.57342613e-02 -9.36136425e+00] [-7.19817805e-02 7.16539857e-04 9.97405690e-01 -1.02800033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122401008 meters 0.06042058500967496 Centerline is valid? [True, True] Translation: X:90.01, Y:-9.38, Z:-10.28 [[ 9.72754143e-01 2.19197083e-01 7.55116931e-02 9.00082662e+01] [-2.18543568e-01 9.75680602e-01 -1.69136837e-02 -9.37541173e+00] [-7.73827242e-02 -4.97389376e-05 9.97001460e-01 -1.02823034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182401008 meters 0.060858993980308335 Centerline is valid? [True, True] Translation: X:90.07, Y:-9.39, Z:-10.29 [[ 9.70519216e-01 2.29283467e-01 7.43070921e-02 9.00673904e+01] [-2.28680593e-01 9.73359326e-01 -1.66375896e-02 -9.39046782e+00] [-7.61422253e-02 -8.45489443e-04 9.97096608e-01 -1.02901398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242401008 meters 0.060991631590892915 Centerline is valid? [True, True] Translation: X:90.13, Y:-9.40, Z:-10.30 [[ 9.68848789e-01 2.36413967e-01 7.37594817e-02 9.01270795e+01] [-2.35839195e-01 9.71651449e-01 -1.65328564e-02 -9.40075888e+00] [-7.55771055e-02 -1.37753891e-03 9.97139009e-01 -1.03024031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302401008 meters 0.06178661839175185 Centerline is valid? [True, True] Translation: X:90.18, Y:-9.43, Z:-10.30 [[ 9.66399799e-01 2.45421632e-01 7.64176096e-02 9.01841669e+01] [-2.44831166e-01 9.69414077e-01 -1.71478144e-02 -9.42796054e+00] [-7.82887510e-02 -2.13776811e-03 9.96928433e-01 -1.03043575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362401008 meters 0.06161097340163059 Centerline is valid? [True, True] Translation: X:90.24, Y:-9.45, Z:-10.31 [[ 9.66007543e-01 2.46169283e-01 7.89310573e-02 9.02417353e+01] [-2.45540227e-01 9.69224231e-01 -1.77309457e-02 -9.45199915e+00] [-8.08667075e-02 -2.25252248e-03 9.96722379e-01 -1.03109319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters 0.06096875578586837 Centerline is valid? [True, True] Translation: X:90.30, Y:-9.48, Z:-10.32 [[ 9.66880501e-01 2.41317921e-01 8.31129284e-02 9.02970388e+01] [-2.40599950e-01 9.70444222e-01 -1.86996327e-02 -9.48083155e+00] [-8.51690176e-02 -1.91665619e-03 9.96364675e-01 -1.03237829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482401008 meters 0.060174079904163603 Centerline is valid? [True, True] Translation: X:90.35, Y:-9.52, Z:-10.33 [[ 9.68087320e-01 2.35724002e-01 8.50948585e-02 9.03504563e+01] [-2.34949475e-01 9.71818952e-01 -1.91485677e-02 -9.51944428e+00] [-8.72105733e-02 -1.45550675e-03 9.96188836e-01 -1.03306992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542401008 meters 0.05926711191164026 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.56, Z:-10.34 [[ 9.69927078e-01 2.27767125e-01 8.58114221e-02 9.04029837e+01] [-2.26948142e-01 9.73715351e-01 -1.93120886e-02 -9.56199212e+00] [-8.79545578e-02 -7.43425182e-04 9.96124211e-01 -1.03381571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602401008 meters 0.05941213463155651 Centerline is valid? [True, True] Translation: X:90.46, Y:-9.60, Z:-10.35 [[ 9.73821641e-01 2.12214840e-01 8.14633233e-02 9.04557944e+01] [-2.11422629e-01 9.77222835e-01 -1.83303981e-02 -9.60102365e+00] [-8.34978022e-02 6.27348343e-04 9.96507764e-01 -1.03543257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662401008 meters 0.059920786270313726 Centerline is valid? [True, True] Translation: X:90.51, Y:-9.63, Z:-10.36 [[ 9.75299022e-01 2.05628237e-01 8.06774195e-02 9.05112895e+01] [-2.04826779e-01 9.78629440e-01 -1.81771938e-02 -9.63431734e+00] [-8.26910421e-02 1.20330330e-03 9.96574505e-01 -1.03623879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722401008 meters 0.0596724837922196 Centerline is valid? [True, True] Translation: X:90.57, Y:-9.68, Z:-10.36 [[ 9.75920603e-01 2.00645904e-01 8.55581511e-02 9.05660606e+01] [-1.99724652e-01 9.79662302e-01 -1.92830892e-02 -9.67863634e+00] [-8.76871681e-02 1.73069213e-03 9.96146558e-01 -1.03617903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78240100800001 meters 0.05999602940223598 Centerline is valid? [True, True] Translation: X:90.62, Y:-9.70, Z:-10.37 [[ 9.75822456e-01 2.00541332e-01 8.69120751e-02 9.06234583e+01] [-1.99589608e-01 9.79683635e-01 -1.95949786e-02 -9.69727605e+00] [-8.90759408e-02 1.77447313e-03 9.96023257e-01 -1.03709836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84240100800001 meters 0.05951563130198332 Centerline is valid? [True, True] Translation: X:90.68, Y:-9.71, Z:-10.38 [[ 9.74955900e-01 2.04139176e-01 8.82507223e-02 9.06827445e+01] [-2.03171148e-01 9.78940752e-01 -1.99120074e-02 -9.70847703e+00] [-9.04570493e-02 1.48332855e-03 9.95899253e-01 -1.03811450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902401008 meters 0.059437371979425384 Centerline is valid? [True, True] Translation: X:90.74, Y:-9.73, Z:-10.39 [[ 9.74289974e-01 2.07290940e-01 8.82582144e-02 9.07415250e+01] [-2.06335787e-01 9.78278617e-01 -1.99120817e-02 -9.72833675e+00] [-9.04687180e-02 1.18931345e-03 9.95898588e-01 -1.03881051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962401008 meters 0.05902832993396241 Centerline is valid? [True, True] Translation: X:90.80, Y:-9.75, Z:-10.39 [[ 9.73825291e-01 2.09199934e-01 8.88802044e-02 9.07995975e+01] [-2.08237191e-01 9.77872336e-01 -2.00740426e-02 -9.75286333e+00] [-9.11129815e-02 1.04044628e-03 9.95840018e-01 -1.03902262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022401008 meters 0.058907418900720855 Centerline is valid? [True, True] Translation: X:90.86, Y:-9.77, Z:-10.40 [[ 9.73855847e-01 2.07094308e-01 9.33634647e-02 9.08575239e+01] [-2.06019648e-01 9.78320086e-01 -2.11119289e-02 -9.76976471e+00] [-9.57115132e-02 1.32526729e-03 9.95408233e-01 -1.03991666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082401008 meters 0.05879310759532816 Centerline is valid? [True, True] Translation: X:90.92, Y:-9.79, Z:-10.40 [[ 9.73682663e-01 2.05928324e-01 9.76503809e-02 9.09165844e+01] [-2.04744210e-01 9.78565882e-01 -2.21048186e-02 -9.79043836e+00] [-1.00109339e-01 1.52972848e-03 9.94975266e-01 -1.04047628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14240100800001 meters 0.058869363176206814 Centerline is valid? [True, True] Translation: X:90.98, Y:-9.81, Z:-10.41 [[ 9.73454437e-01 2.08263836e-01 9.49348885e-02 9.09760654e+01] [-2.07153760e-01 9.78071853e-01 -2.15121003e-02 -9.81065578e+00] [-9.73333348e-02 1.27493036e-03 9.95251022e-01 -1.04137396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters 0.059254811060204984 Centerline is valid? [True, True] Translation: X:91.03, Y:-9.83, Z:-10.43 [[ 9.73471823e-01 2.12314607e-01 8.52942943e-02 9.10334026e+01] [-2.11432184e-01 9.77201032e-01 -1.93539294e-02 -9.83196315e+00] [-8.74587943e-02 8.06546062e-04 9.96167812e-01 -1.04283405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262401008 meters 0.059383886940219933 Centerline is valid? [True, True] Translation: X:91.09, Y:-9.84, Z:-10.44 [[ 9.73075862e-01 2.14644196e-01 8.39716341e-02 9.10936481e+01] [-2.13797677e-01 9.76692134e-01 -1.90533207e-02 -9.84183743e+00] [-8.61041192e-02 5.87386124e-04 9.96285971e-01 -1.04409562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322401008 meters 0.05977521938910855 Centerline is valid? [True, True] Translation: X:91.15, Y:-9.86, Z:-10.45 [[ 9.72510366e-01 2.17246371e-01 8.38307926e-02 9.11512434e+01] [-2.16410560e-01 9.76116731e-01 -1.90419737e-02 -9.86354312e+00] [-8.59654389e-02 3.76648043e-04 9.96298049e-01 -1.04495892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382401008 meters 0.059092930271518004 Centerline is valid? [True, True] Translation: X:91.21, Y:-9.90, Z:-10.45 [[ 9.71785087e-01 2.18453669e-01 8.89479628e-02 9.12076531e+01] [-2.17515023e-01 9.75847271e-01 -2.02316194e-02 -9.89555155e+00] [-9.12192983e-02 3.13267825e-04 9.95830780e-01 -1.04480217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442401008 meters 0.059161454900463546 Centerline is valid? [True, True] Translation: X:91.27, Y:-9.91, Z:-10.46 [[ 9.71848162e-01 2.16954135e-01 9.18806504e-02 9.12664419e+01] [-2.15945612e-01 9.76181685e-01 -2.09000175e-02 -9.91398536e+00] [-9.42265533e-02 4.70420272e-04 9.95550669e-01 -1.04594564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502401008 meters 0.059477711057081814 Centerline is valid? [True, True] Translation: X:91.32, Y:-9.94, Z:-10.47 [[ 9.71599597e-01 2.18544444e-01 9.07333964e-02 9.13241581e+01] [-2.17565915e-01 9.75826939e-01 -2.06605364e-02 -9.93564239e+00] [-9.30553379e-02 3.33274410e-04 9.95660883e-01 -1.04680211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters 0.05941732167736119 Centerline is valid? [True, True] Translation: X:91.38, Y:-9.96, Z:-10.47 [[ 9.70583119e-01 2.23546090e-01 8.94178624e-02 9.13828982e+01] [-2.22614987e-01 9.74693352e-01 -2.03822738e-02 -9.95900773e+00] [-9.17113736e-02 -1.23065409e-04 9.95785624e-01 -1.04715839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622401008 meters 0.059994355588047714 Centerline is valid? [True, True] Translation: X:91.44, Y:-9.97, Z:-10.48 [[ 9.70310461e-01 2.25228427e-01 8.81462726e-02 9.14414007e+01] [-2.24328633e-01 9.74305953e-01 -2.01140369e-02 -9.97273754e+00] [-9.04116910e-02 -2.56872497e-04 9.95904443e-01 -1.04848421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682401008 meters 0.05971677403337312 Centerline is valid? [True, True] Translation: X:91.50, Y:-10.00, Z:-10.49 [[ 9.70886949e-01 2.22117948e-01 8.96780331e-02 9.14991617e+01] [-2.21171443e-01 9.75019802e-01 -2.04836122e-02 -9.99817918e+00] [-9.19876360e-02 5.30517448e-05 9.95760148e-01 -1.04886538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742401008 meters 0.060191703287555264 Centerline is valid? [True, True] Translation: X:91.55, Y:-10.04, Z:-10.50 [[ 9.74157497e-01 2.07908907e-01 8.82669687e-02 9.15525350e+01] [-2.06931342e-01 9.78147191e-01 -2.01864395e-02 -1.00413038e+01] [-9.05350281e-02 1.39956917e-03 9.95892288e-01 -1.04963133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802401008 meters 0.06150042631296696 Centerline is valid? [True, True] Translation: X:91.61, Y:-10.07, Z:-10.51 [[ 9.76165464e-01 1.99943436e-01 8.44014797e-02 9.16086371e+01] [-1.99019954e-01 9.79805306e-01 -1.93033792e-02 -1.00694572e+01] [-8.65566016e-02 2.04571354e-03 9.96244834e-01 -1.05073475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862401008 meters 0.06100539195257425 Centerline is valid? [True, True] Translation: X:91.67, Y:-10.09, Z:-10.51 [[ 9.75197498e-01 2.04363417e-01 8.50025526e-02 9.16662880e+01] [-2.03441728e-01 9.78893639e-01 -1.94604118e-02 -1.00903148e+01] [-8.71854543e-02 1.68467875e-03 9.96190674e-01 -1.05124741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92240100800001 meters 0.0597799925957978 Centerline is valid? [True, True] Translation: X:91.73, Y:-10.10, Z:-10.51 [[ 9.72982367e-01 2.14241286e-01 8.60580381e-02 9.17270983e+01] [-2.13333329e-01 9.76780418e-01 -1.97207084e-02 -1.01006370e+01] [-8.82847964e-02 8.28853767e-04 9.96094929e-01 -1.05145109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982401008 meters 0.059711845131741055 Centerline is valid? [True, True] Translation: X:91.79, Y:-10.11, Z:-10.52 [[ 9.70572310e-01 2.24165323e-01 8.79732823e-02 9.17866818e+01] [-2.23256596e-01 9.74551129e-01 -2.01640540e-02 -1.01097351e+01] [-9.02545433e-02 -6.99430678e-05 9.95918728e-01 -1.05249713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042401008 meters 0.059758394789782565 Centerline is valid? [True, True] Translation: X:91.85, Y:-10.12, Z:-10.53 [[ 9.70033118e-01 2.25359365e-01 9.08234955e-02 9.18460716e+01] [-2.24395769e-01 9.74275691e-01 -2.08186676e-02 -1.01232209e+01] [-9.31788056e-02 -1.85611119e-04 9.95649374e-01 -1.05327667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102401008 meters 0.059586350186095476 Centerline is valid? [True, True] Translation: X:91.91, Y:-10.14, Z:-10.54 [[ 9.69584853e-01 2.27025507e-01 9.14583613e-02 9.19052234e+01] [-2.26053699e-01 9.73888758e-01 -2.09860170e-02 -1.01446465e+01] [-9.38346311e-02 -3.26776653e-04 9.95587744e-01 -1.05352391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162401008 meters 0.059493134902119785 Centerline is valid? [True, True] Translation: X:91.96, Y:-10.16, Z:-10.54 [[ 9.69081820e-01 2.29434944e-01 9.07746279e-02 9.19649196e+01] [-2.28486145e-01 9.73323852e-01 -2.08509127e-02 -1.01623496e+01] [-9.31370385e-02 -5.34504390e-04 9.95653156e-01 -1.05393626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222401008 meters 0.0594661538343982 Centerline is valid? [True, True] Translation: X:92.03, Y:-10.18, Z:-10.55 [[ 9.68993283e-01 2.29873601e-01 9.06098492e-02 9.20253867e+01] [-2.28928113e-01 9.73220335e-01 -2.08350345e-02 -1.01786932e+01] [-9.29727722e-02 -5.54133352e-04 9.95668497e-01 -1.05472858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28240100800001 meters 0.060218681044420665 Centerline is valid? [True, True] Translation: X:92.08, Y:-10.20, Z:-10.56 [[ 9.69121205e-01 2.30330395e-01 8.80454406e-02 9.20827946e+01] [-2.29437273e-01 9.73112327e-01 -2.02715772e-02 -1.01966284e+01] [-9.03472639e-02 -5.55290496e-04 9.95910168e-01 -1.05614637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34240100800001 meters 0.06049586642586255 Centerline is valid? [True, True] Translation: X:92.14, Y:-10.21, Z:-10.57 [[ 9.68600609e-01 2.32873365e-01 8.70796003e-02 9.21418300e+01] [-2.32008231e-01 9.72506767e-01 -2.00691052e-02 -1.02133625e+01] [-8.93590606e-02 -7.64236477e-04 9.95999184e-01 -1.05689526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402401008 meters 0.05986915711389789 Centerline is valid? [True, True] Translation: X:92.20, Y:-10.24, Z:-10.57 [[ 9.69687604e-01 2.28324421e-01 8.70282139e-02 9.21997488e+01] [-2.27440102e-01 9.73585052e-01 -2.00785010e-02 -1.02393106e+01] [-8.93137803e-02 -3.23832304e-04 9.96003486e-01 -1.05737717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462401008 meters 0.060035519621863376 Centerline is valid? [True, True] Translation: X:92.26, Y:-10.26, Z:-10.58 [[ 9.70381674e-01 2.25907707e-01 8.55868812e-02 9.22564404e+01] [-2.25041047e-01 9.74148706e-01 -1.97692937e-02 -1.02594111e+01] [-8.78403854e-02 -7.68010158e-05 9.96134560e-01 -1.05838340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522401008 meters 0.05980150158290197 Centerline is valid? [True, True] Translation: X:92.32, Y:-10.28, Z:-10.59 [[ 9.70741335e-01 2.23869443e-01 8.68546681e-02 9.23152963e+01] [-2.22967234e-01 9.74619134e-01 -2.00787419e-02 -1.02798613e+01] [-8.91452382e-02 1.25519611e-04 9.96018630e-01 -1.05863599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582401008 meters 0.05987630464885455 Centerline is valid? [True, True] Translation: X:92.37, Y:-10.29, Z:-10.59 [[ 9.70419498e-01 2.24860653e-01 8.78844990e-02 9.23742975e+01] [-2.23938809e-01 9.74390930e-01 -2.03402629e-02 -1.02932527e+01] [-9.02075835e-02 5.78377394e-05 9.95922983e-01 -1.05918191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64240100800001 meters 0.05980482062418578 Centerline is valid? [True, True] Translation: X:92.43, Y:-10.30, Z:-10.60 [[ 9.70202316e-01 2.26029712e-01 8.72813527e-02 9.24343435e+01] [-2.25123382e-01 9.74120407e-01 -2.02211380e-02 -1.03048643e+01] [-8.95931248e-02 -3.04784420e-05 9.95978449e-01 -1.05986507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70240100800001 meters 0.06058334491847577 Centerline is valid? [True, True] Translation: X:92.50, Y:-10.31, Z:-10.61 [[ 9.70241673e-01 2.27139756e-01 8.38965269e-02 9.24953185e+01] [-2.26304628e-01 9.73862167e-01 -1.94601008e-02 -1.03100444e+01] [-8.61238160e-02 -1.05171471e-04 9.96284436e-01 -1.06142865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762401008 meters 0.06043990311262647 Centerline is valid? [True, True] Translation: X:92.56, Y:-10.33, Z:-10.62 [[ 9.70373908e-01 2.27006241e-01 8.27202861e-02 9.25552778e+01] [-2.26193878e-01 9.73893299e-01 -1.91877838e-02 -1.03260533e+01] [-8.49164790e-02 -9.14975917e-05 9.96388069e-01 -1.06179551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822401008 meters 0.060101970090542856 Centerline is valid? [True, True] Translation: X:92.61, Y:-10.35, Z:-10.62 [[ 9.70982220e-01 2.24015606e-01 8.37289478e-02 9.26131618e+01] [-2.23170197e-01 9.74585538e-01 -1.94446051e-02 -1.03491355e+01] [-8.59569166e-02 1.94560036e-04 9.96298836e-01 -1.06193494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882401008 meters 0.06027564592829444 Centerline is valid? [True, True] Translation: X:92.67, Y:-10.37, Z:-10.63 [[ 9.71950916e-01 2.18596224e-01 8.67589086e-02 9.26724339e+01] [-2.17664919e-01 9.75815133e-01 -2.01695301e-02 -1.03657538e+01] [-8.90696391e-02 7.19422499e-04 9.96025141e-01 -1.06284918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942401008 meters 0.060729007480488255 Centerline is valid? [True, True] Translation: X:92.73, Y:-10.38, Z:-10.63 [[ 9.73427176e-01 2.11988305e-01 8.66053722e-02 9.27310744e+01] [-2.11032197e-01 9.77271279e-01 -2.01558701e-02 -1.03842759e+01] [-8.89097516e-02 1.34374971e-03 9.96038780e-01 -1.06342207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002401008 meters 0.061239980869318054 Centerline is valid? [True, True] Translation: X:92.79, Y:-10.41, Z:-10.64 [[ 9.74013696e-01 2.09901973e-01 8.50792644e-02 9.27884247e+01] [-2.08969609e-01 9.77721244e-01 -1.98210010e-02 -1.04053044e+01] [-8.73442714e-02 1.52694585e-03 9.96177016e-01 -1.06395494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06240100800001 meters 0.062164594702717936 Centerline is valid? [True, True] Translation: X:92.85, Y:-10.42, Z:-10.65 [[ 9.75240473e-01 2.05737664e-01 8.11050820e-02 9.28474037e+01] [-2.04874270e-01 9.78605464e-01 -1.89177098e-02 -1.04212013e+01] [-8.32619618e-02 1.83297186e-03 9.96526009e-01 -1.06493266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122401008 meters 0.06227560940356417 Centerline is valid? [True, True] Translation: X:92.91, Y:-10.43, Z:-10.66 [[ 9.76124823e-01 2.01329329e-01 8.15281021e-02 9.29086831e+01] [-2.00440944e-01 9.79521076e-01 -1.90233767e-02 -1.04312182e+01] [-8.36884580e-02 2.22762038e-03 9.96489478e-01 -1.06569687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182401008 meters 0.06377680211476797 Centerline is valid? [True, True] Translation: X:92.97, Y:-10.45, Z:-10.67 [[ 9.76687131e-01 1.98492611e-01 8.17492030e-02 9.29664848e+01] [-1.97589354e-01 9.80099249e-01 -1.90763936e-02 -1.04490461e+01] [-8.39088557e-02 2.47889589e-03 9.96470350e-01 -1.06666339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242401008 meters 0.0634317779096261 Centerline is valid? [True, True] Translation: X:93.03, Y:-10.46, Z:-10.67 [[ 9.76815527e-01 1.97697653e-01 8.21405142e-02 9.30275293e+01] [-1.96781318e-01 9.80259656e-01 -1.91864670e-02 -1.04636981e+01] [-8.43121516e-02 2.57792026e-03 9.96436057e-01 -1.06661399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302401008 meters 0.06271656274057098 Centerline is valid? [True, True] Translation: X:93.09, Y:-10.48, Z:-10.67 [[ 9.76160001e-01 2.00818222e-01 8.23631844e-02 9.30877974e+01] [-1.99906161e-01 9.79625738e-01 -1.92598236e-02 -1.04754872e+01] [-8.45528188e-02 2.33576140e-03 9.96416261e-01 -1.06694554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362401008 meters 0.061624933268674346 Centerline is valid? [True, True] Translation: X:93.15, Y:-10.48, Z:-10.68 [[ 9.75095638e-01 2.06017039e-01 8.21308527e-02 9.31498027e+01] [-2.05126689e-01 9.78546558e-01 -1.92269331e-02 -1.04794460e+01] [-8.43299390e-02 1.90086867e-03 9.96436073e-01 -1.06779514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters 0.06200545106636607 Centerline is valid? [True, True] Translation: X:93.21, Y:-10.49, Z:-10.69 [[ 9.75345034e-01 2.04994336e-01 8.17275211e-02 9.32105557e+01] [-2.04109246e-01 9.78761160e-01 -1.91313102e-02 -1.04905657e+01] [-8.39135336e-02 1.97828566e-03 9.96471076e-01 -1.06873168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482401008 meters 0.06299588961476185 Centerline is valid? [True, True] Translation: X:93.27, Y:-10.50, Z:-10.70 [[ 9.76212096e-01 2.01093297e-01 8.10643517e-02 9.32699093e+01] [-2.00207443e-01 9.79569359e-01 -1.89960790e-02 -1.05035438e+01] [-8.32281392e-02 2.31451553e-03 9.96527832e-01 -1.06962163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542401008 meters 0.061991974327209216 Centerline is valid? [True, True] Translation: X:93.33, Y:-10.52, Z:-10.70 [[ 9.76099518e-01 2.01592220e-01 8.11807112e-02 9.33310359e+01] [-2.00704132e-01 9.79466857e-01 -1.90401261e-02 -1.05150817e+01] [-8.33521573e-02 2.29175373e-03 9.96517519e-01 -1.06981981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602401008 meters 0.06192197204027201 Centerline is valid? [True, True] Translation: X:93.39, Y:-10.52, Z:-10.70 [[ 9.75557818e-01 2.03606968e-01 8.26507441e-02 9.33903667e+01] [-2.02691435e-01 9.79050273e-01 -1.94099162e-02 -1.05249476e+01] [-8.48712278e-02 2.18289763e-03 9.96389537e-01 -1.07045351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662401008 meters 0.060950261331891645 Centerline is valid? [True, True] Translation: X:93.45, Y:-10.53, Z:-10.71 [[ 9.74644826e-01 2.06862756e-01 8.52951564e-02 9.34524659e+01] [-2.05899058e-01 9.78367985e-01 -2.00415448e-02 -1.05290131e+01] [-8.75958995e-02 1.97119564e-03 9.96154141e-01 -1.07115818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722401008 meters 0.06007886482855962 Centerline is valid? [True, True] Translation: X:93.51, Y:-10.53, Z:-10.72 [[ 9.73188490e-01 2.13444705e-01 8.57060178e-02 9.35140074e+01] [-2.12496709e-01 9.76954157e-01 -2.01425810e-02 -1.05342247e+01] [-8.80301776e-02 1.39028120e-03 9.96116838e-01 -1.07193124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78240100800001 meters 0.059426826807975106 Centerline is valid? [True, True] Translation: X:93.58, Y:-10.54, Z:-10.72 [[ 9.71326595e-01 2.22617290e-01 8.34636978e-02 9.35759956e+01] [-2.21752176e-01 9.74905763e-01 -1.96144286e-02 -1.05411707e+01] [-8.57357509e-02 5.43759482e-04 9.96317763e-01 -1.07237427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84240100800001 meters 0.059785477475699844 Centerline is valid? [True, True] Translation: X:93.64, Y:-10.55, Z:-10.73 [[ 9.69661649e-01 2.30358090e-01 8.18012055e-02 9.36357441e+01] [-2.29552843e-01 9.73105923e-01 -1.92446292e-02 -1.05510218e+01] [-8.40343935e-02 -1.16920414e-04 9.96462848e-01 -1.07339987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902401008 meters 0.06013583057327453 Centerline is valid? [True, True] Translation: X:93.70, Y:-10.56, Z:-10.74 [[ 9.68117039e-01 2.36995551e-01 8.11326502e-02 9.36973616e+01] [-2.36225108e-01 9.71510505e-01 -1.91059274e-02 -1.05586887e+01] [-8.33492418e-02 -6.68795270e-04 9.96520174e-01 -1.07428914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962401008 meters 0.061617275864762115 Centerline is valid? [True, True] Translation: X:93.76, Y:-10.57, Z:-10.76 [[ 9.66070212e-01 2.45267237e-01 8.09464474e-02 9.37575857e+01] [-2.44527535e-01 9.69454556e-01 -1.90826474e-02 -1.05664570e+01] [-8.31542504e-02 -1.35845805e-03 9.96535762e-01 -1.07555466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022401008 meters 0.06165973141397206 Centerline is valid? [True, True] Translation: X:93.82, Y:-10.59, Z:-10.76 [[ 9.65210556e-01 2.48258634e-01 8.20745605e-02 9.38164475e+01] [-2.47507351e-01 9.68692430e-01 -1.93671695e-02 -1.05855862e+01] [-8.43130725e-02 -1.62066060e-03 9.96437996e-01 -1.07579683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082401008 meters 0.0609745252211417 Centerline is valid? [True, True] Translation: X:93.87, Y:-10.61, Z:-10.76 [[ 9.65399970e-01 2.46537444e-01 8.49834504e-02 9.38723371e+01] [-2.45723137e-01 9.69132106e-01 -2.00773668e-02 -1.06142802e+01] [-8.73100130e-02 -1.49971072e-03 9.96180060e-01 -1.07596218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14240100800001 meters 0.060382420912207406 Centerline is valid? [True, True] Translation: X:93.93, Y:-10.64, Z:-10.77 [[ 9.65922654e-01 2.43782651e-01 8.69680737e-02 9.39288733e+01] [-2.42916920e-01 9.69829072e-01 -2.05655535e-02 -1.06366614e+01] [-8.93576913e-02 -1.26128259e-03 9.95998801e-01 -1.07686072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20240100800001 meters 0.05923971639430732 Centerline is valid? [True, True] Translation: X:93.98, Y:-10.67, Z:-10.78 [[ 9.68425917e-01 2.33030270e-01 8.85897079e-02 9.39839941e+01] [-2.32084732e-01 9.72469450e-01 -2.09725182e-02 -1.06683999e+01] [-9.10380161e-02 -2.49988508e-04 9.95847386e-01 -1.07771746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262401008 meters 0.05918668004764085 Centerline is valid? [True, True] Translation: X:94.04, Y:-10.68, Z:-10.78 [[ 9.68402250e-01 2.32965658e-01 8.90173205e-02 9.40438047e+01] [-2.32010642e-01 9.72484932e-01 -2.10741573e-02 -1.06835833e+01] [-9.14775578e-02 -2.44704321e-04 9.95807108e-01 -1.07830059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322401008 meters 0.059242197488341475 Centerline is valid? [True, True] Translation: X:94.10, Y:-10.71, Z:-10.79 [[ 9.69164284e-01 2.30868338e-01 8.61417559e-02 9.41011128e+01] [-2.29963951e-01 9.72985000e-01 -2.04149804e-02 -1.07061026e+01] [-8.85278089e-02 -2.40286814e-05 9.96073705e-01 -1.07903404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382401008 meters 0.05929237236680851 Centerline is valid? [True, True] Translation: X:94.16, Y:-10.72, Z:-10.80 [[ 9.70031020e-01 2.27612968e-01 8.50420884e-02 9.41596369e+01] [-2.26717367e-01 9.73751638e-01 -2.01737911e-02 -1.07240781e+01] [-8.74016894e-02 2.88684759e-04 9.96173108e-01 -1.07974603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442401008 meters 0.05987842321741323 Centerline is valid? [True, True] Translation: X:94.22, Y:-10.74, Z:-10.81 [[ 9.71454013e-01 2.21919548e-01 8.38380230e-02 9.42186582e+01] [-2.21026097e-01 9.75064642e-01 -1.99100006e-02 -1.07370376e+01] [-8.61659102e-02 8.11259002e-04 9.96280471e-01 -1.08107219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502401008 meters 0.06167664628255595 Centerline is valid? [True, True] Translation: X:94.27, Y:-10.76, Z:-10.82 [[ 9.73118940e-01 2.14634596e-01 8.34956171e-02 9.42749958e+01] [-2.13720966e-01 9.76693331e-01 -1.98364736e-02 -1.07594116e+01] [-8.58072059e-02 1.45848422e-03 9.96310693e-01 -1.08244086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56240100800001 meters 0.06151367772345841 Centerline is valid? [True, True] Translation: X:94.33, Y:-10.78, Z:-10.82 [[ 9.74073533e-01 2.10440338e-01 8.30398456e-02 9.43345676e+01] [-2.09519856e-01 9.77604977e-01 -1.97468520e-02 -1.07769475e+01] [-8.53357006e-02 1.83638943e-03 9.96350564e-01 -1.08241880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622401008 meters 0.06508050884270733 Centerline is valid? [True, True] Translation: X:94.39, Y:-10.81, Z:-10.82 [[ 9.77525911e-01 1.92428657e-01 8.61063555e-02 9.43897050e+01] [-1.91366781e-01 9.81304506e-01 -2.04993086e-02 -1.08100224e+01] [-8.84412091e-02 3.56070923e-03 9.96075034e-01 -1.08219459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682401008 meters 0.0667385919528091 Centerline is valid? [True, True] Translation: X:94.45, Y:-10.83, Z:-10.83 [[ 9.78601195e-01 1.85914139e-01 8.81795609e-02 9.44483546e+01] [-1.84773214e-01 9.82556764e-01 -2.10015395e-02 -1.08262514e+01] [-9.05459071e-02 4.25891069e-03 9.95883176e-01 -1.08270154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742401008 meters 0.06746091205419057 Centerline is valid? [True, True] Translation: X:94.51, Y:-10.83, Z:-10.84 [[ 9.78213857e-01 1.88881781e-01 8.61470939e-02 9.45085528e+01] [-1.87803136e-01 9.81992065e-01 -2.05320946e-02 -1.08285967e+01] [-8.84739012e-02 3.90608504e-03 9.96070836e-01 -1.08430204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802401008 meters 0.06372074711118593 Centerline is valid? [True, True] Translation: X:94.57, Y:-10.83, Z:-10.85 [[ 9.76597102e-01 1.97814841e-01 8.44238654e-02 9.45721487e+01] [-1.96810548e-01 9.80234647e-01 -2.01406310e-02 -1.08268117e+01] [-8.67393136e-02 3.05377467e-03 9.96226363e-01 -1.08476074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862401008 meters 0.06026561617704388 Centerline is valid? [True, True] Translation: X:94.64, Y:-10.82, Z:-10.85 [[ 9.72896664e-01 2.15986305e-01 8.25953776e-02 9.46358505e+01] [-2.15089616e-01 9.76395372e-01 -1.97112604e-02 -1.08204808e+01] [-8.49031068e-02 1.41161147e-03 9.96388212e-01 -1.08515095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92240100800001 meters 0.0590810904655876 Centerline is valid? [True, True] Translation: X:94.70, Y:-10.82, Z:-10.86 [[ 9.70448170e-01 2.26185588e-01 8.40858399e-02 9.46989692e+01] [-2.25294256e-01 9.74084082e-01 -2.00673732e-02 -1.08167181e+01] [-8.64456288e-02 5.30288808e-04 9.96256429e-01 -1.08597380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982401008 meters 0.05880254275656854 Centerline is valid? [True, True] Translation: X:94.76, Y:-10.82, Z:-10.87 [[ 9.68529275e-01 2.33703552e-01 8.56369861e-02 9.47604268e+01] [-2.32806905e-01 9.72307890e-01 -2.04526567e-02 -1.08197130e+01] [-8.80453758e-02 -1.27884981e-04 9.96116457e-01 -1.08671120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042401008 meters 0.05846413884561178 Centerline is valid? [True, True] Translation: X:94.82, Y:-10.84, Z:-10.87 [[ 9.68138260e-01 2.34860655e-01 8.68837269e-02 9.48207261e+01] [-2.33940648e-01 9.72029025e-01 -2.07689176e-02 -1.08353748e+01] [-8.93313059e-02 -2.18451598e-04 9.96001943e-01 -1.08696011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102401008 meters 0.05809829902859743 Centerline is valid? [True, True] Translation: X:94.88, Y:-10.86, Z:-10.87 [[ 9.68315672e-01 2.33299147e-01 8.90857272e-02 9.48792134e+01] [-2.32323174e-01 9.72405011e-01 -2.13175484e-02 -1.08570866e+01] [-9.16007733e-02 -5.45627101e-05 9.95795810e-01 -1.08728090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162401008 meters 0.05810117010141191 Centerline is valid? [True, True] Translation: X:94.94, Y:-10.87, Z:-10.88 [[ 9.68268888e-01 2.33491975e-01 8.90890498e-02 9.49394481e+01] [-2.32514772e-01 9.72358727e-01 -2.13397701e-02 -1.08742392e+01] [-9.16091802e-02 -5.18847356e-05 9.95795037e-01 -1.08799393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222401008 meters 0.05859299619133412 Centerline is valid? [True, True] Translation: X:95.00, Y:-10.90, Z:-10.89 [[ 9.68929156e-01 2.31805869e-01 8.62689415e-02 9.49954168e+01] [-2.30880708e-01 9.72762058e-01 -2.06900132e-02 -1.08956606e+01] [-8.87152196e-02 1.29322783e-04 9.96057023e-01 -1.08947864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28240100800001 meters 0.05874204381036537 Centerline is valid? [True, True] Translation: X:95.05, Y:-10.91, Z:-10.90 [[ 9.68850651e-01 2.32824464e-01 8.43871111e-02 9.50546178e+01] [-2.31941512e-01 9.72518774e-01 -2.02575611e-02 -1.09125400e+01] [-8.67845056e-02 5.36771634e-05 9.96227106e-01 -1.09041170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34240100800001 meters 0.05875086992250787 Centerline is valid? [True, True] Translation: X:95.11, Y:-10.93, Z:-10.91 [[ 9.67891037e-01 2.36703039e-01 8.46085763e-02 9.51143796e+01] [-2.35828442e-01 9.71582007e-01 -2.03310193e-02 -1.09335273e+01] [-8.70165844e-02 -2.74897402e-04 9.96206825e-01 -1.09077871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402401008 meters 0.05876564751767527 Centerline is valid? [True, True] Translation: X:95.17, Y:-10.95, Z:-10.92 [[ 9.67453552e-01 2.37793504e-01 8.65324990e-02 9.51727255e+01] [-2.36880540e-01 9.71315666e-01 -2.08203407e-02 -1.09495018e+01] [-8.90013137e-02 -3.55152508e-04 9.96031445e-01 -1.09153985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462401008 meters 0.058702806929429384 Centerline is valid? [True, True] Translation: X:95.23, Y:-10.97, Z:-10.92 [[ 9.67070208e-01 2.38580926e-01 8.86247961e-02 9.52327398e+01] [-2.37624275e-01 9.71122531e-01 -2.13479238e-02 -1.09656629e+01] [-9.11587438e-02 -4.14461768e-04 9.95836288e-01 -1.09229539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522401008 meters 0.05815953131611462 Centerline is valid? [True, True] Translation: X:95.29, Y:-11.00, Z:-10.92 [[ 9.68678531e-01 2.30932136e-01 9.12811689e-02 9.52882106e+01] [-2.29882710e-01 9.72969807e-01 -2.19930407e-02 -1.10002273e+01] [-9.38927212e-02 3.20223949e-04 9.95582269e-01 -1.09233808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582401008 meters 0.058170265467923164 Centerline is valid? [True, True] Translation: X:95.35, Y:-11.01, Z:-10.93 [[ 9.68196193e-01 2.33648342e-01 8.94683409e-02 9.53478880e+01] [-2.32649833e-01 9.72321164e-01 -2.15779798e-02 -1.10140440e+01] [-9.20336206e-02 7.69233287e-05 9.95755897e-01 -1.09299349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64240100800001 meters 0.058628270236434445 Centerline is valid? [True, True] Translation: X:95.41, Y:-11.03, Z:-10.94 [[ 9.68604425e-01 2.32927856e-01 8.68912061e-02 9.54074085e+01] [-2.31981383e-01 9.72494004e-01 -2.09773741e-02 -1.10250937e+01] [-8.93873917e-02 1.61635192e-04 9.95996922e-01 -1.09424417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70240100800001 meters 0.05946455907452992 Centerline is valid? [True, True] Translation: X:95.46, Y:-11.04, Z:-10.95 [[ 9.69635240e-01 2.29919384e-01 8.33341359e-02 9.54645829e+01] [-2.29036018e-01 9.73209577e-01 -2.01400342e-02 -1.10416160e+01] [-8.57321634e-02 4.41968325e-04 9.96318122e-01 -1.09544442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762401008 meters 0.059659250190503284 Centerline is valid? [True, True] Translation: X:95.52, Y:-11.07, Z:-10.96 [[ 9.70781246e-01 2.24663958e-01 8.43200935e-02 9.55234558e+01] [-2.23739069e-01 9.74435863e-01 -2.03857162e-02 -1.10651299e+01] [-8.67444588e-02 9.24371776e-04 9.96230166e-01 -1.09551851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822401008 meters 0.06062040972262006 Centerline is valid? [True, True] Translation: X:95.58, Y:-11.08, Z:-10.96 [[ 9.72538916e-01 2.16771684e-01 8.47236372e-02 9.55832306e+01] [-2.15805991e-01 9.76220920e-01 -2.05058286e-02 -1.10807170e+01] [-8.71540701e-02 1.65884782e-03 9.96193463e-01 -1.09629641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882401008 meters 0.06185570077824222 Centerline is valid? [True, True] Translation: X:95.64, Y:-11.09, Z:-10.98 [[ 9.73451198e-01 2.13605048e-01 8.22535603e-02 9.56429164e+01] [-2.12682557e-01 9.76918256e-01 -1.99211022e-02 -1.10892003e+01] [-8.46102527e-02 1.89832327e-03 9.96412315e-01 -1.09775281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942401008 meters 0.06261217083613556 Centerline is valid? [True, True] Translation: X:95.70, Y:-11.10, Z:-10.98 [[ 9.73793843e-01 2.12580366e-01 8.08402054e-02 9.57015908e+01] [-2.11684358e-01 9.77141599e-01 -1.95966125e-02 -1.11043398e+01] [-8.31581827e-02 1.97045363e-03 9.96534412e-01 -1.09832655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002401008 meters 0.0615385404508342 Centerline is valid? [True, True] Translation: X:95.76, Y:-11.12, Z:-10.97 [[ 9.74057936e-01 2.10019444e-01 8.42791259e-02 9.57632339e+01] [-2.09034165e-01 9.77694500e-01 -2.04495274e-02 -1.11197346e+01] [-8.66940362e-02 2.30180778e-03 9.96232325e-01 -1.09745026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06240100800001 meters 0.06316314896247005 Centerline is valid? [True, True] Translation: X:95.82, Y:-11.13, Z:-10.99 [[ 9.75247803e-01 2.03442485e-01 8.66191571e-02 9.58216867e+01] [-2.02373425e-01 9.79082326e-01 -2.10427314e-02 -1.11303479e+01] [-8.90882713e-02 2.99246215e-03 9.96019239e-01 -1.09865981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122401008 meters 0.06466858986863248 Centerline is valid? [True, True] Translation: X:95.88, Y:-11.15, Z:-10.99 [[ 9.76357987e-01 1.97441452e-01 8.79883731e-02 9.58802181e+01] [-1.96312675e-01 9.80308033e-01 -2.13891090e-02 -1.11495364e+01] [-9.04788057e-02 3.61019454e-03 9.95891838e-01 -1.09921596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182401008 meters 0.06535225279895332 Centerline is valid? [True, True] Translation: X:95.94, Y:-11.17, Z:-10.99 [[ 9.77240921e-01 1.93134935e-01 8.77444002e-02 9.59388804e+01] [-1.91993406e-01 9.81163985e-01 -2.13487116e-02 -1.11681250e+01] [-9.02148274e-02 4.01648831e-03 9.95914230e-01 -1.09948753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242401008 meters 0.0643346222669577 Centerline is valid? [True, True] Translation: X:96.00, Y:-11.17, Z:-11.00 [[ 9.76685774e-01 1.97321427e-01 8.45526611e-02 9.59998509e+01] [-1.96275718e-01 9.80332549e-01 -2.05897201e-02 -1.11734288e+01] [-8.69525187e-02 3.51405247e-03 9.96206259e-01 -1.10033469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302401008 meters 0.06249184128757983 Centerline is valid? [True, True] Translation: X:96.06, Y:-11.17, Z:-11.01 [[ 9.74974683e-01 2.07476716e-01 7.98609999e-02 9.60615672e+01] [-2.06576442e-01 9.78236810e-01 -1.94658151e-02 -1.11747208e+01] [-8.21616732e-02 2.48127570e-03 9.96615925e-01 -1.10147955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362401008 meters 0.0622930422142863 Centerline is valid? [True, True] Translation: X:96.12, Y:-11.18, Z:-11.03 [[ 9.74441514e-01 2.10308173e-01 7.89570017e-02 9.61218709e+01] [-2.09437442e-01 9.77632628e-01 -1.92458425e-02 -1.11843543e+01] [-8.12384990e-02 2.21739550e-03 9.96692224e-01 -1.10258284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42240100800001 meters 0.06209617802115291 Centerline is valid? [True, True] Translation: X:96.18, Y:-11.20, Z:-11.03 [[ 9.75026226e-01 2.08438080e-01 7.66643692e-02 9.61822697e+01] [-2.07609620e-01 9.78032796e-01 -1.87108281e-02 -1.11964030e+01] [-7.88803165e-02 2.32728756e-03 9.96881377e-01 -1.10328187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482401008 meters 0.06336182382337294 Centerline is valid? [True, True] Translation: X:96.24, Y:-11.22, Z:-11.04 [[ 9.75342436e-01 2.06690889e-01 7.73693011e-02 9.62394388e+01] [-2.05841629e-01 9.78403123e-01 -1.88826189e-02 -1.12163078e+01] [-7.96012311e-02 2.49119656e-03 9.96823674e-01 -1.10408545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542401008 meters 0.0633945345420979 Centerline is valid? [True, True] Translation: X:96.30, Y:-11.24, Z:-11.04 [[ 9.76006783e-01 2.03005845e-01 7.87361845e-02 9.62985079e+01] [-2.02112786e-01 9.79173350e-01 -1.92346576e-02 -1.12353492e+01] [-8.10011215e-02 2.85956663e-03 9.96709908e-01 -1.10403481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602401008 meters 0.06536560274342856 Centerline is valid? [True, True] Translation: X:96.36, Y:-11.25, Z:-11.05 [[ 9.76471608e-01 1.99291696e-01 8.23772906e-02 9.63571268e+01] [-1.98299086e-01 9.79934539e-01 -2.01437761e-02 -1.12495875e+01] [-8.47388396e-02 3.33448404e-03 9.96397617e-01 -1.10512018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662401008 meters 0.0633334523210081 Centerline is valid? [True, True] Translation: X:96.42, Y:-11.26, Z:-11.06 [[ 9.76002555e-01 2.00817299e-01 8.42105996e-02 9.64188061e+01] [-1.99783569e-01 9.79623165e-01 -2.06150347e-02 -1.12563468e+01] [-8.66345098e-02 3.29643237e-03 9.96234709e-01 -1.10553821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722401008 meters 0.06180673374141787 Centerline is valid? [True, True] Translation: X:96.48, Y:-11.27, Z:-11.06 [[ 9.74616508e-01 2.08507596e-01 8.15306336e-02 9.64799243e+01] [-2.07565223e-01 9.78017467e-01 -1.99627744e-02 -1.12651273e+01] [-8.39007739e-02 2.53312533e-03 9.96470894e-01 -1.10618588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78240100800001 meters 0.061274376360026264 Centerline is valid? [True, True] Translation: X:96.54, Y:-11.27, Z:-11.07 [[ 9.73015379e-01 2.16220446e-01 8.05592412e-02 9.65389574e+01] [-2.15325775e-01 9.76342802e-01 -1.97368559e-02 -1.12730868e+01] [-8.29209471e-02 1.85778330e-03 9.96554396e-01 -1.10734492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters 0.059255158860486414 Centerline is valid? [True, True] Translation: X:96.60, Y:-11.27, Z:-11.08 [[ 9.69245615e-01 2.32372842e-01 8.10296236e-02 9.66017517e+01] [-2.31522944e-01 9.72626661e-01 -1.98621540e-02 -1.12708776e+01] [-8.34269974e-02 4.91088721e-04 9.96513771e-01 -1.10824297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902401008 meters 0.05976917747361532 Centerline is valid? [True, True] Translation: X:96.66, Y:-11.27, Z:-11.09 [[ 9.66148376e-01 2.44484048e-01 8.23702960e-02 9.66630349e+01] [-2.43649331e-01 9.69653153e-01 -2.01932355e-02 -1.12742342e+01] [-8.48075412e-02 -5.59805809e-04 9.96397194e-01 -1.10934693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962401008 meters 0.06187436078819847 Centerline is valid? [True, True] Translation: X:96.73, Y:-11.28, Z:-11.10 [[ 9.62210717e-01 2.59085521e-01 8.38166347e-02 9.67260759e+01] [-2.58273981e-01 9.65852611e-01 -2.05738936e-02 -1.12764134e+01] [-8.62849134e-02 -1.85123502e-03 9.96268782e-01 -1.10994928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022401008 meters 0.06422945531141674 Centerline is valid? [True, True] Translation: X:96.79, Y:-11.28, Z:-11.11 [[ 9.60291905e-01 2.66281703e-01 8.32677067e-02 9.67870020e+01] [-2.65507282e-01 9.63892071e-01 -2.04440462e-02 -1.12835789e+01] [-8.57049577e-02 -2.47593043e-03 9.96317485e-01 -1.11099917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082401008 meters 0.06494442273959565 Centerline is valid? [True, True] Translation: X:96.85, Y:-11.30, Z:-11.12 [[ 9.59625397e-01 2.68958824e-01 8.23422643e-02 9.68457326e+01] [-2.68210766e-01 9.63147954e-01 -2.02238554e-02 -1.13029059e+01] [-8.47471677e-02 -2.67775653e-03 9.96398890e-01 -1.11157343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14240100800001 meters 0.06262368824001424 Centerline is valid? [True, True] Translation: X:96.90, Y:-11.33, Z:-11.12 [[ 9.61049329e-01 2.63606039e-01 8.30424228e-02 9.69020588e+01] [-2.62825052e-01 9.64627865e-01 -2.03979063e-02 -1.13321840e+01] [-8.54820463e-02 -2.22223495e-03 9.96337233e-01 -1.11191674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20240100800001 meters 0.060011916522083465 Centerline is valid? [True, True] Translation: X:96.96, Y:-11.37, Z:-11.13 [[ 9.64535300e-01 2.49719526e-01 8.55091450e-02 9.69553942e+01] [-2.48835125e-01 9.68317694e-01 -2.10220051e-02 -1.13687433e+01] [-8.80496232e-02 -1.00121284e-03 9.96115586e-01 -1.11284232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262401008 meters 0.0591523657524007 Centerline is valid? [True, True] Translation: X:97.01, Y:-11.40, Z:-11.14 [[ 9.67473757e-01 2.37228182e-01 8.78482763e-02 9.70094741e+01] [-2.36241135e-01 9.71453943e-01 -2.16185727e-02 -1.14028111e+01] [-9.04690891e-02 1.62025196e-04 9.95899251e-01 -1.11352253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322401008 meters 0.05996771278944644 Centerline is valid? [True, True] Translation: X:97.06, Y:-11.44, Z:-11.14 [[ 9.70204315e-01 2.26570864e-01 8.58442225e-02 9.70638642e+01] [-2.25585156e-01 9.73994008e-01 -2.11426172e-02 -1.14390314e+01] [-8.84020594e-02 1.14747608e-03 9.96084213e-01 -1.11400499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382401008 meters 0.060028964477436074 Centerline is valid? [True, True] Translation: X:97.12, Y:-11.46, Z:-11.14 [[ 9.70475766e-01 2.26423976e-01 8.31202192e-02 9.71230202e+01] [-2.25497530e-01 9.74028168e-01 -2.04937177e-02 -1.14582368e+01] [-8.56017038e-02 1.14525226e-03 9.96328779e-01 -1.11441224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442401008 meters 0.06020373307778704 Centerline is valid? [True, True] Translation: X:97.18, Y:-11.46, Z:-11.16 [[ 9.69423596e-01 2.32286328e-01 7.91261833e-02 9.71840206e+01] [-2.31466427e-01 9.72647267e-01 -1.95086624e-02 -1.14646430e+01] [-8.14934615e-02 5.97102801e-04 9.96673697e-01 -1.11577184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502401008 meters 0.060926603435860205 Centerline is valid? [True, True] Translation: X:97.25, Y:-11.47, Z:-11.17 [[ 9.67999665e-01 2.38931691e-01 7.67352329e-02 9.72464463e+01] [-2.38180044e-01 9.71036376e-01 -1.89373285e-02 -1.14664895e+01] [-7.90374304e-02 5.45264550e-05 9.96871648e-01 -1.11727939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56240100800001 meters 0.06087769539964012 Centerline is valid? [True, True] Translation: X:97.31, Y:-11.48, Z:-11.18 [[ 9.67679862e-01 2.40166263e-01 7.69145661e-02 9.73069902e+01] [-2.39413555e-01 9.70731768e-01 -1.89995863e-02 -1.14814425e+01] [-7.92264724e-02 -2.88726814e-05 9.96856642e-01 -1.11765385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622401008 meters 0.06052733682874011 Centerline is valid? [True, True] Translation: X:97.37, Y:-11.50, Z:-11.18 [[ 9.66970514e-01 2.42613785e-01 7.81445934e-02 9.73674669e+01] [-2.41842807e-01 9.70122934e-01 -1.93274184e-02 -1.14962590e+01] [-8.04989604e-02 -2.09664125e-04 9.96754671e-01 -1.11761671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682401008 meters 0.05988899726547466 Centerline is valid? [True, True] Translation: X:97.43, Y:-11.51, Z:-11.18 [[ 9.66697579e-01 2.41613571e-01 8.43722335e-02 9.74270993e+01] [-2.40708628e-01 9.70372542e-01 -2.08922672e-02 -1.15088555e+01] [-8.69203539e-02 -1.12620416e-04 9.96215258e-01 -1.11778421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742401008 meters 0.05990152961141135 Centerline is valid? [True, True] Translation: X:97.49, Y:-11.52, Z:-11.19 [[ 9.67047325e-01 2.39114438e-01 8.74285850e-02 9.74874523e+01] [-2.38130706e-01 9.70991384e-01 -2.16679328e-02 -1.15206194e+01] [-9.00735183e-02 1.34485707e-04 9.95935110e-01 -1.11873879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802401008 meters 0.060029158041575076 Centerline is valid? [True, True] Translation: X:97.55, Y:-11.54, Z:-11.19 [[ 9.67534164e-01 2.37823183e-01 8.55439995e-02 9.75459768e+01] [-2.36874647e-01 9.71308428e-01 -2.12212249e-02 -1.15397825e+01] [-8.81365069e-02 2.69055399e-04 9.96108369e-01 -1.11937092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862401008 meters 0.05994816134645038 Centerline is valid? [True, True] Translation: X:97.60, Y:-11.56, Z:-11.20 [[ 9.68822038e-01 2.32638373e-01 8.52246803e-02 9.76036815e+01] [-2.31675048e-01 9.72563012e-01 -2.11626969e-02 -1.15640288e+01] [-8.78096272e-02 7.58455221e-04 9.96136986e-01 -1.11960075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92240100800001 meters 0.060904837742534364 Centerline is valid? [True, True] Translation: X:97.66, Y:-11.58, Z:-11.21 [[ 9.69778878e-01 2.29762291e-01 8.20866394e-02 9.76605962e+01] [-2.28856481e-01 9.73246260e-01 -2.04066025e-02 -1.15815179e+01] [-8.45791825e-02 1.00383264e-03 9.96416255e-01 -1.12095401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982401008 meters 0.06137121072950302 Centerline is valid? [True, True] Translation: X:97.72, Y:-11.60, Z:-11.22 [[ 9.70456996e-01 2.28400308e-01 7.77593684e-02 9.77194472e+01] [-2.27582871e-01 9.73566720e-01 -1.93359165e-02 -1.15967649e+01] [-8.01202625e-02 1.06797507e-03 9.96784632e-01 -1.12194954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042401008 meters 0.06112859122450225 Centerline is valid? [True, True] Translation: X:97.78, Y:-11.61, Z:-11.23 [[ 9.70287727e-01 2.29240646e-01 7.73980114e-02 9.77792204e+01] [-2.28432182e-01 9.73369255e-01 -1.92621739e-02 -1.16137011e+01] [-7.97525179e-02 1.00965425e-03 9.96814184e-01 -1.12255302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102401008 meters 0.06102202730964697 Centerline is valid? [True, True] Translation: X:97.84, Y:-11.63, Z:-11.23 [[ 9.69363528e-01 2.32697424e-01 7.86527829e-02 9.78389924e+01] [-2.31871850e-01 9.72548883e-01 -1.95988612e-02 -1.16263809e+01] [-8.10542807e-02 7.61054946e-04 9.96709398e-01 -1.12331232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162401008 meters 0.060635158882608675 Centerline is valid? [True, True] Translation: X:97.90, Y:-11.64, Z:-11.24 [[ 9.68926974e-01 2.34045211e-01 8.00209885e-02 9.78990276e+01] [-2.33193521e-01 9.72225477e-01 -1.99600676e-02 -1.16404998e+01] [-8.24700019e-02 6.79471814e-04 9.96593316e-01 -1.12365718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222401008 meters 0.06113966987899771 Centerline is valid? [True, True] Translation: X:97.96, Y:-11.66, Z:-11.25 [[ 9.69112669e-01 2.33142824e-01 8.04055873e-02 9.79579912e+01] [-2.32278192e-01 9.72442192e-01 -2.00754772e-02 -1.16565723e+01] [-8.28702391e-02 7.78934880e-04 9.96560042e-01 -1.12450765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28240100800001 meters 0.06145879389509866 Centerline is valid? [True, True] Translation: X:98.02, Y:-11.67, Z:-11.25 [[ 9.69331077e-01 2.32492544e-01 7.96522526e-02 9.80179135e+01] [-2.31640130e-01 9.72597810e-01 -1.99085617e-02 -1.16700110e+01] [-8.20981986e-02 8.47329395e-04 9.96623885e-01 -1.12541995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34240100800001 meters 0.060952849222391685 Centerline is valid? [True, True] Translation: X:98.08, Y:-11.68, Z:-11.26 [[ 9.68583944e-01 2.35320814e-01 8.04316963e-02 9.80791560e+01] [-2.34459723e-01 9.71917545e-01 -2.01227208e-02 -1.16817605e+01] [-8.29082718e-02 6.32551101e-04 9.96556982e-01 -1.12570863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402401008 meters 0.06056151573691418 Centerline is valid? [True, True] Translation: X:98.14, Y:-11.70, Z:-11.26 [[ 9.68353192e-01 2.36089168e-01 8.09567850e-02 9.81391379e+01] [-2.35217792e-01 9.71731216e-01 -2.02739608e-02 -1.16968841e+01] [-8.34546977e-02 5.89878439e-04 9.96511398e-01 -1.12601780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462401008 meters 0.05991534497970712 Centerline is valid? [True, True] Translation: X:98.20, Y:-11.71, Z:-11.26 [[ 9.67566801e-01 2.38231266e-01 8.40258902e-02 9.81992779e+01] [-2.37298094e-01 9.71208352e-01 -2.10701438e-02 -1.17117600e+01] [-8.66262134e-02 4.47588038e-04 9.96240784e-01 -1.12602761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522401008 meters 0.06003761763183759 Centerline is valid? [True, True] Translation: X:98.26, Y:-11.73, Z:-11.27 [[ 9.67399082e-01 2.38601837e-01 8.49010041e-02 9.82592694e+01] [-2.37650538e-01 9.71117392e-01 -2.12892806e-02 -1.17250383e+01] [-8.75285031e-02 4.18461232e-04 9.96161928e-01 -1.12691024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582401008 meters 0.06047201188975721 Centerline is valid? [True, True] Translation: X:98.32, Y:-11.74, Z:-11.28 [[ 9.67419711e-01 2.39013865e-01 8.34953612e-02 9.83188163e+01] [-2.38093636e-01 9.71016074e-01 -2.09571875e-02 -1.17381280e+01] [-8.60843962e-02 3.94682149e-04 9.96287770e-01 -1.12811975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64240100800001 meters 0.06109015639371118 Centerline is valid? [True, True] Translation: X:98.38, Y:-11.75, Z:-11.29 [[ 9.67540741e-01 2.40117285e-01 7.87946946e-02 9.83781326e+01] [-2.39299666e-01 9.70743837e-01 -1.98008093e-02 -1.17542546e+01] [-8.12439808e-02 3.02545586e-04 9.96694198e-01 -1.12909745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70240100800001 meters 0.06131257728572112 Centerline is valid? [True, True] Translation: X:98.44, Y:-11.77, Z:-11.30 [[ 9.67462614e-01 2.41372127e-01 7.58655832e-02 9.84384272e+01] [-2.40617728e-01 9.70432614e-01 -1.90696190e-02 -1.17673632e+01] [-7.82253108e-02 1.94539200e-04 9.96935686e-01 -1.12990304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762401008 meters 0.06213403472531214 Centerline is valid? [True, True] Translation: X:98.50, Y:-11.78, Z:-11.31 [[ 9.67963076e-01 2.40216226e-01 7.31002621e-02 9.84979704e+01] [-2.39512226e-01 9.70719365e-01 -1.83795628e-02 -1.17808580e+01] [-7.53749092e-02 2.82331578e-04 9.97155225e-01 -1.13111566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822401008 meters 0.06209857601374373 Centerline is valid? [True, True] Translation: X:98.56, Y:-11.80, Z:-11.32 [[ 9.68546019e-01 2.37715590e-01 7.35520765e-02 9.85582285e+01] [-2.36995858e-01 9.71334685e-01 -1.84903373e-02 -1.17986230e+01] [-7.58391245e-02 4.77205084e-04 9.97119952e-01 -1.13154182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882401008 meters 0.06240286302627138 Centerline is valid? [True, True] Translation: X:98.61, Y:-11.83, Z:-11.31 [[ 9.70699730e-01 2.27889068e-01 7.62142113e-02 9.86137468e+01] [-2.27083887e-01 9.73686213e-01 -1.91850784e-02 -1.18290208e+01] [-7.85807964e-02 1.31593110e-03 9.96906880e-01 -1.13132746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942401008 meters 0.06417053624919074 Centerline is valid? [True, True] Translation: X:98.67, Y:-11.85, Z:-11.32 [[ 9.72585508e-01 2.18767884e-01 7.88545686e-02 9.86699717e+01] [-2.17874274e-01 9.75774572e-01 -1.98691954e-02 -1.18531866e+01] [-8.12910248e-02 2.14410963e-03 9.96688102e-01 -1.13198182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002401008 meters 0.06479347243663304 Centerline is valid? [True, True] Translation: X:98.73, Y:-11.87, Z:-11.33 [[ 9.73101726e-01 2.16981960e-01 7.74070998e-02 9.87294394e+01] [-2.16113531e-01 9.76172969e-01 -1.95263010e-02 -1.18688522e+01] [-7.97995735e-02 2.27235554e-03 9.96808339e-01 -1.13283688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06240100800001 meters 0.06560616441247609 Centerline is valid? [True, True] Translation: X:98.79, Y:-11.88, Z:-11.34 [[ 9.73171775e-01 2.16957247e-01 7.65914435e-02 9.87883622e+01] [-2.16106970e-01 9.76178513e-01 -1.93206870e-02 -1.18833443e+01] [-7.89586844e-02 2.25040250e-03 9.96875349e-01 -1.13375398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122401008 meters 0.06576899271799452 Centerline is valid? [True, True] Translation: X:98.85, Y:-11.90, Z:-11.34 [[ 9.73276833e-01 2.15955692e-01 7.80726967e-02 9.88475824e+01] [-2.15067548e-01 9.76400230e-01 -1.97114407e-02 -1.19017409e+01] [-8.04869968e-02 2.39378511e-03 9.96752784e-01 -1.13397798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182401008 meters 0.0669706382669909 Centerline is valid? [True, True] Translation: X:98.91, Y:-11.92, Z:-11.35 [[ 9.73757052e-01 2.13173997e-01 7.97123012e-02 9.89057641e+01] [-2.12237159e-01 9.77010525e-01 -2.01450499e-02 -1.19198293e+01] [-8.21741580e-02 2.69847206e-03 9.96614332e-01 -1.13480671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242401008 meters 0.06573383639677126 Centerline is valid? [True, True] Translation: X:98.97, Y:-11.93, Z:-11.35 [[ 9.74024720e-01 2.12260683e-01 7.88748783e-02 9.89672919e+01] [-2.11339217e-01 9.77209178e-01 -1.99488818e-02 -1.19297285e+01] [-8.13116183e-02 2.76134896e-03 9.96684903e-01 -1.13529772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302401008 meters 0.06571052178295327 Centerline is valid? [True, True] Translation: X:99.03, Y:-11.94, Z:-11.36 [[ 9.73773903e-01 2.14219028e-01 7.66458960e-02 9.90261405e+01] [-2.13353584e-01 9.76782343e-01 -1.94036650e-02 -1.19431825e+01] [-7.90229922e-02 2.54210599e-03 9.96869552e-01 -1.13626473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362401008 meters 0.06454953559383064 Centerline is valid? [True, True] Translation: X:99.09, Y:-11.95, Z:-11.37 [[ 9.73246116e-01 2.17712440e-01 7.34390285e-02 9.90865683e+01] [-2.16926824e-01 9.76010528e-01 -1.86065137e-02 -1.19548252e+01] [-7.57281345e-02 2.17782191e-03 9.97126124e-01 -1.13680322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42240100800001 meters 0.06284176781855735 Centerline is valid? [True, True] Translation: X:99.15, Y:-11.96, Z:-11.37 [[ 9.71660939e-01 2.24533927e-01 7.38886717e-02 9.91478510e+01] [-2.23756441e-01 9.74464823e-01 -1.87446853e-02 -1.19615463e+01] [-7.62107292e-02 1.68041225e-03 9.97090317e-01 -1.13738238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482401008 meters 0.06250971896237062 Centerline is valid? [True, True] Translation: X:99.21, Y:-11.97, Z:-11.38 [[ 9.70739179e-01 2.27764266e-01 7.60847216e-02 9.92077111e+01] [-2.26949506e-01 9.73715191e-01 -1.93041275e-02 -1.19712874e+01] [-7.84816396e-02 1.47188289e-03 9.96914473e-01 -1.13835277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542401008 meters 0.06142968822560136 Centerline is valid? [True, True] Translation: X:99.27, Y:-11.98, Z:-11.39 [[ 9.69545568e-01 2.30689274e-01 8.22426324e-02 9.92671073e+01] [-2.29746055e-01 9.73026531e-01 -2.08834997e-02 -1.19841255e+01] [-8.48418626e-02 1.35258423e-03 9.96393511e-01 -1.13867172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602401008 meters 0.060455107846938895 Centerline is valid? [True, True] Translation: X:99.33, Y:-12.00, Z:-11.39 [[ 9.68846540e-01 2.33220074e-01 8.33353376e-02 9.93281917e+01] [-2.32259236e-01 9.72423282e-01 -2.11803656e-02 -1.19998102e+01] [-8.59769089e-02 1.16512208e-03 9.96296449e-01 -1.13872431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662401008 meters 0.06018075334265798 Centerline is valid? [True, True] Translation: X:99.39, Y:-12.01, Z:-11.40 [[ 9.68064968e-01 2.36431879e-01 8.33677683e-02 9.93869838e+01] [-2.35481844e-01 9.71647665e-01 -2.11923509e-02 -1.20112722e+01] [-8.60146448e-02 8.83976719e-04 9.96293481e-01 -1.13978138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722401008 meters 0.06070565261149845 Centerline is valid? [True, True] Translation: X:99.45, Y:-12.02, Z:-11.41 [[ 9.68702411e-01 2.34580415e-01 8.11644463e-02 9.94464812e+01] [-2.33672061e-01 9.72096164e-01 -2.06498393e-02 -1.20228267e+01] [-8.37436947e-02 1.03768573e-03 9.96486787e-01 -1.14097182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78240100800001 meters 0.06154181680283581 Centerline is valid? [True, True] Translation: X:99.50, Y:-12.05, Z:-11.42 [[ 9.70142827e-01 2.28895222e-01 8.01864914e-02 9.95017404e+01] [-2.27987604e-01 9.73449864e-01 -2.04209460e-02 -1.20477787e+01] [-8.27317861e-02 1.52970826e-03 9.96570676e-01 -1.14187847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84240100800001 meters 0.06200989961423344 Centerline is valid? [True, True] Translation: X:99.56, Y:-12.07, Z:-11.42 [[ 9.71288631e-01 2.24241337e-01 7.94620589e-02 9.95594162e+01] [-2.23332944e-01 9.74531737e-01 -2.02555894e-02 -1.20715088e+01] [-8.19804388e-02 1.92752812e-03 9.96632075e-01 -1.14233325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902401008 meters 0.06286077899653363 Centerline is valid? [True, True] Translation: X:99.62, Y:-12.09, Z:-11.43 [[ 9.72192129e-01 2.19843382e-01 8.06929459e-02 9.96183882e+01] [-2.18891006e-01 9.75532375e-01 -2.05745738e-02 -1.20882487e+01] [-8.32417650e-02 2.33947859e-03 9.96526636e-01 -1.14323401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962401008 meters 0.0627033584813911 Centerline is valid? [True, True] Translation: X:99.68, Y:-12.10, Z:-11.44 [[ 9.71909714e-01 2.20869961e-01 8.12894144e-02 9.96781360e+01] [-2.19906934e-01 9.75300626e-01 -2.07274883e-02 -1.21030856e+01] [-8.38596963e-02 2.26914135e-03 9.96474988e-01 -1.14392725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022401008 meters 0.0635306445877648 Centerline is valid? [True, True] Translation: X:99.73, Y:-12.12, Z:-11.45 [[ 9.71155490e-01 2.23384000e-01 8.34062479e-02 9.97344758e+01] [-2.22377250e-01 9.74728195e-01 -2.12909330e-02 -1.21240723e+01] [-8.60544753e-02 2.12915445e-03 9.96288158e-01 -1.14473248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082401008 meters 0.06057641468636524 Centerline is valid? [True, True] Translation: X:99.80, Y:-12.13, Z:-11.45 [[ 9.69778306e-01 2.28551760e-01 8.54056817e-02 9.97976089e+01] [-2.27514900e-01 9.73530237e-01 -2.18139460e-02 -1.21291721e+01] [-8.81306293e-02 1.72362640e-03 9.96107435e-01 -1.14462375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14240100800001 meters 0.06011814690629369 Centerline is valid? [True, True] Translation: X:99.86, Y:-12.14, Z:-11.46 [[ 9.68463395e-01 2.33513117e-01 8.68923315e-02 9.98581001e+01] [-2.32458227e-01 9.72352769e-01 -2.22095783e-02 -1.21378526e+01] [-8.96762270e-02 1.31032624e-03 9.95970109e-01 -1.14554694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20240100800001 meters 0.05987858456602758 Centerline is valid? [True, True] Translation: X:99.92, Y:-12.15, Z:-11.46 [[ 9.66725418e-01 2.40637266e-01 8.68082558e-02 9.99180935e+01] [-2.39611419e-01 9.70614888e-01 -2.22059964e-02 -1.21490691e+01] [-8.96009757e-02 6.66851800e-04 9.95977520e-01 -1.14646762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262401008 meters 0.05949318712761128 Centerline is valid? [True, True] Translation: X:99.98, Y:-12.16, Z:-11.47 [[ 9.66157888e-01 2.42371315e-01 8.82897565e-02 9.99782790e+01] [-2.41315262e-01 9.70183415e-01 -2.26072125e-02 -1.21636763e+01] [-9.11365973e-02 5.36470936e-04 9.95838256e-01 -1.14699377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322401008 meters 0.05933492087445062 Centerline is valid? [True, True] Translation: X:100.04, Y:-12.18, Z:-11.47 [[ 9.65651964e-01 2.43826017e-01 8.98062263e-02 1.00037743e+02] [-2.42737428e-01 9.69818895e-01 -2.30184993e-02 -1.21800891e+01] [-9.27082842e-02 4.28526709e-04 9.95693221e-01 -1.14740278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382401008 meters 0.05981012822966548 Centerline is valid? [True, True] Translation: X:100.10, Y:-12.20, Z:-11.49 [[ 9.65971875e-01 2.43139255e-01 8.82136002e-02 1.00095292e+02] [-2.42084041e-01 9.69991260e-01 -2.26334486e-02 -1.21983139e+01] [-9.10695010e-02 5.08169972e-04 9.95844409e-01 -1.14859033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442401008 meters 0.06049987505808103 Centerline is valid? [True, True] Translation: X:100.16, Y:-12.21, Z:-11.50 [[ 9.65733236e-01 2.44917051e-01 8.58775626e-02 1.00155691e+02] [-2.43922361e-01 9.69543973e-01 -2.20537259e-02 -1.22080307e+01] [-8.86634068e-02 3.50558212e-04 9.96061583e-01 -1.15002063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502401008 meters 0.06079988813383744 Centerline is valid? [True, True] Translation: X:100.21, Y:-12.23, Z:-11.51 [[ 9.66083411e-01 2.44805085e-01 8.21785405e-02 1.00214591e+02] [-2.43892023e-01 9.69572243e-01 -2.11268994e-02 -1.22256890e+01] [-8.48500042e-02 3.67656555e-04 9.96393668e-01 -1.15067797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56240100800001 meters 0.06089716512882001 Centerline is valid? [True, True] Translation: X:100.27, Y:-12.25, Z:-11.51 [[ 9.66734402e-01 2.42453615e-01 8.14913504e-02 1.00272024e+02] [-2.41546683e-01 9.70162827e-01 -2.09592300e-02 -1.22463591e+01] [-8.41415200e-02 5.78043269e-04 9.96453647e-01 -1.15127242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622401008 meters 0.06121685210715199 Centerline is valid? [True, True] Translation: X:100.33, Y:-12.26, Z:-11.52 [[ 9.67831405e-01 2.37516055e-01 8.29969612e-02 1.00332584e+02] [-2.36556498e-01 9.71383064e-01 -2.13533817e-02 -1.22633706e+01] [-8.56936134e-02 1.03300289e-03 9.96321001e-01 -1.15194120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682401008 meters 0.06225461599303884 Centerline is valid? [True, True] Translation: X:100.39, Y:-12.28, Z:-11.52 [[ 9.69668328e-01 2.29074610e-01 8.52534824e-02 1.00392024e+02] [-2.28027038e-01 9.73407100e-01 -2.19610401e-02 -1.22817487e+01] [-8.80170618e-02 1.85482600e-03 9.96117240e-01 -1.15248501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742401008 meters 0.06308377648752828 Centerline is valid? [True, True] Translation: X:100.45, Y:-12.31, Z:-11.53 [[ 9.70935348e-01 2.22865432e-01 8.72671100e-02 1.00448448e+02] [-2.21740513e-01 9.74846017e-01 -2.25030536e-02 -1.23067332e+01] [-9.00871473e-02 2.49835650e-03 9.95930753e-01 -1.15257247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802401008 meters 0.06537436717571397 Centerline is valid? [True, True] Translation: X:100.51, Y:-12.33, Z:-11.53 [[ 9.73718098e-01 2.10156880e-01 8.77903808e-02 1.00505903e+02] [-2.08965616e-01 9.77660637e-01 -2.26506281e-02 -1.23335245e+01] [-9.05893849e-02 3.71015551e-03 9.95881418e-01 -1.15279098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862401008 meters 0.06689111603532744 Centerline is valid? [True, True] Translation: X:100.56, Y:-12.35, Z:-11.54 [[ 9.75314672e-01 2.03451840e-01 8.58407808e-02 1.00564916e+02] [-2.02286935e-01 9.79075780e-01 -2.21497656e-02 -1.23469151e+01] [-8.85510400e-02 4.23852289e-03 9.96062623e-01 -1.15395187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92240100800001 meters 0.06742586973764228 Centerline is valid? [True, True] Translation: X:100.63, Y:-12.35, Z:-11.55 [[ 9.75807511e-01 2.03266176e-01 8.05143679e-02 1.00625525e+02] [-2.02239375e-01 9.79115309e-01 -2.07953399e-02 -1.23541497e+01] [-8.30598394e-02 4.00907344e-03 9.96536497e-01 -1.15523854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982401008 meters 0.06514678711368284 Centerline is valid? [True, True] Translation: X:100.69, Y:-12.36, Z:-11.56 [[ 9.74192409e-01 2.11440736e-01 7.90061076e-02 1.00688236e+02] [-2.10478274e-01 9.77385393e-01 -2.04129772e-02 -1.23586578e+01] [-8.15355505e-02 3.25709822e-03 9.96665112e-01 -1.15550469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042401008 meters 0.06226316030743956 Centerline is valid? [True, True] Translation: X:100.75, Y:-12.35, Z:-11.56 [[ 9.70729155e-01 2.26566474e-01 7.97028332e-02 1.00754136e+02] [-2.25637400e-01 9.73993634e-01 -2.05952594e-02 -1.23489223e+01] [-8.22962475e-02 2.00847872e-03 9.96605887e-01 -1.15612803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102401008 meters 0.06150338926339666 Centerline is valid? [True, True] Translation: X:100.82, Y:-12.35, Z:-11.57 [[ 9.68954903e-01 2.32458879e-01 8.41977796e-02 1.00815755e+02] [-2.31442167e-01 9.72604885e-01 -2.17775222e-02 -1.23500811e+01] [-8.69535501e-02 1.61452039e-03 9.96211059e-01 -1.15684969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162401008 meters 0.06044170940593657 Centerline is valid? [True, True] Translation: X:100.88, Y:-12.36, Z:-11.57 [[ 9.68618286e-01 2.32457643e-01 8.79889828e-02 1.00877166e+02] [-2.31345581e-01 9.72605028e-01 -2.27745758e-02 -1.23589051e+01] [-9.08726513e-02 1.70400815e-03 9.95861063e-01 -1.15676739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222401008 meters 0.06065899345957929 Centerline is valid? [True, True] Translation: X:100.94, Y:-12.37, Z:-11.57 [[ 9.69753217e-01 2.27815305e-01 8.76292462e-02 1.00937238e+02] [-2.26691399e-01 9.73701985e-01 -2.27036274e-02 -1.23706424e+01] [-9.04970048e-02 2.15211931e-03 9.95894402e-01 -1.15739665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28240100800001 meters 0.06083477771529902 Centerline is valid? [True, True] Translation: X:101.00, Y:-12.39, Z:-11.58 [[ 9.70055595e-01 2.27745932e-01 8.44033914e-02 1.00997042e+02] [-2.26702338e-01 9.73718353e-01 -2.18773440e-02 -1.23851772e+01] [-8.71676074e-02 2.08779378e-03 9.96191472e-01 -1.15819805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.342401008 meters 0.06147508694599918 Centerline is valid? [True, True] Translation: X:101.06, Y:-12.39, Z:-11.60 [[ 9.68962850e-01 2.34274415e-01 7.89081303e-02 1.01057245e+02] [-2.33383851e-01 9.72169493e-01 -2.04561729e-02 -1.23902599e+01] [-8.15044350e-02 1.40538832e-03 9.96671988e-01 -1.15999664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402401008 meters 0.060999127793943245 Centerline is valid? [True, True] Translation: X:101.12, Y:-12.39, Z:-11.61 [[ 9.66929155e-01 2.43678844e-01 7.52902991e-02 1.01121079e+02] [-2.42896263e-01 9.69855800e-01 -1.95225930e-02 -1.23933350e+01] [-7.77779762e-02 5.89232055e-04 9.96970531e-01 -1.16088009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462401008 meters 0.06068918596154458 Centerline is valid? [True, True] Translation: X:101.18, Y:-12.39, Z:-11.61 [[ 9.63167573e-01 2.57923993e-01 7.60489325e-02 1.01184863e+02] [-2.57167954e-01 9.66165058e-01 -1.97414338e-02 -1.23946584e+01] [-7.85676107e-02 -5.43039544e-04 9.96908640e-01 -1.16113657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522401008 meters 0.06090195034999312 Centerline is valid? [True, True] Translation: X:101.25, Y:-12.40, Z:-11.62 [[ 9.61615018e-01 2.63224348e-01 7.75209627e-02 1.01247036e+02] [-2.62454415e-01 9.64734154e-01 -2.01417936e-02 -1.24041196e+01] [-8.00889309e-02 -9.77067750e-04 9.96787243e-01 -1.16165997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582401008 meters 0.06111251437397082 Centerline is valid? [True, True] Translation: X:101.31, Y:-12.42, Z:-11.62 [[ 9.60743554e-01 2.65175836e-01 8.15696045e-02 1.01305822e+02] [-2.64327718e-01 9.64199360e-01 -2.12238378e-02 -1.24161621e+01] [-8.42774094e-02 -1.17044211e-03 9.96441643e-01 -1.16225500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64240100800001 meters 0.06050409339750142 Centerline is valid? [True, True] Translation: X:101.36, Y:-12.44, Z:-11.63 [[ 9.61152037e-01 2.62793166e-01 8.44186805e-02 1.01363583e+02] [-2.61874905e-01 9.64851685e-01 -2.19717981e-02 -1.24366874e+01] [-8.72255445e-02 -9.88895419e-04 9.96188098e-01 -1.16260556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70240100800001 meters 0.06037257746143046 Centerline is valid? [True, True] Translation: X:101.42, Y:-12.46, Z:-11.63 [[ 9.62591739e-01 2.57886860e-01 8.31355014e-02 1.01421282e+02] [-2.56976656e-01 9.66174983e-01 -2.16541200e-02 -1.24609514e+01] [-8.59077546e-02 -5.19806133e-04 9.96302960e-01 -1.16323720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762401008 meters 0.06049639774226227 Centerline is valid? [True, True] Translation: X:101.48, Y:-12.49, Z:-11.64 [[ 9.65983160e-01 2.45067919e-01 8.25726908e-02 1.01476244e+02] [-2.44121410e-01 9.69505703e-01 -2.15273799e-02 -1.24949000e+01] [-8.53303649e-02 6.37324753e-04 9.96352509e-01 -1.16376090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822401008 meters 0.0614733609990084 Centerline is valid? [True, True] Translation: X:101.53, Y:-12.52, Z:-11.64 [[ 9.68861466e-01 2.33654063e-01 8.19343567e-02 1.01532359e+02] [-2.32679214e-01 9.72318383e-01 -2.13856137e-02 -1.25244081e+01] [-8.46631168e-02 1.65527528e-03 9.96408258e-01 -1.16432732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882401008 meters 0.06187980178179114 Centerline is valid? [True, True] Translation: X:101.59, Y:-12.55, Z:-11.65 [[ 9.69443384e-01 2.32150930e-01 7.92809640e-02 1.01590267e+02] [-2.31232903e-01 9.72678232e-01 -2.06978899e-02 -1.25450885e+01] [-8.19199022e-02 1.73306497e-03 9.96637410e-01 -1.16520568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942401008 meters 0.061113765657115404 Centerline is valid? [True, True] Translation: X:101.65, Y:-12.56, Z:-11.66 [[ 9.67677826e-01 2.39935020e-01 7.76582943e-02 1.01650967e+02] [-2.39079292e-01 9.70788381e-01 -2.02734318e-02 -1.25575971e+01] [-8.02540761e-02 1.05166043e-03 9.96773885e-01 -1.16588362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002401008 meters 0.060729477898882424 Centerline is valid? [True, True] Translation: X:101.71, Y:-12.57, Z:-11.67 [[ 9.65393026e-01 2.48516372e-01 7.90943625e-02 1.01709727e+02] [-2.47655278e-01 9.68627625e-01 -2.06733513e-02 -1.25682913e+01] [-8.17506508e-02 3.69772896e-04 9.96652745e-01 -1.16661041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06240100800001 meters 0.060892051938468944 Centerline is valid? [True, True] Translation: X:101.77, Y:-12.57, Z:-11.67 [[ 9.62271140e-01 2.59306054e-01 8.24294995e-02 1.01769878e+02] [-2.58409310e-01 9.65795039e-01 -2.15539237e-02 -1.25743926e+01] [-8.51990646e-02 -5.59831355e-04 9.96363792e-01 -1.16745211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122401008 meters 0.06070789175385245 Centerline is valid? [True, True] Translation: X:101.83, Y:-12.59, Z:-11.68 [[ 9.60938917e-01 2.63826294e-01 8.36186840e-02 1.01830904e+02] [-2.62919896e-01 9.64569723e-01 -2.18718518e-02 -1.25892111e+01] [-8.64264205e-02 -9.67502115e-04 9.96257767e-01 -1.16787176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182401008 meters 0.06077829575963513 Centerline is valid? [True, True] Translation: X:101.89, Y:-12.60, Z:-11.69 [[ 9.60392733e-01 2.65365200e-01 8.50124008e-02 1.01890688e+02] [-2.64431971e-01 9.64147345e-01 -2.22627442e-02 -1.26040698e+01] [-8.78722381e-02 -1.09901897e-03 9.96131147e-01 -1.16854734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242401008 meters 0.060837927691682864 Centerline is valid? [True, True] Translation: X:101.95, Y:-12.62, Z:-11.69 [[ 9.59518308e-01 2.68467197e-01 8.51468224e-02 1.01949012e+02] [-2.67541219e-01 9.63287862e-01 -2.23202045e-02 -1.26246968e+01] [-8.80131433e-02 -1.36363985e-03 9.96118380e-01 -1.16904531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302401008 meters 0.06104911822458288 Centerline is valid? [True, True] Translation: X:102.01, Y:-12.64, Z:-11.70 [[ 9.59326091e-01 2.68761826e-01 8.63743703e-02 1.02006893e+02] [-2.67808002e-01 9.63205665e-01 -2.26654043e-02 -1.26427071e+01] [-8.92878782e-02 -1.38823382e-03 9.96004893e-01 -1.17010298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362401008 meters 0.0604075070910195 Centerline is valid? [True, True] Translation: X:102.06, Y:-12.67, Z:-11.71 [[ 9.59877911e-01 2.66757846e-01 8.64560491e-02 1.02063642e+02] [-2.65792278e-01 9.63762861e-01 -2.27071310e-02 -1.26679388e+01] [-8.93804346e-02 -1.18327673e-03 9.95996856e-01 -1.17090479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42240100800001 meters 0.060148610339533025 Centerline is valid? [True, True] Translation: X:102.12, Y:-12.69, Z:-11.72 [[ 9.60482322e-01 2.64519448e-01 8.66208484e-02 1.02120973e+02] [-2.63539108e-01 9.64379878e-01 -2.27725673e-02 -1.26918846e+01] [-8.95591901e-02 -9.55332814e-04 9.95981043e-01 -1.17167215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482401008 meters 0.05991916082335297 Centerline is valid? [True, True] Translation: X:102.18, Y:-12.72, Z:-11.73 [[ 9.61480132e-01 2.62164335e-01 8.26185046e-02 1.02176966e+02] [-2.61262187e-01 9.65023003e-01 -2.17410341e-02 -1.27207694e+01] [-8.54284812e-02 -6.81518831e-04 9.96344072e-01 -1.17254107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542401008 meters 0.05961004630760314 Centerline is valid? [True, True] Translation: X:102.23, Y:-12.75, Z:-11.73 [[ 9.62331955e-01 2.59184827e-01 8.21001430e-02 1.02234863e+02] [-2.58281782e-01 9.65827659e-01 -2.16207040e-02 -1.27468589e+01] [-8.48983473e-02 -3.98676866e-04 9.96389538e-01 -1.17325398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602401008 meters 0.05915979328080204 Centerline is valid? [True, True] Translation: X:102.29, Y:-12.78, Z:-11.74 [[ 9.64294394e-01 2.51151547e-01 8.40191757e-02 1.02289477e+02] [-2.50172878e-01 9.67947717e-01 -2.21528363e-02 -1.27792983e+01] [-8.68898884e-02 3.42536925e-04 9.96217863e-01 -1.17363857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662401008 meters 0.059325479775288896 Centerline is valid? [True, True] Translation: X:102.35, Y:-12.80, Z:-11.74 [[ 9.65675191e-01 2.44124428e-01 8.87394484e-02 1.02348210e+02] [-2.43000791e-01 9.69743346e-01 -2.34191729e-02 -1.27979368e+01] [-9.17716818e-02 1.05155813e-03 9.95779520e-01 -1.17426524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722401008 meters 0.05957324259058687 Centerline is valid? [True, True] Translation: X:102.41, Y:-12.81, Z:-11.75 [[ 9.66583732e-01 2.40250388e-01 8.94183433e-02 1.02407858e+02] [-2.39090829e-01 9.70709865e-01 -2.36206207e-02 -1.28148966e+01] [-9.24741312e-02 1.45220190e-03 9.95714028e-01 -1.17480747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78240100800001 meters 0.06106880882366479 Centerline is valid? [True, True] Translation: X:102.47, Y:-12.84, Z:-11.76 [[ 9.68732526e-01 2.31564132e-01 8.90805622e-02 1.02465945e+02] [-2.30374151e-01 9.72816922e-01 -2.35581526e-02 -1.28366118e+01] [-9.21143015e-02 2.29968977e-03 9.95745784e-01 -1.17560629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.842401008 meters 0.06266541540608582 Centerline is valid? [True, True] Translation: X:102.52, Y:-12.85, Z:-11.77 [[ 9.70398662e-01 2.25906178e-01 8.53980982e-02 1.02524464e+02] [-2.24790725e-01 9.74145264e-01 -2.25861505e-02 -1.28535884e+01] [-8.82925039e-02 2.72086975e-03 9.96090875e-01 -1.17685921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902401008 meters 0.06464732587087028 Centerline is valid? [True, True] Translation: X:102.58, Y:-12.87, Z:-11.78 [[ 9.72057528e-01 2.19501966e-01 8.32048584e-02 1.02583039e+02] [-2.18418131e-01 9.75606690e-01 -2.20251274e-02 -1.28731248e+01] [-8.60097753e-02 3.23624122e-03 9.96289037e-01 -1.17761069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962401008 meters 0.06445901452840798 Centerline is valid? [True, True] Translation: X:102.64, Y:-12.89, Z:-11.78 [[ 9.72428124e-01 2.16731457e-01 8.60872720e-02 1.02643873e+02] [-2.15558363e-01 9.76224538e-01 -2.28088525e-02 -1.28867599e+01] [-8.89839032e-02 3.62313825e-03 9.96026474e-01 -1.17783858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022401008 meters 0.06394537845433464 Centerline is valid? [True, True] Translation: X:102.70, Y:-12.89, Z:-11.79 [[ 9.71665351e-01 2.19641705e-01 8.73153346e-02 1.02704553e+02] [-2.18444388e-01 9.75574585e-01 -2.31577009e-02 -1.28944602e+01] [-9.02690182e-02 3.42799077e-03 9.95911519e-01 -1.17868277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082401008 meters 0.061166192009784084 Centerline is valid? [True, True] Translation: X:102.77, Y:-12.89, Z:-11.79 [[ 9.68924587e-01 2.30992472e-01 8.84738567e-02 1.02768051e+02] [-2.29808645e-01 9.72952529e-01 -2.34811000e-02 -1.28926875e+01] [-9.15048200e-02 2.41935798e-03 9.95801694e-01 -1.17917779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14240100800001 meters 0.0595398729671413 Centerline is valid? [True, True] Translation: X:102.83, Y:-12.90, Z:-11.79 [[ 9.66560247e-01 2.39921580e-01 9.05479171e-02 1.02830790e+02] [-2.38718583e-01 9.70790901e-01 -2.40512893e-02 -1.28985130e+01] [-9.36735174e-02 1.63154968e-03 9.95601632e-01 -1.17938740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20240100800001 meters 0.058705123903438204 Centerline is valid? [True, True] Translation: X:102.89, Y:-12.90, Z:-11.80 [[ 9.64600611e-01 2.46444531e-01 9.38656182e-02 1.02891963e+02] [-2.45180009e-01 9.69156320e-01 -2.49557634e-02 -1.29034368e+01] [-9.71206685e-02 1.05837151e-03 9.95272051e-01 -1.18013706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262401008 meters 0.05895400021591895 Centerline is valid? [True, True] Translation: X:102.95, Y:-12.92, Z:-11.81 [[ 9.64838331e-01 2.45205411e-01 9.46641510e-02 1.02951912e+02] [-2.43911362e-01 9.69470390e-01 -2.51875079e-02 -1.29180279e+01] [-9.79502046e-02 1.21221106e-03 9.95190579e-01 -1.18114404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322401008 meters 0.05906638532783414 Centerline is valid? [True, True] Translation: X:103.01, Y:-12.94, Z:-11.82 [[ 9.65976503e-01 2.41508394e-01 9.25369704e-02 1.03009438e+02] [-2.40252493e-01 9.70397448e-01 -2.46481598e-02 -1.29409943e+01] [-9.57503774e-02 1.57730537e-03 9.95404128e-01 -1.18151048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382401008 meters 0.05951556035233193 Centerline is valid? [True, True] Translation: X:103.07, Y:-12.96, Z:-11.82 [[ 9.66278804e-01 2.41141899e-01 9.03097869e-02 1.03066082e+02] [-2.39942263e-01 9.70488557e-01 -2.40763650e-02 -1.29628697e+01] [-9.34504352e-02 1.59534658e-03 9.95622655e-01 -1.18235675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442401008 meters 0.05921566908551491 Centerline is valid? [True, True] Translation: X:103.13, Y:-12.98, Z:-11.84 [[ 9.65529048e-01 2.45095450e-01 8.76463224e-02 1.03127167e+02] [-2.43980213e-01 9.69498217e-01 -2.33851147e-02 -1.29750410e+01] [-9.07045385e-02 1.19503915e-03 9.95877130e-01 -1.18362659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502401008 meters 0.059705948081119925 Centerline is valid? [True, True] Translation: X:103.19, Y:-12.99, Z:-11.85 [[ 9.64394002e-01 2.49930424e-01 8.64811654e-02 1.03185581e+02] [-2.48861464e-01 9.68263501e-01 -2.31033513e-02 -1.29876526e+01] [-8.95107864e-02 7.58904055e-04 9.95985564e-01 -1.18520406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56240100800001 meters 0.05895510982935204 Centerline is valid? [True, True] Translation: X:103.25, Y:-13.00, Z:-11.85 [[ 9.61746872e-01 2.58890026e-01 8.95483638e-02 1.03246640e+02] [-2.57781219e-01 9.65906802e-01 -2.39351740e-02 -1.29989075e+01] [-9.26919515e-02 -6.43077040e-05 9.95694832e-01 -1.18516021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622401008 meters 0.05872198969110229 Centerline is valid? [True, True] Translation: X:103.31, Y:-13.01, Z:-11.85 [[ 9.59466251e-01 2.66069431e-01 9.29062518e-02 1.03308419e+02] [-2.64907263e-01 9.63953563e-01 -2.48529805e-02 -1.30093173e+01] [-9.61699308e-02 -7.65944821e-04 9.95364636e-01 -1.18544733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682401008 meters 0.059224335100209656 Centerline is valid? [True, True] Translation: X:103.37, Y:-13.02, Z:-11.87 [[ 9.58792549e-01 2.68362060e-01 9.32665669e-02 1.03367412e+02] [-2.67199277e-01 9.63317628e-01 -2.49738686e-02 -1.30197538e+01] [-9.65473668e-02 -9.76000121e-04 9.95327912e-01 -1.18659337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742401008 meters 0.059230293038797545 Centerline is valid? [True, True] Translation: X:103.43, Y:-13.04, Z:-11.87 [[ 9.58876040e-01 2.68485979e-01 9.20435733e-02 1.03426050e+02] [-2.67352124e-01 9.63283119e-01 -2.46672850e-02 -1.30397275e+01] [-9.52868405e-02 -9.55176257e-04 9.95449399e-01 -1.18716133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802401008 meters 0.05907614266186428 Centerline is valid? [True, True] Translation: X:103.48, Y:-13.06, Z:-11.88 [[ 9.59172347e-01 2.67511362e-01 9.17936761e-02 1.03483780e+02] [-2.66376936e-01 9.63554346e-01 -2.46241892e-02 -1.30616101e+01] [-9.50354459e-02 -8.32876787e-04 9.95473541e-01 -1.18779936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862401008 meters 0.05919745453814558 Centerline is valid? [True, True] Translation: X:103.54, Y:-13.08, Z:-11.89 [[ 9.60114538e-01 2.64611005e-01 9.03387551e-02 1.03541477e+02] [-2.63497182e-01 9.64355097e-01 -2.42586554e-02 -1.30828067e+01] [-9.35377461e-02 -5.12919700e-04 9.95615602e-01 -1.18913166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92240100800001 meters 0.05950165618899677 Centerline is valid? [True, True] Translation: X:103.60, Y:-13.10, Z:-11.90 [[ 9.60165202e-01 2.64713389e-01 8.94964038e-02 1.03598881e+02] [-2.63618177e-01 9.64327009e-01 -2.40598510e-02 -1.31004001e+01] [-9.26727641e-02 -4.91447175e-04 9.95696499e-01 -1.19017491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982401008 meters 0.05856520295267493 Centerline is valid? [True, True] Translation: X:103.65, Y:-13.14, Z:-11.90 [[ 9.61364541e-01 2.59361610e-01 9.22484376e-02 1.03653329e+02] [-2.58172137e-01 9.65780283e-01 -2.48111580e-02 -1.31381976e+01] [-9.55267840e-02 3.65912932e-05 9.95426859e-01 -1.18973571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042401008 meters 0.058386917614794503 Centerline is valid? [True, True] Translation: X:103.71, Y:-13.16, Z:-11.90 [[ 9.61957700e-01 2.56696538e-01 9.35108020e-02 1.03711655e+02] [-2.55459312e-01 9.66491996e-01 -2.51746063e-02 -1.31595785e+01] [-9.68396760e-02 3.28701278e-04 9.95299939e-01 -1.19022084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102401008 meters 0.05882456456368279 Centerline is valid? [True, True] Translation: X:103.77, Y:-13.17, Z:-11.92 [[ 9.62369999e-01 2.55461656e-01 9.26462495e-02 1.03771985e+02] [-2.54239352e-01 9.66819073e-01 -2.49646010e-02 -1.31684275e+01] [-9.59496594e-02 4.70860644e-04 9.95386076e-01 -1.19200714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162401008 meters 0.0593218110802108 Centerline is valid? [True, True] Translation: X:103.83, Y:-13.18, Z:-11.94 [[ 9.62531570e-01 2.56085520e-01 8.91806222e-02 1.03830313e+02] [-2.54953741e-01 9.66654041e-01 -2.40531854e-02 -1.31793079e+01] [-9.23664813e-02 4.15017059e-04 9.95724993e-01 -1.19358984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222401008 meters 0.05861359731297616 Centerline is valid? [True, True] Translation: X:103.89, Y:-13.21, Z:-11.93 [[ 9.63554143e-01 2.52409146e-01 8.86173639e-02 1.03888031e+02] [-2.51274893e-01 9.67620288e-01 -2.39145706e-02 -1.32059872e+01] [-9.17842155e-02 7.75664945e-04 9.95778618e-01 -1.19303907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28240100800001 meters 0.05855241283071254 Centerline is valid? [True, True] Translation: X:103.95, Y:-13.23, Z:-11.93 [[ 9.64432671e-01 2.48107766e-01 9.11710492e-02 1.03946679e+02] [-2.46885543e-01 9.68731640e-01 -2.46279868e-02 -1.32279026e+01] [-9.44306748e-02 1.24322114e-03 9.95530664e-01 -1.19339462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.342401008 meters 0.058633370889647506 Centerline is valid? [True, True] Translation: X:104.01, Y:-13.24, Z:-11.94 [[ 9.64715629e-01 2.46074178e-01 9.36549777e-02 1.04007448e+02] [-2.44771835e-01 9.69249822e-01 -2.53284750e-02 -1.32382937e+01] [-9.70077541e-02 1.51067487e-03 9.95282479e-01 -1.19442897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402401008 meters 0.05879566590094944 Centerline is valid? [True, True] Translation: X:104.07, Y:-13.25, Z:-11.95 [[ 9.64693026e-01 2.46657708e-01 9.23435995e-02 1.04065884e+02] [-2.45391992e-01 9.69101572e-01 -2.49982675e-02 -1.32537321e+01] [-9.56563428e-02 1.45527450e-03 9.95413354e-01 -1.19535164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462401008 meters 0.05835325207400683 Centerline is valid? [True, True] Translation: X:104.13, Y:-13.26, Z:-11.96 [[ 9.63308318e-01 2.54023937e-01 8.66540502e-02 1.04125680e+02] [-2.52937639e-01 9.67197680e-01 -2.34776195e-02 -1.32639694e+01] [-8.97754736e-02 6.98115276e-04 9.95961785e-01 -1.19634133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522401008 meters 0.05831894364407863 Centerline is valid? [True, True] Translation: X:104.19, Y:-13.27, Z:-11.97 [[ 9.61712345e-01 2.60950761e-01 8.37500208e-02 1.04187357e+02] [-2.59960806e-01 9.65352110e-01 -2.27086713e-02 -1.32721564e+01] [-8.67741043e-02 6.74867005e-05 9.96228011e-01 -1.19717885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582401008 meters 0.05867242526238968 Centerline is valid? [True, True] Translation: X:104.25, Y:-13.28, Z:-11.99 [[ 9.60907491e-01 2.64174709e-01 8.28765157e-02 1.04246744e+02] [-2.63215214e-01 9.64474823e-01 -2.24959391e-02 -1.32825623e+01] [-8.58751709e-02 -1.97843360e-04 9.96305885e-01 -1.19857997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64240100800001 meters 0.05853441709261538 Centerline is valid? [True, True] Translation: X:104.31, Y:-13.30, Z:-11.99 [[ 9.61291049e-01 2.62710624e-01 8.30821737e-02 1.04305785e+02] [-2.61740242e-01 9.64874668e-01 -2.25592873e-02 -1.33014707e+01] [-8.60904492e-02 -5.99073024e-05 9.96287324e-01 -1.19935431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70240100800001 meters 0.0582521877406122 Centerline is valid? [True, True] Translation: X:104.36, Y:-13.32, Z:-12.00 [[ 9.61501415e-01 2.61429651e-01 8.46732957e-02 1.04364305e+02] [-2.60414429e-01 9.65222529e-01 -2.30172596e-02 -1.33223419e+01] [-8.77459668e-02 8.09796716e-05 9.96142881e-01 -1.19972168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762401008 meters 0.05762185949295901 Centerline is valid? [True, True] Translation: X:104.42, Y:-13.35, Z:-12.00 [[ 9.61982056e-01 2.58926917e-01 8.68756310e-02 1.04422232e+02] [-2.57845888e-01 9.65896856e-01 -2.36381312e-02 -1.33457183e+01] [-9.00334473e-02 3.38933854e-04 9.95938685e-01 -1.19982102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822401008 meters 0.057387169113948346 Centerline is valid? [True, True] Translation: X:104.48, Y:-13.37, Z:-12.00 [[ 9.62879815e-01 2.54045729e-01 9.12317353e-02 1.04480577e+02] [-2.52828709e-01 9.67191823e-01 -2.48519981e-02 -1.33703343e+01] [-9.45521323e-02 8.63485507e-04 9.95519537e-01 -1.20000570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882401008 meters 0.05818005882707771 Centerline is valid? [True, True] Translation: X:104.54, Y:-13.39, Z:-12.01 [[ 9.63578176e-01 2.50783362e-01 9.28698189e-02 1.04539259e+02] [-2.49506447e-01 9.68042478e-01 -2.53040278e-02 -1.33872871e+01] [-9.62477588e-02 1.21079044e-03 9.95356671e-01 -1.20116397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942401008 meters 0.05842811818204965 Centerline is valid? [True, True] Translation: X:104.60, Y:-13.40, Z:-12.02 [[ 9.64574604e-01 2.48519439e-01 8.85094418e-02 1.04599136e+02] [-2.47348191e-01 9.68625909e-01 -2.41396204e-02 -1.33983857e+01] [-9.17317034e-02 1.39181457e-03 9.95782786e-01 -1.20215407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002401008 meters 0.059171928146436265 Centerline is valid? [True, True] Translation: X:104.66, Y:-13.42, Z:-12.03 [[ 9.65837350e-01 2.45776037e-01 8.21727046e-02 1.04656354e+02] [-2.44755280e-01 9.69325400e-01 -2.24303684e-02 -1.34171417e+01] [-8.51649368e-02 1.55188418e-03 9.96365658e-01 -1.20302880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06240100800001 meters 0.059649253083058434 Centerline is valid? [True, True] Translation: X:104.71, Y:-13.44, Z:-12.04 [[ 9.66851423e-01 2.42433802e-01 8.01509721e-02 1.04714796e+02] [-2.41449960e-01 9.70166250e-01 -2.18943797e-02 -1.34350920e+01] [-8.30677058e-02 1.81616318e-03 9.96542251e-01 -1.20368286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122401008 meters 0.062267237668829654 Centerline is valid? [True, True] Translation: X:104.77, Y:-13.45, Z:-12.05 [[ 9.69062304e-01 2.33547319e-01 7.98367101e-02 1.04771049e+02] [-2.32539429e-01 9.72341995e-01 -2.18279431e-02 -1.34532788e+01] [-8.27264436e-02 2.58745385e-03 9.96568934e-01 -1.20513080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182401008 meters 0.06330279724575025 Centerline is valid? [True, True] Translation: X:104.83, Y:-13.47, Z:-12.06 [[ 9.70236318e-01 2.28451361e-01 8.03210037e-02 1.04829893e+02] [-2.27412267e-01 9.73550525e-01 -2.19780788e-02 -1.34703491e+01] [-8.32174773e-02 3.05794874e-03 9.96526718e-01 -1.20582918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242401008 meters 0.06416335682596527 Centerline is valid? [True, True] Translation: X:104.89, Y:-13.49, Z:-12.06 [[ 9.70734910e-01 2.24774222e-01 8.45593531e-02 1.04888227e+02] [-2.23606348e-01 9.74404314e-01 -2.31610537e-02 -1.34915742e+01] [-8.76010062e-02 3.57523526e-03 9.96149226e-01 -1.20576090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302401008 meters 0.061822810202781235 Centerline is valid? [True, True] Translation: X:104.95, Y:-13.50, Z:-12.05 [[ 9.70621157e-01 2.24042831e-01 8.77461137e-02 1.04950293e+02] [-2.22781223e-01 9.74571935e-01 -2.40430773e-02 -1.35032446e+01] [-9.09015790e-02 3.78853297e-03 9.95852675e-01 -1.20545573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362401008 meters 0.06169234684241472 Centerline is valid? [True, True] Translation: X:105.01, Y:-13.51, Z:-12.07 [[ 9.69889019e-01 2.26729983e-01 8.89314693e-02 1.05010129e+02] [-2.25442976e-01 9.73950971e-01 -2.43920362e-02 -1.35109464e+01] [-9.21452967e-02 3.60859292e-03 9.95739033e-01 -1.20654671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42240100800001 meters 0.06093488763819964 Centerline is valid? [True, True] Translation: X:105.07, Y:-13.52, Z:-12.08 [[ 9.69101302e-01 2.30345199e-01 8.82255925e-02 1.05071005e+02] [-2.29091769e-01 9.73103529e-01 -2.42174015e-02 -1.35180892e+01] [-9.14309976e-02 3.25735829e-03 9.95806087e-01 -1.20755474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482401008 meters 0.05980181782306232 Centerline is valid? [True, True] Translation: X:105.13, Y:-13.53, Z:-12.08 [[ 9.67902931e-01 2.35685084e-01 8.72723154e-02 1.05131371e+02] [-2.34478296e-01 9.71825606e-01 -2.39774771e-02 -1.35283530e+01] [-9.04646045e-02 2.74440656e-03 9.95895890e-01 -1.20804101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542401008 meters 0.058957286975977366 Centerline is valid? [True, True] Translation: X:105.19, Y:-13.54, Z:-12.09 [[ 9.66985896e-01 2.39671400e-01 8.65788446e-02 1.05191240e+02] [-2.38499443e-01 9.70851211e-01 -2.37895440e-02 -1.35407586e+01] [-8.97568494e-02 2.35514733e-03 9.95960924e-01 -1.20865403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602401008 meters 0.05899674233785622 Centerline is valid? [True, True] Translation: X:105.25, Y:-13.56, Z:-12.10 [[ 9.66149311e-01 2.42088717e-01 8.91547037e-02 1.05249136e+02] [-2.40853886e-01 9.70251584e-01 -2.45208029e-02 -1.35550821e+01] [-9.24387022e-02 2.21749996e-03 9.95715908e-01 -1.20965444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662401008 meters 0.05832480532562015 Centerline is valid? [True, True] Translation: X:105.31, Y:-13.57, Z:-12.10 [[ 9.65722276e-01 2.43394719e-01 9.02191559e-02 1.05309659e+02] [-2.42134506e-01 9.69924981e-01 -2.48276670e-02 -1.35680607e+01] [-9.35487361e-02 2.13146032e-03 9.95612420e-01 -1.21035710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722401008 meters 0.05792060173496267 Centerline is valid? [True, True] Translation: X:105.37, Y:-13.58, Z:-12.11 [[ 9.65166731e-01 2.46272195e-01 8.83356561e-02 1.05369702e+02] [-2.45074238e-01 9.69198969e-01 -2.43305630e-02 -1.35785114e+01] [-9.16067680e-02 1.83425632e-03 9.95793571e-01 -1.21148714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78240100800001 meters 0.05772176248245428 Centerline is valid? [True, True] Translation: X:105.43, Y:-13.59, Z:-12.12 [[ 9.64791166e-01 2.48224602e-01 8.69629401e-02 1.05431135e+02] [-2.47069749e-01 9.68701114e-01 -2.39727065e-02 -1.35910281e+01] [-9.01917125e-02 1.64274361e-03 9.95923068e-01 -1.21229889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.842401008 meters 0.05786235381323736 Centerline is valid? [True, True] Translation: X:105.49, Y:-13.61, Z:-12.13 [[ 9.65477796e-01 2.46350169e-01 8.46417129e-02 1.05489946e+02] [-2.45246802e-01 9.69179228e-01 -2.33587502e-02 -1.36111727e+01] [-8.77874219e-02 1.79424533e-03 9.96137616e-01 -1.21277192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902401008 meters 0.05887917357014771 Centerline is valid? [True, True] Translation: X:105.55, Y:-13.63, Z:-12.14 [[ 9.66817533e-01 2.40609787e-01 8.58532961e-02 1.05547857e+02] [-2.39450342e-01 9.70619045e-01 -2.37108292e-02 -1.36326212e+01] [-8.90359019e-02 2.36644428e-03 9.96025606e-01 -1.21360133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962401008 meters 0.06017436925794986 Centerline is valid? [True, True] Translation: X:105.61, Y:-13.66, Z:-12.14 [[ 9.68302086e-01 2.33553293e-01 8.85659583e-02 1.05605570e+02] [-2.32287991e-01 9.72338964e-01 -2.44791613e-02 -1.36555560e+01] [-9.18333208e-02 3.13041447e-03 9.95769472e-01 -1.21421741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022401008 meters 0.06028242390355014 Centerline is valid? [True, True] Translation: X:105.66, Y:-13.68, Z:-12.15 [[ 9.69570812e-01 2.27878329e-01 8.94645563e-02 1.05664216e+02] [-2.26562768e-01 9.73682552e-01 -2.47305353e-02 -1.36751190e+01] [-9.27456306e-02 3.70866769e-03 9.95682928e-01 -1.21459477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082401008 meters 0.06037697356388124 Centerline is valid? [True, True] Translation: X:105.72, Y:-13.69, Z:-12.15 [[ 9.69928531e-01 2.26605773e-01 8.88170507e-02 1.05723564e+02] [-2.25301821e-01 9.73979053e-01 -2.45742388e-02 -1.36915393e+01] [-9.20746113e-02 3.82461202e-03 9.95744766e-01 -1.21519706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14240100800001 meters 0.06093361165412525 Centerline is valid? [True, True] Translation: X:105.78, Y:-13.71, Z:-12.16 [[ 9.68904806e-01 2.31075337e-01 8.84741002e-02 1.05781321e+02] [-2.29798992e-01 9.72929928e-01 -2.44903701e-02 -1.37092368e+01] [-9.17382205e-02 3.39757829e-03 9.95777362e-01 -1.21595525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20240100800001 meters 0.05962401159276166 Centerline is valid? [True, True] Translation: X:105.84, Y:-13.72, Z:-12.16 [[ 9.67162451e-01 2.36762315e-01 9.24142818e-02 1.05840394e+02] [-2.35393214e-01 9.71562946e-01 -2.56022625e-02 -1.37227498e+01] [-9.58479429e-02 3.00785211e-03 9.95391443e-01 -1.21633915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262401008 meters 0.057997527427581415 Centerline is valid? [True, True] Translation: X:105.90, Y:-13.73, Z:-12.17 [[ 9.65808804e-01 2.42144639e-01 9.26246586e-02 1.05901920e+02] [-2.40792303e-01 9.70236952e-01 -2.56772968e-02 -1.37265660e+01] [-9.60854862e-02 2.49605448e-03 9.95369956e-01 -1.21747580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322401008 meters 0.05691299211581382 Centerline is valid? [True, True] Translation: X:105.96, Y:-13.73, Z:-12.19 [[ 9.62260405e-01 2.57634851e-01 8.76310215e-02 1.05963806e+02] [-2.56486943e-01 9.66241917e-01 -2.43106028e-02 -1.37257289e+01] [-9.09360247e-02 9.16917634e-04 9.95856314e-01 -1.21897435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382401008 meters 0.056577511344506684 Centerline is valid? [True, True] Translation: X:106.03, Y:-13.74, Z:-12.19 [[ 9.59593586e-01 2.67724223e-01 8.66249999e-02 1.06026006e+02] [-2.66641923e-01 9.63495584e-01 -2.40487999e-02 -1.37350551e+01] [-8.99012511e-02 -2.07824587e-05 9.95950684e-01 -1.21935074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442401008 meters 0.056520355628323055 Centerline is valid? [True, True] Translation: X:106.09, Y:-13.75, Z:-12.20 [[ 9.57589119e-01 2.73385727e-01 9.10127626e-02 1.06086173e+02] [-2.72213911e-01 9.61904327e-01 -2.52913388e-02 -1.37471320e+01] [-9.44598613e-02 -5.56229152e-04 9.95528516e-01 -1.21984634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502401008 meters 0.056266975076585755 Centerline is valid? [True, True] Translation: X:106.14, Y:-13.77, Z:-12.21 [[ 9.58470072e-01 2.69813409e-01 9.23896391e-02 1.06143517e+02] [-2.68587113e-01 9.62912608e-01 -2.56957801e-02 -1.37705361e+01] [-9.58962143e-02 -1.86030245e-04 9.95391321e-01 -1.22074080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56240100800001 meters 0.05642474299977973 Centerline is valid? [True, True] Translation: X:106.20, Y:-13.80, Z:-12.22 [[ 9.60269764e-01 2.63087940e-01 9.30951945e-02 1.06200050e+02] [-2.61809006e-01 9.64771721e-01 -2.59146781e-02 -1.37980639e+01] [-9.66334503e-02 5.11921480e-04 9.95319905e-01 -1.22179042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622401008 meters 0.056325468997968954 Centerline is valid? [True, True] Translation: X:106.26, Y:-13.82, Z:-12.22 [[ 9.60255936e-01 2.62905335e-01 9.37513885e-02 1.06257183e+02] [-2.61604589e-01 9.64821470e-01 -2.61260359e-02 -1.38216070e+01] [-9.73220267e-02 5.61887575e-04 9.95252786e-01 -1.22225789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682401008 meters 0.05627174384595799 Centerline is valid? [True, True] Translation: X:106.31, Y:-13.85, Z:-12.23 [[ 9.59804336e-01 2.65641937e-01 9.06090388e-02 1.06314276e+02] [-2.64437382e-01 9.64071716e-01 -2.52704643e-02 -1.38469345e+01] [-9.40665067e-02 2.94284173e-04 9.95565872e-01 -1.22274483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742401008 meters 0.05639816104084001 Centerline is valid? [True, True] Translation: X:106.37, Y:-13.87, Z:-12.24 [[ 9.59551532e-01 2.66734203e-01 9.00762016e-02 1.06373268e+02] [-2.65546575e-01 9.63770108e-01 -2.51434816e-02 -1.38652061e+01] [-9.35193771e-02 2.07039467e-04 9.95617438e-01 -1.22390007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802401008 meters 0.056498816285968693 Centerline is valid? [True, True] Translation: X:106.43, Y:-13.88, Z:-12.25 [[ 9.59646519e-01 2.66116758e-01 9.08869066e-02 1.06431628e+02] [-2.64902309e-01 9.63940757e-01 -2.53965192e-02 -1.38846058e+01] [-9.43680330e-02 2.95529809e-04 9.95537336e-01 -1.22471573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862401008 meters 0.056610083999512034 Centerline is valid? [True, True] Translation: X:106.49, Y:-13.91, Z:-12.26 [[ 9.59826064e-01 2.64828608e-01 9.27347550e-02 1.06487867e+02] [-2.63555669e-01 9.64295391e-01 -2.59385589e-02 -1.39082591e+01] [-9.62929692e-02 4.55734502e-04 9.95352931e-01 -1.22564362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters 0.056376855985471305 Centerline is valid? [True, True] Translation: X:106.55, Y:-13.93, Z:-12.26 [[ 9.59396251e-01 2.66431767e-01 9.25902125e-02 1.06545347e+02] [-2.65168116e-01 9.63853731e-01 -2.59201945e-02 -1.39306599e+01] [-9.61493850e-02 3.15765269e-04 9.95366865e-01 -1.22597061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982401008 meters 0.05605582487689361 Centerline is valid? [True, True] Translation: X:106.60, Y:-13.95, Z:-12.26 [[ 9.58915606e-01 2.67976360e-01 9.31103155e-02 1.06604761e+02] [-2.66702923e-01 9.63425469e-01 -2.60943774e-02 -1.39511251e+01] [-9.66975256e-02 1.89512456e-04 9.95313796e-01 -1.22622157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042401008 meters 0.05646693904415621 Centerline is valid? [True, True] Translation: X:106.67, Y:-13.96, Z:-12.28 [[ 9.58933107e-01 2.68131072e-01 9.24825584e-02 1.06665812e+02] [-2.66874963e-01 9.63382425e-01 -2.59240749e-02 -1.39584234e+01] [-9.60471214e-02 1.78174316e-04 9.95376772e-01 -1.22799646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102401008 meters 0.05703205487028482 Centerline is valid? [True, True] Translation: X:106.73, Y:-13.97, Z:-12.29 [[ 9.59663466e-01 2.66248781e-01 9.03195310e-02 1.06725495e+02] [-2.65040440e-01 9.63904270e-01 -2.53401444e-02 -1.39710511e+01] [-9.38061642e-02 3.79682598e-04 9.95590407e-01 -1.22942018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162401008 meters 0.0570511338782346 Centerline is valid? [True, True] Translation: X:106.78, Y:-13.99, Z:-12.30 [[ 9.60294605e-01 2.65442840e-01 8.58741506e-02 1.06782965e+02] [-2.64345660e-01 9.64126491e-01 -2.41139256e-02 -1.39933469e+01] [-8.91944124e-02 4.56013703e-04 9.96014131e-01 -1.22990954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222401008 meters 0.05727850508815074 Centerline is valid? [True, True] Translation: X:106.84, Y:-14.01, Z:-12.31 [[ 9.60392150e-01 2.66113919e-01 8.26456263e-02 1.06840858e+02] [-2.65098698e-01 9.63941505e-01 -2.32261865e-02 -1.40106910e+01] [-8.58463609e-02 3.96999304e-04 9.96308308e-01 -1.23062489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800001 meters 0.0574211659435864 Centerline is valid? [True, True] Translation: X:106.90, Y:-14.02, Z:-12.32 [[ 9.60400857e-01 2.65402921e-01 8.48026155e-02 1.06900747e+02] [-2.64329357e-01 9.64137463e-01 -2.38525433e-02 -1.40230520e+01] [-8.80919132e-02 4.92182191e-04 9.96112229e-01 -1.23171349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.342401008 meters 0.057047218367115224 Centerline is valid? [True, True] Translation: X:106.96, Y:-14.05, Z:-12.31 [[ 9.61436153e-01 2.59055516e-01 9.23621284e-02 1.06957967e+02] [-2.57749432e-01 9.65861689e-01 -2.60082294e-02 -1.40518980e+01] [-9.59466166e-02 1.19896585e-03 9.95385759e-01 -1.23131973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402401008 meters 0.05673120705661128 Centerline is valid? [True, True] Translation: X:107.02, Y:-14.08, Z:-12.31 [[ 9.61481857e-01 2.57235426e-01 9.68636886e-02 1.07016768e+02] [-2.55788803e-01 9.66347671e-01 -2.72812404e-02 -1.40754215e+01] [-1.00621701e-01 1.45377067e-03 9.94923695e-01 -1.23102704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462401008 meters 0.0568389270002947 Centerline is valid? [True, True] Translation: X:107.08, Y:-14.10, Z:-12.31 [[ 9.61777339e-01 2.54932200e-01 9.99696139e-02 1.07075240e+02] [-2.53375863e-01 9.66957301e-01 -2.81824472e-02 -1.40956100e+01] [-1.03850961e-01 1.77535188e-03 9.94591286e-01 -1.23137401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522401008 meters 0.05682366879754835 Centerline is valid? [True, True] Translation: X:107.14, Y:-14.11, Z:-12.33 [[ 9.61909409e-01 2.54717907e-01 9.92425193e-02 1.07135833e+02] [-2.53180293e-01 9.67013706e-01 -2.80041436e-02 -1.41075147e+01] [-1.03102033e-01 1.81119909e-03 9.94669136e-01 -1.23252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582401008 meters 0.05757069143646665 Centerline is valid? [True, True] Translation: X:107.19, Y:-14.13, Z:-12.34 [[ 9.63180912e-01 2.51873702e-01 9.40328094e-02 1.07193546e+02] [-2.50477620e-01 9.67757987e-01 -2.65601449e-02 -1.41251437e+01] [-9.76908044e-02 2.02911034e-03 9.95214745e-01 -1.23388579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800001 meters 0.05850240114541835 Centerline is valid? [True, True] Translation: X:107.25, Y:-14.14, Z:-12.35 [[ 9.64062155e-01 2.49719394e-01 9.06884009e-02 1.07250882e+02] [-2.48410856e-01 9.68315804e-01 -2.56232376e-02 -1.41436247e+01] [-9.42136312e-02 2.17441037e-03 9.95549629e-01 -1.23500203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70240100800001 meters 0.05847726874238563 Centerline is valid? [True, True] Translation: X:107.31, Y:-14.16, Z:-12.36 [[ 9.64807121e-01 2.47589579e-01 8.85811482e-02 1.07310676e+02] [-2.46330379e-01 9.68862163e-01 -2.50490278e-02 -1.41595206e+01] [-9.20248011e-02 2.34725260e-03 9.95753949e-01 -1.23563235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762401008 meters 0.05882427366757052 Centerline is valid? [True, True] Translation: X:107.37, Y:-14.18, Z:-12.36 [[ 9.65147577e-01 2.45566027e-01 9.04847036e-02 1.07368998e+02] [-2.44241305e-01 9.69376343e-01 -2.56064566e-02 -1.41760161e+01] [-9.40018069e-02 2.61390741e-03 9.95568595e-01 -1.23628868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822401008 meters 0.05863059264528648 Centerline is valid? [True, True] Translation: X:107.43, Y:-14.19, Z:-12.37 [[ 9.65146611e-01 2.45997417e-01 8.93156746e-02 1.07428113e+02] [-2.44706650e-01 9.69267106e-01 -2.52969089e-02 -1.41922031e+01] [-9.27937196e-02 2.55908640e-03 9.95682066e-01 -1.23684797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882401008 meters 0.05903695771378458 Centerline is valid? [True, True] Translation: X:107.49, Y:-14.21, Z:-12.38 [[ 9.64336407e-01 2.49434341e-01 8.85313710e-02 1.07486071e+02] [-2.48178475e-01 9.68389142e-01 -2.50980911e-02 -1.42087018e+01] [-9.19931442e-02 2.23142231e-03 9.95757140e-01 -1.23776737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942401008 meters 0.058176235915065766 Centerline is valid? [True, True] Translation: X:107.55, Y:-14.22, Z:-12.39 [[ 9.62698134e-01 2.55844090e-01 8.80687465e-02 1.07546768e+02] [-2.54626980e-01 9.66716696e-01 -2.49786117e-02 -1.42154737e+01] [-9.15281578e-02 1.62218388e-03 9.95801167e-01 -1.23877417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002401008 meters 0.05698257566994527 Centerline is valid? [True, True] Translation: X:107.61, Y:-14.21, Z:-12.39 [[ 9.58878987e-01 2.70153265e-01 8.69959840e-02 1.07610164e+02] [-2.69022589e-01 9.62817293e-01 -2.46922556e-02 -1.42140251e+01] [-9.04319313e-02 2.73000149e-04 9.95902601e-01 -1.23945213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06240100800001 meters 0.05729974216124601 Centerline is valid? [True, True] Translation: X:107.67, Y:-14.22, Z:-12.40 [[ 9.55806217e-01 2.80291622e-01 8.87191180e-02 1.07671786e+02] [-2.79157233e-01 9.59914655e-01 -2.52010681e-02 -1.42202141e+01] [-9.22264298e-02 -6.79245987e-04 9.95737829e-01 -1.23996290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122401008 meters 0.057135603011839224 Centerline is valid? [True, True] Translation: X:107.73, Y:-14.23, Z:-12.40 [[ 9.54041140e-01 2.84927052e-01 9.28551471e-02 1.07733073e+02] [-2.83703838e-01 9.58548504e-01 -2.63988219e-02 -1.42343338e+01] [-9.65279008e-02 -1.15779953e-03 9.95329606e-01 -1.23994806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182401008 meters 0.05637933910224939 Centerline is valid? [True, True] Translation: X:107.79, Y:-14.25, Z:-12.41 [[ 9.55097117e-01 2.80263137e-01 9.61356864e-02 1.07790972e+02] [-2.78925549e-01 9.59922968e-01 -2.73575277e-02 -1.42546575e+01] [-9.99501599e-02 -6.85603213e-04 9.94992209e-01 -1.24054989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242401008 meters 0.05642722722234255 Centerline is valid? [True, True] Translation: X:107.85, Y:-14.28, Z:-12.42 [[ 9.56718738e-01 2.75704170e-01 9.31475532e-02 1.07846758e+02] [-2.74424798e-01 9.61242518e-01 -2.65302057e-02 -1.42764888e+01] [-9.68518770e-02 -1.80053566e-04 9.95298790e-01 -1.24187693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302401008 meters 0.05653309447312973 Centerline is valid? [True, True] Translation: X:107.90, Y:-14.30, Z:-12.43 [[ 9.56865154e-01 2.75990170e-01 9.07661999e-02 1.07904651e+02] [-2.74774809e-01 9.61160441e-01 -2.58729919e-02 -1.42991901e+01] [-9.43815721e-02 -1.83300863e-04 9.95536079e-01 -1.24257082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362401008 meters 0.05681801743244483 Centerline is valid? [True, True] Translation: X:107.96, Y:-14.32, Z:-12.44 [[ 9.56866513e-01 2.77341154e-01 8.65353194e-02 1.07962162e+02] [-2.76240167e-01 9.60771464e-01 -2.46893580e-02 -1.43221449e+01] [-8.99880405e-02 -2.80111191e-04 9.95942807e-01 -1.24356878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters 0.0571481534610298 Centerline is valid? [True, True] Translation: X:108.02, Y:-14.34, Z:-12.45 [[ 9.57927866e-01 2.74242638e-01 8.46473781e-02 1.08019407e+02] [-2.73175769e-01 9.61660530e-01 -2.41665915e-02 -1.43438992e+01] [-8.80295523e-02 2.62388064e-05 9.96117863e-01 -1.24493621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482401008 meters 0.05747778391975379 Centerline is valid? [True, True] Translation: X:108.08, Y:-14.36, Z:-12.46 [[ 9.58926676e-01 2.71720656e-01 8.14095576e-02 1.08077387e+02] [-2.70723142e-01 9.62376129e-01 -2.32629923e-02 -1.43645670e+01] [-8.46676504e-02 2.68052610e-04 9.96409212e-01 -1.24576725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542401008 meters 0.057261962685950976 Centerline is valid? [True, True] Translation: X:108.14, Y:-14.38, Z:-12.46 [[ 9.58302455e-01 2.74162074e-01 8.05702306e-02 1.08136294e+02] [-2.73192352e-01 9.61683499e-01 -2.30387886e-02 -1.43838014e+01] [-8.37994234e-02 6.69568201e-05 9.96482640e-01 -1.24606091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602401008 meters 0.0570614712637062 Centerline is valid? [True, True] Translation: X:108.19, Y:-14.40, Z:-12.47 [[ 9.58407580e-01 2.72767815e-01 8.39799335e-02 1.08194453e+02] [-2.71706657e-01 9.62079867e-01 -2.40379313e-02 -1.43996543e+01] [-8.73521772e-02 2.20228565e-04 9.96177468e-01 -1.24671191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662401008 meters 0.05704807034928022 Centerline is valid? [True, True] Translation: X:108.25, Y:-14.41, Z:-12.47 [[ 9.58356999e-01 2.72102086e-01 8.66736299e-02 1.08254849e+02] [-2.70966787e-01 9.62268339e-01 -2.48322962e-02 -1.44146604e+01] [-9.01602095e-02 3.12529857e-04 9.95927226e-01 -1.24735230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722401008 meters 0.056967322866188094 Centerline is valid? [True, True] Translation: X:108.31, Y:-14.43, Z:-12.48 [[ 9.57780789e-01 2.73926659e-01 8.72934457e-02 1.08314404e+02] [-2.72782180e-01 9.61750573e-01 -2.50143523e-02 -1.44306943e+01] [-9.08066194e-02 1.46169676e-04 9.95868534e-01 -1.24788976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800001 meters 0.05682980331547465 Centerline is valid? [True, True] Translation: X:108.37, Y:-14.45, Z:-12.48 [[ 9.57267507e-01 2.75813921e-01 8.69804606e-02 1.08374520e+02] [-2.74683539e-01 9.61211049e-01 -2.49453892e-02 -1.44467086e+01] [-9.04868654e-02 -1.26902547e-05 9.95897649e-01 -1.24838721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.842401008 meters 0.05670695504558984 Centerline is valid? [True, True] Translation: X:108.44, Y:-14.46, Z:-12.49 [[ 9.56928346e-01 2.76896120e-01 8.72735903e-02 1.08435091e+02] [-2.75760197e-01 9.60899855e-01 -2.50555938e-02 -1.44638622e+01] [-9.07989769e-02 -9.01745205e-05 9.95869237e-01 -1.24898817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902401008 meters 0.05699762211722216 Centerline is valid? [True, True] Translation: X:108.49, Y:-14.48, Z:-12.50 [[ 9.56618855e-01 2.78067654e-01 8.69410471e-02 1.08494740e+02] [-2.76942800e-01 9.60561476e-01 -2.49867203e-02 -1.44763121e+01] [-9.04602192e-02 -1.74929258e-04 9.95900054e-01 -1.25016836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962401008 meters 0.05689730977557253 Centerline is valid? [True, True] Translation: X:108.55, Y:-14.49, Z:-12.51 [[ 9.56620493e-01 2.78028241e-01 8.70490070e-02 1.08554462e+02] [-2.76898247e-01 9.60572889e-01 -2.50416778e-02 -1.44940482e+01] [-9.05792097e-02 -1.48335257e-04 9.95889243e-01 -1.25089010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022401008 meters 0.05689055412606759 Centerline is valid? [True, True] Translation: X:108.61, Y:-14.52, Z:-12.51 [[ 9.58336649e-01 2.72590295e-01 8.53545475e-02 1.08609368e+02] [-2.71480077e-01 9.62130128e-01 -2.45801566e-02 -1.45227475e+01] [-8.88224939e-02 3.84005827e-04 9.96047397e-01 -1.25135384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082401008 meters 0.05784272521786992 Centerline is valid? [True, True] Translation: X:108.67, Y:-14.55, Z:-12.52 [[ 9.60933853e-01 2.64021392e-01 8.30592181e-02 1.08665445e+02] [-2.62936269e-01 9.64516119e-01 -2.39410676e-02 -1.45482803e+01] [-8.64329087e-02 1.16650145e-03 9.96256991e-01 -1.25242761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14240100800001 meters 0.05971960013410556 Centerline is valid? [True, True] Translation: X:108.72, Y:-14.57, Z:-12.53 [[ 9.64086894e-01 2.52829673e-01 8.13241535e-02 1.08722421e+02] [-2.51749144e-01 9.67508456e-01 -2.34468663e-02 -1.45705276e+01] [-8.46098697e-02 2.13153053e-03 9.96411876e-01 -1.25329194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20240100800001 meters 0.061553631807212225 Centerline is valid? [True, True] Translation: X:108.78, Y:-14.60, Z:-12.53 [[ 9.66610545e-01 2.42812700e-01 8.18904565e-02 1.08779433e+02] [-2.41679323e-01 9.70068393e-01 -2.36308784e-02 -1.45994066e+01] [-8.51772209e-02 3.05062614e-03 9.96361147e-01 -1.25318659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262401008 meters 0.06417264067067743 Centerline is valid? [True, True] Translation: X:108.84, Y:-14.62, Z:-12.53 [[ 9.69865058e-01 2.26837431e-01 8.89187734e-02 1.08837987e+02] [-2.25431248e-01 9.73920489e-01 -2.56833375e-02 -1.46225051e+01] [-9.24257576e-02 4.86430152e-03 9.95707697e-01 -1.25290620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322401008 meters 0.06611946290212489 Centerline is valid? [True, True] Translation: X:108.90, Y:-14.64, Z:-12.54 [[ 9.71003835e-01 2.21467798e-01 9.00198120e-02 1.08897744e+02] [-2.20001379e-01 9.75152373e-01 -2.60238955e-02 -1.46368881e+01] [-9.35464881e-02 5.46481953e-03 9.95599915e-01 -1.25383001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382401008 meters 0.06359942880390287 Centerline is valid? [True, True] Translation: X:108.96, Y:-14.64, Z:-12.54 [[ 9.70199830e-01 2.25336400e-01 8.90830897e-02 1.08961409e+02] [-2.23914736e-01 9.74267889e-01 -2.57734621e-02 -1.46394221e+01] [-9.25984929e-02 5.05839199e-03 9.95690681e-01 -1.25428113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442401008 meters 0.061377226937929616 Centerline is valid? [True, True] Translation: X:109.02, Y:-14.64, Z:-12.55 [[ 9.67960992e-01 2.35692247e-01 8.66064846e-02 1.09023372e+02] [-2.34388084e-01 9.71819619e-01 -2.50769589e-02 -1.46424728e+01] [-9.00763256e-02 3.97399003e-03 9.95926937e-01 -1.25486063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502401008 meters 0.05983138589960794 Centerline is valid? [True, True] Translation: X:109.09, Y:-14.64, Z:-12.56 [[ 9.66511059e-01 2.42970226e-01 8.25944494e-02 1.09086333e+02] [-2.41809426e-01 9.70028607e-01 -2.39312106e-02 -1.46411628e+01] [-8.59335503e-02 3.15766327e-03 9.96295867e-01 -1.25642748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters 0.0591157757986772 Centerline is valid? [True, True] Translation: X:109.15, Y:-14.64, Z:-12.58 [[ 9.64289383e-01 2.53006392e-01 7.83182678e-02 1.09149198e+02] [-2.51994281e-01 9.67462186e-01 -2.27112690e-02 -1.46418231e+01] [-8.15160588e-02 2.16447996e-03 9.96669678e-01 -1.25785496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622401008 meters 0.058066057874566104 Centerline is valid? [True, True] Translation: X:109.21, Y:-14.66, Z:-12.58 [[ 9.63448291e-01 2.56441151e-01 7.74940357e-02 1.09210460e+02] [-2.55461234e-01 9.66558065e-01 -2.24736529e-02 -1.46552260e+01] [-8.06656546e-02 1.85548052e-03 9.96739489e-01 -1.25796235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682401008 meters 0.05775429714954407 Centerline is valid? [True, True] Translation: X:109.27, Y:-14.67, Z:-12.58 [[ 9.62698187e-01 2.58653926e-01 7.94376932e-02 1.09268671e+02] [-2.57629686e-01 9.65968496e-01 -2.30609953e-02 -1.46707717e+01] [-8.26991260e-02 1.73527035e-03 9.96573050e-01 -1.25827559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742401008 meters 0.05635858910225415 Centerline is valid? [True, True] Translation: X:109.33, Y:-14.68, Z:-12.58 [[ 9.61804149e-01 2.60834222e-01 8.30559353e-02 1.09330813e+02] [-2.59721070e-01 9.65382223e-01 -2.41273371e-02 -1.46789159e+01] [-8.64739587e-02 1.63439649e-03 9.96252771e-01 -1.25848079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802401008 meters 0.05633306221068351 Centerline is valid? [True, True] Translation: X:109.39, Y:-14.69, Z:-12.60 [[ 9.60963155e-01 2.64020632e-01 8.27219453e-02 1.09390284e+02] [-2.62927904e-01 9.64516094e-01 -2.40337667e-02 -1.46906730e+01] [-8.61320578e-02 1.34565652e-03 9.96282820e-01 -1.25968788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862401008 meters 0.05677706560850352 Centerline is valid? [True, True] Translation: X:109.45, Y:-14.71, Z:-12.61 [[ 9.59920898e-01 2.68272774e-01 8.11269930e-02 1.09448071e+02] [-2.67235378e-01 9.63342509e-01 -2.35894782e-02 -1.47059583e+01] [-8.44814957e-02 9.64030365e-04 9.96424582e-01 -1.26087461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92240100800001 meters 0.05607025877383653 Centerline is valid? [True, True] Translation: X:109.51, Y:-14.72, Z:-12.61 [[ 9.58767459e-01 2.72797718e-01 7.96640782e-02 1.09510034e+02] [-2.71811681e-01 9.62071244e-01 -2.31803978e-02 -1.47208616e+01] [-8.29660784e-02 5.70984040e-04 9.96552208e-01 -1.26087094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982401008 meters 0.056005673956286646 Centerline is valid? [True, True] Translation: X:109.57, Y:-14.74, Z:-12.61 [[ 9.59250108e-01 2.70628694e-01 8.12363276e-02 1.09568365e+02] [-2.69593380e-01 9.62683475e-01 -2.36629715e-02 -1.47408734e+01] [-8.46087492e-02 7.97931793e-04 9.96413931e-01 -1.26137218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042401008 meters 0.05689028333310482 Centerline is valid? [True, True] Translation: X:109.62, Y:-14.77, Z:-12.62 [[ 9.61467155e-01 2.61283610e-01 8.55089831e-02 1.09623901e+02] [-2.60097231e-01 9.65260527e-01 -2.49308315e-02 -1.47653383e+01] [-8.90524637e-02 1.72952594e-03 9.96025435e-01 -1.26238217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102401008 meters 0.057100233989008216 Centerline is valid? [True, True] Translation: X:109.68, Y:-14.79, Z:-12.63 [[ 9.62250217e-01 2.58490239e-01 8.51898812e-02 1.09681980e+02] [-2.57300046e-01 9.66011800e-01 -2.48573681e-02 -1.47870308e+01] [-8.87198175e-02 1.99964747e-03 9.96054615e-01 -1.26294588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162401008 meters 0.056127502678288636 Centerline is valid? [True, True] Translation: X:109.74, Y:-14.81, Z:-12.63 [[ 9.61421839e-01 2.61865266e-01 8.42296215e-02 1.09741455e+02] [-2.60713084e-01 9.65102967e-01 -2.45957661e-02 -1.48066445e+01] [-8.77310344e-02 1.68714229e-03 9.96142770e-01 -1.26283433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222401008 meters 0.055825150650965355 Centerline is valid? [True, True] Translation: X:109.80, Y:-14.82, Z:-12.64 [[ 9.59619192e-01 2.69077503e-01 8.20262448e-02 1.09799509e+02] [-2.68009413e-01 9.63117986e-01 -2.39728965e-02 -1.48213024e+01] [-8.54515188e-02 1.02104585e-03 9.96341807e-01 -1.26392576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28240100800001 meters 0.056549818165987586 Centerline is valid? [True, True] Translation: X:109.86, Y:-14.83, Z:-12.66 [[ 9.58796086e-01 2.73197277e-01 7.79314655e-02 1.09857845e+02] [-2.72245551e-01 9.61957817e-01 -2.27929395e-02 -1.48319595e+01] [-8.11937514e-02 6.37286428e-04 9.96698133e-01 -1.26588681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.342401008 meters 0.05657751831183086 Centerline is valid? [True, True] Translation: X:109.92, Y:-14.85, Z:-12.67 [[ 9.58528876e-01 2.74733442e-01 7.57887222e-02 1.09916378e+02] [-2.73836951e-01 9.61520295e-01 -2.21821333e-02 -1.48500357e+01] [-7.89665683e-02 5.08462690e-04 9.96877135e-01 -1.26669324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402401008 meters 0.05647887892961631 Centerline is valid? [True, True] Translation: X:109.97, Y:-14.88, Z:-12.67 [[ 9.58367570e-01 2.74541992e-01 7.84748079e-02 1.09970837e+02] [-2.73578214e-01 9.61574946e-01 -2.29909756e-02 -1.48784253e+01] [-8.17713974e-02 5.64807660e-04 9.96650952e-01 -1.26716513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462401008 meters 0.055695533745187764 Centerline is valid? [True, True] Translation: X:110.03, Y:-14.90, Z:-12.67 [[ 9.57866695e-01 2.75338419e-01 8.17321784e-02 1.10029560e+02] [-2.74294401e-01 9.61347217e-01 -2.39605937e-02 -1.48968966e+01] [-8.51702742e-02 5.32375807e-04 9.96366268e-01 -1.26739466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522401008 meters 0.05510428600669387 Centerline is valid? [True, True] Translation: X:110.09, Y:-14.92, Z:-12.67 [[ 9.57887443e-01 2.73834837e-01 8.64067656e-02 1.10086242e+02] [-2.72659858e-01 9.61776460e-01 -2.53504012e-02 -1.49214697e+01] [-9.00458161e-02 7.23174490e-04 9.95937361e-01 -1.26745687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582401008 meters 0.055439584092077915 Centerline is valid? [True, True] Translation: X:110.14, Y:-14.95, Z:-12.68 [[ 9.58817380e-01 2.69640701e-01 8.92363351e-02 1.10141630e+02] [-2.68367269e-01 9.62960287e-01 -2.62010365e-02 -1.49477967e+01] [-9.29959128e-02 1.17389763e-03 9.95665798e-01 -1.26804637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800001 meters 0.056009205799393856 Centerline is valid? [True, True] Translation: X:110.20, Y:-14.97, Z:-12.69 [[ 9.60532165e-01 2.64234419e-01 8.69375161e-02 1.10197636e+02] [-2.63001682e-01 9.64457030e-01 -2.55490151e-02 -1.49746021e+01] [-9.05984277e-02 1.67593790e-03 9.95886096e-01 -1.26882320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters 0.05622618241088322 Centerline is valid? [True, True] Translation: X:110.26, Y:-14.99, Z:-12.70 [[ 9.60168837e-01 2.66530105e-01 8.38898602e-02 1.10255654e+02] [-2.65390758e-01 9.63825559e-01 -2.46584278e-02 -1.49924462e+01] [-8.74274048e-02 1.41266041e-03 9.96169892e-01 -1.27001733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762401008 meters 0.05593664107579649 Centerline is valid? [True, True] Translation: X:110.31, Y:-15.01, Z:-12.70 [[ 9.60131231e-01 2.66414239e-01 8.46845509e-02 1.10314053e+02] [-2.65250856e-01 9.63857526e-01 -2.49129107e-02 -1.50126395e+01] [-8.82609959e-02 1.45701401e-03 9.96096317e-01 -1.27029276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822401008 meters 0.056228421619510624 Centerline is valid? [True, True] Translation: X:110.37, Y:-15.04, Z:-12.71 [[ 9.61118414e-01 2.62574179e-01 8.54762866e-02 1.10371096e+02] [-2.61371737e-01 9.64910039e-01 -2.51680584e-02 -1.50356998e+01] [-8.90854093e-02 1.84839889e-03 9.96022275e-01 -1.27104772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882401008 meters 0.057221675638171224 Centerline is valid? [True, True] Translation: X:110.43, Y:-15.06, Z:-12.72 [[ 9.61706291e-01 2.60416488e-01 8.54649775e-02 1.10427908e+02] [-2.59203859e-01 9.65494158e-01 -2.51871083e-02 -1.50559583e+01] [-8.90750748e-02 2.06974845e-03 9.96022764e-01 -1.27224808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942401008 meters 0.056690533224837726 Centerline is valid? [True, True] Translation: X:110.49, Y:-15.07, Z:-12.73 [[ 9.61511221e-01 2.61756913e-01 8.35433469e-02 1.10487007e+02] [-2.60601496e-01 9.65131920e-01 -2.46421672e-02 -1.50744438e+01] [-8.70806085e-02 1.92219906e-03 9.96199414e-01 -1.27286445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002401008 meters 0.056176392633417845 Centerline is valid? [True, True] Translation: X:110.55, Y:-15.09, Z:-12.74 [[ 9.60132285e-01 2.68105435e-01 7.91547236e-02 1.10545204e+02] [-2.67089098e-01 9.63388719e-01 -2.33578668e-02 -1.50917673e+01] [-8.25191389e-02 1.28527834e-03 9.96588651e-01 -1.27361416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters 0.05545694833792072 Centerline is valid? [True, True] Translation: X:110.60, Y:-15.10, Z:-12.74 [[ 9.58169612e-01 2.73478897e-01 8.43817986e-02 1.10604258e+02] [-2.72343274e-01 9.61877592e-01 -2.49126456e-02 -1.51025180e+01] [-8.79780441e-02 8.89724675e-04 9.96122017e-01 -1.27445483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122401008 meters 0.05520723104910984 Centerline is valid? [True, True] Translation: X:110.66, Y:-15.12, Z:-12.75 [[ 9.58491668e-01 2.70330547e-01 9.06372859e-02 1.10661420e+02] [-2.69004167e-01 9.62766715e-01 -2.67770657e-02 -1.51242807e+01] [-9.45012208e-02 1.28378677e-03 9.95523918e-01 -1.27464799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182401008 meters 0.05487557136676133 Centerline is valid? [True, True] Translation: X:110.72, Y:-15.14, Z:-12.75 [[ 9.58001365e-01 2.71658348e-01 9.18429464e-02 1.10720918e+02] [-2.70300609e-01 9.62393024e-01 -2.71522982e-02 -1.51422888e+01] [-9.57651594e-02 1.18673438e-03 9.95403248e-01 -1.27499940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242401008 meters 0.053904623744415306 Centerline is valid? [True, True] Translation: X:110.78, Y:-15.16, Z:-12.75 [[ 9.55908509e-01 2.77572212e-01 9.58779947e-02 1.10781091e+02] [-2.76119285e-01 9.60704559e-01 -2.83705947e-02 -1.51576012e+01] [-9.99853154e-02 6.45929529e-04 9.94988703e-01 -1.27479595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302401008 meters 0.05380249665334194 Centerline is valid? [True, True] Translation: X:110.84, Y:-15.18, Z:-12.75 [[ 9.55182525e-01 2.78975271e-01 9.89906192e-02 1.10839504e+02] [-2.77431140e-01 9.60298135e-01 -2.93164651e-02 -1.51757555e+01] [-1.03239076e-01 5.39494761e-04 9.94656424e-01 -1.27544650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362401008 meters 0.05377120739748954 Centerline is valid? [True, True] Translation: X:110.90, Y:-15.19, Z:-12.76 [[ 9.55165447e-01 2.78831051e-01 9.95601037e-02 1.10899864e+02] [-2.77265588e-01 9.60339994e-01 -2.95108286e-02 -1.51924169e+01] [-1.03840085e-01 5.83133073e-04 9.94593835e-01 -1.27627780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters 0.0540498068133421 Centerline is valid? [True, True] Translation: X:110.96, Y:-15.21, Z:-12.78 [[ 9.55124567e-01 2.80517868e-01 9.51145980e-02 1.10959219e+02] [-2.79095024e-01 9.59848717e-01 -2.82207090e-02 -1.52066216e+01] [-9.92120380e-02 4.08281508e-04 9.95066231e-01 -1.27777603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482401008 meters 0.05446320102837871 Centerline is valid? [True, True] Translation: X:111.02, Y:-15.22, Z:-12.79 [[ 9.54542002e-01 2.84027264e-01 9.04327341e-02 1.11017884e+02] [-2.82754717e-01 9.58816202e-01 -2.68563068e-02 -1.52197130e+01] [-9.43362940e-02 6.51906661e-05 9.95540386e-01 -1.27913395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542401008 meters 0.05463220326936509 Centerline is valid? [True, True] Translation: X:111.08, Y:-15.24, Z:-12.80 [[ 9.54200049e-01 2.85864525e-01 8.82255083e-02 1.11076686e+02] [-2.84660571e-01 9.58270036e-01 -2.62087313e-02 -1.52379129e+01] [-9.20360075e-02 -1.05950890e-04 9.95755674e-01 -1.27969983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602401008 meters 0.054932245323522026 Centerline is valid? [True, True] Translation: X:111.14, Y:-15.25, Z:-12.81 [[ 9.54022621e-01 2.85752638e-01 9.04779975e-02 1.11137599e+02] [-2.84483284e-01 9.58303410e-01 -2.69042033e-02 -1.52499529e+01] [-9.43933205e-02 -7.22593461e-05 9.95534980e-01 -1.28067533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662401008 meters 0.05497868270404698 Centerline is valid? [True, True] Translation: X:111.20, Y:-15.27, Z:-12.81 [[ 9.53751868e-01 2.85488401e-01 9.40943493e-02 1.11196640e+02] [-2.84112842e-01 9.58382164e-01 -2.79914578e-02 -1.52691847e+01] [-9.81695826e-02 -3.65077621e-05 9.95169700e-01 -1.28085749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722401008 meters 0.05517401013385995 Centerline is valid? [True, True] Translation: X:111.25, Y:-15.30, Z:-12.81 [[ 9.55669368e-01 2.78454134e-01 9.57045145e-02 1.11252530e+02] [-2.76992993e-01 9.60449254e-01 -2.84975724e-02 -1.52984144e+01] [-9.98545964e-02 7.24777044e-04 9.95001776e-01 -1.28110487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800001 meters 0.05549211029367834 Centerline is valid? [True, True] Translation: X:111.31, Y:-15.32, Z:-12.82 [[ 9.56801495e-01 2.74006111e-01 9.72190873e-02 1.11309866e+02] [-2.72473482e-01 9.61727170e-01 -2.89664003e-02 -1.53215236e+01] [-1.01435208e-01 1.22547184e-03 9.94841393e-01 -1.28167520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.842401008 meters 0.05753821924088162 Centerline is valid? [True, True] Translation: X:111.37, Y:-15.35, Z:-12.83 [[ 9.59958366e-01 2.62241911e-01 9.85348426e-02 1.11365536e+02] [-2.60602721e-01 9.64998851e-01 -2.93843314e-02 -1.53466957e+01] [-1.02791813e-01 2.52928666e-03 9.94699676e-01 -1.28300166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902401008 meters 0.058700420778364765 Centerline is valid? [True, True] Translation: X:111.42, Y:-15.37, Z:-12.84 [[ 9.61014103e-01 2.58124709e-01 9.91137204e-02 1.11422700e+02] [-2.56441651e-01 9.66106910e-01 -2.95823934e-02 -1.53712833e+01] [-1.03390397e-01 3.01221113e-03 9.94636292e-01 -1.28354482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962401008 meters 0.06010739662744903 Centerline is valid? [True, True] Translation: X:111.48, Y:-15.39, Z:-12.84 [[ 9.62139249e-01 2.54725434e-01 9.69691678e-02 1.11479335e+02] [-2.53095708e-01 9.67007719e-01 -2.89591683e-02 -1.53931719e+01] [-1.01146570e-01 3.32027228e-03 9.94865995e-01 -1.28431982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022401008 meters 0.06079758654494086 Centerline is valid? [True, True] Translation: X:111.54, Y:-15.41, Z:-12.86 [[ 9.62149443e-01 2.55393006e-01 9.50939680e-02 1.11538556e+02] [-2.53826999e-01 9.66832005e-01 -2.84205787e-02 -1.54083050e+01] [-9.91983087e-02 3.20742741e-03 9.95062515e-01 -1.28577396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082401008 meters 0.05858154178063451 Centerline is valid? [True, True] Translation: X:111.60, Y:-15.41, Z:-12.87 [[ 9.59866135e-01 2.64233830e-01 9.40079046e-02 1.11600860e+02] [-2.62743401e-01 9.64455928e-01 -2.81188165e-02 -1.54141937e+01] [-9.80964235e-02 2.29034313e-03 9.95174279e-01 -1.28654553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800001 meters 0.056222247308743936 Centerline is valid? [True, True] Translation: X:111.67, Y:-15.41, Z:-12.87 [[ 9.54397252e-01 2.82045228e-01 9.78589580e-02 1.11666076e+02] [-2.80520133e-01 9.59400975e-01 -2.92954520e-02 -1.54123299e+01] [-1.02148622e-01 5.08090974e-04 9.94769019e-01 -1.28653932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters 0.056457212269061974 Centerline is valid? [True, True] Translation: X:111.73, Y:-15.42, Z:-12.87 [[ 9.52071424e-01 2.88546561e-01 1.01493284e-01 1.11728842e+02] [-2.86939812e-01 9.57465849e-01 -3.04087380e-02 -1.54181345e+01] [-1.05950690e-01 -1.71173302e-04 9.94371370e-01 -1.28736039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262401008 meters 0.056958788923334946 Centerline is valid? [True, True] Translation: X:111.79, Y:-15.43, Z:-12.89 [[ 9.51835006e-01 2.89580329e-01 1.00763859e-01 1.11789396e+02] [-2.87999713e-01 9.57153679e-01 -3.02158862e-02 -1.54302790e+01] [-1.05196424e-01 -2.59424114e-04 9.94451429e-01 -1.28874347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322401008 meters 0.0574311357012864 Centerline is valid? [True, True] Translation: X:111.84, Y:-15.46, Z:-12.89 [[ 9.55374723e-01 2.78541884e-01 9.83542491e-02 1.11843762e+02] [-2.76974645e-01 9.60423600e-01 -2.95221032e-02 -1.54629560e+01] [-1.02684884e-01 9.63037922e-04 9.94713470e-01 -1.28920282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382401008 meters 0.058935216280415634 Centerline is valid? [True, True] Translation: X:111.90, Y:-15.50, Z:-12.89 [[ 9.58670004e-01 2.66544395e-01 9.95284341e-02 1.11898931e+02] [-2.64871974e-01 9.63819891e-01 -2.99007440e-02 -1.54961861e+01] [-1.03897360e-01 2.30265362e-03 9.94585359e-01 -1.28946343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442401008 meters 0.0630074541480017 Centerline is valid? [True, True] Translation: X:111.95, Y:-15.53, Z:-12.90 [[ 9.62653606e-01 2.49707453e-01 1.04614641e-01 1.11953113e+02] [-2.47758694e-01 9.68311580e-01 -3.14374640e-02 -1.55279061e+01] [-1.09149738e-01 4.34420119e-03 9.94015826e-01 -1.29007066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502401008 meters 0.06353541314156656 Centerline is valid? [True, True] Translation: X:112.01, Y:-15.55, Z:-12.91 [[ 9.63827688e-01 2.45127960e-01 1.04634940e-01 1.12011450e+02] [-2.43148919e-01 9.69478414e-01 -3.14675554e-02 -1.55452366e+01] [-1.09154893e-01 4.88742859e-03 9.94012737e-01 -1.29083190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters 0.06232773426352166 Centerline is valid? [True, True] Translation: X:112.07, Y:-15.56, Z:-12.91 [[ 9.63548053e-01 2.46766454e-01 1.03351184e-01 1.12071877e+02] [-2.44842685e-01 9.69063745e-01 -3.11049371e-02 -1.55592993e+01] [-1.07829541e-01 4.66632020e-03 9.94158446e-01 -1.29115037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622401008 meters 0.0626446219373132 Centerline is valid? [True, True] Translation: X:112.13, Y:-15.57, Z:-12.92 [[ 9.63030631e-01 2.50512171e-01 9.90739891e-02 1.12130096e+02] [-2.48762008e-01 9.68104797e-01 -2.98423458e-02 -1.55723216e+01] [-1.03389875e-01 4.09324865e-03 9.94632484e-01 -1.29242826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682401008 meters 0.06195341514226742 Centerline is valid? [True, True] Translation: X:112.19, Y:-15.57, Z:-12.95 [[ 9.61569958e-01 2.59735438e-01 8.89984115e-02 1.12192216e+02] [-2.58361740e-01 9.65675755e-01 -2.68243904e-02 -1.55696411e+01] [-9.29108530e-02 2.79974356e-03 9.95670495e-01 -1.29476399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742401008 meters 0.06070165763262303 Centerline is valid? [True, True] Translation: X:112.25, Y:-15.57, Z:-12.95 [[ 9.60291729e-01 2.65191607e-01 8.66787554e-02 1.12254408e+02] [-2.63909313e-01 9.64193156e-01 -2.61425389e-02 -1.55745241e+01] [-9.05078447e-02 2.22913307e-03 9.95893248e-01 -1.29547191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802401008 meters 0.06057829124520748 Centerline is valid? [True, True] Translation: X:112.32, Y:-15.59, Z:-12.95 [[ 9.60208786e-01 2.63661900e-01 9.20950032e-02 1.12316391e+02] [-2.62204813e-01 9.64611804e-01 -2.77975548e-02 -1.55856860e+01] [-9.61650833e-02 2.54370329e-03 9.95362148e-01 -1.29536852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862401008 meters 0.06169364474261639 Centerline is valid? [True, True] Translation: X:112.38, Y:-15.60, Z:-12.96 [[ 9.61847666e-01 2.57216480e-01 9.32134642e-02 1.12375086e+02] [-2.55691084e-01 9.66348339e-01 -2.81595108e-02 -1.56045026e+01] [-9.73197665e-02 3.25130801e-03 9.95247855e-01 -1.29576299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92240100800001 meters 0.06299933071390731 Centerline is valid? [True, True] Translation: X:112.44, Y:-15.62, Z:-12.96 [[ 9.63492463e-01 2.51384776e-01 9.21301726e-02 1.12435583e+02] [-2.49865815e-01 9.67879698e-01 -2.78561427e-02 -1.56170376e+01] [-9.61735339e-02 3.81900281e-03 9.95357256e-01 -1.29648932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982401008 meters 0.06329092951867397 Centerline is valid? [True, True] Translation: X:112.50, Y:-15.63, Z:-12.97 [[ 9.63573541e-01 2.52109753e-01 8.92563877e-02 1.12496510e+02] [-2.50686945e-01 9.67691825e-01 -2.69923529e-02 -1.56272093e+01] [-9.31777122e-02 3.63370590e-03 9.95642863e-01 -1.29736997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042401008 meters 0.06355446404975128 Centerline is valid? [True, True] Translation: X:112.56, Y:-15.64, Z:-12.98 [[ 9.63338773e-01 2.52828573e-01 8.97559010e-02 1.12556868e+02] [-2.51390710e-01 9.67504370e-01 -2.71662433e-02 -1.56377905e+01] [-9.37076289e-02 3.60649572e-03 9.95593227e-01 -1.29776434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102401008 meters 0.06262947727286285 Centerline is valid? [True, True] Translation: X:112.62, Y:-15.65, Z:-12.98 [[ 9.63764185e-01 2.49396545e-01 9.46570637e-02 1.12619132e+02] [-2.47778157e-01 9.68392430e-01 -2.86720599e-02 -1.56474750e+01] [-9.88158966e-02 4.17915163e-03 9.95096957e-01 -1.29775532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162401008 meters 0.06680937695765331 Centerline is valid? [True, True] Translation: X:112.68, Y:-15.66, Z:-12.98 [[ 9.64990465e-01 2.42593540e-01 9.97084574e-02 1.12677535e+02] [-2.40758076e-01 9.70114264e-01 -3.02301933e-02 -1.56644862e+01] [-1.04062246e-01 5.16623192e-03 9.94557368e-01 -1.29840879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222401008 meters 0.06437086378186531 Centerline is valid? [True, True] Translation: X:112.74, Y:-15.67, Z:-12.99 [[ 9.65073144e-01 2.42548532e-01 9.90153342e-02 1.12740919e+02] [-2.40737305e-01 9.70125633e-01 -3.00300983e-02 -1.56669770e+01] [-1.03341070e-01 5.14455670e-03 9.94632674e-01 -1.29907569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28240100800001 meters 0.06269255999919232 Centerline is valid? [True, True] Translation: X:112.81, Y:-15.66, Z:-13.00 [[ 9.63956879e-01 2.49299077e-01 9.29360324e-02 1.12806319e+02] [-2.47732884e-01 9.68417563e-01 -2.82106655e-02 -1.56585121e+01] [-9.70337789e-02 4.17055377e-03 9.95272351e-01 -1.30032461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.342401008 meters 0.06260747029401174 Centerline is valid? [True, True] Translation: X:112.87, Y:-15.66, Z:-13.01 [[ 9.63324422e-01 2.52753881e-01 9.01195503e-02 1.12868961e+02] [-2.51295814e-01 9.67523484e-01 -2.73627741e-02 -1.56633911e+01] [-9.41088286e-02 3.71256276e-03 9.95554994e-01 -1.30118186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402401008 meters 0.061750073065454464 Centerline is valid? [True, True] Translation: X:112.93, Y:-15.67, Z:-13.02 [[ 9.63826830e-01 2.50400604e-01 9.13092496e-02 1.12933116e+02] [-2.48892496e-01 9.68134043e-01 -2.77308518e-02 -1.56668743e+01] [-9.53434150e-02 4.00155194e-03 9.95436397e-01 -1.30151944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462401008 meters 0.0651191147991181 Centerline is valid? [True, True] Translation: X:112.99, Y:-15.67, Z:-13.03 [[ 9.65777690e-01 2.43354584e-01 8.97329359e-02 1.12993944e+02] [-2.41867213e-01 9.69926375e-01 -2.72594630e-02 -1.56697727e+01] [-9.36680565e-02 4.62312608e-03 9.95592749e-01 -1.30291966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522401008 meters 0.0649429008714468 Centerline is valid? [True, True] Translation: X:113.06, Y:-15.67, Z:-13.03 [[ 9.65263732e-01 2.46768616e-01 8.58555652e-02 1.13059730e+02] [-2.45419776e-01 9.69065690e-01 -2.60925539e-02 -1.56660541e+01] [-8.96385060e-02 4.11554245e-03 9.95965863e-01 -1.30336446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582401008 meters 0.06395400632119255 Centerline is valid? [True, True] Translation: X:113.13, Y:-15.66, Z:-13.04 [[ 9.63097131e-01 2.54551768e-01 8.74489238e-02 1.13125103e+02] [-2.53181650e-01 9.67052881e-01 -2.66041020e-02 -1.56638040e+01] [-9.13398549e-02 3.48187145e-03 9.95813691e-01 -1.30360688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64240100800001 meters 0.06284776034332906 Centerline is valid? [True, True] Translation: X:113.19, Y:-15.65, Z:-13.04 [[ 9.61531851e-01 2.59952183e-01 8.87770325e-02 1.13192181e+02] [-2.58562538e-01 9.65616772e-01 -2.70122939e-02 -1.56540989e+01] [-9.27464963e-02 3.01876609e-03 9.95685178e-01 -1.30425605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70240100800001 meters 0.06418784349483231 Centerline is valid? [True, True] Translation: X:113.25, Y:-15.66, Z:-13.05 [[ 9.60909094e-01 2.62371950e-01 8.84006413e-02 1.13254669e+02] [-2.61004064e-01 9.64962826e-01 -2.69002531e-02 -1.56572320e+01] [-9.23612045e-02 2.77577116e-03 9.95721700e-01 -1.30526126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762401008 meters 0.06466990678466798 Centerline is valid? [True, True] Translation: X:113.32, Y:-15.66, Z:-13.05 [[ 9.61913338e-01 2.60101680e-01 8.40823776e-02 1.13319388e+02] [-2.58853571e-01 9.65576963e-01 -2.56116445e-02 -1.56582266e+01] [-8.78496386e-02 2.87115870e-03 9.96129609e-01 -1.30545368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822401008 meters 0.06645870499887907 Centerline is valid? [True, True] Translation: X:113.38, Y:-15.66, Z:-13.06 [[ 9.62894245e-01 2.57835063e-01 7.97229743e-02 1.13381018e+02] [-2.56705555e-01 9.66184543e-01 -2.42834684e-02 -1.56647012e+01] [-8.32882351e-02 2.91708162e-03 9.96521229e-01 -1.30638622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882401008 meters 0.06847386471750713 Centerline is valid? [True, True] Translation: X:113.44, Y:-15.66, Z:-13.07 [[ 9.63862680e-01 2.56488423e-01 7.19890415e-02 1.13444850e+02] [-2.55562508e-01 9.66543370e-01 -2.19480715e-02 -1.56634042e+01] [-7.52099571e-02 2.75722702e-03 9.97163908e-01 -1.30732243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942401008 meters 0.06864238686324106 Centerline is valid? [True, True] Translation: X:113.51, Y:-15.67, Z:-13.08 [[ 9.63809510e-01 2.57318056e-01 6.97039891e-02 1.13507802e+02] [-2.56452548e-01 9.66323261e-01 -2.12472541e-02 -1.56699814e+01] [-7.28238882e-02 2.60253989e-03 9.97341420e-01 -1.30753983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002401008 meters 0.07120571316594987 Centerline is valid? [True, True] Translation: X:113.57, Y:-15.67, Z:-13.09 [[ 9.65550775e-01 2.52798350e-01 6.16822091e-02 1.13570621e+02] [-2.52110227e-01 9.67515430e-01 -1.88235643e-02 -1.56679598e+01] [-6.44370551e-02 2.62439132e-03 9.97918323e-01 -1.30857275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters 0.07257596542381889 Centerline is valid? [True, True] Translation: X:113.63, Y:-15.67, Z:-13.10 [[ 9.66746801e-01 2.49333352e-01 5.68638938e-02 1.13634442e+02] [-2.48742350e-01 9.68414130e-01 -1.73584573e-02 -1.56663277e+01] [-5.93958405e-02 2.63677447e-03 9.98231026e-01 -1.30979963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122401008 meters 0.07486108466934022 Centerline is valid? [True, True] Translation: X:113.70, Y:-15.66, Z:-13.10 [[ 9.68162207e-01 2.44556247e-01 5.34245501e-02 1.13699298e+02] [-2.44027293e-01 9.69631197e-01 -1.63101712e-02 -1.56599307e+01] [-5.57908647e-02 2.75384298e-03 9.98438679e-01 -1.31021967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182401008 meters 0.07424864820155652 Centerline is valid? [True, True] Translation: X:113.76, Y:-15.66, Z:-13.10 [[ 9.69604932e-01 2.38640106e-01 5.40108906e-02 1.13764912e+02] [-2.38090194e-01 9.71103033e-01 -1.64911992e-02 -1.56570368e+01] [-5.63856012e-02 3.13048470e-03 9.98404159e-01 -1.30995983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242401008 meters 0.07546535670774632 Centerline is valid? [True, True] Translation: X:113.83, Y:-15.65, Z:-13.10 [[ 9.71026252e-01 2.31994871e-01 5.73271182e-02 1.13830644e+02] [-2.31363532e-01 9.72709833e-01 -1.75070449e-02 -1.56514223e+01] [-5.98241962e-02 3.73639560e-03 9.98201936e-01 -1.31028227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302401008 meters 0.08754157211731277 Centerline is valid? [True, True] Translation: X:113.90, Y:-15.64, Z:-13.11 [[ 9.72514213e-01 2.23450458e-01 6.54675364e-02 1.13895837e+02] [-2.22607322e-01 9.74703109e-01 -1.99957375e-02 -1.56449933e+01] [-6.82794680e-02 4.87258600e-03 9.97654335e-01 -1.31145914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362401008 meters 0.09294206289872357 Centerline is valid? [True, True] Translation: X:113.96, Y:-15.64, Z:-13.12 [[ 9.72897067e-01 2.20675404e-01 6.90917047e-02 1.13959729e+02] [-2.19729291e-01 9.75332642e-01 -2.11015531e-02 -1.56448596e+01] [-7.20439887e-02 5.34816788e-03 9.97387117e-01 -1.31206991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42240100800001 meters 0.09424136439542262 Centerline is valid? [True, True] Translation: X:114.03, Y:-15.62, Z:-13.13 [[ 9.73985270e-01 2.13171071e-01 7.68816533e-02 1.14032442e+02] [-2.11974259e-01 9.76992649e-01 -2.35005810e-02 -1.56158925e+01] [-8.01224542e-02 6.59228818e-03 9.96763229e-01 -1.31254705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482401008 meters 0.10535094700459383 Centerline is valid? [True, False] Translation: X:114.05, Y:-15.57, Z:-13.11 [[ 9.78294570e-01 1.99902027e-01 5.45794265e-02 1.14053403e+02] [-1.99587277e-01 9.79815888e-01 -1.12136093e-02 -1.55693457e+01] [-5.57194125e-02 7.68539222e-05 9.98446464e-01 -1.31095562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 884.53 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%| | 0/3818 [00:00