+ python -m lidar_slam --no-model /working/3ccff880-fefc-452c-b418-efcd68683228 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/3ccff880-fefc-452c-b418-efcd68683228 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 0.002791605 Adjusted end_distance from 9.223372036854776e+18 to 42.492791605 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002791605 meters 0.034480154477267794 Centerline is valid? [0, True] SLAMing on 0.062791605 meters 0.03438863980695633 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99998977e-01 -5.58074652e-04 1.31696235e-03 6.04705508e-02] [ 5.58039626e-04 9.99999844e-01 2.69636013e-05 9.82996354e-04] [-1.31697720e-03 -2.62286566e-05 9.99999132e-01 -1.27958008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122791605 meters 0.03332039319129521 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 9.99948568e-01 -8.48103353e-04 1.01065033e-02 1.21415073e-01] [ 8.46046122e-04 9.99999621e-01 2.07828820e-04 -6.68200069e-04] [-1.01066758e-02 -1.99267563e-04 9.99948906e-01 -6.54770568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182791605 meters 0.030058005968860654 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:-0.02 [[ 9.99515010e-01 5.57071568e-04 3.11357458e-02 1.82908782e-01] [-5.77183998e-04 9.99999631e-01 6.36975494e-04 -2.76695968e-03] [-3.11353794e-02 -6.54637621e-04 9.99514962e-01 -1.57239222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242791605 meters 0.02741529674519762 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.00, Z:-0.03 [[ 9.98577604e-01 -7.91773093e-05 5.33175698e-02 2.44855181e-01] [ 2.18366552e-05 9.99999421e-01 1.07603683e-03 -4.31189211e-03] [-5.33176241e-02 -1.07334200e-03 9.98577027e-01 -2.63388886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30279160499999996 meters 0.027383690575261313 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.01, Z:-0.03 [[ 9.98520103e-01 4.29505442e-04 5.43821610e-02 3.08190403e-01] [-4.88399350e-04 9.99999309e-01 1.06967841e-03 -6.57580846e-03] [-5.43816639e-02 -1.09465561e-03 9.98519622e-01 -3.02665646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36279160499999996 meters 0.027317477238649537 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.03 [[ 9.98663081e-01 1.29103606e-03 5.16757598e-02 3.70599344e-01] [-1.34399787e-03 9.99998607e-01 9.90150696e-04 -7.03230675e-03] [-5.16744095e-02 -1.05827906e-03 9.98663425e-01 -3.11879962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42279160499999996 meters 0.027429349087098306 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.01, Z:-0.03 [[ 9.98895395e-01 3.42802095e-03 4.68640508e-02 4.32593680e-01] [-3.47293669e-03 9.99993585e-01 8.77037119e-04 -6.93598026e-03] [-4.68607436e-02 -1.03882422e-03 9.98900892e-01 -2.90769599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48279160499999996 meters 0.027783497575166544 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.00, Z:-0.03 [[ 9.99105626e-01 6.57524868e-03 4.17697846e-02 4.95401008e-01] [-6.61288798e-03 9.99977844e-01 7.63005743e-04 -3.79915626e-03] [-4.17638422e-02 -1.03854224e-03 9.99126970e-01 -2.99038102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542791605 meters 0.027973180475581894 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.00, Z:-0.03 [[ 9.99136135e-01 7.26928745e-03 4.09162670e-02 5.58039537e-01] [-7.30510188e-03 9.99973054e-01 7.25865100e-04 -1.03986226e-03] [-4.09098879e-02 -1.02413555e-03 9.99162315e-01 -3.03627943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602791605 meters 0.02804860813073779 Centerline is valid? [True, True] Translation: X:0.62, Y:0.00, Z:-0.03 [[ 9.99446903e-01 6.93977054e-03 3.25227187e-02 6.19982015e-01] [-6.96176868e-03 9.99975608e-01 5.63202649e-04 4.84701680e-03] [-3.25180169e-02 -7.89306789e-04 9.99470838e-01 -3.04357436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6627916049999999 meters 0.027780899915212404 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 9.99564982e-01 5.60429421e-03 2.89558206e-02 6.82408268e-01] [-5.62082874e-03 9.99984083e-01 4.89661954e-04 8.88780286e-03] [-2.89526155e-02 -6.52204650e-04 9.99580572e-01 -3.22594868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722791605 meters 0.027313226655113303 Centerline is valid? [True, True] Translation: X:0.75, Y:0.01, Z:-0.03 [[ 9.99519134e-01 6.69779990e-03 3.02760801e-02 7.45363510e-01] [-6.71593151e-03 9.99977324e-01 4.97224951e-04 9.82058099e-03] [-3.02720633e-02 -7.00317933e-04 9.99541451e-01 -3.29656360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782791605 meters 0.026766155004109546 Centerline is valid? [True, True] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 9.99423488e-01 1.05459047e-02 3.22719034e-02 8.07646965e-01] [-1.05678831e-02 9.99944028e-01 5.10542662e-04 1.33061471e-02] [-3.22647130e-02 -8.51294032e-04 9.99478996e-01 -3.67152380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8427916049999999 meters 0.02662401161634676 Centerline is valid? [True, True] Translation: X:0.87, Y:0.02, Z:-0.04 [[ 9.99229354e-01 1.30348627e-02 3.70241903e-02 8.69922514e-01] [-1.30647541e-02 9.99914493e-01 5.65511873e-04 1.74548677e-02] [-3.70136531e-02 -1.04878800e-03 9.99314210e-01 -3.99865216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9027916049999999 meters 0.02571151067202307 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.04 [[ 9.98733134e-01 1.07598309e-02 4.91564181e-02 9.32928302e-01] [-1.08083271e-02 9.99941328e-01 7.20856806e-04 2.11541316e-02] [-4.91457777e-02 -1.25124222e-03 9.98790832e-01 -4.27911394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9627916049999999 meters 0.02317125484563927 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.05 [[ 9.97838847e-01 -1.79762201e-03 6.56841240e-02 9.94518387e-01] [ 1.74078975e-03 9.99998059e-01 9.22458685e-04 2.56238042e-02] [-6.56856548e-02 -8.06122861e-04 9.97840040e-01 -4.88391324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022791605 meters 0.022088568874852634 Centerline is valid? [True, True] Translation: X:1.06, Y:0.03, Z:-0.06 [[ 9.96824046e-01 -1.31761943e-02 7.85379477e-02 1.05564471e+00] [ 1.31320092e-02 9.99913189e-01 1.07906963e-03 2.92320039e-02] [-7.85453478e-02 -4.42815079e-05 9.96910541e-01 -5.63543503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0827916050000002 meters 0.022440335373995698 Centerline is valid? [True, True] Translation: X:1.12, Y:0.03, Z:-0.06 [[ 9.96655417e-01 -1.61553273e-02 8.01060863e-02 1.11716453e+00] [ 1.61206908e-02 9.99869471e-01 1.07912937e-03 3.28072842e-02] [-8.01130639e-02 2.15845316e-04 9.96785760e-01 -6.01153262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.142791605 meters 0.02262283045134011 Centerline is valid? [True, True] Translation: X:1.18, Y:0.04, Z:-0.06 [[ 9.96785080e-01 -1.76726926e-02 7.81484523e-02 1.17919520e+00] [ 1.76471066e-02 9.99843759e-01 1.01804788e-03 3.52506920e-02] [-7.81542340e-02 3.64319133e-04 9.96941213e-01 -6.36118147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.202791605 meters 0.023215601921940023 Centerline is valid? [True, True] Translation: X:1.24, Y:0.04, Z:-0.07 [[ 9.96487974e-01 -2.04183529e-02 8.12084271e-02 1.24083884e+00] [ 2.04028264e-02 9.99791319e-01 1.02108658e-03 3.73778707e-02] [-8.12123293e-02 6.39380943e-04 9.96696618e-01 -6.76806080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262791605 meters 0.02357934797282976 Centerline is valid? [True, True] Translation: X:1.30, Y:0.04, Z:-0.07 [[ 9.96577329e-01 -2.24734229e-02 7.95523311e-02 1.30271047e+00] [ 2.24678619e-02 9.99747100e-01 9.65120457e-04 3.92771494e-02] [-7.95539018e-02 8.25553620e-04 9.96830224e-01 -6.99392626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.322791605 meters 0.023945713858821313 Centerline is valid? [True, True] Translation: X:1.37, Y:0.04, Z:-0.07 [[ 9.96604220e-01 -2.26234337e-02 7.91720219e-02 1.36541587e+00] [ 2.26214880e-02 9.99743677e-01 9.21592406e-04 3.89924612e-02] [-7.91725778e-02 8.72526064e-04 9.96860543e-01 -7.31589683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382791605 meters 0.024064756808326412 Centerline is valid? [True, True] Translation: X:1.43, Y:0.04, Z:-0.08 [[ 9.96946410e-01 -2.47770171e-02 7.40537275e-02 1.42685309e+00] [ 2.47827415e-02 9.99692506e-01 8.41728265e-04 3.73155379e-02] [-7.40518120e-02 9.96096414e-04 9.97253898e-01 -7.73911176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442791605 meters 0.024567509227007036 Centerline is valid? [True, True] Translation: X:1.49, Y:0.04, Z:-0.08 [[ 9.96873790e-01 -2.51086192e-02 7.49146425e-02 1.48893331e+00] [ 2.51169077e-02 9.99684175e-01 8.31643857e-04 3.62388562e-02] [-7.49118640e-02 1.05258020e-03 9.97189603e-01 -8.01045372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502791605 meters 0.02516754289629833 Centerline is valid? [True, True] Translation: X:1.55, Y:0.03, Z:-0.08 [[ 9.97006434e-01 -2.55888792e-02 7.29614898e-02 1.55130282e+00] [ 2.56004201e-02 9.99671953e-01 7.77139856e-04 3.32158478e-02] [-7.29574412e-02 1.09303136e-03 9.97334456e-01 -8.49463472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5627916050000001 meters 0.025345210442080195 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:-0.09 [[ 9.97221371e-01 -2.34646728e-02 7.07032330e-02 1.61312908e+00] [ 2.34724020e-02 9.99724225e-01 7.21621300e-04 3.01988937e-02] [-7.07006674e-02 9.39958525e-04 9.97497134e-01 -9.11713340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.622791605 meters 0.025581381530986463 Centerline is valid? [True, True] Translation: X:1.68, Y:0.03, Z:-0.09 [[ 9.97284053e-01 -1.93934997e-02 7.10521635e-02 1.67529945e+00] [ 1.93932699e-02 9.99811693e-01 6.93138787e-04 2.88934045e-02] [-7.10522263e-02 6.86677525e-04 9.97472360e-01 -9.25419390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.682791605 meters 0.025694790383725418 Centerline is valid? [True, True] Translation: X:1.74, Y:0.03, Z:-0.09 [[ 9.97621734e-01 -1.48690691e-02 6.73036893e-02 1.73777500e+00] [ 1.48605929e-02 9.99889379e-01 6.26619124e-04 2.78257734e-02] [-6.73055613e-02 3.75043873e-04 9.97732339e-01 -9.37708428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742791605 meters 0.025518174815938446 Centerline is valid? [True, True] Translation: X:1.80, Y:0.03, Z:-0.09 [[ 9.98117626e-01 -1.18263008e-02 6.01775987e-02 1.79949072e+00] [ 1.18151159e-02 9.99930052e-01 5.41700016e-04 2.83857369e-02] [-6.01797957e-02 1.70324967e-04 9.98187539e-01 -9.31140021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.802791605 meters 0.025688680704761047 Centerline is valid? [True, True] Translation: X:1.86, Y:0.03, Z:-0.09 [[ 9.98375429e-01 -1.12970397e-02 5.58469269e-02 1.86208323e+00] [ 1.12871363e-02 9.99936177e-01 4.92761479e-04 2.76137830e-02] [-5.58489293e-02 1.38390920e-04 9.98439221e-01 -9.47734855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.862791605 meters 0.025661033450692566 Centerline is valid? [True, True] Translation: X:1.92, Y:0.03, Z:-0.09 [[ 9.98647663e-01 -1.12488440e-02 5.07573463e-02 1.92444182e+00] [ 1.12413895e-02 9.99936720e-01 4.32348788e-04 2.77828154e-02] [-5.07589978e-02 1.38818991e-04 9.98710922e-01 -9.49094955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.922791605 meters 0.02587315936739601 Centerline is valid? [True, True] Translation: X:1.99, Y:0.03, Z:-0.09 [[ 9.98961403e-01 -1.21249701e-02 4.39215276e-02 1.98665518e+00] [ 1.21210540e-02 9.99926474e-01 3.55486707e-04 2.88285692e-02] [-4.39226085e-02 1.77257708e-04 9.99034921e-01 -9.47907595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.982791605 meters 0.025739778415454103 Centerline is valid? [True, True] Translation: X:2.05, Y:0.03, Z:-0.09 [[ 9.99071061e-01 -1.31117498e-02 4.10499327e-02 2.04970800e+00] [ 1.31099336e-02 9.99914012e-01 3.13449921e-04 2.94425728e-02] [-4.10505128e-02 2.25003147e-04 9.99157047e-01 -9.48657426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042791605 meters 0.02496424751736724 Centerline is valid? [True, True] Translation: X:2.11, Y:0.03, Z:-0.10 [[ 9.99103941e-01 -1.68784272e-02 3.88127916e-02 2.11186809e+00] [ 1.68804230e-02 9.99857477e-01 2.76313268e-04 3.13691876e-02] [-3.88119236e-02 3.79110665e-04 9.99246462e-01 -9.76589317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102791605 meters 0.02471288849643512 Centerline is valid? [True, True] Translation: X:2.17, Y:0.03, Z:-0.10 [[ 9.98793108e-01 -2.11653748e-02 4.43210396e-02 2.17354534e+00] [ 2.11731654e-02 9.99775780e-01 2.93706963e-04 3.26035141e-02] [-4.43173184e-02 6.45064212e-04 9.99017297e-01 -1.01023124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1627916050000002 meters 0.02475970128231062 Centerline is valid? [True, True] Translation: X:2.24, Y:0.03, Z:-0.10 [[ 9.98400329e-01 -2.09247890e-02 5.25255861e-02 2.23561091e+00] [ 2.09363762e-02 9.99780756e-01 3.29676027e-04 3.40121071e-02] [-5.25209685e-02 7.70546779e-04 9.98619524e-01 -1.02192669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.222791605 meters 0.023182241703545933 Centerline is valid? [True, True] Translation: X:2.30, Y:0.03, Z:-0.11 [[ 9.97799957e-01 -1.70991292e-02 6.40536096e-02 2.29761869e+00] [ 1.71100988e-02 9.99853540e-01 3.77324035e-04 3.33315992e-02] [-6.40506802e-02 7.19469683e-04 9.97946388e-01 -1.07938720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.282791605 meters 0.02232071618375333 Centerline is valid? [True, True] Translation: X:2.36, Y:0.03, Z:-0.11 [[ 9.97534076e-01 -1.19311044e-02 6.91622433e-02 2.36009965e+00] [ 1.19329217e-02 9.99928725e-01 3.86886863e-04 3.22973145e-02] [-6.91619298e-02 4.39374807e-04 9.97605350e-01 -1.11863811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.342791605 meters 0.022568945803798594 Centerline is valid? [True, True] Translation: X:2.42, Y:0.03, Z:-0.11 [[ 9.97530842e-01 -7.66817119e-03 6.98098717e-02 2.42278236e+00] [ 7.66205457e-03 9.99970583e-01 3.55391957e-04 3.30570796e-02] [-6.98105433e-02 1.80372609e-04 9.97560252e-01 -1.14413997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402791605 meters 0.022765723243696783 Centerline is valid? [True, True] Translation: X:2.49, Y:0.03, Z:-0.12 [[ 9.97532305e-01 -4.92487830e-03 7.00360373e-02 2.48563669e+00] [ 4.91461502e-03 9.99987872e-01 3.18854793e-04 3.37191995e-02] [-7.00367582e-02 2.61322040e-05 9.97544411e-01 -1.16371302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462791605 meters 0.023001983594054438 Centerline is valid? [True, True] Translation: X:2.55, Y:0.04, Z:-0.12 [[ 9.97562673e-01 -4.28202710e-03 6.96446462e-02 2.54868629e+00] [ 4.27292475e-03 9.99990832e-01 2.79671287e-04 3.50694103e-02] [-6.96452052e-02 1.85966950e-05 9.97571825e-01 -1.20427932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522791605 meters 0.02313991819269855 Centerline is valid? [True, True] Translation: X:2.61, Y:0.04, Z:-0.12 [[ 9.97626343e-01 -2.21593303e-03 6.88241857e-02 2.61105746e+00] [ 2.20453309e-03 9.99997541e-01 2.41590791e-04 3.54516542e-02] [-6.88245518e-02 -8.92921422e-05 9.97628775e-01 -1.22059547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582791605 meters 0.023147435587687348 Centerline is valid? [True, True] Translation: X:2.67, Y:0.04, Z:-0.12 [[ 9.97803650e-01 3.79856006e-04 6.62399609e-02 2.67356698e+00] [-3.94086072e-04 9.99999902e-01 2.01759659e-04 3.87913408e-02] [-6.62398778e-02 -2.27420770e-04 9.97803702e-01 -1.23797996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6427916049999998 meters 0.02336383595089754 Centerline is valid? [True, True] Translation: X:2.74, Y:0.04, Z:-0.13 [[ 9.97907038e-01 4.24411811e-03 6.45254281e-02 2.73535232e+00] [-4.26373266e-03 9.99990896e-01 1.66281151e-04 3.95987029e-02] [-6.45241350e-02 -4.41052306e-04 9.97916049e-01 -1.26788152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.702791605 meters 0.023848656644823364 Centerline is valid? [True, True] Translation: X:2.80, Y:0.04, Z:-0.13 [[ 9.97904438e-01 8.61891862e-03 6.41283649e-02 2.79867260e+00] [-8.64524132e-03 9.99962620e-01 1.32986953e-04 4.36520761e-02] [-6.41248216e-02 -6.87113461e-04 9.97941649e-01 -1.27747385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.762791605 meters 0.023988369757276827 Centerline is valid? [True, True] Translation: X:2.86, Y:0.05, Z:-0.13 [[ 9.97939677e-01 9.30097515e-03 6.34814432e-02 2.86112711e+00] [-9.32594185e-03 9.99956508e-01 9.69851988e-05 4.86425297e-02] [-6.34777802e-02 -6.88809626e-04 9.97983014e-01 -1.31853363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.822791605 meters 0.02415761817564969 Centerline is valid? [True, True] Translation: X:2.92, Y:0.06, Z:-0.14 [[ 9.98213465e-01 2.85764023e-03 5.96800762e-02 2.92361805e+00] [-2.86669628e-03 9.99995889e-01 6.61250020e-05 5.70280504e-02] [-5.96796419e-02 -2.37091520e-04 9.98217554e-01 -1.37119412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882791605 meters 0.02438341433079977 Centerline is valid? [True, True] Translation: X:2.99, Y:0.06, Z:-0.14 [[ 9.98254851e-01 -3.17481856e-03 5.89675607e-02 2.98613299e+00] [ 3.17767944e-03 9.99994950e-01 4.52556309e-05 6.09564738e-02] [-5.89674066e-02 1.42203352e-04 9.98259898e-01 -1.40423692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942791605 meters 0.024997595242456552 Centerline is valid? [True, True] Translation: X:3.05, Y:0.07, Z:-0.14 [[ 9.98386108e-01 -1.18849638e-02 5.55331131e-02 3.04919453e+00] [ 1.19024475e-02 9.99929163e-01 1.59124369e-05 6.73931930e-02] [-5.55293684e-02 6.45093206e-04 9.98456846e-01 -1.44172166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002791605 meters 0.025571640383568465 Centerline is valid? [True, True] Translation: X:3.11, Y:0.07, Z:-0.14 [[ 9.98568268e-01 -1.73115804e-02 5.06134761e-02 3.11193533e+00] [ 1.73343493e-02 9.99849749e-01 -1.09036012e-05 6.90989193e-02] [-5.06056826e-02 8.88239663e-04 9.98718317e-01 -1.44464046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062791605 meters 0.026147918911608455 Centerline is valid? [True, True] Translation: X:3.17, Y:0.07, Z:-0.15 [[ 9.98641166e-01 -2.01750295e-02 4.80498647e-02 3.17436464e+00] [ 2.01999885e-02 9.99795959e-01 -3.38621486e-05 7.03287655e-02] [-4.80393774e-02 1.00442285e-03 9.98844938e-01 -1.45422902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122791605 meters 0.02598740694579177 Centerline is valid? [True, True] Translation: X:3.24, Y:0.07, Z:-0.15 [[ 9.98876940e-01 -1.81769245e-02 4.37545199e-02 3.23695506e+00] [ 1.81965134e-02 9.99834429e-01 -4.94280391e-05 7.11401576e-02] [-4.37463770e-02 8.45552237e-04 9.99042311e-01 -1.45513903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182791605 meters 0.02594165107540958 Centerline is valid? [True, True] Translation: X:3.30, Y:0.07, Z:-0.15 [[ 9.99067210e-01 -1.42538470e-02 4.07619680e-02 3.29932129e+00] [ 1.42682996e-02 9.99898201e-01 -6.36449853e-05 6.96320367e-02] [-4.07569113e-02 6.45189590e-04 9.99168884e-01 -1.46070423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.242791605 meters 0.025981716769328516 Centerline is valid? [True, True] Translation: X:3.36, Y:0.07, Z:-0.15 [[ 9.99283241e-01 -1.07340244e-02 3.63013147e-02 3.36201035e+00] [ 1.07437032e-02 9.99942282e-01 -7.15576279e-05 7.04600063e-02] [-3.62984514e-02 4.61516889e-04 9.99340888e-01 -1.46659018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.302791605 meters 0.02596366644035002 Centerline is valid? [True, True] Translation: X:3.42, Y:0.07, Z:-0.15 [[ 9.99435130e-01 -7.14656533e-03 3.28381961e-02 3.42411692e+00] [ 7.15276849e-03 9.99974416e-01 -7.14294547e-05 6.85309262e-02] [-3.28368455e-02 3.06273121e-04 9.99460678e-01 -1.47230875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.362791605 meters 0.025357279843774564 Centerline is valid? [True, True] Translation: X:3.49, Y:0.07, Z:-0.15 [[ 9.99506193e-01 -2.31254150e-03 3.13372348e-02 3.48608120e+00] [ 2.31625011e-03 9.99997314e-01 -8.20443921e-05 6.91687110e-02] [-3.13369609e-02 1.54588752e-04 9.99508865e-01 -1.48467868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422791605 meters 0.024211099361871744 Centerline is valid? [True, True] Translation: X:3.55, Y:0.07, Z:-0.15 [[ 9.99327428e-01 9.18232589e-03 3.55017687e-02 3.54883571e+00] [-9.18414252e-03 9.99957819e-01 -1.11910833e-04 6.88091250e-02] [-3.55012988e-02 -2.14217738e-04 9.99369607e-01 -1.52976276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482791605 meters 0.023899662255295634 Centerline is valid? [True, True] Translation: X:3.61, Y:0.07, Z:-0.16 [[ 9.98791637e-01 1.78581940e-02 4.57859288e-02 3.61103414e+00] [-1.78689400e-02 9.99840322e-01 -1.74608786e-04 7.07303245e-02] [-4.57817360e-02 -6.43748218e-04 9.98951259e-01 -1.56241073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542791605 meters 0.023540336792524916 Centerline is valid? [True, True] Translation: X:3.67, Y:0.07, Z:-0.16 [[ 9.98454213e-01 1.93167272e-02 5.21157283e-02 3.67290256e+00] [-1.93312191e-02 9.99813109e-01 -2.26034465e-04 7.06879748e-02] [-5.21103546e-02 -7.81775499e-04 9.98641026e-01 -1.58413646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6027916049999997 meters 0.022386431813084404 Centerline is valid? [True, True] Translation: X:3.73, Y:0.07, Z:-0.16 [[ 9.97956769e-01 1.71812137e-02 6.15393620e-02 3.73433942e+00] [-1.71954305e-02 9.99852103e-01 -2.98612129e-04 7.48398013e-02] [-6.15353910e-02 -7.60193826e-04 9.98104613e-01 -1.64677531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.662791605 meters 0.022123767828404667 Centerline is valid? [True, True] Translation: X:3.80, Y:0.08, Z:-0.17 [[ 9.97785800e-01 1.85227207e-02 6.38780628e-02 3.79629728e+00] [-1.85388837e-02 9.99828082e-01 -3.39731636e-04 7.54153513e-02] [-6.38733738e-02 -8.45248577e-04 9.97957653e-01 -1.68096088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.722791605 meters 0.022531340662762293 Centerline is valid? [True, True] Translation: X:3.86, Y:0.08, Z:-0.17 [[ 9.97791352e-01 2.05176257e-02 6.31778784e-02 3.85907553e+00] [-2.05354373e-02 9.99789058e-01 -3.67469532e-04 7.79490256e-02] [-6.31720911e-02 -9.30727435e-04 9.98002215e-01 -1.69883040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.782791605 meters 0.022841456427826402 Centerline is valid? [True, True] Translation: X:3.92, Y:0.08, Z:-0.17 [[ 9.97658927e-01 2.37304105e-02 6.41368273e-02 3.92132587e+00] [-2.37532699e-02 9.99717769e-01 -4.06181777e-04 7.83467524e-02] [-6.41283647e-02 -1.11822850e-03 9.97941032e-01 -1.72444362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.842791605 meters 0.023672354019995234 Centerline is valid? [True, True] Translation: X:3.98, Y:0.08, Z:-0.18 [[ 9.97448858e-01 2.71808106e-02 6.60074220e-02 3.98338799e+00] [-2.72104740e-02 9.99629625e-01 -4.49756998e-04 8.29497740e-02] [-6.59951993e-02 -1.34748364e-03 9.97819031e-01 -1.75253070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902791605 meters 0.023998896933707967 Centerline is valid? [True, True] Translation: X:4.05, Y:0.09, Z:-0.18 [[ 9.97570830e-01 3.12404719e-02 6.22613179e-02 4.04555857e+00] [-3.12729748e-02 9.99510778e-01 -4.52624039e-04 8.64133853e-02] [-6.22449985e-02 -1.49557209e-03 9.98059779e-01 -1.78965685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962791605 meters 0.024364279377491443 Centerline is valid? [True, True] Translation: X:4.11, Y:0.09, Z:-0.18 [[ 9.97611673e-01 3.12487631e-02 6.15992322e-02 4.10822203e+00] [-3.12792816e-02 9.99510574e-01 -4.69041649e-04 8.96101965e-02] [-6.15837408e-02 -1.45885831e-03 9.98100854e-01 -1.81370033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022791604999999 meters 0.02446965686466557 Centerline is valid? [True, True] Translation: X:4.17, Y:0.10, Z:-0.18 [[ 9.97645783e-01 2.76063124e-02 6.27756640e-02 4.17052869e+00] [-2.76296351e-02 9.99618105e-01 -4.96702374e-04 9.58636242e-02] [-6.27654024e-02 -1.23893566e-03 9.98027539e-01 -1.84377211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082791605 meters 0.024580746727997392 Centerline is valid? [True, True] Translation: X:4.23, Y:0.10, Z:-0.19 [[ 9.97743653e-01 2.23758714e-02 6.33002653e-02 4.23303076e+00] [-2.23876753e-02 9.99749228e-01 -5.22893015e-04 9.97536116e-02] [-6.32960916e-02 -8.95432600e-04 9.97994390e-01 -1.89106409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142791604999999 meters 0.024671952166442548 Centerline is valid? [True, True] Translation: X:4.30, Y:0.10, Z:-0.19 [[ 9.97930287e-01 1.84081087e-02 6.16139842e-02 4.29508872e+00] [-1.84106261e-02 9.99830371e-01 -5.26904695e-04 1.04987326e-01] [-6.16132320e-02 -6.08537873e-04 9.98099914e-01 -1.91267720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202791605 meters 0.02485905636474453 Centerline is valid? [True, True] Translation: X:4.36, Y:0.11, Z:-0.19 [[ 9.98105587e-01 1.43578587e-02 5.98254956e-02 4.35778143e+00] [-1.43517234e-02 9.99896867e-01 -5.32257734e-04 1.09918927e-01] [-5.98269677e-02 -3.27349549e-04 9.98208709e-01 -1.94002864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262791604999999 meters 0.02536479585951741 Centerline is valid? [True, True] Translation: X:4.42, Y:0.11, Z:-0.20 [[ 9.98287084e-01 1.10077183e-02 5.74606567e-02 4.41953156e+00] [-1.09955956e-02 9.99939408e-01 -5.27146448e-04 1.10669064e-01] [-5.74629777e-02 -1.05570657e-04 9.98347632e-01 -1.98888804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322791605 meters 0.026132448534707798 Centerline is valid? [True, True] Translation: X:4.48, Y:0.11, Z:-0.20 [[ 9.98502391e-01 5.90512887e-03 5.43884597e-02 4.48193408e+00] [-5.88535597e-03 9.99982544e-01 -5.23710079e-04 1.13256452e-01] [-5.43906029e-02 2.02830321e-04 9.98519715e-01 -2.03099927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3827916049999995 meters 0.026316063260165314 Centerline is valid? [True, True] Translation: X:4.54, Y:0.11, Z:-0.21 [[ 9.98731338e-01 4.40559064e-03 5.01627812e-02 4.54393640e+00] [-4.38578877e-03 9.99990255e-01 -5.04816973e-04 1.11535451e-01] [-5.01645163e-02 2.84173169e-04 9.98740928e-01 -2.05470027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442791604999999 meters 0.0266976542831586 Centerline is valid? [True, True] Translation: X:4.61, Y:0.11, Z:-0.21 [[ 9.98945212e-01 6.06106900e-03 4.55162226e-02 4.60582146e+00] [-6.04559969e-03 9.99981611e-01 -4.77514999e-04 1.09319124e-01] [-4.55182798e-02 2.01838461e-04 9.98963486e-01 -2.05795418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502791605 meters 0.027066286134488325 Centerline is valid? [True, True] Translation: X:4.67, Y:0.10, Z:-0.21 [[ 9.99100392e-01 8.03782989e-03 4.16389346e-02 4.66834486e+00] [-8.02585568e-03 9.99967689e-01 -4.54733628e-04 1.01470950e-01] [-4.16412443e-02 1.20136466e-04 9.99132620e-01 -2.05522055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562791604999999 meters 0.027172245530924954 Centerline is valid? [True, True] Translation: X:4.73, Y:0.10, Z:-0.21 [[ 9.99159522e-01 8.02473051e-03 4.01976704e-02 4.73177951e+00] [-8.01281240e-03 9.99967792e-01 -4.57594746e-04 1.00039242e-01] [-4.02000478e-02 1.35113756e-04 9.99191642e-01 -2.06924264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622791605 meters 0.027409374265622673 Centerline is valid? [True, True] Translation: X:4.79, Y:0.10, Z:-0.21 [[ 9.99279567e-01 1.17919408e-02 3.60734982e-02 4.79447878e+00] [-1.17841607e-02 9.99930473e-01 -4.28290158e-04 9.86436325e-02] [-3.60760404e-02 2.88570411e-06 9.99349048e-01 -2.06344272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682791604999999 meters 0.027599384104144885 Centerline is valid? [True, True] Translation: X:4.86, Y:0.09, Z:-0.20 [[ 9.99409807e-01 1.60441155e-02 3.03747104e-02 4.85768825e+00] [-1.60401551e-02 9.99871278e-01 -3.74062220e-04 9.46634548e-02] [-3.03768020e-02 -1.13373614e-04 9.99538512e-01 -2.04127124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742791605 meters 0.027906458645732036 Centerline is valid? [True, True] Translation: X:4.92, Y:0.10, Z:-0.20 [[ 9.99528051e-01 1.74263761e-02 2.52981597e-02 4.92041306e+00] [-1.74237887e-02 9.99848142e-01 -3.22720489e-04 9.64648526e-02] [-2.52999419e-02 -1.18221607e-04 9.99679898e-01 -2.04741551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8027916049999995 meters 0.026895612889819433 Centerline is valid? [True, True] Translation: X:4.98, Y:0.10, Z:-0.21 [[ 9.99605231e-01 1.46502825e-02 2.39739642e-02 4.98367079e+00] [-1.46469315e-02 9.99892678e-01 -3.15377190e-04 9.56469677e-02] [-2.39760116e-02 -3.58923234e-05 9.99712533e-01 -2.06676698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862791604999999 meters 0.025876819589246154 Centerline is valid? [True, True] Translation: X:5.05, Y:0.09, Z:-0.21 [[ 9.99488316e-01 1.08903690e-02 3.00750057e-02 5.04558085e+00] [-1.08827215e-02 9.99940694e-01 -4.17958141e-04 9.44150404e-02] [-3.00777738e-02 9.04463669e-05 9.99547557e-01 -2.09244929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922791605 meters 0.024921435513604873 Centerline is valid? [True, True] Translation: X:5.11, Y:0.09, Z:-0.21 [[ 9.99017586e-01 1.07599322e-02 4.29893756e-02 5.10819723e+00] [-1.07429492e-02 9.99942097e-01 -6.26061685e-04 9.42874805e-02] [-4.29936228e-02 1.63613956e-04 9.99075333e-01 -2.12668514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982791604999999 meters 0.02275778346343739 Centerline is valid? [True, True] Translation: X:5.17, Y:0.09, Z:-0.22 [[ 9.98011856e-01 1.55245528e-02 6.10845656e-02 5.16886076e+00] [-1.54973620e-02 9.99879486e-01 -9.18904166e-04 9.40291478e-02] [-6.10914696e-02 -2.95723764e-05 9.98132171e-01 -2.19474001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042791605 meters 0.022171361129416613 Centerline is valid? [True, True] Translation: X:5.23, Y:0.09, Z:-0.22 [[ 9.97584034e-01 1.72788792e-02 6.72869612e-02 5.23059577e+00] [-1.72488717e-02 9.99850700e-01 -1.02695202e-03 9.28062514e-02] [-6.72946599e-02 -1.36153221e-04 9.97733136e-01 -2.22551030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102791604999999 meters 0.021865183624547202 Centerline is valid? [True, True] Translation: X:5.29, Y:0.09, Z:-0.22 [[ 9.97597581e-01 1.63393329e-02 6.73208224e-02 5.29318713e+00] [-1.63049788e-02 9.99866503e-01 -1.05976519e-03 9.03028218e-02] [-6.73291512e-02 -4.04453865e-05 9.97730817e-01 -2.23918028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162791605 meters 0.02185362616564624 Centerline is valid? [True, True] Translation: X:5.36, Y:0.09, Z:-0.23 [[ 9.97640342e-01 1.55343171e-02 6.68762461e-02 5.35579100e+00] [-1.54969719e-02 9.99879334e-01 -1.07718838e-03 8.80866911e-02] [-6.68849099e-02 3.82672734e-05 9.97760696e-01 -2.26620428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222791604999999 meters 0.02189765902279754 Centerline is valid? [True, True] Translation: X:5.42, Y:0.09, Z:-0.23 [[ 9.97690305e-01 1.57279293e-02 6.60809144e-02 5.41792557e+00] [-1.56905725e-02 9.99876307e-01 -1.08430382e-03 8.66170491e-02] [-6.60897945e-02 4.49520309e-05 9.97813679e-01 -2.28994123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282791604999999 meters 0.02208904679669071 Centerline is valid? [True, True] Translation: X:5.48, Y:0.09, Z:-0.23 [[ 9.97680347e-01 1.55075211e-02 6.62830488e-02 5.48085309e+00] [-1.54672435e-02 9.99879747e-01 -1.12082003e-03 8.53762200e-02] [-6.62924592e-02 9.30040588e-05 9.97800231e-01 -2.32008932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3427916049999995 meters 0.022431349529434742 Centerline is valid? [True, True] Translation: X:5.54, Y:0.09, Z:-0.23 [[ 9.97734658e-01 1.49734173e-02 6.55846639e-02 5.54291839e+00] [-1.49306638e-02 9.99887879e-01 -1.14200100e-03 8.51670340e-02] [-6.55944102e-02 1.60191411e-04 9.97846355e-01 -2.32916453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402791604999999 meters 0.022429828825408407 Centerline is valid? [True, True] Translation: X:5.61, Y:0.09, Z:-0.24 [[ 9.97702475e-01 1.44734910e-02 6.61837601e-02 5.60642743e+00] [-1.44266581e-02 9.99895228e-01 -1.18551862e-03 8.59732155e-02] [-6.61939845e-02 2.27984384e-04 9.97806747e-01 -2.35224796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462791605 meters 0.022754210093708406 Centerline is valid? [True, True] Translation: X:5.67, Y:0.09, Z:-0.24 [[ 9.97849850e-01 1.46546901e-02 6.38820587e-02 5.66881899e+00] [-1.46093890e-02 9.99892585e-01 -1.17622001e-03 8.64775165e-02] [-6.38924340e-02 2.40413120e-04 9.97956762e-01 -2.40792475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522791604999999 meters 0.022942079798880275 Centerline is valid? [True, True] Translation: X:5.73, Y:0.09, Z:-0.24 [[ 9.97997895e-01 1.58115672e-02 6.12388419e-02 5.73116547e+00] [-1.57703974e-02 9.99874972e-01 -1.15558755e-03 8.58681221e-02] [-6.12494570e-02 1.87513068e-04 9.98122472e-01 -2.42056908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582791605 meters 0.023273655058567815 Centerline is valid? [True, True] Translation: X:5.79, Y:0.09, Z:-0.25 [[ 9.97998418e-01 1.75653997e-02 6.07504315e-02 5.79450169e+00] [-1.75263339e-02 9.99845711e-01 -1.17589414e-03 8.61209754e-02] [-6.07617134e-02 1.08808143e-04 9.98152294e-01 -2.45358371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642791604999999 meters 0.02380900388387417 Centerline is valid? [True, True] Translation: X:5.86, Y:0.09, Z:-0.25 [[ 9.97985233e-01 1.96617526e-02 6.03232169e-02 5.85709196e+00] [-1.96251258e-02 9.99806689e-01 -1.19963697e-03 9.06916825e-02] [-6.03351427e-02 1.33692596e-05 9.98178176e-01 -2.50777126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702791605 meters 0.023987882314306246 Centerline is valid? [True, True] Translation: X:5.92, Y:0.09, Z:-0.25 [[ 9.98224098e-01 2.08595439e-02 5.57990130e-02 5.91972110e+00] [-2.08285598e-02 9.99782416e-01 -1.13684440e-03 9.15221113e-02] [-5.58105861e-02 -2.73876027e-05 9.98441374e-01 -2.51763108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762791604999999 meters 0.023769177117190114 Centerline is valid? [True, True] Translation: X:5.98, Y:0.10, Z:-0.25 [[ 9.98502140e-01 2.09835709e-02 5.05288680e-02 5.98219024e+00] [-2.09572012e-02 9.99779821e-01 -1.05168523e-03 9.69138675e-02] [-5.05398107e-02 -8.83370135e-06 9.98722047e-01 -2.50151864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822791604999999 meters 0.023991261730074438 Centerline is valid? [True, True] Translation: X:6.04, Y:0.10, Z:-0.25 [[ 9.98705860e-01 2.26276075e-02 4.55477475e-02 6.04447901e+00] [-2.26069861e-02 9.99743961e-01 -9.67873174e-04 9.98473703e-02] [-4.55579861e-02 -6.30766833e-05 9.98961694e-01 -2.50979750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8827916049999995 meters 0.024354261175312055 Centerline is valid? [True, True] Translation: X:6.11, Y:0.10, Z:-0.25 [[ 9.98862210e-01 2.19855048e-02 4.23193087e-02 6.10706122e+00] [-2.19663271e-02 9.99758290e-01 -9.18177145e-04 1.01989242e-01] [-4.23292663e-02 -1.24673269e-05 9.99103715e-01 -2.50795764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942791604999999 meters 0.024255958908835543 Centerline is valid? [True, True] Translation: X:6.17, Y:0.10, Z:-0.25 [[ 9.99000737e-01 2.06238355e-02 3.96507800e-02 6.17029753e+00] [-2.06052156e-02 9.99787304e-01 -8.78252955e-04 1.04126770e-01] [-3.96604594e-02 6.03624805e-05 9.99213213e-01 -2.50627410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002791605 meters 0.02452733706713194 Centerline is valid? [True, True] Translation: X:6.23, Y:0.10, Z:-0.25 [[ 9.99262000e-01 1.72309445e-02 3.43300058e-02 6.23319123e+00] [-1.72144363e-02 9.99851519e-01 -7.76404985e-04 1.04028071e-01] [-3.43382866e-02 1.84860299e-04 9.99410250e-01 -2.50716014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062791604999999 meters 0.02471015523681711 Centerline is valid? [True, True] Translation: X:6.30, Y:0.10, Z:-0.25 [[ 9.99451152e-01 1.53198588e-02 2.93717111e-02 6.29552980e+00] [-1.53065519e-02 9.99882618e-01 -6.77848606e-04 1.04700117e-01] [-2.93786479e-02 2.27896949e-04 9.99568328e-01 -2.49737743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122791605 meters 0.024279128528529616 Centerline is valid? [True, True] Translation: X:6.36, Y:0.10, Z:-0.25 [[ 9.99485625e-01 1.75259167e-02 2.68575551e-02 6.35858062e+00] [-1.75153088e-02 9.99846397e-01 -6.30187093e-04 1.03174885e-01] [-2.68644743e-02 1.59444569e-04 9.99639072e-01 -2.49375946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182791604999999 meters 0.022708386896565725 Centerline is valid? [True, True] Translation: X:6.42, Y:0.10, Z:-0.25 [[ 9.99140669e-01 2.51964038e-02 3.29099360e-02 6.42024145e+00] [-2.51838978e-02 9.99682520e-01 -7.94528053e-04 9.94899919e-02] [-3.29195070e-02 -3.49551740e-05 9.99458006e-01 -2.54958862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242791605 meters 0.02177010691772013 Centerline is valid? [True, True] Translation: X:6.48, Y:0.10, Z:-0.26 [[ 9.98700737e-01 2.84813480e-02 4.22569724e-02 6.48326835e+00] [-2.84625893e-02 9.99594312e-01 -1.04561560e-03 9.70888441e-02] [-4.22696098e-02 -1.58485783e-04 9.99106228e-01 -2.59927876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3027916049999995 meters 0.020246073085239166 Centerline is valid? [True, True] Translation: X:6.55, Y:0.09, Z:-0.26 [[ 9.98006090e-01 2.68735005e-02 5.71109463e-02 6.54504765e+00] [-2.68345301e-02 9.99638839e-01 -1.44929102e-03 9.49531544e-02] [-5.71292676e-02 -8.61441435e-05 9.98366786e-01 -2.64050409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362791604999999 meters 0.019659908823672367 Centerline is valid? [True, True] Translation: X:6.61, Y:0.09, Z:-0.27 [[ 9.97672639e-01 2.88586376e-02 6.17776949e-02 6.60677616e+00] [-2.88150099e-02 9.99583485e-01 -1.59718774e-03 9.15219192e-02] [-6.17980563e-02 -1.86654386e-04 9.98088656e-01 -2.68575322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422791605 meters 0.019986838286437405 Centerline is valid? [True, True] Translation: X:6.67, Y:0.09, Z:-0.27 [[ 9.97522326e-01 3.18928287e-02 6.27061083e-02 6.66927404e+00] [-3.18520064e-02 9.99491233e-01 -1.65079886e-03 9.25754463e-02] [-6.27268541e-02 -3.50606638e-04 9.98030670e-01 -2.71057028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482791604999999 meters 0.020020753407309397 Centerline is valid? [True, True] Translation: X:6.73, Y:0.09, Z:-0.27 [[ 9.97508244e-01 3.31456854e-02 6.22789403e-02 6.73199372e+00] [-3.31059399e-02 9.99450452e-01 -1.67026438e-03 9.07493352e-02] [-6.23000771e-02 -3.95700366e-04 9.98057385e-01 -2.74316476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542791605 meters 0.02031291464001191 Centerline is valid? [True, True] Translation: X:6.80, Y:0.09, Z:-0.28 [[ 9.97431832e-01 3.62331746e-02 6.17810487e-02 6.79503981e+00] [-3.61979379e-02 9.99343211e-01 -1.68986323e-03 8.90877932e-02] [-6.18017007e-02 -5.50823190e-04 9.98088296e-01 -2.75834582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602791604999999 meters 0.020762329820010403 Centerline is valid? [True, True] Translation: X:6.86, Y:0.09, Z:-0.28 [[ 9.97441529e-01 4.04015822e-02 5.89754963e-02 6.85770452e+00] [-4.03750294e-02 9.99183246e-01 -1.64225941e-03 9.00623673e-02] [-5.89936777e-02 -7.43079660e-04 9.98258080e-01 -2.78232530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662791605 meters 0.02123626813999557 Centerline is valid? [True, True] Translation: X:6.92, Y:0.09, Z:-0.28 [[ 9.97306304e-01 4.59735018e-02 5.71539460e-02 6.92009839e+00] [-4.59561955e-02 9.98942146e-01 -1.61782528e-03 9.20618123e-02] [-5.71678626e-02 -1.01311056e-03 9.98364066e-01 -2.81189518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722791604999999 meters 0.021572747810205583 Centerline is valid? [True, True] Translation: X:6.98, Y:0.09, Z:-0.28 [[ 9.97223563e-01 4.83934250e-02 5.65971827e-02 6.98212156e+00] [-4.83788516e-02 9.98827730e-01 -1.62842160e-03 9.18637785e-02] [-5.66096405e-02 -1.11420631e-03 9.98395767e-01 -2.82605495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782791604999999 meters 0.021853095920633836 Centerline is valid? [True, True] Translation: X:7.05, Y:0.10, Z:-0.28 [[ 9.97209124e-01 4.95371250e-02 5.58572916e-02 7.04503695e+00] [-4.95231893e-02 9.98771637e-01 -1.63450961e-03 9.80065027e-02] [-5.58696475e-02 -1.13628333e-03 9.98437425e-01 -2.83587478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8427916049999995 meters 0.021768349390302488 Centerline is valid? [True, True] Translation: X:7.11, Y:0.10, Z:-0.29 [[ 9.97455744e-01 4.63148147e-02 5.41938804e-02 7.10737698e+00] [-4.62954448e-02 9.98926488e-01 -1.61342592e-03 1.04315321e-01] [-5.42104282e-02 -8.99608853e-04 9.98529128e-01 -2.86158179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902791604999999 meters 0.021463553977570556 Centerline is valid? [True, True] Translation: X:7.17, Y:0.11, Z:-0.29 [[ 9.97617748e-01 4.14945663e-02 5.51092627e-02 7.16940748e+00] [-4.14657318e-02 9.99138536e-01 -1.66705788e-03 1.08357420e-01] [-5.51309619e-02 -6.22059377e-04 9.98478938e-01 -2.88908306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962791605 meters 0.021385337094131974 Centerline is valid? [True, True] Translation: X:7.23, Y:0.11, Z:-0.29 [[ 9.97862298e-01 3.85888873e-02 5.27421347e-02 7.23132210e+00] [-3.85571377e-02 9.99255084e-01 -1.61972705e-03 1.10086275e-01] [-5.27653497e-02 -4.17321193e-04 9.98606851e-01 -2.90797908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022791604999999 meters 0.02196823015327022 Centerline is valid? [True, True] Translation: X:7.29, Y:0.11, Z:-0.30 [[ 9.97863937e-01 3.72550543e-02 5.36621248e-02 7.29469533e+00] [-3.72187908e-02 9.99305736e-01 -1.67530271e-03 1.11942945e-01] [-5.36872826e-02 -3.25515238e-04 9.98557745e-01 -2.97225490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082791605 meters 0.02258279738660225 Centerline is valid? [True, True] Translation: X:7.36, Y:0.11, Z:-0.30 [[ 9.97900876e-01 3.87310626e-02 5.19013203e-02 7.35701792e+00] [-3.86977453e-02 9.99249604e-01 -1.64706933e-03 1.09453114e-01] [-5.19261666e-02 -3.64852144e-04 9.98650860e-01 -2.99595893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142791604999999 meters 0.02299382313893016 Centerline is valid? [True, True] Translation: X:7.42, Y:0.11, Z:-0.30 [[ 9.97821924e-01 4.02852844e-02 5.22350839e-02 7.42010051e+00] [-4.02523311e-02 9.99188129e-01 -1.68314868e-03 1.07638550e-01] [-5.22604819e-02 -4.23101236e-04 9.98633398e-01 -2.99414123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202791604999999 meters 0.02337811311846442 Centerline is valid? [True, True] Translation: X:7.48, Y:0.10, Z:-0.30 [[ 9.97857208e-01 4.28732921e-02 4.94254250e-02 7.48182173e+00] [-4.28457551e-02 9.99080390e-01 -1.61697880e-03 1.03896810e-01] [-4.94492981e-02 -5.04155705e-04 9.98776508e-01 -3.02762209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262791604999999 meters 0.02374235365777847 Centerline is valid? [True, True] Translation: X:7.55, Y:0.10, Z:-0.30 [[ 9.97911073e-01 4.51645654e-02 4.61914815e-02 7.54524874e+00] [-4.51419898e-02 9.98979406e-01 -1.53230185e-03 1.00569509e-01] [-4.62135445e-02 -5.56074406e-04 9.98931429e-01 -3.03276770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322791604999999 meters 0.023954705698660234 Centerline is valid? [True, True] Translation: X:7.61, Y:0.10, Z:-0.30 [[ 9.98021978e-01 4.63423720e-02 4.24795942e-02 7.60762178e+00] [-4.63234479e-02 9.98925469e-01 -1.43025373e-03 9.78516204e-02] [-4.25002299e-02 -5.40376607e-04 9.99096311e-01 -3.03233380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3827916049999995 meters 0.02408964258347423 Centerline is valid? [True, True] Translation: X:7.67, Y:0.10, Z:-0.30 [[ 9.98111612e-01 4.68805095e-02 3.96916679e-02 7.67074098e+00] [-4.68637079e-02 9.98900375e-01 -1.35412437e-03 9.77718440e-02] [-3.97115040e-02 -5.08531475e-04 9.99211058e-01 -3.02613006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442791604999999 meters 0.023993491036277445 Centerline is valid? [True, True] Translation: X:7.73, Y:0.10, Z:-0.30 [[ 9.98321793e-01 4.30394627e-02 3.87453425e-02 7.73338466e+00] [-4.30197988e-02 9.99073319e-01 -1.34148162e-03 9.68947945e-02] [-3.87671746e-02 -3.27586504e-04 9.99248217e-01 -3.03961554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502791605 meters 0.022395595182457744 Centerline is valid? [True, True] Translation: X:7.80, Y:0.10, Z:-0.31 [[ 9.98622620e-01 3.12223127e-02 4.21667004e-02 7.79595664e+00] [-3.11880726e-02 9.99512453e-01 -1.46977703e-03 9.84009010e-02] [-4.21920320e-02 1.52654471e-04 9.99109508e-01 -3.09702628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562791604999999 meters 0.02197538968629463 Centerline is valid? [True, True] Translation: X:7.86, Y:0.10, Z:-0.31 [[ 9.98595247e-01 2.40486710e-02 4.72143524e-02 7.85814023e+00] [-2.39964357e-02 9.99710644e-01 -1.67291885e-03 9.86360777e-02] [-4.72409221e-02 5.37592639e-04 9.98883380e-01 -3.12239852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622791605 meters 0.021892372271859726 Centerline is valid? [True, True] Translation: X:7.92, Y:0.10, Z:-0.31 [[ 9.98514002e-01 2.20061817e-02 4.98549546e-02 7.92016181e+00] [-2.19441863e-02 9.99757594e-01 -1.79059463e-03 9.89226055e-02] [-4.98822736e-02 6.93907400e-04 9.98754863e-01 -3.14516188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682791604999999 meters 0.021365780237722336 Centerline is valid? [True, True] Translation: X:7.98, Y:0.10, Z:-0.32 [[ 9.97943018e-01 2.56087779e-02 5.87700818e-02 7.98204116e+00] [-2.55270795e-02 9.99671839e-01 -2.14060190e-03 9.65891129e-02] [-5.88056139e-02 6.35970168e-04 9.98269250e-01 -3.18453821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742791604999999 meters 0.020429410489982314 Centerline is valid? [True, True] Translation: X:8.04, Y:0.09, Z:-0.32 [[ 9.97615528e-01 2.88091492e-02 6.27159559e-02 8.04380700e+00] [-2.87205451e-02 9.99584802e-01 -2.31401920e-03 9.46872471e-02] [-6.27565813e-02 5.07265041e-04 9.98028734e-01 -3.21172740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8027916049999995 meters 0.020245590503528137 Centerline is valid? [True, True] Translation: X:8.11, Y:0.09, Z:-0.32 [[ 9.97614417e-01 2.97207184e-02 6.23069338e-02 8.10634669e+00] [-2.96331767e-02 9.99558128e-01 -2.32881620e-03 9.27707413e-02] [-6.23486162e-02 4.76908236e-04 9.98054318e-01 -3.24848785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862791604999999 meters 0.020615001923287073 Centerline is valid? [True, True] Translation: X:8.17, Y:0.09, Z:-0.33 [[ 9.97435556e-01 2.95928853e-02 6.51657337e-02 8.16816131e+00] [-2.94946991e-02 9.99561889e-01 -2.46845483e-03 9.15162380e-02] [-6.52102325e-02 5.40080910e-04 9.97871401e-01 -3.27953199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922791605 meters 0.02068519278773104 Centerline is valid? [True, True] Translation: X:8.23, Y:0.09, Z:-0.33 [[ 9.97498673e-01 3.02312050e-02 6.38942180e-02 8.23066341e+00] [-3.01362879e-02 9.99542799e-01 -2.44898596e-03 8.90500856e-02] [-6.39390413e-02 5.17325694e-04 9.97953672e-01 -3.28941576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982791604999999 meters 0.021126276585808162 Centerline is valid? [True, True] Translation: X:8.29, Y:0.09, Z:-0.33 [[ 9.97661376e-01 2.90681464e-02 6.18613039e-02 8.29230375e+00] [-2.89752368e-02 9.99577252e-01 -2.39864501e-03 8.60872180e-02] [-6.19048763e-02 6.00589555e-04 9.98081873e-01 -3.34166271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042791605 meters 0.021469703307664224 Centerline is valid? [True, True] Translation: X:8.35, Y:0.09, Z:-0.34 [[ 9.97693690e-01 2.62846972e-02 6.25812679e-02 8.35472406e+00] [-2.61823512e-02 9.99654169e-01 -2.45505678e-03 8.60697561e-02] [-6.26241558e-02 8.10869918e-04 9.98036852e-01 -3.35499737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102791605 meters 0.02150939770991551 Centerline is valid? [True, True] Translation: X:8.42, Y:0.08, Z:-0.34 [[ 9.97971831e-01 2.43249869e-02 5.88261829e-02 8.41733080e+00] [-2.42300494e-02 9.99703702e-01 -2.32673183e-03 8.26080425e-02] [-5.88653505e-02 8.96651509e-04 9.98265529e-01 -3.36906956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162791605 meters 0.022420762735849822 Centerline is valid? [True, True] Translation: X:8.48, Y:0.08, Z:-0.34 [[ 9.97864097e-01 2.32415632e-02 6.10497616e-02 8.47914562e+00] [-2.31362120e-02 9.99729364e-01 -2.43207913e-03 8.04132529e-02] [-6.10897647e-02 1.01442421e-03 9.98131761e-01 -3.41284129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222791605 meters 0.022079697515838062 Centerline is valid? [True, True] Translation: X:8.54, Y:0.08, Z:-0.34 [[ 9.97949709e-01 2.71484923e-02 5.79597892e-02 8.54160221e+00] [-2.70590071e-02 9.99631126e-01 -2.32833344e-03 7.63494411e-02] [-5.80016201e-02 7.55225333e-04 9.98316203e-01 -3.42882436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282791605 meters 0.022264971112961225 Centerline is valid? [True, True] Translation: X:8.60, Y:0.07, Z:-0.35 [[ 9.97988926e-01 2.88904598e-02 5.64220255e-02 8.60337743e+00] [-2.88076159e-02 9.99582371e-01 -2.28124786e-03 7.43410422e-02] [-5.64643683e-02 6.51276059e-04 9.98404403e-01 -3.45621847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342791605 meters 0.022721763966319752 Centerline is valid? [True, True] Translation: X:8.67, Y:0.07, Z:-0.35 [[ 9.97914708e-01 3.10909446e-02 5.65649040e-02 8.66600677e+00] [-3.10096785e-02 9.99516406e-01 -2.31406558e-03 7.15024131e-02] [-5.66094960e-02 5.55180595e-04 9.98396242e-01 -3.49879622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402791605 meters 0.023228186659192827 Centerline is valid? [True, True] Translation: X:8.73, Y:0.07, Z:-0.35 [[ 9.98010261e-01 3.15160372e-02 5.46100631e-02 8.72861781e+00] [-3.14397631e-02 9.99503104e-01 -2.25545991e-03 6.96242574e-02] [-5.46540107e-02 5.34044686e-04 9.98505210e-01 -3.53106693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462791605 meters 0.023465942405305286 Centerline is valid? [True, True] Translation: X:8.79, Y:0.07, Z:-0.35 [[ 9.98160978e-01 3.01100673e-02 5.26122203e-02 8.79141023e+00] [-3.00365765e-02 9.99546407e-01 -2.18715404e-03 6.79050128e-02] [-5.26542111e-02 6.02840840e-04 9.98612623e-01 -3.54726859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522791605 meters 0.023878910016748512 Centerline is valid? [True, True] Translation: X:8.85, Y:0.07, Z:-0.35 [[ 9.98556875e-01 2.62321635e-02 4.68619358e-02 8.85479295e+00] [-2.61685479e-02 9.99655603e-01 -1.97059185e-03 6.56333409e-02] [-4.68974895e-02 7.41439228e-04 9.98899432e-01 -3.52832418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582791605 meters 0.024581486513708426 Centerline is valid? [True, True] Translation: X:8.92, Y:0.07, Z:-0.35 [[ 9.99014946e-01 2.16072685e-02 3.87590446e-02 8.91725728e+00] [-2.15596293e-02 9.99766208e-01 -1.64671281e-03 6.55196253e-02] [-3.87855640e-02 8.09460077e-04 9.99247229e-01 -3.52659908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642791605000001 meters 0.025289286183097826 Centerline is valid? [True, True] Translation: X:8.98, Y:0.06, Z:-0.35 [[ 9.99140189e-01 1.86518548e-02 3.70268952e-02 8.97934175e+00] [-1.86057589e-02 9.99825635e-01 -1.58914425e-03 6.30775764e-02] [-3.70500795e-02 8.98864397e-04 9.99313006e-01 -3.51989072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702791605 meters 0.025702927406063746 Centerline is valid? [True, True] Translation: X:9.04, Y:0.06, Z:-0.35 [[ 9.99239639e-01 1.76426416e-02 3.47689590e-02 9.04194721e+00] [-1.76008785e-02 9.99843957e-01 -1.50689414e-03 5.87946398e-02] [-3.47901191e-02 8.93784130e-04 9.99394241e-01 -3.52101854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762791605 meters 0.026655259081223032 Centerline is valid? [True, True] Translation: X:9.10, Y:0.05, Z:-0.35 [[ 9.99467484e-01 1.28890723e-02 2.99769897e-02 9.10370693e+00] [-1.28554966e-02 9.99916503e-01 -1.31251639e-03 5.02747942e-02] [-2.99914039e-02 9.26448362e-04 9.99549727e-01 -3.53503513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822791605 meters 0.0264425026721674 Centerline is valid? [True, True] Translation: X:9.17, Y:0.04, Z:-0.35 [[ 9.99523950e-01 1.44778094e-02 2.72445837e-02 9.16699419e+00] [-1.44506797e-02 9.99894872e-01 -1.19241923e-03 4.39759857e-02] [-2.72589832e-02 7.98148826e-04 9.99628086e-01 -3.53581215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882791605 meters 0.02579636241141931 Centerline is valid? [True, True] Translation: X:9.23, Y:0.04, Z:-0.36 [[ 9.99460120e-01 2.04302578e-02 2.57307725e-02 9.22925762e+00] [-2.04077053e-02 9.99791093e-01 -1.13879812e-03 3.72509202e-02] [-2.57486631e-02 6.13077286e-04 9.99668260e-01 -3.55135358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942791605 meters 0.023275330455546098 Centerline is valid? [True, True] Translation: X:9.29, Y:0.02, Z:-0.36 [[ 9.98728615e-01 2.71055705e-02 4.25022448e-02 9.28996271e+00] [-2.70488751e-02 9.99632290e-01 -1.90855779e-03 2.49368110e-02] [-4.25383488e-02 7.56493373e-04 9.99094548e-01 -3.60325736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002791605 meters 0.021483244393891727 Centerline is valid? [True, True] Translation: X:9.35, Y:0.02, Z:-0.37 [[ 9.97868305e-01 2.91316549e-02 5.83968564e-02 9.35187606e+00] [-2.90276623e-02 9.99575153e-01 -2.62846627e-03 1.60972752e-02] [-5.84486182e-02 9.27738957e-04 9.98289987e-01 -3.65721701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062791605000001 meters 0.021008591561912326 Centerline is valid? [True, True] Translation: X:9.41, Y:0.01, Z:-0.37 [[ 9.97419075e-01 3.41989993e-02 6.31317513e-02 9.41378289e+00] [-3.40864788e-02 9.99414798e-01 -2.85881262e-03 7.83252308e-03] [-6.31925750e-02 6.99495138e-04 9.98001107e-01 -3.69702820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122791605 meters 0.020804993634414314 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.00, Z:-0.37 [[ 9.97207095e-01 3.72947760e-02 6.47078751e-02 9.47617860e+00] [-3.71810172e-02 9.99304158e-01 -2.96178084e-03 -5.55831744e-04] [-6.47733076e-02 5.47604253e-04 9.97899854e-01 -3.72601454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182791605 meters 0.020632200915662997 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.01, Z:-0.37 [[ 9.97280808e-01 4.01820315e-02 6.17769694e-02 9.53852326e+00] [-4.00820532e-02 9.99192306e-01 -2.85728310e-03 -6.26771204e-03] [-6.18418840e-02 3.73365820e-04 9.98085889e-01 -3.74289132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242791605 meters 0.02094647240430447 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.01, Z:-0.38 [[ 9.97176480e-01 4.09139254e-02 6.29691808e-02 9.60065827e+00] [-4.08096526e-02 9.99162609e-01 -2.94173624e-03 -1.25030812e-02] [-6.30368089e-02 3.63679800e-04 9.98011136e-01 -3.77757239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302791605 meters 0.02105802702354457 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.02, Z:-0.38 [[ 9.97244111e-01 4.03304374e-02 6.22706834e-02 9.66357786e+00] [-4.02254313e-02 9.99186306e-01 -2.93952610e-03 -1.75724307e-02] [-6.23385664e-02 4.26560002e-04 9.98054969e-01 -3.80444913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362791605 meters 0.02119389003305734 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.03, Z:-0.38 [[ 9.97338345e-01 3.91444441e-02 6.15137179e-02 9.72588194e+00] [-3.90377224e-02 9.99233424e-01 -2.93624515e-03 -2.54099380e-02] [-6.15815006e-02 5.27074439e-04 9.98101919e-01 -3.83554340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422791605 meters 0.021663533993732685 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.03, Z:-0.39 [[ 9.97285889e-01 3.93977180e-02 6.21986816e-02 9.78836503e+00] [-3.92870198e-02 9.99223457e-01 -3.00220947e-03 -3.09767605e-02] [-6.22686618e-02 5.50460302e-04 9.98059272e-01 -3.86264561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482791605000001 meters 0.02159095431899874 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.04, Z:-0.39 [[ 9.97348323e-01 4.11471971e-02 6.00269189e-02 9.85025481e+00] [-4.10454978e-02 9.99152992e-01 -2.92679927e-03 -3.83406117e-02] [-6.00965052e-02 4.55203575e-04 9.98192468e-01 -3.87930542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542791605 meters 0.0217975633933662 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.04, Z:-0.39 [[ 9.97179089e-01 4.63508616e-02 5.90378087e-02 9.91259186e+00] [-4.62600055e-02 9.98925207e-01 -2.90549373e-03 -4.47651097e-02] [-5.91090274e-02 1.66208240e-04 9.98251519e-01 -3.89868948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602791605 meters 0.021705844176021963 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.05, Z:-0.39 [[ 9.97176804e-01 5.17580790e-02 5.44015024e-02 9.97484036e+00] [-5.16876682e-02 9.98659645e-01 -2.70141496e-03 -5.05682209e-02] [-5.44684051e-02 -1.18098474e-04 9.98515488e-01 -3.93095540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662791605 meters 0.021831762240431513 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.06, Z:-0.40 [[ 9.97116964e-01 5.35585036e-02 5.37517164e-02 1.00376795e+01] [-5.34909655e-02 9.98564696e-01 -2.69538755e-03 -5.50914993e-02] [-5.38189273e-02 -1.87614559e-04 9.98550694e-01 -3.95272911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722791605 meters 0.022299531844752085 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.06, Z:-0.40 [[ 9.96903240e-01 5.81320954e-02 5.29583823e-02 1.01009057e+01] [-5.80714757e-02 9.98308820e-01 -2.68401876e-03 -6.01799587e-02] [-5.30248478e-02 -3.99664417e-04 9.98593113e-01 -3.97855992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782791605 meters 0.023254588884452934 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.07, Z:-0.40 [[ 9.96735126e-01 6.38281745e-02 4.94474716e-02 1.01632511e+01] [-6.37810461e-02 9.97960704e-01 -2.53199757e-03 -6.52309083e-02] [-4.95082464e-02 -6.30080556e-04 9.98773516e-01 -4.02814663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842791605 meters 0.0240662472510154 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.07, Z:-0.40 [[ 9.96364542e-01 7.11531427e-02 4.68500696e-02 1.02254184e+01] [-7.11177884e-02 9.97464981e-01 -2.42316508e-03 -6.99142360e-02] [-4.69037196e-02 -9.17517574e-04 9.98898994e-01 -4.03276708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902791605 meters 0.024641062399129648 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.07, Z:-0.40 [[ 9.96235307e-01 7.41216339e-02 4.49577274e-02 1.02878530e+01] [-7.40911767e-02 9.97248713e-01 -2.34571050e-03 -7.41554836e-02] [-4.50079037e-02 -9.94091305e-04 9.98986136e-01 -4.04647142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962791605 meters 0.024838050870163515 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.08, Z:-0.41 [[ 9.96262432e-01 7.49808011e-02 4.28841058e-02 1.03504959e+01] [-7.49530200e-02 9.97184511e-01 -2.25760752e-03 -7.71718470e-02] [-4.29326433e-02 -9.65123678e-04 9.99077503e-01 -4.06120134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022791605 meters 0.025806754451996806 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.08, Z:-0.41 [[ 9.96036169e-01 7.86799071e-02 4.14900352e-02 1.04132313e+01] [-7.86561982e-02 9.96899361e-01 -2.20608914e-03 -7.75068144e-02] [-4.15349645e-02 -1.06610386e-03 9.99136482e-01 -4.05461750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082791605 meters 0.02641531913188013 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.08, Z:-0.41 [[ 9.95780993e-01 8.32346626e-02 3.86290690e-02 1.04752619e+01] [-8.32168639e-02 9.96529309e-01 -2.07122353e-03 -7.79177283e-02] [-3.86673970e-02 -1.15210496e-03 9.99251472e-01 -4.06567247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142791605 meters 0.027367166780406512 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.08, Z:-0.41 [[ 9.95346704e-01 8.90759230e-02 3.67480413e-02 1.05374150e+01] [-8.90631750e-02 9.96023997e-01 -1.98702134e-03 -7.51336724e-02] [-3.67789267e-02 -1.29512209e-03 9.99322587e-01 -4.06836690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202791605 meters 0.027553986822911117 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.07, Z:-0.41 [[ 9.95318843e-01 9.02281977e-02 3.46305174e-02 1.06008983e+01] [-9.02170791e-02 9.95920338e-01 -1.88672582e-03 -7.22167711e-02] [-3.46594725e-02 -1.24637037e-03 9.99398403e-01 -4.07815162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262791605 meters 0.027438237546467546 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.07, Z:-0.41 [[ 9.95397469e-01 8.98958819e-02 3.32055706e-02 1.06635497e+01] [-8.98848979e-02 9.95950485e-01 -1.82642282e-03 -7.32002176e-02] [-3.32352920e-02 -1.16666267e-03 9.99446874e-01 -4.08908420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322791605 meters 0.02647068180512895 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.07, Z:-0.41 [[ 9.95979151e-01 8.21202197e-02 3.58022378e-02 1.07251995e+01] [-8.21017711e-02 9.96621969e-01 -1.98766129e-03 -7.03391637e-02] [-3.58445239e-02 -9.59757936e-04 9.99356918e-01 -4.09980431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382791605 meters 0.023877773832493246 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.07, Z:-0.42 [[ 9.95864028e-01 7.40954980e-02 5.25803739e-02 1.07871564e+01] [-7.40439304e-02 9.97250674e-01 -2.93072620e-03 -6.78180291e-02] [-5.26529669e-02 -9.74652742e-04 9.98612395e-01 -4.15868436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442791605 meters 0.022637117171059425 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.07, Z:-0.42 [[ 9.95307157e-01 7.03282127e-02 6.64650736e-02 1.08488501e+01] [-7.02357831e-02 9.97523447e-01 -3.72923001e-03 -6.52174932e-02] [-6.65627395e-02 -9.56497177e-04 9.97781783e-01 -4.19957200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502791605 meters 0.022398992134299568 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.07, Z:-0.42 [[ 9.95596813e-01 6.34766677e-02 6.89760670e-02 1.09120874e+01] [-6.33592959e-02 9.97983199e-01 -3.89025969e-03 -6.55773324e-02] [-6.90838967e-02 -4.97144890e-04 9.97610730e-01 -4.22021097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562791605 meters 0.022633225271674103 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.07, Z:-0.43 [[ 9.95949461e-01 5.82170782e-02 6.85233090e-02 1.09742035e+01] [-5.80864288e-02 9.98303943e-01 -3.89927582e-03 -6.65849979e-02] [-6.86340940e-02 -9.67926618e-05 9.97641896e-01 -4.26796311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622791605 meters 0.022866694285228327 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.07, Z:-0.43 [[ 9.96116767e-01 5.63622965e-02 6.76363704e-02 1.10365618e+01] [-5.62286079e-02 9.98410380e-01 -3.88020182e-03 -6.95563524e-02] [-6.77475514e-02 6.20351433e-05 9.97702493e-01 -4.30513531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682791605 meters 0.023168056888424344 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.07, Z:-0.43 [[ 9.96541888e-01 5.24987721e-02 6.44060828e-02 1.10983212e+01] [-5.23676128e-02 9.98620931e-01 -3.72407353e-03 -7.48482100e-02] [-6.45127717e-02 3.38402462e-04 9.97916824e-01 -4.32979095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742791605 meters 0.02362417908677151 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.08, Z:-0.44 [[ 9.96762218e-01 5.05368838e-02 6.25388284e-02 1.11608973e+01] [-5.04075845e-02 9.98722080e-01 -3.64455225e-03 -7.71059245e-02] [-6.26430931e-02 4.80320706e-04 9.98035877e-01 -4.36338049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802791605 meters 0.02380452016548906 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.08, Z:-0.44 [[ 9.96758222e-01 5.05389282e-02 6.26008333e-02 1.12234084e+01] [-5.04074608e-02 9.98721961e-01 -3.67864959e-03 -8.24644283e-02] [-6.27067420e-02 5.11175170e-04 9.98031865e-01 -4.40019739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862791605 meters 0.024240277434588606 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.09, Z:-0.44 [[ 9.97101840e-01 4.68434114e-02 5.99467654e-02 1.12856638e+01] [-4.67144455e-02 9.98901970e-01 -3.55175681e-03 -8.95443198e-02] [-6.00473185e-02 7.41083345e-04 9.98195257e-01 -4.42829908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922791605 meters 0.024922490204423425 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.09, Z:-0.45 [[ 9.97377718e-01 4.40158251e-02 5.74481835e-02 1.13486303e+01] [-4.38911394e-02 9.99030428e-01 -3.43099078e-03 -9.37228003e-02] [-5.75435012e-02 9.00527529e-04 9.98342594e-01 -4.47294299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982791605000001 meters 0.025239174576801852 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.10, Z:-0.45 [[ 9.97439313e-01 4.36501144e-02 5.66523070e-02 1.14107698e+01] [-4.35265913e-02 9.99046439e-01 -3.41306374e-03 -1.02049096e-01] [-5.67472662e-02 9.38442139e-04 9.98388134e-01 -4.49981978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042791605 meters 0.02535549491661499 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.11, Z:-0.45 [[ 9.97357905e-01 4.64365896e-02 5.58645893e-02 1.14722668e+01] [-4.63193277e-02 9.98920922e-01 -3.39272654e-03 -1.07759815e-01] [-5.59618537e-02 7.96152415e-04 9.98432590e-01 -4.54257170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102791605 meters 0.025535673714963337 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.11, Z:-0.46 [[ 9.97378120e-01 4.74496337e-02 5.46389703e-02 1.15345065e+01] [-4.73376436e-02 9.98873352e-01 -3.34275425e-03 -1.12460669e-01] [-5.47360238e-02 7.47509855e-04 9.98500580e-01 -4.58252103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162791605 meters 0.026176816735621763 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.12, Z:-0.46 [[ 9.97573541e-01 4.65897937e-02 5.17341384e-02 1.15959901e+01] [-4.64870719e-02 9.98913805e-01 -3.18774435e-03 -1.17892168e-01] [-5.18264614e-02 7.75040809e-04 9.98655805e-01 -4.61985734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222791605 meters 0.026507011885587056 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.12, Z:-0.46 [[ 9.97868485e-01 4.30898382e-02 4.90076874e-02 1.16579975e+01] [-4.29923929e-02 9.99070771e-01 -3.04123390e-03 -1.20803111e-01] [-4.90931943e-02 9.27793706e-04 9.98793771e-01 -4.62774065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282791605 meters 0.027641582445711764 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.12, Z:-0.46 [[ 9.98270309e-01 3.75333706e-02 4.52508156e-02 1.17197264e+01] [-3.74437347e-02 9.99294738e-01 -2.82715654e-03 -1.22772440e-01] [-4.53250146e-02 1.12790689e-03 9.98971657e-01 -4.64386043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342791605 meters 0.02793530076348737 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.13, Z:-0.46 [[ 9.98569179e-01 3.63826463e-02 3.91905381e-02 1.17820268e+01] [-3.63139646e-02 9.99337395e-01 -2.46317480e-03 -1.31270509e-01] [-3.92541871e-02 1.03648662e-03 9.99228720e-01 -4.64595060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402791605 meters 0.02751260217251424 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.14, Z:-0.47 [[ 9.98407054e-01 4.10035441e-02 3.87564680e-02 1.18438457e+01] [-4.09390922e-02 9.99158627e-01 -2.45549602e-03 -1.40278297e-01] [-3.88245434e-02 8.64929928e-04 9.99245669e-01 -4.66384618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462791605 meters 0.026897044034038264 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.15, Z:-0.47 [[ 9.98253320e-01 4.78503452e-02 3.46504590e-02 1.19054233e+01] [-4.78024702e-02 9.98854365e-01 -2.20925220e-03 -1.49020261e-01] [-3.47164757e-02 5.49015813e-04 9.99397051e-01 -4.66957712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522791605 meters 0.027056563950956947 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.16, Z:-0.47 [[ 9.97955068e-01 5.35518073e-02 3.48982261e-02 1.19674886e+01] [-5.35061654e-02 9.98565004e-01 -2.24113809e-03 -1.56121404e-01] [-3.49681643e-02 3.69284861e-04 9.99388359e-01 -4.69308320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582791605 meters 0.026286617453710633 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.16, Z:-0.47 [[ 9.97217122e-01 6.54765866e-02 3.56486660e-02 1.20288551e+01] [-6.54359602e-02 9.97854105e-01 -2.30642180e-03 -1.62934969e-01] [-3.57231843e-02 -3.27013729e-05 9.99361723e-01 -4.72741876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642791605 meters 0.025347882194946953 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.17, Z:-0.48 [[ 9.95748314e-01 8.22241934e-02 4.15268297e-02 1.20907580e+01] [-8.21827296e-02 9.96613600e-01 -2.70752733e-03 -1.69097122e-01] [-4.16088275e-02 -7.16772445e-04 9.99133721e-01 -4.78550051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702791605 meters 0.02535607799719654 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.17, Z:-0.48 [[ 9.94699924e-01 8.94408651e-02 5.07187682e-02 1.21524330e+01] [-8.93880185e-02 9.95991366e-01 -3.31384446e-03 -1.69992660e-01] [-5.08118484e-02 -1.23736937e-03 9.98707477e-01 -4.79795245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762791605 meters 0.025246843030948173 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.17, Z:-0.48 [[ 9.93832775e-01 9.16869665e-02 6.23691811e-02 1.22133993e+01] [-9.16112258e-02 9.95786496e-01 -4.07900627e-03 -1.71665393e-01] [-6.24803800e-02 -1.65986702e-03 9.98044812e-01 -4.81649506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822791605 meters 0.02469639403186522 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.17, Z:-0.49 [[ 9.93594827e-01 9.06054423e-02 6.75275738e-02 1.22754578e+01] [-9.05130710e-02 9.95885403e-01 -4.43253420e-03 -1.72820420e-01] [-6.76513368e-02 -1.70798503e-03 9.97707562e-01 -4.85728469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882791605 meters 0.023409913531220086 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.17, Z:-0.49 [[ 9.93730480e-01 8.76054089e-02 6.94624076e-02 1.23373552e+01] [-8.74980167e-02 9.96154105e-01 -4.59301106e-03 -1.73001672e-01] [-6.95976351e-02 -1.51360782e-03 9.97573996e-01 -4.90660126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942791605 meters 0.0232405460416377 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.17, Z:-0.49 [[ 9.94083957e-01 8.27641948e-02 7.03361501e-02 1.23996600e+01] [-8.26396108e-02 9.96568488e-01 -4.68432155e-03 -1.72987190e-01] [-7.04824849e-02 -1.15594317e-03 9.97512347e-01 -4.93163338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002791605 meters 0.023121006782917217 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.17, Z:-0.50 [[ 9.94397999e-01 7.88545384e-02 7.03887897e-02 1.24616647e+01] [-7.87176263e-02 9.96885774e-01 -4.72117033e-03 -1.72942322e-01] [-7.05418688e-02 -8.46116117e-04 9.97508461e-01 -4.96359009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062791605 meters 0.023341893536301506 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.17, Z:-0.50 [[ 9.94721375e-01 7.47446999e-02 7.03037398e-02 1.25240806e+01] [-7.45955249e-02 9.97202566e-01 -4.74858741e-03 -1.73621686e-01] [-7.04620015e-02 -5.20822974e-04 9.97514328e-01 -4.99372155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122791605 meters 0.023295867459495558 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.18, Z:-0.50 [[ 9.95148372e-01 7.05886944e-02 6.85343219e-02 1.25865920e+01] [-7.04355705e-02 9.97505487e-01 -4.65119719e-03 -1.76835374e-01] [-6.86916841e-02 -1.98622742e-04 9.97637917e-01 -5.03351515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182791605 meters 0.023546828275112328 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.18, Z:-0.51 [[ 9.95529357e-01 6.69534046e-02 6.66223806e-02 1.26486228e+01] [-6.67992378e-02 9.97756101e-01 -4.54150212e-03 -1.78608340e-01] [-6.67769558e-02 7.08744326e-05 9.97767925e-01 -5.06597673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242791605 meters 0.0237521938758119 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.18, Z:-0.51 [[ 9.95971417e-01 6.23826070e-02 6.44154176e-02 1.27111540e+01] [-6.22275804e-02 9.98052234e-01 -4.41212480e-03 -1.82774064e-01] [-6.45651913e-02 3.85934610e-04 9.97913417e-01 -5.07510275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302791605 meters 0.02462163377764667 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.19, Z:-0.51 [[ 9.96242056e-01 5.78426779e-02 6.44669711e-02 1.27730456e+01] [-5.76766810e-02 9.98325466e-01 -4.43456553e-03 -1.86954561e-01] [-6.46155261e-02 6.99659752e-04 9.97909988e-01 -5.12202062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362791605 meters 0.025132913277403534 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.19, Z:-0.52 [[ 9.96375023e-01 5.82856172e-02 6.19645150e-02 1.28346171e+01] [-5.81313972e-02 9.98299722e-01 -4.29024988e-03 -1.92633248e-01] [-6.21092179e-02 6.72613988e-04 9.98069132e-01 -5.16398421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422791605 meters 0.025514575604809697 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.20, Z:-0.52 [[ 9.96393387e-01 6.26367665e-02 5.72438049e-02 1.28960422e+01] [-6.25109107e-02 9.98036311e-01 -3.98836743e-03 -2.01626016e-01] [-5.73812144e-02 3.95620551e-04 9.98352262e-01 -5.19116435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482791605000001 meters 0.02609900704448426 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.21, Z:-0.52 [[ 9.96085014e-01 6.86039122e-02 5.57507639e-02 1.29577708e+01] [-6.84924728e-02 9.97643973e-01 -3.90943069e-03 -2.08637827e-01] [-5.58876159e-02 7.56176403e-05 9.98437063e-01 -5.23330076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542791605 meters 0.02635247070667313 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.21, Z:-0.52 [[ 9.95751654e-01 7.56261969e-02 5.25292541e-02 1.30200660e+01] [-7.55358041e-02 9.97136200e-01 -3.70682471e-03 -2.14569188e-01] [-5.26591539e-02 -2.76762613e-04 9.98612506e-01 -5.23692123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602791605 meters 0.026671113628351242 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.22, Z:-0.52 [[ 9.95556656e-01 8.18821983e-02 4.65000106e-02 1.30817975e+01] [-8.18172659e-02 9.96641880e-01 -3.30116863e-03 -2.19423463e-01] [-4.66141649e-02 -5.18003333e-04 9.98912835e-01 -5.22873847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662791605 meters 0.027765591805312927 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.22, Z:-0.52 [[ 9.94938825e-01 9.06539938e-02 4.33426801e-02 1.31440488e+01] [-9.06050498e-02 9.95882090e-01 -3.09641513e-03 -2.22480291e-01] [-4.34449013e-02 -8.46322062e-04 9.99055466e-01 -5.23536345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722791605 meters 0.027635728448641306 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.22, Z:-0.52 [[ 9.94798928e-01 9.39521144e-02 3.93458166e-02 1.32066211e+01] [-9.39136857e-02 9.95576327e-01 -2.82792651e-03 -2.21105762e-01] [-3.94374533e-02 -8.81892403e-04 9.99221652e-01 -5.21775772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782791605 meters 0.027469429900393905 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.22, Z:-0.52 [[ 9.95313107e-01 9.07875723e-02 3.33082075e-02 1.32692096e+01] [-9.07578159e-02 9.95870084e-01 -2.40731895e-03 -2.21307071e-01] [-3.33892021e-02 -6.26944066e-04 9.99442229e-01 -5.21130003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842791605 meters 0.0272628949471524 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.22, Z:-0.52 [[ 9.96006576e-01 8.47814952e-02 2.79821022e-02 1.33315971e+01] [-8.47578210e-02 9.96399507e-01 -2.03319127e-03 -2.20449460e-01] [-2.80537299e-02 -3.46630136e-04 9.99606357e-01 -5.23046998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902791605 meters 0.02682406912974986 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.22, Z:-0.52 [[ 9.96654027e-01 7.76820860e-02 2.54213428e-02 1.33937171e+01] [-7.76598681e-02 9.96978174e-01 -1.86158835e-03 -2.21985904e-01] [-2.54891360e-02 -1.18858601e-04 9.99675092e-01 -5.23389142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962791605 meters 0.02600858558090321 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.22, Z:-0.53 [[ 9.97043087e-01 7.11016212e-02 2.91486084e-02 1.34561803e+01] [-7.10694554e-02 9.97469075e-01 -2.13935021e-03 -2.22511563e-01] [-2.92269467e-02 6.14486165e-05 9.99572800e-01 -5.25562964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022791605 meters 0.025186521250327828 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.22, Z:-0.53 [[ 9.97071433e-01 6.41724390e-02 4.15987492e-02 1.35180996e+01] [-6.41004777e-02 9.97938750e-01 -3.06279449e-03 -2.23841256e-01] [-4.17095508e-02 3.87325188e-04 9.99129703e-01 -5.31892956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082791605 meters 0.024488539064731904 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.23, Z:-0.54 [[ 9.96744564e-01 6.00978419e-02 5.37449835e-02 1.35800777e+01] [-5.99704263e-02 9.98192213e-01 -3.98179250e-03 -2.26446093e-01] [-5.38871212e-02 7.45720458e-04 9.98546755e-01 -5.35636581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142791605 meters 0.02330859279772637 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.23, Z:-0.54 [[ 9.96184917e-01 6.01302634e-02 6.32452620e-02 1.36414178e+01] [-5.99527318e-02 9.98190139e-01 -4.70278458e-03 -2.32738053e-01] [-6.34135766e-02 8.93116835e-04 9.97986934e-01 -5.41884034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202791605 meters 0.02300965930914755 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.24, Z:-0.55 [[ 9.95892134e-01 6.19690734e-02 6.60203916e-02 1.37034911e+01] [-6.17776626e-02 9.98077717e-01 -4.93882293e-03 -2.37118175e-01] [-6.61995360e-02 8.39949425e-04 9.97806051e-01 -5.46784465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262791605 meters 0.022855652805650693 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.25, Z:-0.55 [[ 9.95577176e-01 6.56817433e-02 6.71713880e-02 1.37657094e+01] [-6.54898126e-02 9.97840420e-01 -5.05774280e-03 -2.45581875e-01] [-6.73585274e-02 6.36331679e-04 9.97728632e-01 -5.49640001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322791605 meters 0.02281131164926275 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.25, Z:-0.55 [[ 9.95683177e-01 6.68312335e-02 6.44095991e-02 1.38272873e+01] [-6.66551830e-02 9.97764133e-01 -4.88069188e-03 -2.53002827e-01] [-6.45917705e-02 5.66389187e-04 9.97911611e-01 -5.52024808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382791605 meters 0.02321849153940608 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.26, Z:-0.55 [[ 9.95702290e-01 6.62642061e-02 6.46993427e-02 1.38896664e+01] [-6.60833158e-02 9.97801908e-01 -4.93424609e-03 -2.57503624e-01] [-6.48840915e-02 6.37493042e-04 9.97892604e-01 -5.54679027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442791605 meters 0.02313167970649761 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.26, Z:-0.56 [[ 9.95708466e-01 6.74744593e-02 6.33391518e-02 1.39513045e+01] [-6.73015675e-02 9.97720834e-01 -4.86165872e-03 -2.62511212e-01] [-6.35228292e-02 5.77970549e-04 9.97980218e-01 -5.56917606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502791605 meters 0.022847274666724756 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.27, Z:-0.56 [[ 9.95573502e-01 7.26841698e-02 5.95853423e-02 1.40132937e+01] [-7.25389243e-02 9.97354975e-01 -4.59991300e-03 -2.70709372e-01] [-5.97620784e-02 2.57294866e-04 9.98212617e-01 -5.58571399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562791605 meters 0.0231631063838192 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.28, Z:-0.56 [[ 9.95196417e-01 7.68511731e-02 6.06464227e-02 1.40761436e+01] [-7.67065872e-02 9.97042575e-01 -4.71207983e-03 -2.77585565e-01] [-6.08291943e-02 3.74648538e-05 9.98148189e-01 -5.62692746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622791605 meters 0.02338345901337419 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.28, Z:-0.57 [[ 9.95393364e-01 7.72879714e-02 5.67328824e-02 1.41382393e+01] [-7.71605638e-02 9.97008810e-01 -4.43614534e-03 -2.83917124e-01] [-5.69060443e-02 3.81684402e-05 9.98379537e-01 -5.65106154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682791605 meters 0.023436123967155758 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.29, Z:-0.57 [[ 9.95647332e-01 7.56626421e-02 5.44201733e-02 1.42007099e+01] [-7.55416366e-02 9.97133462e-01 -4.28009314e-03 -2.88155897e-01] [-5.45880190e-02 1.50474358e-04 9.98508951e-01 -5.66999986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742791605 meters 0.023857943813206373 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.29, Z:-0.57 [[ 9.96072855e-01 7.30239969e-02 5.00636028e-02 1.42624510e+01] [-7.29171733e-02 9.97330141e-01 -3.95928606e-03 -2.93349263e-01] [-5.02190629e-02 2.93240973e-04 9.98738184e-01 -5.68579568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802791605 meters 0.024135572191684353 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.30, Z:-0.57 [[ 9.96104122e-01 7.40667775e-02 4.78611651e-02 1.43239337e+01] [-7.39693245e-02 9.97253252e-01 -3.80654524e-03 -2.99621382e-01] [-4.80116411e-02 2.51457345e-04 9.98846745e-01 -5.72910467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862791605 meters 0.02415327179171227 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.30, Z:-0.57 [[ 9.96288615e-01 7.63896489e-02 3.96688443e-02 1.43861004e+01] [-7.63239408e-02 9.97078033e-01 -3.17043989e-03 -3.03467807e-01] [-3.97951221e-02 1.30990644e-04 9.99207852e-01 -5.71676230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922791605 meters 0.024115448877038474 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.31, Z:-0.57 [[ 9.96274272e-01 7.70410153e-02 3.87589580e-02 1.44489353e+01] [-7.69780829e-02 9.97027917e-01 -3.11565489e-03 -3.06962966e-01] [-3.88837964e-02 1.20456529e-04 9.99243732e-01 -5.72250573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982791605 meters 0.024944470397035935 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.31, Z:-0.57 [[ 9.96455193e-01 7.56614343e-02 3.67749287e-02 1.45120778e+01] [-7.56031457e-02 9.97133548e-01 -2.97504914e-03 -3.07718466e-01] [-3.68946116e-02 1.84202871e-04 9.99319145e-01 -5.73244561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042791605 meters 0.02524996304979901 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.31, Z:-0.57 [[ 9.96710761e-01 7.32488057e-02 3.46737769e-02 1.45750740e+01] [-7.31949173e-02 9.97313660e-01 -2.82267227e-03 -3.05677677e-01] [-3.47873887e-02 2.75443599e-04 9.99394698e-01 -5.74262222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102791605 meters 0.025532457187389133 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.31, Z:-0.58 [[ 9.96722577e-01 7.30591148e-02 3.47342701e-02 1.46378218e+01] [-7.30042695e-02 9.97327567e-01 -2.84634010e-03 -3.09331310e-01] [-3.48493962e-02 3.01261430e-04 9.99392530e-01 -5.75072965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162791605 meters 0.026570205406458346 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.31, Z:-0.58 [[ 9.97051018e-01 6.85054422e-02 3.45871601e-02 1.46998811e+01] [-6.84476784e-02 9.97650629e-01 -2.85279172e-03 -3.10211926e-01] [-3.47013337e-02 4.76968077e-04 9.99397614e-01 -5.76761067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222791605 meters 0.027475855175586435 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.31, Z:-0.58 [[ 9.97161870e-01 6.72654031e-02 3.38167178e-02 1.47622530e+01] [-6.72089519e-02 9.97734980e-01 -2.80457400e-03 -3.09797625e-01] [-3.39287731e-02 5.23828090e-04 9.99424116e-01 -5.78916338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282791605 meters 0.02779391168800153 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.31, Z:-0.58 [[ 9.96990097e-01 6.79569244e-02 3.73175854e-02 1.48255945e+01] [-6.78879432e-02 9.97688093e-01 -3.11400734e-03 -3.11675399e-01] [-3.74429290e-02 5.71220360e-04 9.99298604e-01 -5.81512678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342791605 meters 0.026924657012123137 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.31, Z:-0.59 [[ 9.96280911e-01 7.32521218e-02 4.53704075e-02 1.48874772e+01] [-7.31543672e-02 9.97313339e-01 -3.81347033e-03 -3.14102608e-01] [-4.55278574e-02 4.80244245e-04 9.98962954e-01 -5.87751131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402791604999999 meters 0.02604202942564076 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.32, Z:-0.59 [[ 9.95205373e-01 6.90882505e-02 6.92320705e-02 1.49475135e+01] [-6.88484853e-02 9.97609998e-01 -5.84623497e-03 -3.18845298e-01] [-6.94705118e-02 1.05168127e-03 9.97583451e-01 -5.90686411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462791605 meters 0.026390076632150906 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.33, Z:-0.60 [[ 9.94750783e-01 6.29303078e-02 8.06886351e-02 1.50078256e+01] [-6.25839244e-02 9.98016422e-01 -6.81722795e-03 -3.25183064e-01] [-8.09575931e-02 1.73163141e-03 9.96716043e-01 -5.96066591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522791605 meters 0.026601164949473018 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.33, Z:-0.60 [[ 9.94698846e-01 6.11236107e-02 8.26928604e-02 1.50696570e+01] [-6.07529305e-02 9.98128332e-01 -6.99380500e-03 -3.30823497e-01] [-8.29655735e-02 1.93289616e-03 9.96550539e-01 -5.98031248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582791605 meters 0.02759216338252941 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.34, Z:-0.60 [[ 9.94699904e-01 5.74632315e-02 8.52647488e-02 1.51304298e+01] [-5.70549917e-02 9.98344937e-01 -7.21906151e-03 -3.37353453e-01] [-8.55384609e-02 2.31602025e-03 9.96332177e-01 -6.02173336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642791605 meters 0.028419915614050394 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.35, Z:-0.61 [[ 9.94735491e-01 5.41684612e-02 8.69889725e-02 1.51917757e+01] [-5.37301838e-02 9.98528266e-01 -7.37356599e-03 -3.49600355e-01] [-8.72603626e-02 2.66081431e-03 9.96181986e-01 -6.05891990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702791605 meters 0.029388195901185025 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.36, Z:-0.61 [[ 9.94626313e-01 5.33298380e-02 8.87379660e-02 1.52530510e+01] [-5.28681101e-02 9.98572983e-01 -7.54718669e-03 -3.58049819e-01] [-8.90138257e-02 2.81522191e-03 9.96026412e-01 -6.08039625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762791605 meters 0.028993609134772717 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.37, Z:-0.61 [[ 9.94590482e-01 5.39529668e-02 8.87628854e-02 1.53152979e+01] [-5.34898902e-02 9.98539552e-01 -7.58915887e-03 -3.67501199e-01] [-8.90427095e-02 2.80018819e-03 9.96023873e-01 -6.10450322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822791605 meters 0.0293343738034576 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.38, Z:-0.61 [[ 9.94233009e-01 5.55276291e-02 9.17464216e-02 1.53768964e+01] [-5.50356176e-02 9.98453250e-01 -7.88601824e-03 -3.78409158e-01] [-9.20424047e-02 2.79121866e-03 9.95751176e-01 -6.13808590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882791605 meters 0.02865456243478397 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.39, Z:-0.62 [[ 9.94073980e-01 5.98806087e-02 9.07261518e-02 1.54373377e+01] [-5.94158807e-02 9.98202709e-01 -7.81698302e-03 -3.89895765e-01] [-9.10311762e-02 2.38008521e-03 9.95845199e-01 -6.16450309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942791605 meters 0.028112843455924706 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.40, Z:-0.62 [[ 9.93771891e-01 6.52096065e-02 9.03611381e-02 1.54988473e+01] [-6.47682467e-02 9.97869761e-01 -7.81122729e-03 -3.98443742e-01] [-9.06780143e-02 1.91004564e-03 9.95878431e-01 -6.19704818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002791605 meters 0.027355422195013374 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.41, Z:-0.62 [[ 9.93797164e-01 7.07993541e-02 8.57592500e-02 1.55591340e+01] [-7.04212494e-02 9.97489671e-01 -7.42994540e-03 -4.06932803e-01] [-8.60700014e-02 1.34458513e-03 9.96288185e-01 -6.21872223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062791605 meters 0.027134763635784903 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.42, Z:-0.63 [[ 9.93411303e-01 7.78515263e-02 8.41018579e-02 1.56196564e+01] [-7.75127819e-02 9.96964702e-01 -7.29056468e-03 -4.15735141e-01] [-8.44141652e-02 7.23560397e-04 9.96430492e-01 -6.28105218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122791605 meters 0.026658187253916523 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.42, Z:-0.63 [[ 9.93226996e-01 8.41364086e-02 8.01323914e-02 1.56806107e+01] [-8.38489441e-02 9.96454229e-01 -6.95156304e-03 -4.21609431e-01] [-8.04331398e-02 1.85463663e-04 9.96759989e-01 -6.29803894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182791605 meters 0.026539901657524734 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.43, Z:-0.63 [[ 9.92984268e-01 8.87400808e-02 7.81501171e-02 1.57428870e+01] [-8.84792138e-02 9.96054804e-01 -6.80122357e-03 -4.27094076e-01] [-7.84453407e-02 -1.61152906e-04 9.96918403e-01 -6.32643783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242791605 meters 0.026371330600493112 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.43, Z:-0.63 [[ 9.93159663e-01 9.17294627e-02 7.22467211e-02 1.58041845e+01] [-9.15130720e-02 9.95783905e-01 -6.30659432e-03 -4.33580594e-01] [-7.25206225e-02 -3.48064296e-04 9.97366852e-01 -6.33840924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302791605 meters 0.02616808630770575 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.44, Z:-0.63 [[ 9.93295338e-01 9.52333857e-02 6.55360496e-02 1.58658882e+01] [-9.50626326e-02 9.95454825e-01 -5.72606198e-03 -4.35162395e-01] [-6.57834890e-02 -5.42358731e-04 9.97833773e-01 -6.33885749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362791605 meters 0.026208483540342636 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.44, Z:-0.64 [[ 9.93063231e-01 9.98920614e-02 6.20241515e-02 1.59276796e+01] [-9.97473135e-02 9.94997965e-01 -5.43350170e-03 -4.40582678e-01] [-6.22566682e-02 -7.90931731e-04 9.98059859e-01 -6.35071383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422791605 meters 0.025846103343108103 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.44, Z:-0.63 [[ 9.93413237e-01 9.98131618e-02 5.62803125e-02 1.59897555e+01] [-9.96924654e-02 9.95005959e-01 -4.95512735e-03 -4.41944515e-01] [-5.64938333e-02 -6.88234008e-04 9.98402711e-01 -6.33178646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482791605 meters 0.025151370934090853 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.44, Z:-0.63 [[ 9.94228149e-01 9.57985957e-02 4.83013045e-02 1.60510020e+01] [-9.57042181e-02 9.95400666e-01 -4.26817256e-03 -4.43539543e-01] [-4.84880356e-02 -3.79101276e-04 9.98823691e-01 -6.33010381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542791605 meters 0.024705366071686646 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.44, Z:-0.63 [[ 9.94899784e-01 9.14681198e-02 4.25206222e-02 1.61139027e+01] [-9.13908143e-02 9.95807995e-01 -3.76249316e-03 -4.43139416e-01] [-4.26865237e-02 -1.42690656e-04 9.99088505e-01 -6.33692900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602791605 meters 0.02407801336787473 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.45, Z:-0.63 [[ 9.95802863e-01 8.32744489e-02 3.79739917e-02 1.61770032e+01] [-8.32062094e-02 9.96526630e-01 -3.37663692e-03 -4.47558170e-01] [-3.81232816e-02 2.02792798e-04 9.99273023e-01 -6.34794864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662791605 meters 0.024422967626243443 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.45, Z:-0.64 [[ 9.96334630e-01 7.47104943e-02 4.16611002e-02 1.62388234e+01] [-7.46198668e-02 9.97205082e-01 -3.72835024e-03 -4.49247601e-01] [-4.18232077e-02 6.05938709e-04 9.99124843e-01 -6.36948623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722791605 meters 0.024773097174663763 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.45, Z:-0.64 [[ 9.96709002e-01 6.93070729e-02 4.20439534e-02 1.63002770e+01] [-6.92091906e-02 9.97595004e-01 -3.78095489e-03 -4.54149247e-01] [-4.22048848e-02 8.58683795e-04 9.99108608e-01 -6.38335575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782791605 meters 0.025012855736926402 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.46, Z:-0.64 [[ 9.96616492e-01 6.71939694e-02 4.73343286e-02 1.63623954e+01] [-6.70664371e-02 9.97739336e-01 -4.27911550e-03 -4.58707446e-01] [-4.75148524e-02 1.09009231e-03 9.98869937e-01 -6.41664750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842791605 meters 0.024399224713768295 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.47, Z:-0.65 [[ 9.96189566e-01 6.92916240e-02 5.29624348e-02 1.64238283e+01] [-6.91335079e-02 9.97595802e-01 -4.81386431e-03 -4.67351769e-01] [-5.31686631e-02 1.13404249e-03 9.98584902e-01 -6.46584122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902791604999999 meters 0.023955976038861213 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.47, Z:-0.65 [[ 9.95826677e-01 7.14518327e-02 5.67790947e-02 1.64853312e+01] [-7.12720555e-02 9.97443423e-01 -5.18758493e-03 -4.72473189e-01] [-5.70045970e-02 1.11917267e-03 9.98373289e-01 -6.50120029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962791605 meters 0.023825046278412535 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.48, Z:-0.65 [[ 9.95317702e-01 7.43402967e-02 6.17753331e-02 1.65466009e+01] [-7.41311776e-02 9.97232361e-01 -5.67340128e-03 -4.82188398e-01] [-6.20261236e-02 1.06735853e-03 9.98073956e-01 -6.54922648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022791605 meters 0.02359975835124151 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.49, Z:-0.66 [[ 9.95270007e-01 7.48878538e-02 6.18823229e-02 1.66095931e+01] [-7.46772305e-02 9.97191394e-01 -5.71270664e-03 -4.88187492e-01] [-6.21363322e-02 1.06448509e-03 9.98067104e-01 -6.56572468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082791604999997 meters 0.02333004719868859 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.50, Z:-0.66 [[ 9.95236583e-01 7.70615660e-02 5.97131383e-02 1.66714773e+01] [-7.68676536e-02 9.97025907e-01 -5.54110764e-03 -4.97182745e-01] [-5.99625524e-02 9.24704203e-04 9.98200199e-01 -6.60703389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142791605 meters 0.022908178024201108 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.50, Z:-0.66 [[ 9.94857098e-01 8.09863585e-02 6.08322706e-02 1.67333434e+01] [-8.07907182e-02 9.96714943e-01 -5.67288308e-03 -5.04927959e-01] [-6.10918593e-02 7.29025159e-04 9.98131882e-01 -6.63214535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202791604999998 meters 0.022604924970689288 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.52, Z:-0.67 [[ 9.94623695e-01 8.39727626e-02 6.05993404e-02 1.67948416e+01] [-8.37824685e-02 9.96467887e-01 -5.67882227e-03 -5.15156962e-01] [-6.08621630e-02 5.71128867e-04 9.98146017e-01 -6.65702153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262791604999997 meters 0.022373882068055684 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.53, Z:-0.67 [[ 9.94035577e-01 9.05336762e-02 6.08023441e-02 1.68559086e+01] [-9.03526278e-02 9.95893375e-01 -5.72612426e-03 -5.25675664e-01] [-6.10710587e-02 1.98319669e-04 9.98133401e-01 -6.69038458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322791605 meters 0.02250027768891355 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.53, Z:-0.67 [[ 9.93451760e-01 9.52641796e-02 6.30740618e-02 1.69175062e+01] [-9.50769351e-02 9.95452024e-01 -5.97031386e-03 -5.34402601e-01] [-6.33559595e-02 -6.56696735e-05 9.97990991e-01 -6.72108076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382791604999998 meters 0.02251631511496945 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.55, Z:-0.68 [[ 9.92771462e-01 1.03189059e-01 6.12930827e-02 1.69798159e+01] [-1.03025475e-01 9.94661622e-01 -5.83175241e-03 -5.45225225e-01] [-6.15676501e-02 -5.25151567e-04 9.98102775e-01 -6.75007541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442791604999996 meters 0.022692050289128764 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.55, Z:-0.68 [[ 9.92102883e-01 1.09732100e-01 6.07514201e-02 1.70415764e+01] [-1.09581763e-01 9.93960799e-01 -5.81094524e-03 -5.49993510e-01] [-6.10221773e-02 -8.92192200e-04 9.98136012e-01 -6.75807596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502791605 meters 0.022901402983133312 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.55, Z:-0.68 [[ 9.91954714e-01 1.12084403e-01 5.88466842e-02 1.71043979e+01] [-1.11945776e-01 9.93698211e-01 -5.65759409e-03 -5.53096299e-01] [-5.91099729e-02 -9.75560605e-04 9.98251000e-01 -6.79849173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562791604999997 meters 0.022533356086049346 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.56, Z:-0.68 [[ 9.92098867e-01 1.09602894e-01 6.10495170e-02 1.71676980e+01] [-1.09446900e-01 9.93975113e-01 -5.90344843e-03 -5.57788167e-01] [-6.13287356e-02 -8.24875906e-04 9.98117281e-01 -6.82821773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622791605 meters 0.02210209134939862 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.56, Z:-0.69 [[ 9.92535700e-01 1.05513426e-01 6.11539187e-02 1.72293711e+01] [-1.05347196e-01 9.94417731e-01 -5.94514245e-03 -5.62380274e-01] [-6.14398334e-02 -5.41627731e-04 9.98110642e-01 -6.85451963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682791605 meters 0.02209184478594281 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.57, Z:-0.69 [[ 9.92917366e-01 1.01434073e-01 6.18565553e-02 1.72918030e+01] [-1.01254132e-01 9.94842229e-01 -6.04484092e-03 -5.67949216e-01] [-6.21506662e-02 -2.61204319e-04 9.98066744e-01 -6.90824268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742791604999997 meters 0.021891774975428588 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.58, Z:-0.69 [[ 9.93581489e-01 9.49227649e-02 6.15263633e-02 1.73549286e+01] [-9.47301992e-02 9.95484624e-01 -6.04587296e-03 -5.75508435e-01] [-6.18224396e-02 1.78662806e-04 9.98087148e-01 -6.90887101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802791605 meters 0.022093979527497788 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.58, Z:-0.69 [[ 9.94191705e-01 8.93419160e-02 6.00073008e-02 1.74175999e+01] [-8.91466758e-02 9.96000866e-01 -5.92828099e-03 -5.82558535e-01] [-6.02969676e-02 5.44396391e-04 9.98180334e-01 -6.93409838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862791604999998 meters 0.022421070267011962 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.59, Z:-0.70 [[ 9.94461011e-01 8.58969949e-02 6.05722959e-02 1.74794183e+01] [-8.56897931e-02 9.96303709e-01 -6.01490007e-03 -5.90209739e-01] [-6.08650649e-02 7.91156102e-04 9.98145690e-01 -6.97636573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922791604999997 meters 0.022293641608899538 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.60, Z:-0.70 [[ 9.94648332e-01 8.45679177e-02 5.93545552e-02 1.75424156e+01] [-8.43649027e-02 9.96417326e-01 -5.92252169e-03 -5.97367987e-01] [-5.96427624e-02 8.83385051e-04 9.98219395e-01 -6.97568385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982791605 meters 0.02249134546100523 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.61, Z:-0.70 [[ 9.94694553e-01 8.45332509e-02 5.86248793e-02 1.76043262e+01] [-8.43333459e-02 9.96420248e-01 -5.88014928e-03 -6.08620509e-01] [-5.89120849e-02 9.04920238e-04 9.98262765e-01 -7.01875109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042791604999998 meters 0.02253070016144342 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.62, Z:-0.70 [[ 9.94728294e-01 8.49274083e-02 5.74713560e-02 1.76660619e+01] [-8.47343240e-02 9.96386742e-01 -5.79269688e-03 -6.15541602e-01] [-5.77556558e-02 8.92362992e-04 9.98330350e-01 -7.03940456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102791604999997 meters 0.022124715321190994 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.63, Z:-0.71 [[ 9.94665946e-01 8.69580725e-02 5.54792719e-02 1.77272905e+01] [-8.67799286e-02 9.96211673e-01 -5.61664032e-03 -6.25701747e-01] [-5.57575105e-02 7.72193605e-04 9.98444041e-01 -7.06959517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162791605 meters 0.021617656157663763 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.64, Z:-0.71 [[ 9.93988284e-01 9.39891136e-02 5.61545928e-02 1.77890944e+01] [-9.38163331e-02 9.95573141e-01 -5.71104105e-03 -6.36464143e-01] [-5.64427801e-02 4.08489910e-04 9.98405752e-01 -7.07887081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222791604999998 meters 0.02137648662724797 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.65, Z:-0.71 [[ 9.93338226e-01 1.00586424e-01 5.62275829e-02 1.78504491e+01] [-1.00422261e-01 9.94928323e-01 -5.74472378e-03 -6.46903335e-01] [-5.65202559e-02 5.99527498e-05 9.98401451e-01 -7.10716915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282791605 meters 0.021383408092744218 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.66, Z:-0.71 [[ 9.92675853e-01 1.06798231e-01 5.64693665e-02 1.79126920e+01] [-1.06641084e-01 9.94280678e-01 -5.79763607e-03 -6.55166256e-01] [-5.67655773e-02 -2.66781131e-04 9.98387499e-01 -7.13614225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342791605 meters 0.021597036125549723 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.67, Z:-0.72 [[ 9.92014604e-01 1.12774150e-01 5.64713864e-02 1.79741733e+01] [-1.12624988e-01 9.93620479e-01 -5.82724061e-03 -6.65134286e-01] [-5.67682881e-02 -5.79381421e-04 9.98387212e-01 -7.15901110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402791604999997 meters 0.021716204925972107 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.67, Z:-0.72 [[ 9.91768643e-01 1.13572593e-01 5.91288748e-02 1.80365645e+01] [-1.13408746e-01 9.93529504e-01 -6.13040255e-03 -6.69824829e-01] [-5.94425274e-02 -6.25790549e-04 9.98231533e-01 -7.17950026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462791605 meters 0.0216311931953351 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.68, Z:-0.72 [[ 9.91672667e-01 1.14022119e-01 5.98688463e-02 1.80993507e+01] [-1.13853121e-01 9.93478011e-01 -6.23762621e-03 -6.75352428e-01] [-6.01896097e-02 -6.30571599e-04 9.98186763e-01 -7.20442894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522791605 meters 0.02160552113262718 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.68, Z:-0.72 [[ 9.91905864e-01 1.12506012e-01 5.88655608e-02 1.81611995e+01] [-1.12338164e-01 9.93650919e-01 -6.16350182e-03 -6.80324844e-01] [-5.91852496e-02 -4.99235441e-04 9.98246892e-01 -7.23202746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582791604999997 meters 0.02143629504971268 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.69, Z:-0.73 [[ 9.92109061e-01 1.10794432e-01 5.86873451e-02 1.82228528e+01] [-1.10622951e-01 9.93843277e-01 -6.17287970e-03 -6.86848217e-01] [-5.90099441e-02 -3.67997402e-04 9.98257327e-01 -7.26546481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642791605 meters 0.02145616220700323 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.69, Z:-0.73 [[ 9.92648733e-01 1.04409665e-01 6.12136789e-02 1.82844387e+01] [-1.04209097e-01 9.94534374e-01 -6.46868331e-03 -6.92488183e-01] [-6.15545009e-02 4.21080615e-05 9.98103723e-01 -7.28122601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702791604999998 meters 0.021377434411406847 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.70, Z:-0.73 [[ 9.93220718e-01 9.97349421e-02 5.97121987e-02 1.83465568e+01] [-9.95339768e-02 9.95013979e-01 -6.33796165e-03 -6.99347245e-01] [-6.00465887e-02 3.51602219e-04 9.98195514e-01 -7.30388879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762791604999997 meters 0.021657601233968045 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.71, Z:-0.73 [[ 9.93809534e-01 9.56671644e-02 5.64836654e-02 1.84084439e+01] [-9.54793370e-02 9.95413203e-01 -6.02091076e-03 -7.08456582e-01] [-5.68005898e-02 5.90615589e-04 9.98385369e-01 -7.33334080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822791605 meters 0.02197359312161605 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.72, Z:-0.74 [[ 9.93901761e-01 9.42931236e-02 5.71672702e-02 1.84700686e+01] [-9.40968927e-02 9.95544229e-01 -6.12076874e-03 -7.18909280e-01] [-5.74896923e-02 7.04180331e-04 9.98345852e-01 -7.35595850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882791604999998 meters 0.021925434138884807 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.73, Z:-0.74 [[ 9.93768956e-01 9.56987036e-02 5.71403470e-02 1.85329321e+01] [-9.55033647e-02 9.95410134e-01 -6.14592383e-03 -7.27134699e-01] [-5.74662374e-02 6.50532913e-04 9.98347238e-01 -7.37719147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942791604999996 meters 0.02163308348871977 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.74, Z:-0.74 [[ 9.93538844e-01 9.86830052e-02 5.60555987e-02 1.85942096e+01] [-9.84981687e-02 9.95118796e-01 -6.05749677e-03 -7.37546083e-01] [-5.63797518e-02 4.96984518e-04 9.98409273e-01 -7.40696288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002791605 meters 0.021587936522372037 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.75, Z:-0.74 [[ 9.93109297e-01 1.01878538e-01 5.79196651e-02 1.86569339e+01] [-1.01684921e-01 9.94796782e-01 -6.28803955e-03 -7.47551525e-01] [-5.82589127e-02 3.55153962e-04 9.98301444e-01 -7.43706822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062791604999997 meters 0.021678161672315482 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.76, Z:-0.75 [[ 9.92942503e-01 1.02875086e-01 5.90076458e-02 1.87190059e+01] [-1.02673966e-01 9.94694227e-01 -6.43830116e-03 -7.58067890e-01] [-5.93569054e-02 3.34313836e-04 9.98236769e-01 -7.45589259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122791605 meters 0.02187352401754907 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.77, Z:-0.75 [[ 9.93120017e-01 9.98683298e-02 6.11469442e-02 1.87806595e+01] [-9.96446855e-02 9.95000502e-01 -6.70362940e-03 -7.65948726e-01] [-6.15107205e-02 5.64540513e-04 9.98106263e-01 -7.48814160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182791605 meters 0.022191913782598622 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.78, Z:-0.75 [[ 9.93421523e-01 9.62565870e-02 6.20350537e-02 1.88420143e+01] [-9.60175265e-02 9.95356209e-01 -6.83023745e-03 -7.75749502e-01] [-6.24044312e-02 8.28852477e-04 9.98050600e-01 -7.51799809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242791604999997 meters 0.02200537946466304 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.79, Z:-0.76 [[ 9.93253278e-01 9.76673372e-02 6.25221336e-02 1.89045432e+01] [-9.74253431e-02 9.95218814e-01 -6.91483273e-03 -7.86674088e-01] [-6.28985569e-02 7.76939954e-04 9.98019623e-01 -7.55207009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302791605 meters 0.021653205056092598 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.80, Z:-0.76 [[ 9.92520767e-01 1.04000395e-01 6.39253133e-02 1.89654539e+01] [-1.03758403e-01 9.94577168e-01 -7.10279550e-03 -7.96847630e-01] [-6.43173506e-02 4.16883580e-04 9.97929409e-01 -7.59350702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362791604999998 meters 0.021805458908779322 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.81, Z:-0.76 [[ 9.91911175e-01 1.07849616e-01 6.69378920e-02 1.90273401e+01] [-1.07590816e-01 9.94167198e-01 -7.46987664e-03 -8.05070059e-01] [-6.73530799e-02 2.07551685e-04 9.97729181e-01 -7.61877716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422791604999997 meters 0.021543237048445442 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.81, Z:-0.77 [[ 9.91826802e-01 1.09566817e-01 6.53812521e-02 1.90895040e+01] [-1.09321637e-01 9.93979426e-01 -7.32675363e-03 -8.09576543e-01] [-6.57903885e-02 1.19285117e-04 9.97833458e-01 -7.66414032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482791605 meters 0.021368388151535654 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.82, Z:-0.77 [[ 9.91951921e-01 1.09630527e-01 6.33445665e-02 1.91517546e+01] [-1.09399015e-01 9.93972399e-01 -7.12223413e-03 -8.15808009e-01] [-6.37435650e-02 1.35080664e-04 9.97966302e-01 -7.69790661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542791604999998 meters 0.021391850789158385 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.82, Z:-0.77 [[ 9.92098695e-01 1.08012669e-01 6.38235280e-02 1.92152817e+01] [-1.07772714e-01 9.94149482e-01 -7.20063245e-03 -8.18098023e-01] [-6.42278868e-02 2.65303216e-04 9.97935222e-01 -7.70835868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602791604999997 meters 0.021473611289943767 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.82, Z:-0.77 [[ 9.92401796e-01 1.05800371e-01 6.28088948e-02 1.92774644e+01] [-1.05561417e-01 9.94387295e-01 -7.12008682e-03 -8.23999550e-01] [-6.32096748e-02 4.35790998e-04 9.98000174e-01 -7.74984469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662791605 meters 0.021737048838048372 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.83, Z:-0.78 [[ 9.93011294e-01 1.00797730e-01 6.13871944e-02 1.93400672e+01] [-1.00557902e-01 9.94906641e-01 -6.99166596e-03 -8.30813765e-01] [-6.17792714e-02 7.69835773e-04 9.98089540e-01 -7.77863447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722791604999998 meters 0.022455541225307397 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.84, Z:-0.78 [[ 9.93491165e-01 9.53654343e-02 6.22955698e-02 1.94012319e+01] [-9.51057795e-02 9.95441660e-01 -7.12690268e-03 -8.40389756e-01] [-6.26912655e-02 1.15584612e-03 9.98032299e-01 -7.80230637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782791604999996 meters 0.022674522305044933 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.85, Z:-0.78 [[ 9.93625561e-01 9.35823233e-02 6.28537445e-02 1.94631283e+01] [-9.33125771e-02 9.95610685e-01 -7.21992338e-03 -8.49977700e-01] [-6.32535168e-02 1.30885554e-03 9.97996633e-01 -7.82131916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842791605 meters 0.022641813736082792 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.86, Z:-0.79 [[ 9.93861576e-01 9.28413530e-02 6.01635397e-02 1.95240626e+01] [-9.25912471e-02 9.95680033e-01 -6.93773619e-03 -8.62030756e-01] [-6.05477441e-02 1.32453225e-03 9.98164423e-01 -7.85257731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902791604999997 meters 0.022429065412185666 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.87, Z:-0.79 [[ 9.93620252e-01 9.52627383e-02 6.03639442e-02 1.95852659e+01] [-9.50137401e-02 9.95451430e-01 -6.98848818e-03 -8.74871680e-01] [-6.07551172e-02 1.20849928e-03 9.98151970e-01 -7.87563689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962791605 meters 0.02184453696024093 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.89, Z:-0.79 [[ 9.93082686e-01 1.00448166e-01 6.08024982e-02 1.96463965e+01] [-1.00203508e-01 9.94941862e-01 -7.06742112e-03 -8.87290307e-01] [-6.12048603e-02 9.25909940e-04 9.98124796e-01 -7.89423711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022791605 meters 0.021565016192314383 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.89, Z:-0.79 [[ 9.92324799e-01 1.07244982e-01 6.15630278e-02 1.97081312e+01] [-1.07005423e-01 9.94232478e-01 -7.18464972e-03 -8.94881985e-01] [-6.19784793e-02 5.41928243e-04 9.98077339e-01 -7.94198325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082791604999997 meters 0.021455286044168183 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.90, Z:-0.80 [[ 9.91981814e-01 1.09988331e-01 6.22466625e-02 1.97703370e+01] [-1.09746849e-01 9.93932796e-01 -7.29566192e-03 -9.01490787e-01] [-6.26714370e-02 4.05788870e-04 9.98034131e-01 -7.96589670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142791605 meters 0.021439671324730725 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.91, Z:-0.80 [[ 9.91823304e-01 1.11264892e-01 6.25032614e-02 1.98337462e+01] [-1.11021802e-01 9.93790719e-01 -7.35972381e-03 -9.05264761e-01] [-6.29340400e-02 3.60320878e-04 9.98017623e-01 -7.96978465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202791604999998 meters 0.02150857120637039 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.91, Z:-0.80 [[ 9.91595353e-01 1.14319597e-01 6.05779327e-02 1.98959496e+01] [-1.14095078e-01 9.93444006e-01 -7.16381343e-03 -9.05032016e-01] [-6.09997484e-02 1.91960134e-04 9.98137763e-01 -7.99697998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262791604999997 meters 0.02170179681934049 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.90, Z:-0.80 [[ 9.91294238e-01 1.15417583e-01 6.33602093e-02 1.99587056e+01] [-1.15172199e-01 9.93317047e-01 -7.52390267e-03 -9.03094284e-01] [-6.38051667e-02 1.61066753e-04 9.97962361e-01 -8.01291235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322791605 meters 0.021682419742075434 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.90, Z:-0.80 [[ 9.91510522e-01 1.14339217e-01 6.19146854e-02 2.00211250e+01] [-1.14100991e-01 9.93441734e-01 -7.38138714e-03 -9.03354820e-01] [-6.23526144e-02 2.54196049e-04 9.98054150e-01 -8.03496889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382791604999998 meters 0.022159377804093452 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.90, Z:-0.81 [[ 9.91436976e-01 1.15074427e-01 6.17300436e-02 2.00851999e+01] [-1.14837107e-01 9.93356844e-01 -7.39050078e-03 -9.00627599e-01] [-6.21704189e-02 2.38316139e-04 9.98065520e-01 -8.06954941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442791604999996 meters 0.022335348962820273 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.90, Z:-0.81 [[ 9.91234868e-01 1.15757191e-01 6.36687476e-02 2.01470183e+01] [-1.15504362e-01 9.93277514e-01 -7.64998198e-03 -9.02337908e-01] [-6.41262758e-02 2.28910834e-04 9.97941766e-01 -8.09939787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502791605 meters 0.022593456775255503 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.91, Z:-0.81 [[ 9.90992473e-01 1.17626808e-01 6.40144732e-02 2.02097101e+01] [-1.17373546e-01 9.93057862e-01 -7.71584988e-03 -9.06288955e-01] [-6.44776666e-02 1.32743445e-04 9.97919141e-01 -8.12784238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562791604999997 meters 0.02311415525907396 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.91, Z:-0.82 [[ 9.90922024e-01 1.17132150e-01 6.59818215e-02 2.02713545e+01] [-1.16859693e-01 9.93116316e-01 -7.98713842e-03 -9.13092355e-01] [-6.64631742e-02 2.04015969e-04 9.97788858e-01 -8.16377744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622791605 meters 0.023351233014473435 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.92, Z:-0.82 [[ 9.91073223e-01 1.16297823e-01 6.51819162e-02 2.03330227e+01] [-1.16028136e-01 9.93214344e-01 -7.92072029e-03 -9.18157923e-01] [-6.56607767e-02 2.87077589e-04 9.97841961e-01 -8.20528507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682791605 meters 0.02362310715230066 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.92, Z:-0.82 [[ 9.90844398e-01 1.17758090e-01 6.60334033e-02 2.03954337e+01] [-1.17482323e-01 9.93042286e-01 -8.05746282e-03 -9.23119956e-01] [-6.65227932e-02 2.25934293e-04 9.97784880e-01 -8.23513983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742791604999997 meters 0.024017011998354806 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.93, Z:-0.83 [[ 9.90736913e-01 1.18737298e-01 6.58925073e-02 2.04580660e+01] [-1.18462498e-01 9.92925685e-01 -8.07593314e-03 -9.27523484e-01] [-6.63852774e-02 1.95334038e-04 9.97794045e-01 -8.26439813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802791605 meters 0.02446879403161646 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.93, Z:-0.83 [[ 9.90830167e-01 1.17654344e-01 6.64306858e-02 2.05211829e+01] [-1.17370171e-01 9.93054561e-01 -8.17809267e-03 -9.33435963e-01] [-6.69314836e-02 3.06119964e-04 9.97757527e-01 -8.29216247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862791604999998 meters 0.02482190905640682 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.94, Z:-0.83 [[ 9.91068039e-01 1.14128193e-01 6.89847607e-02 2.05832943e+01] [-1.13810700e-01 9.93465850e-01 -8.52817850e-03 -9.38774583e-01] [-6.95073095e-02 6.00801221e-04 9.97581261e-01 -8.30144422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922791604999997 meters 0.02548934257547626 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.94, Z:-0.83 [[ 9.91435640e-01 1.09947719e-01 7.04760341e-02 2.06461310e+01] [-1.09603425e-01 9.93936921e-01 -8.74560628e-03 -9.40240604e-01] [-7.10102919e-02 9.46291012e-04 9.97475134e-01 -8.33094899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982791605 meters 0.026028447742813703 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.95, Z:-0.84 [[ 9.91747848e-01 1.07289509e-01 7.01795429e-02 2.07078324e+01] [-1.06939195e-01 9.94227141e-01 -8.74079447e-03 -9.47153877e-01] [-7.07122018e-02 1.16372029e-03 9.97496080e-01 -8.35627242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042791604999998 meters 0.02645642637212204 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.96, Z:-0.84 [[ 9.91621439e-01 1.06747636e-01 7.27452035e-02 2.07695233e+01] [-1.06367279e-01 9.94285323e-01 -9.09384633e-03 -9.55395517e-01] [-7.33002347e-02 1.27994365e-03 9.97309098e-01 -8.37520454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102791604999997 meters 0.02702739808406758 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.97, Z:-0.84 [[ 9.91468392e-01 1.06653540e-01 7.49363054e-02 2.08303982e+01] [-1.06247107e-01 9.94295316e-01 -9.40087531e-03 -9.65060799e-01] [-7.55114541e-02 1.35890509e-03 9.97144008e-01 -8.41412902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162791605 meters 0.026760791456484363 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.97, Z:-0.85 [[ 9.91145054e-01 1.10270156e-01 7.39727977e-02 2.08915634e+01] [-1.09881779e-01 9.93901041e-01 -9.31207777e-03 -9.74576697e-01] [-7.45484849e-02 1.10135718e-03 9.97216782e-01 -8.45081894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222791604999998 meters 0.02670199104313444 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.98, Z:-0.85 [[ 9.90636769e-01 1.13099084e-01 7.64682221e-02 2.09531547e+01] [-1.12689703e-01 9.93583256e-01 -9.66144033e-03 -9.83708360e-01] [-7.70702451e-02 9.53796811e-04 9.97025209e-01 -8.47102442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282791604999996 meters 0.026891568322917683 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.99, Z:-0.85 [[ 9.90473866e-01 1.13574929e-01 7.78604957e-02 2.10149324e+01] [-1.13149121e-01 9.93528961e-01 -9.87321863e-03 -9.91193167e-01] [-7.84780075e-02 9.69318394e-04 9.96915374e-01 -8.49690784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342791605 meters 0.026804010438663057 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.00, Z:-0.85 [[ 9.90694930e-01 1.13894878e-01 7.45084719e-02 2.10769656e+01] [-1.13504242e-01 9.93492376e-01 -9.47027752e-03 -9.99212408e-01] [-7.51022148e-02 9.25128294e-04 9.97175412e-01 -8.53383899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402791604999997 meters 0.026995552242559166 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.01, Z:-0.86 [[ 9.90660810e-01 1.13971444e-01 7.48443063e-02 2.11393696e+01] [-1.13575516e-01 9.93483572e-01 -9.53906279e-03 -1.01018369e+00] [-7.54437695e-02 9.49494988e-04 9.97149606e-01 -8.56316001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462791605 meters 0.02725068454893854 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.02, Z:-0.86 [[ 9.90838445e-01 1.11142969e-01 7.67229873e-02 2.12003811e+01] [-1.10715579e-01 9.93803666e-01 -9.81502571e-03 -1.02015629e+00] [-7.73384571e-02 1.23067484e-03 9.97004137e-01 -8.58397594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522791605 meters 0.02710874827095331 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.03, Z:-0.86 [[ 9.90489480e-01 1.11932075e-01 8.00112550e-02 2.12620355e+01] [-1.11466897e-01 9.93715068e-01 -1.02710613e-02 -1.02798323e+00] [-8.06580509e-02 1.25477183e-03 9.96741042e-01 -8.62884436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582791604999997 meters 0.02761433397153905 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.04, Z:-0.87 [[ 9.90421670e-01 1.10295476e-01 8.30651795e-02 2.13232522e+01] [-1.09785224e-01 9.93897743e-01 -1.06995497e-02 -1.03557388e+00] [-8.37384064e-02 1.47773660e-03 9.96486676e-01 -8.67349831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642791605 meters 0.02765811695636637 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.05, Z:-0.87 [[ 9.90762899e-01 1.08055461e-01 8.19322550e-02 2.13850993e+01] [-1.07548226e-01 9.94143444e-01 -1.05921119e-02 -1.04802031e+00] [-8.25969496e-02 1.68260284e-03 9.96581614e-01 -8.70758782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702791604999998 meters 0.027712235347657318 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.06, Z:-0.87 [[ 9.90752481e-01 1.08324407e-01 8.17027768e-02 2.14472688e+01] [-1.07817482e-01 9.94114150e-01 -1.06041400e-02 -1.05515724e+00] [-8.23705736e-02 1.69709039e-03 9.96600325e-01 -8.72669907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762791604999997 meters 0.02726778773252224 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.06, Z:-0.87 [[ 9.90861571e-01 1.09721148e-01 7.84513612e-02 2.15079132e+01] [-1.09256592e-01 9.93961219e-01 -1.02025993e-02 -1.06420544e+00] [-7.90970514e-02 1.53803519e-03 9.96865734e-01 -8.74671308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822791605 meters 0.026874313925964944 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.07, Z:-0.88 [[ 9.90685937e-01 1.11677613e-01 7.79069033e-02 2.15697455e+01] [-1.11224822e-01 9.93743530e-01 -1.01407981e-02 -1.07396804e+00] [-7.85519812e-02 1.38116462e-03 9.96909062e-01 -8.77764082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882791604999998 meters 0.026823643750349912 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.08, Z:-0.88 [[ 9.91039195e-01 1.10098107e-01 7.56288313e-02 2.16312311e+01] [-1.09665079e-01 9.93919615e-01 -9.86762635e-03 -1.08104077e+00] [-7.62553859e-02 1.48536273e-03 9.97087213e-01 -8.78968451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942791604999996 meters 0.0271729106570247 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.09, Z:-0.88 [[ 9.91668296e-01 1.06915598e-01 7.18543290e-02 2.16927866e+01] [-1.06514145e-01 9.94266689e-01 -9.40676913e-03 -1.09158592e+00] [-7.24480961e-02 1.67489230e-03 9.97370778e-01 -8.80952290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002791605 meters 0.027591817277072488 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.10, Z:-0.88 [[ 9.92267809e-01 1.03534086e-01 6.84491679e-02 2.17545065e+01] [-1.03159723e-01 9.94624166e-01 -8.99107808e-03 -1.10125062e+00] [-6.90120796e-02 1.86036016e-03 9.97614090e-01 -8.84380231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062791604999997 meters 0.027089611315965052 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.11, Z:-0.89 [[ 9.92396626e-01 1.04949325e-01 6.43006671e-02 2.18156179e+01] [-1.04620192e-01 9.94476148e-01 -8.47385968e-03 -1.11234877e+00] [-6.48348056e-02 1.68228163e-03 9.97894593e-01 -8.85899011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122791604999996 meters 0.02642111999655367 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.12, Z:-0.89 [[ 9.92200428e-01 1.08934038e-01 6.05944431e-02 2.18764385e+01] [-1.08648144e-01 9.94048054e-01 -8.00292348e-03 -1.12450043e+00] [-6.11055790e-02 1.35703030e-03 9.98130386e-01 -8.87943195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182791605 meters 0.026318560992104466 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.13, Z:-0.89 [[ 9.91974854e-01 1.10831142e-01 6.08469196e-02 2.19382038e+01] [-1.10545517e-01 9.93838453e-01 -8.05098813e-03 -1.13165736e+00] [-6.13643087e-02 1.26002358e-03 9.98114640e-01 -8.91207759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242791604999997 meters 0.026413999805476807 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.14, Z:-0.90 [[ 9.91792481e-01 1.11419767e-01 6.27161059e-02 2.19998381e+01] [-1.11115640e-01 9.93772595e-01 -8.32729298e-03 -1.13996377e+00] [-6.32533724e-02 1.29020634e-03 9.97996666e-01 -8.95027506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302791605 meters 0.026345856176162172 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.15, Z:-0.90 [[ 9.91786837e-01 1.11712031e-01 6.22839687e-02 2.20626082e+01] [-1.11410778e-01 9.93739781e-01 -8.29982839e-03 -1.14539203e+00] [-6.28212481e-02 1.29255512e-03 9.98023958e-01 -8.97326977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362791604999998 meters 0.02737489576280287 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.15, Z:-0.90 [[ 9.91955385e-01 1.07868468e-01 6.62488355e-02 2.21239727e+01] [-1.07516831e-01 9.94163777e-01 -8.86089784e-03 -1.15222595e+00] [-6.68180040e-02 1.66675050e-03 9.97763788e-01 -8.99558908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422791604999997 meters 0.027914844796739034 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.16, Z:-0.90 [[ 9.92647410e-01 1.03946440e-01 6.20181955e-02 2.21865832e+01] [-1.03628969e-01 9.94581205e-01 -8.32250847e-03 -1.15857893e+00] [-6.25472267e-02 1.83443480e-03 9.98040319e-01 -9.02640467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482791605 meters 0.028283036370556815 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.16, Z:-0.91 [[ 9.92588860e-01 1.04288403e-01 6.23801584e-02 2.22493661e+01] [-1.03965863e-01 9.94545367e-01 -8.40316988e-03 -1.16496423e+00] [-6.29162507e-02 1.85548581e-03 9.98017085e-01 -9.05641144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542791604999998 meters 0.02795196284244324 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.17, Z:-0.91 [[ 9.92419955e-01 1.06601401e-01 6.11455235e-02 2.23111112e+01] [-1.06294086e-01 9.94300376e-01 -8.26620649e-03 -1.17034215e+00] [-6.16782062e-02 1.70414075e-03 9.98094632e-01 -9.08748354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602791604999997 meters 0.028288396910884646 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.18, Z:-0.91 [[ 9.92393029e-01 1.06801239e-01 6.12337421e-02 2.23738296e+01] [-1.06491616e-01 9.94278898e-01 -8.30721011e-03 -1.17941703e+00] [-6.17706380e-02 1.72313729e-03 9.98088883e-01 -9.12149400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662791605 meters 0.028744536008808858 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.19, Z:-0.91 [[ 9.92499622e-01 1.05387746e-01 6.19509810e-02 2.24355598e+01] [-1.05066168e-01 9.94429461e-01 -8.43484238e-03 -1.18658160e+00] [-6.24948097e-02 1.86262567e-03 9.98043551e-01 -9.13607867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722791604999998 meters 0.029318581604702892 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.20, Z:-0.92 [[ 9.92865868e-01 1.02851818e-01 6.03230604e-02 2.24967238e+01] [-1.02540659e-01 9.94694688e-01 -8.23958289e-03 -1.19541927e+00] [-6.08504839e-02 1.99523425e-03 9.98144898e-01 -9.17446307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782791604999996 meters 0.02915703051247085 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.20, Z:-0.92 [[ 9.92963789e-01 1.03596244e-01 5.73648992e-02 2.25581154e+01] [-1.03314706e-01 9.94617661e-01 -7.86008048e-03 -1.20371963e+00] [-5.78704166e-02 1.87813763e-03 9.98322336e-01 -9.18886003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842791605 meters 0.028878161995840368 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.22, Z:-0.92 [[ 9.92747832e-01 1.04309255e-01 5.97605355e-02 2.26184799e+01] [-1.04003617e-01 9.94543027e-01 -8.21070763e-03 -1.21734890e+00] [-6.02908766e-02 1.93585034e-03 9.98178973e-01 -9.21955669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902791604999997 meters 0.028981199552152597 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.23, Z:-0.92 [[ 9.92655425e-01 1.04291421e-01 6.13066654e-02 2.26788866e+01] [-1.03968454e-01 9.94544755e-01 -8.44338505e-03 -1.23195304e+00] [-6.18527951e-02 2.00741275e-03 9.98083264e-01 -9.24164478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962791605 meters 0.02909773188600831 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.25, Z:-0.93 [[ 9.92633778e-01 1.04560810e-01 6.11982078e-02 2.27400164e+01] [-1.04237705e-01 9.94516452e-01 -8.45742337e-03 -1.24629060e+00] [-6.17469395e-02 2.01596340e-03 9.98089801e-01 -9.27810913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022791605 meters 0.029004472193557704 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.26, Z:-0.93 [[ 9.92669878e-01 1.05552699e-01 5.88654406e-02 2.28001833e+01] [-1.05253858e-01 9.94411881e-01 -8.16307516e-03 -1.26282828e+00] [-5.93981282e-02 1.90742407e-03 9.98232550e-01 -9.30057329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082791604999997 meters 0.02848568169365168 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.28, Z:-0.93 [[ 9.92221250e-01 1.08182540e-01 6.15916357e-02 2.28611874e+01] [-1.07858537e-01 9.94129305e-01 -8.57098314e-03 -1.27786737e+00] [-6.21572806e-02 1.86112787e-03 9.98064632e-01 -9.33619436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142791605 meters 0.02761355649298797 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.29, Z:-0.93 [[ 9.91783010e-01 1.12953089e-01 6.00671377e-02 2.29211057e+01] [-1.12652486e-01 9.93599124e-01 -8.37844258e-03 -1.29318126e+00] [-6.06290264e-02 1.54288463e-03 9.98159176e-01 -9.34050794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202791604999998 meters 0.02696219991795371 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.31, Z:-0.94 [[ 9.91450037e-01 1.17316687e-01 5.71280904e-02 2.29818659e+01] [-1.17051748e-01 9.93093807e-01 -7.97358202e-03 -1.30539516e+00] [-5.76689871e-02 1.21846533e-03 9.98335016e-01 -9.36204728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262791604999997 meters 0.02694923979093265 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.32, Z:-0.94 [[ 9.91410595e-01 1.17619292e-01 5.71903340e-02 2.30435816e+01] [-1.17353351e-01 9.93058014e-01 -7.99828028e-03 -1.31611150e+00] [-5.77340715e-02 1.21810246e-03 9.98331254e-01 -9.40193990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322791605 meters 0.02704839302413597 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.32, Z:-0.94 [[ 9.91553971e-01 1.16569314e-01 5.68534786e-02 2.31051745e+01] [-1.16303130e-01 9.93181708e-01 -7.97979631e-03 -1.32440360e+00] [-5.73960343e-02 1.30016119e-03 9.98350642e-01 -9.41406207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382791604999998 meters 0.027053027326205834 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.34, Z:-0.94 [[ 9.91479784e-01 1.16080735e-01 5.91024663e-02 2.31659584e+01] [-1.15790557e-01 9.93238783e-01 -8.32269542e-03 -1.33544532e+00] [-5.96689663e-02 1.40827679e-03 9.98217226e-01 -9.42703094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442791604999996 meters 0.02710760644979937 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.34, Z:-0.94 [[ 9.91679111e-01 1.16186044e-01 5.54377452e-02 2.32271535e+01] [-1.15929624e-01 9.93226567e-01 -7.83001665e-03 -1.34457369e+00] [-5.59719800e-02 1.33798697e-03 9.98431443e-01 -9.44584393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502791605 meters 0.026647192578621408 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.36, Z:-0.95 [[ 9.91228450e-01 1.20088977e-01 5.51796800e-02 2.32883397e+01] [-1.19839563e-01 9.92762481e-01 -7.81893186e-03 -1.35644756e+00] [-5.57192835e-02 1.13763895e-03 9.98445826e-01 -9.47603054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562791604999997 meters 0.026570328404538462 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.36, Z:-0.95 [[ 9.90822647e-01 1.21992983e-01 5.82081933e-02 2.33500307e+01] [-1.21717042e-01 9.92530336e-01 -8.27606479e-03 -1.36442121e+00] [-5.87830195e-02 1.11518331e-03 9.98270160e-01 -9.49653758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622791604999996 meters 0.026571667468756912 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.37, Z:-0.95 [[ 9.90943676e-01 1.21547568e-01 5.70685445e-02 2.34123094e+01] [-1.21280004e-01 9.92584945e-01 -8.14166198e-03 -1.37241712e+00] [-5.76349774e-02 1.14665513e-03 9.98337065e-01 -9.50922542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682791605 meters 0.027868787765267303 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.38, Z:-0.96 [[ 9.91925076e-01 1.13203347e-01 5.71808231e-02 2.34739358e+01] [-1.12919241e-01 9.93570449e-01 -8.18584151e-03 -1.37585143e+00] [-5.77398407e-02 1.66292631e-03 9.98330279e-01 -9.55791365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742791604999997 meters 0.028801607330702337 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.39, Z:-0.96 [[ 9.92346665e-01 1.07941238e-01 5.99732096e-02 2.35337563e+01] [-1.07618041e-01 9.94155095e-01 -8.60262240e-03 -1.38583796e+00] [-6.05512496e-02 2.08258429e-03 9.98162917e-01 -9.58042790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802791605 meters 0.03032374990597883 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.39, Z:-0.96 [[ 9.93113729e-01 9.98257598e-02 6.13183346e-02 2.35941299e+01] [-9.94723162e-02 9.95001438e-01 -8.79755834e-03 -1.39250723e+00] [-6.18900540e-02 2.63749920e-03 9.98079488e-01 -9.59194135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862791604999998 meters 0.03152746828873543 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.40, Z:-0.96 [[ 9.93981365e-01 9.26158708e-02 5.85093764e-02 2.36537473e+01] [-9.22815408e-02 9.95697554e-01 -8.39633259e-03 -1.40455497e+00] [-5.90352766e-02 2.94646272e-03 9.98251549e-01 -9.61516194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922791604999997 meters 0.03264835758610723 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.42, Z:-0.96 [[ 9.94502766e-01 8.87506565e-02 5.55659029e-02 2.37146909e+01] [-8.84429483e-02 9.96049299e-01 -7.97741964e-03 -1.41676152e+00] [-5.60543799e-02 3.01915362e-03 9.98423152e-01 -9.64926373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982791605 meters 0.03285218525390977 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.43, Z:-0.97 [[ 9.94447486e-01 8.81428615e-02 5.74894183e-02 2.37746337e+01] [-8.78118888e-02 9.96102803e-01 -8.26307481e-03 -1.43255282e+00] [-5.79937017e-02 3.16893957e-03 9.98311919e-01 -9.66651726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042791604999998 meters 0.03226636404287894 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.45, Z:-0.97 [[ 9.94472253e-01 8.87005585e-02 5.61885061e-02 2.38350968e+01] [-8.83843588e-02 9.96053570e-01 -8.09267678e-03 -1.44875514e+00] [-5.66845871e-02 3.08175743e-03 9.98387380e-01 -9.67799826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102791604999997 meters 0.031691468600221165 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.47, Z:-0.97 [[ 9.94522488e-01 9.03445856e-02 5.25630655e-02 2.38941905e+01] [-9.00693532e-02 9.95906600e-01 -7.58654019e-03 -1.47160223e+00] [-5.30333066e-02 2.81066352e-03 9.98588789e-01 -9.70778854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162791605 meters 0.030513709211215025 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.48, Z:-0.97 [[ 9.93994115e-01 9.60967150e-02 5.23557044e-02 2.39534323e+01] [-9.58314228e-02 9.95368869e-01 -7.55998283e-03 -1.48488055e+00] [-5.28397278e-02 2.49725680e-03 9.98599883e-01 -9.74187049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222791604999998 meters 0.02937565621468974 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.50, Z:-0.98 [[ 9.93265412e-01 1.01915350e-01 5.51097381e-02 2.40135037e+01] [-1.01630206e-01 9.94790404e-01 -7.95946419e-03 -1.49971080e+00] [-5.56338302e-02 2.30504643e-03 9.98448578e-01 -9.76158135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282791604999996 meters 0.02786739664809361 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.52, Z:-0.98 [[ 9.92485157e-01 1.09053653e-01 5.55023769e-02 2.40722842e+01] [-1.08775290e-01 9.94034004e-01 -8.02089506e-03 -1.52200368e+00] [-5.60459578e-02 1.92333215e-03 9.98426337e-01 -9.81199446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342791605 meters 0.027373977170555442 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.53, Z:-0.98 [[ 9.92185209e-01 1.11912974e-01 5.51724245e-02 2.41330222e+01] [-1.11641713e-01 9.93716449e-01 -7.98418336e-03 -1.53366022e+00] [-5.57192795e-02 1.76224467e-03 9.98444919e-01 -9.83569078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402791604999997 meters 0.026178295149537224 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.54, Z:-0.98 [[ 9.91174951e-01 1.18849957e-01 5.87103393e-02 2.41945929e+01] [-1.18553626e-01 9.92911120e-01 -8.51739495e-03 -1.54395601e+00] [-5.93064408e-02 1.48190490e-03 9.98238724e-01 -9.83851884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462791605 meters 0.025383661332168458 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.55, Z:-0.99 [[ 9.90745552e-01 1.24737293e-01 5.35150401e-02 2.42549543e+01] [-1.24499347e-01 9.92189264e-01 -7.77032117e-03 -1.55414252e+00] [-5.40662971e-02 1.03582359e-03 9.98536811e-01 -9.86597869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522791605 meters 0.02587285654951892 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.56, Z:-0.99 [[ 9.91104952e-01 1.21787207e-01 5.36549212e-02 2.43165755e+01] [-1.21543106e-01 9.92555495e-01 -7.80146074e-03 -1.55942490e+00] [-5.42056049e-02 1.21068058e-03 9.98529061e-01 -9.89180878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582791604999997 meters 0.026622166820993127 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.57, Z:-0.99 [[ 9.91554656e-01 1.16543655e-01 5.68941231e-02 2.43782054e+01] [-1.16259325e-01 9.93184267e-01 -8.29346832e-03 -1.56681889e+00] [-5.74728990e-02 1.60895480e-03 9.98345770e-01 -9.92386385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642791605 meters 0.02680674597615834 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.57, Z:-0.99 [[ 9.91622739e-01 1.16353097e-01 5.60918942e-02 2.44407338e+01] [-1.16075559e-01 9.93206603e-01 -8.19192731e-03 -1.57472761e+00] [-5.66639959e-02 1.61240341e-03 9.98392003e-01 -9.94882390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702791604999998 meters 0.02692927159625646 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.58, Z:-1.00 [[ 9.91688569e-01 1.16102121e-01 5.54443892e-02 2.45037581e+01] [-1.15828927e-01 9.93235933e-01 -8.12663051e-03 -1.58016835e+00] [-5.60128787e-02 1.63702249e-03 9.98428704e-01 -9.97825619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762791604999997 meters 0.026799079533489294 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.59, Z:-1.00 [[ 9.91751712e-01 1.16576477e-01 5.32772636e-02 2.45653956e+01] [-1.16323780e-01 9.93180480e-01 -7.83023821e-03 -1.59177838e+00] [-5.38267598e-02 1.56823945e-03 9.98549058e-01 -9.99198311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822791605 meters 0.026488372177500333 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.60, Z:-1.00 [[ 9.91418576e-01 1.18980466e-01 5.41558535e-02 2.46277730e+01] [-1.18722147e-01 9.92895498e-01 -7.97379197e-03 -1.59692977e+00] [-5.47198286e-02 1.47586628e-03 9.98500657e-01 -1.00116089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882791604999998 meters 0.02666165587239416 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.60, Z:-1.00 [[ 9.91327720e-01 1.19579124e-01 5.44994050e-02 2.46901173e+01] [-1.19316944e-01 9.92823573e-01 -8.05109225e-03 -1.60441574e+00] [-5.50710366e-02 1.47856848e-03 9.98481344e-01 -1.00419886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942791604999996 meters 0.02691012612377095 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.61, Z:-1.01 [[ 9.91692558e-01 1.17245634e-01 5.29087030e-02 2.47523101e+01] [-1.16993811e-01 9.93101677e-01 -7.84263775e-03 -1.61011799e+00] [-5.34632368e-02 1.58749467e-03 9.98568557e-01 -1.00623814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002791605 meters 0.027178979955234592 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.62, Z:-1.01 [[ 9.91664622e-01 1.16653597e-01 5.47102911e-02 2.48143444e+01] [-1.16381985e-01 9.93171207e-01 -8.13551090e-03 -1.61618679e+00] [-5.52857225e-02 1.70040604e-03 9.98469127e-01 -1.00737003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062791604999997 meters 0.02718755535373013 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.62, Z:-1.01 [[ 9.91437016e-01 1.17897436e-01 5.61501431e-02 2.48771062e+01] [-1.17611745e-01 9.93024319e-01 -8.37726306e-03 -1.62301344e+00] [-5.67461155e-02 1.70161240e-03 9.98387191e-01 -1.01090730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122791604999996 meters 0.026354990895808342 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.63, Z:-1.01 [[ 9.90682500e-01 1.23184546e-01 5.80840027e-02 2.49394160e+01] [-1.22886129e-01 9.92382681e-01 -8.69556476e-03 -1.62855477e+00] [-5.87127176e-02 1.47682561e-03 9.98273828e-01 -1.01321969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182791605 meters 0.025666969619926497 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.64, Z:-1.01 [[ 9.90071720e-01 1.28183524e-01 5.76799272e-02 2.50005399e+01] [-1.27896168e-01 9.91749741e-01 -8.66155014e-03 -1.63862502e+00] [-5.83143209e-02 1.19851420e-03 9.98297553e-01 -1.01375137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242791604999997 meters 0.02510406194001707 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.64, Z:-1.02 [[ 9.89000930e-01 1.35313580e-01 5.97276794e-02 2.50628007e+01] [-1.35016686e-01 9.90802472e-01 -8.99752451e-03 -1.64167667e+00] [-6.03958197e-02 8.34326781e-04 9.98174158e-01 -1.01936617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302791605 meters 0.02528972107401732 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.65, Z:-1.02 [[ 9.89168371e-01 1.33995570e-01 5.99259608e-02 2.51241391e+01] [-1.33692560e-01 9.90981479e-01 -9.05578668e-03 -1.64898883e+00] [-6.05989526e-02 9.46042677e-04 9.98161746e-01 -1.02088234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362791604999998 meters 0.025819478287011137 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.65, Z:-1.02 [[ 9.89855432e-01 1.29836416e-01 5.76951317e-02 2.51867358e+01] [-1.29546953e-01 9.91534723e-01 -8.74526552e-03 -1.64890810e+00] [-5.83421803e-02 1.18232007e-03 9.98295944e-01 -1.02371064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422791604999997 meters 0.026789347061689995 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.65, Z:-1.03 [[ 9.90392369e-01 1.23900077e-01 6.14143889e-02 2.52481033e+01] [-1.23559412e-01 9.92293326e-01 -9.32877403e-03 -1.65454770e+00] [-6.20969241e-02 1.65082083e-03 9.98068759e-01 -1.02598418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482791605 meters 0.02751390253384514 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.66, Z:-1.03 [[ 9.90966719e-01 1.20674112e-01 5.85040218e-02 2.53109351e+01] [-1.20358646e-01 9.92690586e-01 -8.89924982e-03 -1.65501149e+00] [-5.91503008e-02 1.77739552e-03 9.98247506e-01 -1.02937789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542791604999998 meters 0.02756455488904682 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.66, Z:-1.03 [[ 9.91081741e-01 1.20296984e-01 5.73203062e-02 2.53743614e+01] [-1.19991961e-01 9.92736335e-01 -8.74637632e-03 -1.65970463e+00] [-5.79561133e-02 1.79039793e-03 9.98317526e-01 -1.03052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602791604999997 meters 0.026860756819232303 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.66, Z:-1.03 [[ 9.90408408e-01 1.24622022e-01 5.96702324e-02 2.54367478e+01] [-1.24297455e-01 9.92202949e-01 -9.13508480e-03 -1.66118070e+00] [-6.03434133e-02 1.63060675e-03 9.98176344e-01 -1.03194228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662791605 meters 0.026371177191074336 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.66, Z:-1.03 [[ 9.90183044e-01 1.27802271e-01 5.66049373e-02 2.54998456e+01] [-1.27513980e-01 9.91798696e-01 -8.69084501e-03 -1.66079632e+00] [-5.72514127e-02 1.38760653e-03 9.98358828e-01 -1.03454129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722791604999998 meters 0.02651735701916012 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.66, Z:-1.04 [[ 9.90082583e-01 1.28620447e-01 5.65089336e-02 2.55632520e+01] [-1.28332898e-01 9.91692955e-01 -8.70347819e-03 -1.66398407e+00] [-5.71589566e-02 1.36520698e-03 9.98364157e-01 -1.03807067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782791604999996 meters 0.026525928847815343 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.67, Z:-1.04 [[ 9.89762795e-01 1.29745944e-01 5.94609058e-02 2.56262914e+01] [-1.29427709e-01 9.91546284e-01 -9.18885955e-03 -1.66586990e+00] [-6.01504575e-02 1.39890251e-03 9.98188342e-01 -1.03944100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842791605 meters 0.026822738808425155 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.67, Z:-1.04 [[ 9.89859854e-01 1.29525116e-01 5.83156357e-02 2.56900972e+01] [-1.29216997e-01 9.91575135e-01 -9.03987765e-03 -1.66566290e+00] [-5.89952255e-02 1.41284065e-03 9.98257265e-01 -1.04023084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902791604999997 meters 0.026456209389645154 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.67, Z:-1.04 [[ 9.89708450e-01 1.31300126e-01 5.68986831e-02 2.57526487e+01] [-1.31008126e-01 9.91341807e-01 -8.84826968e-03 -1.66628546e+00] [-5.75678222e-02 1.30301745e-03 9.98340747e-01 -1.04227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962791605 meters 0.026441189322957664 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.67, Z:-1.05 [[ 9.89386912e-01 1.32605332e-01 5.94084516e-02 2.58149823e+01] [-1.32287939e-01 9.91168061e-01 -9.26154710e-03 -1.66631714e+00] [-6.01118903e-02 1.30423184e-03 9.98190793e-01 -1.04552993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022791605 meters 0.026928699323021586 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.67, Z:-1.05 [[ 9.89815116e-01 1.29966381e-01 5.80928208e-02 2.58780271e+01] [-1.29657250e-01 9.91517340e-01 -9.07539058e-03 -1.66701409e+00] [-5.87795348e-02 1.45080342e-03 9.98269934e-01 -1.04774030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082791604999997 meters 0.027624397717351118 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.67, Z:-1.05 [[ 9.90191163e-01 1.26203538e-01 5.99510442e-02 2.59402266e+01] [-1.25865762e-01 9.92002817e-01 -9.39265164e-03 -1.66746278e+00] [-6.06569906e-02 1.75473676e-03 9.98157127e-01 -1.05167772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142791605 meters 0.02821204069999556 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.67, Z:-1.05 [[ 9.90872283e-01 1.22146353e-01 5.70296999e-02 2.60026525e+01] [-1.21832650e-01 9.92510226e-01 -8.95863990e-03 -1.67255766e+00] [-5.76968256e-02 1.92878848e-03 9.98332287e-01 -1.05325624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202791604999998 meters 0.030458397460960993 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.68, Z:-1.06 [[ 9.91901132e-01 1.12470612e-01 5.90127530e-02 2.60631959e+01] [-1.12116557e-01 9.93651661e-01 -9.28733444e-03 -1.67603922e+00] [-5.96826722e-02 2.59581088e-03 9.98214025e-01 -1.05572889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262791604999997 meters 0.03246252772178807 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.68, Z:-1.06 [[ 9.92927749e-01 1.04097355e-01 5.70808723e-02 2.61237147e+01] [-1.03752239e-01 9.94562591e-01 -8.98476247e-03 -1.68048452e+00] [-5.77057902e-02 2.99895166e-03 9.98329128e-01 -1.05851057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322791605 meters 0.033017556113552914 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.69, Z:-1.06 [[ 9.93259474e-01 1.02235216e-01 5.46221446e-02 2.61858345e+01] [-1.01915925e-01 9.94755784e-01 -8.60667016e-03 -1.68829486e+00] [-5.52155990e-02 2.98179031e-03 9.98470003e-01 -1.05848401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382791604999998 meters 0.0326129829450656 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.70, Z:-1.06 [[ 9.93096929e-01 1.03849669e-01 5.45319704e-02 2.62480092e+01] [-1.03532858e-01 9.94588762e-01 -8.61055288e-03 -1.69527172e+00] [-5.51310880e-02 2.90526286e-03 9.98474898e-01 -1.06225712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442791604999996 meters 0.03311537948674056 Centerline is valid? [True, True] Translation: X:26.31, Y:-1.70, Z:-1.06 [[ 9.93374798e-01 1.01892278e-01 5.31457914e-02 2.63096777e+01] [-1.01588103e-01 9.94791075e-01 -8.40080688e-03 -1.70074160e+00] [-5.37249363e-02 2.94616971e-03 9.98551426e-01 -1.06414891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502791605 meters 0.034016534788357346 Centerline is valid? [True, True] Translation: X:26.37, Y:-1.71, Z:-1.07 [[ 9.93556943e-01 1.00379903e-01 5.26163127e-02 2.63718301e+01] [-1.00078858e-01 9.94944621e-01 -8.33201956e-03 -1.70724023e+00] [-5.31866846e-02 3.01255538e-03 9.98580042e-01 -1.06645529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562791604999997 meters 0.034848941382643675 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.71, Z:-1.07 [[ 9.93667413e-01 9.80503326e-02 5.48744454e-02 2.64335317e+01] [-9.77183155e-02 9.95176017e-01 -8.70776479e-03 -1.71438050e+00] [-5.54635312e-02 3.29038375e-03 9.98455292e-01 -1.06842476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622791604999996 meters 0.034097101380061556 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.72, Z:-1.07 [[ 9.93613773e-01 9.94062019e-02 5.33861065e-02 2.64958174e+01] [-9.90935527e-02 9.95042002e-01 -8.47837371e-03 -1.72217090e+00] [-5.39642212e-02 3.13400994e-03 9.98537952e-01 -1.07026698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682791605 meters 0.034641956357566575 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.73, Z:-1.07 [[ 9.93746191e-01 9.82834969e-02 5.29986955e-02 2.65573441e+01] [-9.79731419e-02 9.95153364e-01 -8.42881151e-03 -1.72851077e+00] [-5.35702432e-02 3.18365062e-03 9.98559008e-01 -1.07273298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742791604999997 meters 0.0359763590646656 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.74, Z:-1.07 [[ 9.94037641e-01 9.48079523e-02 5.38574175e-02 2.66180129e+01] [-9.44815280e-02 9.95489634e-01 -8.58077791e-03 -1.73730837e+00] [-5.44280268e-02 3.44108513e-03 9.98511767e-01 -1.07423123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802791605 meters 0.037038906170066 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.75, Z:-1.08 [[ 9.94275886e-01 9.23503093e-02 5.37297204e-02 2.66788885e+01] [-9.20216304e-02 9.95720174e-01 -8.56468243e-03 -1.74869703e+00] [-5.42907176e-02 3.57136075e-03 9.98518785e-01 -1.07654164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862791604999998 meters 0.03778961149425581 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.76, Z:-1.08 [[ 9.94679056e-01 8.84397399e-02 5.28392721e-02 2.67390241e+01] [-8.81161356e-02 9.96074558e-01 -8.42744863e-03 -1.75899100e+00] [-5.33771759e-02 3.72661418e-03 9.98567469e-01 -1.07898519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922791604999997 meters 0.036705181399176744 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.77, Z:-1.08 [[ 9.94247311e-01 9.29007213e-02 5.33079864e-02 2.67976466e+01] [-9.25776615e-02 9.95669157e-01 -8.50326564e-03 -1.77477836e+00] [-5.38670774e-02 3.51922028e-03 9.98541914e-01 -1.08276079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982791605 meters 0.03349156788160724 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.79, Z:-1.09 [[ 9.93266482e-01 1.02613217e-01 5.37793874e-02 2.68566024e+01] [-1.02298567e-01 9.94716750e-01 -8.57853078e-03 -1.78997949e+00] [-5.43755281e-02 3.01921282e-03 9.98515992e-01 -1.08507874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042791604999998 meters 0.032867807301508185 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.80, Z:-1.09 [[ 9.93027965e-01 1.05451818e-01 5.26818283e-02 2.69168273e+01] [-1.05153810e-01 9.94420454e-01 -8.40461670e-03 -1.80024419e+00] [-5.32741697e-02 2.80632446e-03 9.98575980e-01 -1.08702738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102791604999997 meters 0.032545970070212385 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.81, Z:-1.09 [[ 9.92954275e-01 1.06385052e-01 5.21922345e-02 2.69792530e+01] [-1.06093369e-01 9.94321234e-01 -8.33555317e-03 -1.80641814e+00] [-5.27826253e-02 2.73957314e-03 9.98602268e-01 -1.08779523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162791605 meters 0.031806266304840645 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.81, Z:-1.09 [[ 9.92483587e-01 1.08894547e-01 5.58418097e-02 2.70406928e+01] [-1.08563147e-01 9.94049325e-01 -8.94330206e-03 -1.81422651e+00] [-5.64833900e-02 2.81371794e-03 9.98399574e-01 -1.08861307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222791604999998 meters 0.03218766573035505 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.82, Z:-1.09 [[ 9.92324044e-01 1.09861580e-01 5.67752090e-02 2.71031760e+01] [-1.09519076e-01 9.93942865e-01 -9.11880347e-03 -1.82065273e+00] [-5.74331201e-02 2.83083953e-03 9.98345343e-01 -1.09330959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282791604999996 meters 0.0327466116481724 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.83, Z:-1.10 [[ 9.92668927e-01 1.08434287e-01 5.33892062e-02 2.71654801e+01] [-1.08128089e-01 9.94099778e-01 -8.59924525e-03 -1.82618905e+00] [-5.40066511e-02 2.76333074e-03 9.98536752e-01 -1.09665004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342791605 meters 0.03200693681554001 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.83, Z:-1.10 [[ 9.92200546e-01 1.11806780e-01 5.51118949e-02 2.72273080e+01] [-1.11484317e-01 9.93726332e-01 -8.90081802e-03 -1.83410296e+00] [-5.57613130e-02 2.68728452e-03 9.98440511e-01 -1.09715106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402791604999997 meters 0.03078347201592891 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.84, Z:-1.10 [[ 9.91934136e-01 1.14866084e-01 5.35952692e-02 2.72878517e+01] [-1.14564719e-01 9.93377935e-01 -8.67200493e-03 -1.84305057e+00] [-5.42364771e-02 2.46193079e-03 9.98525084e-01 -1.10019906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462791604999996 meters 0.03051736393128406 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.85, Z:-1.10 [[ 9.91562267e-01 1.18348205e-01 5.28958661e-02 2.73499423e+01] [-1.18059396e-01 9.92969617e-01 -8.56266169e-03 -1.84508953e+00] [-5.35373635e-02 2.24555822e-03 9.98563322e-01 -1.10398232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522791605 meters 0.029996311775495246 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.85, Z:-1.11 [[ 9.91388110e-01 1.20733890e-01 5.07241921e-02 2.74118486e+01] [-1.20470947e-01 9.92682814e-01 -8.22079129e-03 -1.85248629e+00] [-5.13455619e-02 2.03920326e-03 9.98678865e-01 -1.10565262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582791604999997 meters 0.030371566369409537 Centerline is valid? [True, True] Translation: X:27.47, Y:-1.86, Z:-1.11 [[ 9.91648616e-01 1.19453077e-01 4.86208346e-02 2.74740008e+01] [-1.19208957e-01 9.92837755e-01 -7.90047137e-03 -1.85690047e+00] [-4.92163359e-02 2.03845252e-03 9.98786062e-01 -1.10586603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642791605 meters 0.03004062856825578 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.86, Z:-1.11 [[ 9.91442642e-01 1.21164299e-01 4.85870373e-02 2.75362242e+01] [-1.20921518e-01 9.92630505e-01 -7.91630707e-03 -1.86013940e+00] [-4.91881491e-02 1.97334608e-03 9.98787581e-01 -1.10827717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702791604999998 meters 0.029234436008005096 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.86, Z:-1.11 [[ 9.91091560e-01 1.23783629e-01 4.91440113e-02 2.75982942e+01] [-1.23537370e-01 9.92307440e-01 -8.02888412e-03 -1.86498970e+00] [-4.97598124e-02 1.88623739e-03 9.98759432e-01 -1.11182419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762791604999997 meters 0.02873906169028156 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.87, Z:-1.11 [[ 9.90415405e-01 1.28538650e-01 5.05484064e-02 2.76602147e+01] [-1.28283104e-01 9.91703013e-01 -8.28126130e-03 -1.87055626e+00] [-5.11934691e-02 1.71738229e-03 9.98687278e-01 -1.11356481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822791605 meters 0.02817761439155453 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.87, Z:-1.11 [[ 9.89858310e-01 1.32344233e-01 5.16287683e-02 2.77231599e+01] [-1.32081731e-01 9.91202567e-01 -8.47867904e-03 -1.87378507e+00] [-5.22966719e-02 1.57347380e-03 9.98630353e-01 -1.11419696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882791604999998 meters 0.026731907240479347 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.87, Z:-1.12 [[ 9.88514793e-01 1.42899344e-01 4.91760282e-02 2.77852779e+01] [-1.42673790e-01 9.89736745e-01 -8.08483425e-03 -1.86990856e+00] [-4.98266396e-02 9.75847965e-04 9.98757405e-01 -1.11519573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942791604999996 meters 0.026157039205058557 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.87, Z:-1.12 [[ 9.88121436e-01 1.46689018e-01 4.58078502e-02 2.78482291e+01] [-1.46497127e-01 9.89182384e-01 -7.53672829e-03 -1.87211144e+00] [-4.64178737e-02 7.36484326e-04 9.98921838e-01 -1.11668523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002791605 meters 0.02588044067186579 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.87, Z:-1.12 [[ 9.87204407e-01 1.52490396e-01 4.66276631e-02 2.79113229e+01] [-1.52297003e-01 9.88304829e-01 -7.69334024e-03 -1.87087663e+00] [-4.72555051e-02 4.93646059e-04 9.98882713e-01 -1.11891645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062791604999997 meters 0.025784791839025257 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.87, Z:-1.12 [[ 9.86213002e-01 1.57054666e-01 5.21320066e-02 2.79752561e+01] [-1.56817852e-01 9.87589854e-01 -8.62789770e-03 -1.86512663e+00] [-5.28400924e-02 3.33715583e-04 9.98602931e-01 -1.12141473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122791604999996 meters 0.025600986546811484 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.86, Z:-1.12 [[ 9.86542944e-01 1.56491648e-01 4.73643837e-02 2.80400309e+01] [-1.56294715e-01 9.87679221e-01 -7.85611096e-03 -1.85781916e+00] [-4.80102333e-02 3.47587962e-04 9.98846783e-01 -1.12378747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182791605 meters 0.0256491671746047 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.86, Z:-1.13 [[ 9.87307904e-01 1.51961939e-01 4.61591944e-02 2.81031201e+01] [-1.51769621e-01 9.88386187e-01 -7.66338217e-03 -1.85514745e+00] [-4.67876525e-02 5.60554366e-04 9.98904701e-01 -1.12697821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242791604999997 meters 0.025865471981778153 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.86, Z:-1.13 [[ 9.87427444e-01 1.50694164e-01 4.77316606e-02 2.81657869e+01] [-1.50486716e-01 9.88580219e-01 -7.93092522e-03 -1.85752669e+00] [-4.83817196e-02 6.48232357e-04 9.98828709e-01 -1.12999415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302791605 meters 0.02582715613315521 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.85, Z:-1.13 [[ 9.87209250e-01 1.52245044e-01 4.73216934e-02 2.82297374e+01] [-1.52042630e-01 9.88342611e-01 -7.86898287e-03 -1.85320303e+00] [-4.79680596e-02 5.73417949e-04 9.98848705e-01 -1.13040173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362791604999998 meters 0.025929461590085058 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.85, Z:-1.13 [[ 9.86713472e-01 1.53749232e-01 5.25137942e-02 2.82929292e+01] [-1.53501658e-01 9.88109739e-01 -8.73979817e-03 -1.85300878e+00] [-5.32331288e-02 5.62722120e-04 9.98581953e-01 -1.13493314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422791604999997 meters 0.025852956666054517 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.86, Z:-1.14 [[ 9.86551583e-01 1.54716425e-01 5.27143433e-02 2.83564076e+01] [-1.54467905e-01 9.87958783e-01 -8.78120979e-03 -1.85567881e+00] [-5.34381958e-02 5.20442266e-04 9.98571023e-01 -1.13756802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482791605 meters 0.025583120265465897 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.86, Z:-1.14 [[ 9.86393171e-01 1.55981042e-01 5.19463889e-02 2.84192797e+01] [-1.55740988e-01 9.87759945e-01 -8.66234592e-03 -1.85837599e+00] [-5.26617240e-02 4.54296911e-04 9.98612305e-01 -1.13912383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542791604999998 meters 0.02560586632770674 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.85, Z:-1.14 [[ 9.85826128e-01 1.59105304e-01 5.32197964e-02 2.84842826e+01] [-1.58857434e-01 9.87261572e-01 -8.88285292e-03 -1.85417380e+00] [-5.39551689e-02 3.02588206e-04 9.98543313e-01 -1.14189668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602791604999997 meters 0.025488629662899533 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.86, Z:-1.15 [[ 9.85400036e-01 1.61265283e-01 5.45919200e-02 2.85468072e+01] [-1.61007230e-01 9.86911075e-01 -9.12155349e-03 -1.85574525e+00] [-5.53483603e-02 1.98685312e-04 9.98467085e-01 -1.14820370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662791605 meters 0.025589857648846026 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.85, Z:-1.15 [[ 9.85790513e-01 1.58581282e-01 5.53989227e-02 2.86102237e+01] [-1.58310889e-01 9.87345859e-01 -9.26370471e-03 -1.85369105e+00] [-5.61669471e-02 3.61819504e-04 9.98421325e-01 -1.14927587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722791604999998 meters 0.025479886518455758 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.85, Z:-1.15 [[ 9.86101564e-01 1.56458853e-01 5.58957282e-02 2.86733706e+01] [-1.56179763e-01 9.87684354e-01 -9.35406980e-03 -1.85234227e+00] [-5.66708632e-02 4.94281261e-04 9.98392793e-01 -1.15120079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782791604999996 meters 0.025443284098602168 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.85, Z:-1.16 [[ 9.86081583e-01 1.57076614e-01 5.44981505e-02 2.87361064e+01] [-1.56811879e-01 9.87586316e-01 -9.12706246e-03 -1.85380916e+00] [-5.52552757e-02 4.54070801e-04 9.98472157e-01 -1.15535542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842791605 meters 0.025693870715607595 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.86, Z:-1.16 [[ 9.85508082e-01 1.59758379e-01 5.70182418e-02 2.87992375e+01] [-1.59472619e-01 9.87156094e-01 -9.55663800e-03 -1.85566460e+00] [-5.78126579e-02 3.25295652e-04 9.98327397e-01 -1.15655201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902791604999997 meters 0.025996299993010785 Centerline is valid? [True, True] Translation: X:28.86, Y:-1.85, Z:-1.16 [[ 9.85046003e-01 1.60435349e-01 6.28082028e-02 2.88629232e+01] [-1.60089371e-01 9.87046298e-01 -1.05356008e-02 -1.85298997e+00] [-6.36848869e-02 3.23125727e-04 9.97970005e-01 -1.15720782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962791604999996 meters 0.026384529729186316 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.85, Z:-1.16 [[ 9.84700510e-01 1.60923027e-01 6.68482180e-02 2.89259743e+01] [-1.60531641e-01 9.86966908e-01 -1.12211444e-02 -1.84945413e+00] [-6.77827196e-02 3.18212473e-04 9.97700056e-01 -1.16023346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022791605 meters 0.026445978432862765 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.84, Z:-1.16 [[ 9.85249955e-01 1.58614788e-01 6.42173993e-02 2.89901758e+01] [-1.58248285e-01 9.87340434e-01 -1.07864472e-02 -1.84453651e+00] [-6.51153249e-02 4.65053329e-04 9.97877637e-01 -1.16299120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082791604999997 meters 0.026610498990393843 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.84, Z:-1.16 [[ 9.86054147e-01 1.55039098e-01 6.04987406e-02 2.90537191e+01] [-1.54706672e-01 9.87908109e-01 -1.01692453e-02 -1.84091904e+00] [-6.13438270e-02 6.67867712e-04 9.98116471e-01 -1.16379318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142791605 meters 0.02734408359439571 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.84, Z:-1.17 [[ 9.86740909e-01 1.50473632e-01 6.08281569e-02 2.91163297e+01] [-1.50128426e-01 9.88613552e-01 -1.02323051e-02 -1.84222339e+00] [-6.16752324e-02 9.64598588e-04 9.98095805e-01 -1.16617635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202791604999998 meters 0.028591709632294546 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.83, Z:-1.17 [[ 9.88173813e-01 1.41737381e-01 5.85066676e-02 2.91802256e+01] [-1.41402397e-01 9.89903222e-01 -9.84749522e-03 -1.83399987e+00] [-5.93116969e-02 1.45805385e-03 9.98238447e-01 -1.16593699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262791604999997 meters 0.0289379896394478 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.84, Z:-1.17 [[ 9.88355680e-01 1.40851534e-01 5.75664356e-02 2.92407883e+01] [-1.40525538e-01 9.90029608e-01 -9.69272445e-03 -1.84141267e+00] [-5.83577108e-02 1.49030493e-03 9.98294624e-01 -1.16693791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322791605 meters 0.029024076903650706 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.85, Z:-1.17 [[ 9.88100351e-01 1.42336323e-01 5.82929447e-02 2.93014581e+01] [-1.42004403e-01 9.89817328e-01 -9.81864430e-03 -1.84930060e+00] [-5.90969166e-02 1.42395104e-03 9.98251234e-01 -1.16748622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382791604999998 meters 0.0287039591443098 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.85, Z:-1.17 [[ 9.87342517e-01 1.46679492e-01 6.03314281e-02 2.93630644e+01] [-1.46331786e-01 9.89183333e-01 -1.01657660e-02 -1.85311564e+00] [-6.11699525e-02 1.20868741e-03 9.98126633e-01 -1.16986900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442791604999996 meters 0.028297831904504224 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.86, Z:-1.17 [[ 9.86639023e-01 1.50861113e-01 6.15171701e-02 2.94243333e+01] [-1.50507464e-01 9.88554490e-01 -1.03693655e-02 -1.85729884e+00] [-6.23774088e-02 9.72027431e-04 9.98052160e-01 -1.16993689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502791605 meters 0.027626865018179122 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.86, Z:-1.17 [[ 9.86465235e-01 1.54238442e-01 5.56492943e-02 2.94849677e+01] [-1.53954462e-01 9.88033417e-01 -9.38036143e-03 -1.85793535e+00] [-5.64301748e-02 6.85943269e-04 9.98406313e-01 -1.17362237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562791604999997 meters 0.027682093350757445 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.86, Z:-1.18 [[ 9.86108579e-01 1.56541475e-01 5.55395032e-02 2.95442752e+01] [-1.56262942e-01 9.87671238e-01 -9.34982611e-03 -1.86077411e+00] [-5.63184055e-02 5.41177595e-04 9.98412712e-01 -1.17585265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622791604999996 meters 0.027796944027851638 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.86, Z:-1.18 [[ 9.86187243e-01 1.55996807e-01 5.56751117e-02 2.96028751e+01] [-1.55717493e-01 9.87757407e-01 -9.34703563e-03 -1.86275118e+00] [-5.64516117e-02 5.48338493e-04 9.98405186e-01 -1.17638202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682791605 meters 0.0277308345415775 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.86, Z:-1.18 [[ 9.86299109e-01 1.56021391e-01 5.35853847e-02 2.96620532e+01] [-1.55764065e-01 9.87753549e-01 -8.97118114e-03 -1.86240385e+00] [-5.43288501e-02 5.01590602e-04 9.98522971e-01 -1.17735551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742791604999997 meters 0.027648089578766508 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.86, Z:-1.18 [[ 9.86400695e-01 1.56403161e-01 5.05145529e-02 2.97208266e+01] [-1.56176089e-01 9.87693204e-01 -8.43592436e-03 -1.86375626e+00] [-5.12122859e-02 4.32036352e-04 9.98687696e-01 -1.17948559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802791604999996 meters 0.027990029004613056 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.86, Z:-1.18 [[ 9.86449012e-01 1.55683982e-01 5.17768705e-02 2.97799876e+01] [-1.55445633e-01 9.87806807e-01 -8.62367385e-03 -1.86409913e+00] [-5.24881130e-02 4.58326159e-04 9.98621444e-01 -1.18010456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862791604999998 meters 0.028220388354723923 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.86, Z:-1.18 [[ 9.86216822e-01 1.56895778e-01 5.25366030e-02 2.98388614e+01] [-1.56653398e-01 9.87615094e-01 -8.72577426e-03 -1.86150041e+00] [-5.32549792e-02 3.75468001e-04 9.98580876e-01 -1.18419888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922791604999997 meters 0.02805718233700573 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.86, Z:-1.19 [[ 9.86038540e-01 1.58228424e-01 5.18822038e-02 2.98981015e+01] [-1.57995195e-01 9.87402497e-01 -8.59233206e-03 -1.86322239e+00] [-5.25881687e-02 2.75231644e-04 9.98616247e-01 -1.18689260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982791605 meters 0.02774206369074524 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.86, Z:-1.19 [[ 9.85707338e-01 1.61514864e-01 4.78956448e-02 2.99584716e+01] [-1.61320955e-01 9.86870277e-01 -7.91240103e-03 -1.85915848e+00] [-4.85447586e-02 7.27406096e-05 9.98821006e-01 -1.19091194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042791604999998 meters 0.027804160924262213 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.86, Z:-1.19 [[ 9.85042028e-01 1.65211556e-01 4.89626870e-02 3.00167305e+01] [-1.65014554e-01 9.86258143e-01 -8.06680244e-03 -1.86359405e+00] [-4.96225777e-02 -1.33416506e-04 9.98768032e-01 -1.19387165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102791604999997 meters 0.0279515514156487 Centerline is valid? [True, True] Translation: X:30.08, Y:-1.86, Z:-1.20 [[ 9.84202424e-01 1.68599443e-01 5.40353168e-02 3.00758867e+01] [-1.68365961e-01 9.85684583e-01 -8.87723700e-03 -1.86250606e+00] [-5.47584759e-02 -3.60709877e-04 9.98499564e-01 -1.19686035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162791605 meters 0.029020815927556762 Centerline is valid? [True, True] Translation: X:30.14, Y:-1.86, Z:-1.20 [[ 9.81498978e-01 1.82141431e-01 5.90275742e-02 3.01370296e+01] [-1.81888206e-01 9.83271566e-01 -9.68025025e-03 -1.86422725e+00] [-5.98033100e-02 -1.23526384e-03 9.98209416e-01 -1.20075300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222791604999998 meters 0.03144981210182665 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.86, Z:-1.20 [[ 9.77929590e-01 1.99320084e-01 6.26515821e-02 3.01991399e+01] [-1.99069851e-01 9.79931440e-01 -1.02745818e-02 -1.86019854e+00] [-6.34421856e-02 -2.42422352e-03 9.97982571e-01 -1.20156560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282791604999996 meters 0.0336855937675129 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.85, Z:-1.21 [[ 9.74932160e-01 2.13541750e-01 6.25076337e-02 3.02609289e+01] [-2.13321747e-01 9.76928227e-01 -1.02504499e-02 -1.85441828e+00] [-6.32543708e-02 -3.34074442e-03 9.97991846e-01 -1.20737344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342791605 meters 0.034275841969358296 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.86, Z:-1.21 [[ 9.73838355e-01 2.18206382e-01 6.34415820e-02 3.03209494e+01] [-2.17989704e-01 9.75895633e-01 -1.04020191e-02 -1.85735233e+00] [-6.41821498e-02 -3.69972654e-03 9.97931342e-01 -1.21004826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402791604999997 meters 0.035016753275462525 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.84, Z:-1.21 [[ 9.71918419e-01 2.26609035e-01 6.34265831e-02 3.03841148e+01] [-2.26410324e-01 9.73976512e-01 -1.03980634e-02 -1.84241027e+00] [-6.41322973e-02 -4.25436385e-03 9.97932337e-01 -1.21131235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462791604999996 meters 0.03566577673945709 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.83, Z:-1.21 [[ 9.70944642e-01 2.30400506e-01 6.46692207e-02 3.04473953e+01] [-2.30202380e-01 9.73085041e-01 -1.06003731e-02 -1.82623312e+00] [-6.53709825e-02 -4.59463304e-03 9.97850452e-01 -1.21475493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522791605 meters 0.03591518213054859 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.80, Z:-1.22 [[ 9.70330543e-01 2.32631745e-01 6.58870910e-02 3.05112778e+01] [-2.32431396e-01 9.72552862e-01 -1.07970483e-02 -1.80494981e+00] [-6.65904151e-02 -4.83752277e-03 9.97768668e-01 -1.21703421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582791604999997 meters 0.03503045735481515 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.79, Z:-1.22 [[ 9.71790459e-01 2.26236347e-01 6.66364714e-02 3.05751740e+01] [-2.26016657e-01 9.74062264e-01 -1.09168044e-02 -1.78660136e+00] [-6.73778501e-02 -4.45210608e-03 9.97717597e-01 -1.22221671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642791605 meters 0.033382097866784165 Centerline is valid? [True, True] Translation: X:30.64, Y:-1.77, Z:-1.22 [[ 9.74780994e-01 2.14879853e-01 6.02383790e-02 3.06382481e+01] [-2.14678794e-01 9.76634868e-01 -9.86661946e-03 -1.77142928e+00] [-6.09510390e-02 -3.31410941e-03 9.98135255e-01 -1.22418531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702791604999998 meters 0.03224196822935116 Centerline is valid? [True, True] Translation: X:30.70, Y:-1.76, Z:-1.23 [[ 9.76242467e-01 2.07883928e-01 6.11139680e-02 3.07011623e+01] [-2.07663506e-01 9.78149137e-01 -1.00067375e-02 -1.75636742e+00] [-6.18588149e-02 -2.92213877e-03 9.98080632e-01 -1.22751280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762791604999997 meters 0.0304722578015614 Centerline is valid? [True, True] Translation: X:30.76, Y:-1.75, Z:-1.23 [[ 9.78361943e-01 1.97241756e-01 6.24787902e-02 3.07634254e+01] [-1.96989883e-01 9.80352177e-01 -1.02271567e-02 -1.74619326e+00] [-6.32684404e-02 -2.30182866e-03 9.97993891e-01 -1.23377318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822791605 meters 0.029391177353765025 Centerline is valid? [True, True] Translation: X:30.83, Y:-1.74, Z:-1.24 [[ 9.79852057e-01 1.89701099e-01 6.24775120e-02 3.08250791e+01] [-1.89434081e-01 9.81840207e-01 -1.02243676e-02 -1.73887393e+00] [-6.32825070e-02 -1.81700246e-03 9.97993999e-01 -1.23671529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882791604999998 meters 0.030028734037174296 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.73, Z:-1.24 [[ 9.80755639e-01 1.85090778e-01 6.21271239e-02 3.08851918e+01] [-1.84818323e-01 9.82720246e-01 -1.01540688e-02 -1.73031118e+00] [-6.29330070e-02 -1.52357059e-03 9.98016591e-01 -1.24317922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942791604999996 meters 0.028715852370472278 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.72, Z:-1.24 [[ 9.82054241e-01 1.79222893e-01 5.87249708e-02 3.09479999e+01] [-1.78969904e-01 9.83807881e-01 -9.58266279e-03 -1.71677760e+00] [-5.94915216e-02 -1.09930773e-03 9.98228206e-01 -1.24342035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002791605 meters 0.02785180973425742 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.70, Z:-1.24 [[ 9.85054137e-01 1.62583926e-01 5.68754308e-02 3.10112823e+01] [-1.62318984e-01 9.86694714e-01 -9.27840551e-03 -1.70192840e+00] [-5.76272065e-02 -9.22304412e-05 9.98338167e-01 -1.24278055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062791604999997 meters 0.02928369367926141 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.69, Z:-1.24 [[ 9.88202985e-01 1.44488323e-01 5.07738518e-02 3.10728701e+01] [-1.44253621e-01 9.89506137e-01 -8.27637275e-03 -1.69013297e+00] [-5.14368771e-02 8.54424294e-04 9.98675882e-01 -1.23999609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122791604999996 meters 0.031099928717191035 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.69, Z:-1.24 [[ 9.90123602e-01 1.33812740e-01 4.18258659e-02 3.11333607e+01] [-1.33644496e-01 9.91005969e-01 -6.80569256e-03 -1.68573839e+00] [-4.23603711e-02 1.14868007e-03 9.99101736e-01 -1.24038851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182791605 meters 0.03254148083418915 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.69, Z:-1.24 [[ 9.91245879e-01 1.26513684e-01 3.77610312e-02 3.11933922e+01] [-1.26371383e-01 9.91963990e-01 -6.14142177e-03 -1.68981462e+00] [-3.82345571e-02 1.31574529e-03 9.99267926e-01 -1.23941655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242791604999997 meters 0.03538712638996169 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.70, Z:-1.24 [[ 9.92792895e-01 1.15144668e-01 3.32261012e-02 3.12523956e+01] [-1.15028198e-01 9.93347537e-01 -5.40222566e-03 -1.70221056e+00] [-3.36271033e-02 1.54135269e-03 9.99433260e-01 -1.24017119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302791604999996 meters 0.037567603011632575 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.71, Z:-1.24 [[ 9.93563721e-01 1.08943813e-01 3.10222130e-02 3.13122671e+01] [-1.08839311e-01 9.94046567e-01 -5.04260068e-03 -1.71203740e+00] [-3.13868845e-02 1.63370881e-03 9.99505975e-01 -1.24088234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362791604999998 meters 0.03969236135017596 Centerline is valid? [True, True] Translation: X:31.37, Y:-1.73, Z:-1.24 [[ 9.94109051e-01 1.03729732e-01 3.14219335e-02 3.13705693e+01] [-1.03619917e-01 9.94603853e-01 -5.10770004e-03 -1.72545783e+00] [-3.17821965e-02 1.82167271e-03 9.99493158e-01 -1.24309135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422791604999997 meters 0.03921309697393726 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.74, Z:-1.24 [[ 9.94222264e-01 1.03305340e-01 2.91564233e-02 3.14278429e+01] [-1.03210563e-01 9.94648230e-01 -4.74113912e-03 -1.74033819e+00] [-2.94901699e-02 1.70449521e-03 9.99563617e-01 -1.24122935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482791605 meters 0.04057413223152545 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.76, Z:-1.25 [[ 9.94453691e-01 1.00862381e-01 2.98099967e-02 3.14841405e+01] [-1.00762559e-01 9.94898749e-01 -4.83588290e-03 -1.75577729e+00] [-3.01456871e-02 1.80533006e-03 9.99543885e-01 -1.24643095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542791604999998 meters 0.041530557221606146 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.77, Z:-1.25 [[ 9.94958951e-01 9.68379892e-02 2.60593342e-02 3.15430096e+01] [-9.67606470e-02 9.95298752e-01 -4.21568338e-03 -1.76723902e+00] [-2.63450611e-02 1.67291388e-03 9.99651509e-01 -1.24788926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602791604999997 meters 0.04237683346313519 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.78, Z:-1.25 [[ 9.95101854e-01 9.53814775e-02 2.59744856e-02 3.15992750e+01] [-9.53040700e-02 9.95439327e-01 -4.20478300e-03 -1.78388788e+00] [-2.62570829e-02 1.70871317e-03 9.99653763e-01 -1.25091085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662791605 meters 0.04242433039444281 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.80, Z:-1.25 [[ 9.95131100e-01 9.43229403e-02 2.85880554e-02 3.16560658e+01] [-9.42290811e-02 9.95539841e-01 -4.61576875e-03 -1.79940935e+00] [-2.88959210e-02 1.89946884e-03 9.99580621e-01 -1.25177253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722791604999998 meters 0.04216158971392933 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.82, Z:-1.25 [[ 9.95059607e-01 9.48808134e-02 2.92234447e-02 3.17128109e+01] [-9.47833096e-02 9.95486800e-01 -4.70699278e-03 -1.81782679e+00] [-2.95381567e-02 1.91384359e-03 9.99561821e-01 -1.25437493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782791604999996 meters 0.039278135916078996 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.84, Z:-1.26 [[ 9.94363680e-01 1.02248830e-01 2.80365503e-02 3.17704814e+01] [-1.02162339e-01 9.94757544e-01 -4.50397767e-03 -1.83568770e+00] [-2.83500963e-02 1.61431227e-03 9.99596752e-01 -1.25572949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842791605 meters 0.037161847411144526 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.85, Z:-1.26 [[ 9.93671598e-01 1.08551093e-01 2.88689415e-02 3.18287234e+01] [-1.08462060e-01 9.94089775e-01 -4.63691458e-03 -1.85402227e+00] [-2.92016617e-02 1.47638546e-03 9.99572450e-01 -1.26030488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902791604999997 meters 0.03389725708559409 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.87, Z:-1.27 [[ 9.92388336e-01 1.18458694e-01 3.36589935e-02 3.18866622e+01] [-1.18343358e-01 9.92958021e-01 -5.40547111e-03 -1.86910492e+00] [-3.40622926e-02 1.38100817e-03 9.99418758e-01 -1.26555307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962791604999996 meters 0.0317374667372911 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.88, Z:-1.27 [[ 9.91598570e-01 1.24958937e-01 3.34296209e-02 3.19448473e+01] [-1.24848897e-01 9.92161249e-01 -5.36731643e-03 -1.88161792e+00] [-3.38382686e-02 1.14857199e-03 9.99426662e-01 -1.26958805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022791605 meters 0.028628448799472378 Centerline is valid? [True, True] Translation: X:32.00, Y:-1.89, Z:-1.27 [[ 9.90074112e-01 1.36348882e-01 3.40915625e-02 3.20044693e+01] [-1.36241243e-01 9.90660580e-01 -5.47160130e-03 -1.88900642e+00] [-3.45192138e-02 7.72613953e-04 9.99403736e-01 -1.26901352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082791604999997 meters 0.02664405960361279 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.89, Z:-1.27 [[ 9.88370038e-01 1.46995289e-01 3.89493637e-02 3.20632348e+01] [-1.46863087e-01 9.89137087e-01 -6.24958230e-03 -1.89433726e+00] [-3.94449193e-02 4.56676121e-04 9.99221642e-01 -1.27442483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142791605 meters 0.02545449902695984 Centerline is valid? [True, True] Translation: X:32.12, Y:-1.90, Z:-1.28 [[ 9.86879240e-01 1.56167393e-01 4.10013580e-02 3.21222655e+01] [-1.56029158e-01 9.87730600e-01 -6.56993095e-03 -1.89560850e+00] [-4.15243049e-02 8.63211101e-05 9.99137490e-01 -1.27758638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202791604999998 meters 0.025050617342717286 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.90, Z:-1.28 [[ 9.85789579e-01 1.62700807e-01 4.18013612e-02 3.21809042e+01] [-1.62563698e-01 9.86675430e-01 -6.68133875e-03 -1.89763515e+00] [-4.23314352e-02 -2.08989758e-04 9.99103601e-01 -1.27964905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262791604999997 meters 0.025315369943409837 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.91, Z:-1.28 [[ 9.85318775e-01 1.65160049e-01 4.32327391e-02 3.22385727e+01] [-1.65016522e-01 9.86266719e-01 -6.89252342e-03 -1.90501273e+00] [-4.37773812e-02 -3.42783510e-04 9.99041252e-01 -1.28291707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322791605 meters 0.025506528964368735 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.90, Z:-1.28 [[ 9.84660663e-01 1.69783669e-01 4.02105061e-02 3.22980075e+01] [-1.69663921e-01 9.85481218e-01 -6.39704433e-03 -1.90202647e+00] [-4.07128122e-02 -5.23354208e-04 9.99170753e-01 -1.28314608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382791604999998 meters 0.02561421208535513 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.90, Z:-1.29 [[ 9.84120984e-01 1.72002999e-01 4.38275935e-02 3.23566199e+01] [-1.71863299e-01 9.85096192e-01 -6.96411722e-03 -1.90461419e+00] [-4.43722445e-02 -6.78820935e-04 9.99014836e-01 -1.28660546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442791604999996 meters 0.025054174116773492 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.90, Z:-1.29 [[ 9.84166774e-01 1.71100275e-01 4.62650768e-02 3.24165062e+01] [-1.70944461e-01 9.85253377e-01 -7.33306651e-03 -1.90124316e+00] [-4.68375128e-02 -6.91798189e-04 9.98902282e-01 -1.29032638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502791605 meters 0.024095131044509735 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.90, Z:-1.29 [[ 9.85882993e-01 1.61225939e-01 4.51765513e-02 3.24766422e+01] [-1.61067694e-01 9.86917495e-01 -7.14528717e-03 -1.89947250e+00] [-4.57375345e-02 -2.32065835e-04 9.98953464e-01 -1.29167093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562791604999997 meters 0.024098325978671172 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.90, Z:-1.29 [[ 9.87798319e-01 1.49697656e-01 4.29545474e-02 3.25353597e+01] [-1.49544119e-01 9.88731781e-01 -6.78394383e-03 -1.89870671e+00] [-4.34860667e-02 2.77568385e-04 9.99053995e-01 -1.29152774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622791604999996 meters 0.024376470198433562 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.90, Z:-1.29 [[ 9.88590321e-01 1.44807703e-01 4.14717555e-02 3.25943907e+01] [-1.44661030e-01 9.89459711e-01 -6.53201125e-03 -1.90259466e+00] [-4.19805167e-02 4.58136237e-04 9.99118324e-01 -1.29072969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682791605 meters 0.024596386208000934 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.91, Z:-1.29 [[ 9.89144760e-01 1.41695776e-01 3.89223568e-02 3.26525106e+01] [-1.41564757e-01 9.89910105e-01 -6.11584552e-03 -1.90913122e+00] [-3.93962238e-02 5.39422558e-04 9.99223522e-01 -1.29238984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742791604999997 meters 0.024354361104620064 Centerline is valid? [True, True] Translation: X:32.71, Y:-1.91, Z:-1.29 [[ 9.89155856e-01 1.42105245e-01 3.71051538e-02 3.27106477e+01] [-1.41987000e-01 9.89851436e-01 -5.81612448e-03 -1.91325888e+00] [-3.75550916e-02 4.84604120e-04 9.99294441e-01 -1.29121019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802791604999996 meters 0.024574160112370597 Centerline is valid? [True, True] Translation: X:32.77, Y:-1.92, Z:-1.29 [[ 9.89853044e-01 1.38092338e-01 3.34881566e-02 3.27685821e+01] [-1.37994214e-01 9.90419200e-01 -5.23498442e-03 -1.91973150e+00] [-3.38902245e-02 5.60693424e-04 9.99425404e-01 -1.29116266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862791604999998 meters 0.025344683181788424 Centerline is valid? [True, True] Translation: X:32.83, Y:-1.92, Z:-1.29 [[ 9.90654420e-01 1.33320892e-01 2.87986064e-02 3.28273487e+01] [-1.33246358e-01 9.91072729e-01 -4.50047003e-03 -1.92257164e+00] [-2.91415201e-02 6.21101122e-04 9.99575103e-01 -1.28828682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922791604999997 meters 0.028593528578322983 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.93, Z:-1.29 [[ 9.92253914e-01 1.21802458e-01 2.44199160e-02 3.28872877e+01] [-1.21745678e-01 9.92554038e-01 -3.80410445e-03 -1.93161691e+00] [-2.47014355e-02 8.01618298e-04 9.99694552e-01 -1.28888242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982791605 meters 0.03076543520244143 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.94, Z:-1.29 [[ 9.93160119e-01 1.14617500e-01 2.22666980e-02 3.29469424e+01] [-1.14568489e-01 9.93409296e-01 -3.46867880e-03 -1.94305068e+00] [-2.25175161e-02 8.93891509e-04 9.99746049e-01 -1.28720788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042791605 meters 0.031234448195796377 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.96, Z:-1.29 [[ 9.93385476e-01 1.12417276e-01 2.34019856e-02 3.30034972e+01] [-1.12362487e-01 9.93660590e-01 -3.64727424e-03 -1.95786561e+00] [-2.36636474e-02 9.93643947e-04 9.99719483e-01 -1.29033052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102791605 meters 0.03169452483823794 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.98, Z:-1.29 [[ 9.93512436e-01 1.11332045e-01 2.31994579e-02 3.30600408e+01] [-1.11277904e-01 9.93782750e-01 -3.61579565e-03 -1.97569617e+00] [-2.34577750e-02 1.01075090e-03 9.99724318e-01 -1.29275847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162791604999995 meters 0.03148084794537271 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.99, Z:-1.29 [[ 9.93538726e-01 1.11355128e-01 2.19279715e-02 3.31153750e+01] [-1.11306920e-01 9.93780226e-01 -3.41065607e-03 -1.99171418e+00] [-2.21713785e-02 9.47883924e-04 9.99753735e-01 -1.29410982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222791605 meters 0.03125679784269888 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.00, Z:-1.29 [[ 9.93518095e-01 1.12130331e-01 1.86703814e-02 3.31717599e+01] [-1.12095630e-01 9.93693197e-01 -2.89814707e-03 -2.00235629e+00] [-1.88776011e-02 7.86493390e-04 9.99821493e-01 -1.29235602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282791605 meters 0.028355007660496315 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.02, Z:-1.30 [[ 9.92488809e-01 1.20672881e-01 2.01002587e-02 3.32294285e+01] [-1.20634749e-01 9.92692111e-01 -3.10333902e-03 -2.02230945e+00] [-2.03278571e-02 6.55239578e-04 9.99793153e-01 -1.29693709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342791604999995 meters 0.025052463726838677 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.04, Z:-1.30 [[ 9.90399842e-01 1.36822126e-01 1.96941148e-02 3.32875732e+01] [-1.36788715e-01 9.90595581e-01 -3.04010561e-03 -2.03821455e+00] [-1.99248568e-02 3.16987472e-04 9.99801430e-01 -1.29631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402791605 meters 0.023953876596569713 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.05, Z:-1.30 [[ 9.88449794e-01 1.50165517e-01 2.04284821e-02 3.33445720e+01] [-1.50132394e-01 9.88660870e-01 -3.15423803e-03 -2.05279176e+00] [-2.06704987e-02 5.08290011e-05 9.99786341e-01 -1.29911591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462791605 meters 0.024483691407854183 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.06, Z:-1.30 [[ 9.86844663e-01 1.59739974e-01 2.49148840e-02 3.34023752e+01] [-1.59693771e-01 9.87159109e-01 -3.84611485e-03 -2.06393100e+00] [-2.52093330e-02 -1.83233870e-04 9.99682177e-01 -1.30480795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522791604999995 meters 0.025845521953866975 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.07, Z:-1.31 [[ 9.85651887e-01 1.66570904e-01 2.72853607e-02 3.34596001e+01] [-1.66518459e-01 9.86029396e-01 -4.19912399e-03 -2.07393095e+00] [-2.76036196e-02 -4.04641716e-04 9.99618866e-01 -1.30927258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582791605 meters 0.02769504896007223 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.08, Z:-1.31 [[ 9.84333889e-01 1.74142665e-01 2.75885290e-02 3.35190380e+01] [-1.74092136e-01 9.84720233e-01 -4.24149661e-03 -2.07691800e+00] [-2.79056083e-02 -6.27897082e-04 9.99610365e-01 -1.30778703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642791605 meters 0.029280272707790416 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.08, Z:-1.31 [[ 9.83306405e-01 1.79774083e-01 2.81032687e-02 3.35776092e+01] [-1.79724006e-01 9.83707595e-01 -4.31853339e-03 -2.08276633e+00] [-2.84217593e-02 -8.04390491e-04 9.99595697e-01 -1.31273564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702791604999994 meters 0.02802847116722246 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.08, Z:-1.31 [[ 9.84064272e-01 1.75704124e-01 2.73051229e-02 3.36362870e+01] [-1.75655296e-01 9.84442794e-01 -4.19548000e-03 -2.08437974e+00] [-2.76174946e-02 -6.67667461e-04 9.99618341e-01 -1.31401321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762791605 meters 0.025745337756244244 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.09, Z:-1.31 [[ 9.85269945e-01 1.68935363e-01 2.65326096e-02 3.36956422e+01] [-1.68887126e-01 9.85627017e-01 -4.06477000e-03 -2.08628063e+00] [-2.68379402e-02 -4.76120454e-04 9.99639684e-01 -1.31287990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822791605 meters 0.024124609338502464 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.09, Z:-1.31 [[ 9.86282305e-01 1.62879997e-01 2.67828726e-02 3.37537720e+01] [-1.62828620e-01 9.86645837e-01 -4.10279868e-03 -2.09220470e+00] [-2.70934736e-02 -3.14500440e-04 9.99632855e-01 -1.31385115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882791604999994 meters 0.02440661267774259 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.10, Z:-1.32 [[ 9.86162844e-01 1.63945029e-01 2.45941597e-02 3.38109402e+01] [-1.63902242e-01 9.86469423e-01 -3.75927808e-03 -2.10488228e+00] [-2.48777014e-02 -3.23777558e-04 9.99690450e-01 -1.31631025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942791605 meters 0.024289858465807623 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.12, Z:-1.32 [[ 9.86218561e-01 1.63805631e-01 2.32521927e-02 3.38679219e+01] [-1.63767545e-01 9.86492584e-01 -3.54583544e-03 -2.11681036e+00] [-2.35189435e-02 -3.10985776e-04 9.99723343e-01 -1.31870457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002791605 meters 0.02414148493481399 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.13, Z:-1.32 [[ 9.86108797e-01 1.64224564e-01 2.48944376e-02 3.39242129e+01] [-1.64181285e-01 9.86422915e-01 -3.78655200e-03 -2.13018164e+00] [-2.51782886e-02 -3.53248521e-04 9.99682914e-01 -1.32273917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062791605 meters 0.024104437658804826 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.14, Z:-1.33 [[ 9.85915971e-01 1.65033829e-01 2.70838375e-02 3.39801962e+01] [-1.64983266e-01 9.86287818e-01 -4.10643928e-03 -2.14317823e+00] [-2.73901604e-02 -4.19775896e-04 9.99624731e-01 -1.32535174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122791604999996 meters 0.02394909072972845 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.15, Z:-1.33 [[ 9.86063142e-01 1.64162738e-01 2.70199102e-02 3.40368217e+01] [-1.64112404e-01 9.86433186e-01 -4.08513743e-03 -2.15113447e+00] [-2.73239635e-02 -4.06098978e-04 9.99626548e-01 -1.32614302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182791605 meters 0.023806074357172895 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.16, Z:-1.33 [[ 9.85997901e-01 1.64405528e-01 2.79098759e-02 3.40930918e+01] [-1.64352282e-01 9.86392736e-01 -4.20690640e-03 -2.16178850e+00] [-2.82217375e-02 -4.39050904e-04 9.99601591e-01 -1.32937279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242791605 meters 0.0235473801575587 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.17, Z:-1.33 [[ 9.86008206e-01 1.63836583e-01 3.07472376e-02 3.41504069e+01] [-1.63772156e-01 9.86487376e-01 -4.61929965e-03 -2.17452598e+00] [-3.10885720e-02 -4.80874041e-04 9.99516518e-01 -1.33445952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302791604999996 meters 0.02353560748496689 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.19, Z:-1.34 [[ 9.86066749e-01 1.63144626e-01 3.24991799e-02 3.42069047e+01] [-1.63072697e-01 9.86602039e-01 -4.86957461e-03 -2.18721785e+00] [-3.28582020e-02 -4.98003293e-04 9.99459899e-01 -1.33802731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362791605 meters 0.02392569472287116 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.20, Z:-1.34 [[ 9.85800257e-01 1.64345901e-01 3.44713997e-02 3.42648721e+01] [-1.64266266e-01 9.86402596e-01 -5.14909460e-03 -2.19741622e+00] [-3.48489107e-02 -5.86509334e-04 9.99392420e-01 -1.33791804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422791605 meters 0.024266001080126106 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.21, Z:-1.34 [[ 9.85672969e-01 1.65332668e-01 3.33752336e-02 3.43219369e+01] [-1.65258993e-01 9.86237665e-01 -4.97321744e-03 -2.21337163e+00] [-3.37381477e-02 -6.13591472e-04 9.99430518e-01 -1.34174833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482791604999996 meters 0.025199043014454386 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.23, Z:-1.34 [[ 9.85340361e-01 1.67382430e-01 3.29771959e-02 3.43793618e+01] [-1.67312058e-01 9.85891804e-01 -4.90163425e-03 -2.22572461e+00] [-3.33323946e-02 -6.87704443e-04 9.99444085e-01 -1.34152634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542791605 meters 0.02525535390281193 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.24, Z:-1.34 [[ 9.85876700e-01 1.65105629e-01 2.80582060e-02 3.44348588e+01] [-1.65053996e-01 9.86275749e-01 -4.16237409e-03 -2.24152887e+00] [-2.83603595e-02 -5.27531397e-04 9.99597625e-01 -1.34215601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602791605 meters 0.02412921306723557 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.26, Z:-1.34 [[ 9.86698599e-01 1.59791337e-01 2.98764824e-02 3.44921461e+01] [-1.59730787e-01 9.87150727e-01 -4.41788405e-03 -2.25550444e+00] [-3.01985309e-02 -4.13074049e-04 9.99543835e-01 -1.34233868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662791604999995 meters 0.023354882927922392 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.27, Z:-1.34 [[ 9.87408596e-01 1.55462950e-01 2.92495522e-02 3.45487848e+01] [-1.55403330e-01 9.87841683e-01 -4.31452358e-03 -2.27086309e+00] [-2.95646754e-02 -2.85280154e-04 9.99562829e-01 -1.34225273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722791605 meters 0.023912648524004862 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.29, Z:-1.34 [[ 9.87179745e-01 1.57165359e-01 2.78424158e-02 3.46055953e+01] [-1.57112294e-01 9.87572246e-01 -4.09704918e-03 -2.28990275e+00] [-2.81403114e-02 -3.29861867e-04 9.99603929e-01 -1.34214488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782791605 meters 0.024454032835132304 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.30, Z:-1.34 [[ 9.86490118e-01 1.61729286e-01 2.60937931e-02 3.46628650e+01] [-1.61684510e-01 9.86835064e-01 -3.83077731e-03 -2.30467364e+00] [-2.63698189e-02 -4.39938180e-04 9.99652159e-01 -1.34184045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842791604999995 meters 0.02589669460414732 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.32, Z:-1.34 [[ 9.84960208e-01 1.70401868e-01 2.85760599e-02 3.47206453e+01] [-1.70352235e-01 9.85374365e-01 -4.18041718e-03 -2.32037000e+00] [-2.88704678e-02 -7.50451100e-04 9.99582879e-01 -1.34339185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902791605 meters 0.027290601951183654 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.33, Z:-1.35 [[ 9.83794886e-01 1.76627893e-01 3.08254644e-02 3.47789680e+01] [-1.76573249e-01 9.84277182e-01 -4.50747598e-03 -2.33464505e+00] [-3.11369472e-02 -1.00852058e-03 9.99514619e-01 -1.34624842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962791605 meters 0.029253117969929476 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.34, Z:-1.35 [[ 9.82248293e-01 1.85223599e-01 2.96733940e-02 3.48383435e+01] [-1.85176928e-01 9.82695626e-01 -4.33717770e-03 -2.34487354e+00] [-2.99632621e-02 -1.23464255e-03 9.99550238e-01 -1.34694460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022791604999995 meters 0.030145782208598124 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.35, Z:-1.35 [[ 9.81668922e-01 1.88328746e-01 2.92986428e-02 3.48966386e+01] [-1.88284652e-01 9.82105167e-01 -4.28155930e-03 -2.35486698e+00] [-2.95806891e-02 -1.31341104e-03 9.99561533e-01 -1.34828184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082791605 meters 0.030548568575532117 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.36, Z:-1.35 [[ 9.81517910e-01 1.88836760e-01 3.10365973e-02 3.49551885e+01] [-1.88787572e-01 9.82007481e-01 -4.53425758e-03 -2.36183507e+00] [-3.13344052e-02 -1.40886883e-03 9.99507964e-01 -1.34930232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142791605 meters 0.031108425020897296 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.37, Z:-1.35 [[ 9.81210610e-01 1.90465327e-01 3.08009470e-02 3.50124677e+01] [-1.90418120e-01 9.81692832e-01 -4.48579679e-03 -2.37187516e+00] [-3.10914576e-02 -1.46354702e-03 9.99515472e-01 -1.35353141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202791604999994 meters 0.031611903288696355 Centerline is valid? [True, True] Translation: X:35.07, Y:-2.38, Z:-1.35 [[ 9.80950128e-01 1.92048478e-01 2.92271763e-02 3.50702637e+01] [-1.92006813e-01 9.81384382e-01 -4.25182665e-03 -2.38155107e+00] [-2.94996512e-02 -1.44098708e-03 9.99563752e-01 -1.35357386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262791605 meters 0.032042906073061504 Centerline is valid? [True, True] Translation: X:35.13, Y:-2.39, Z:-1.35 [[ 9.80321060e-01 1.95132810e-01 2.98965824e-02 3.51290240e+01] [-1.95091104e-01 9.80775549e-01 -4.33397123e-03 -2.39080302e+00] [-3.01675370e-02 -1.58387399e-03 9.99543601e-01 -1.35155914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322791605 meters 0.03256321178690465 Centerline is valid? [True, True] Translation: X:35.19, Y:-2.40, Z:-1.35 [[ 9.79882290e-01 1.96962210e-01 3.21960468e-02 3.51859998e+01] [-1.96914848e-01 9.80409488e-01 -4.66666353e-03 -2.40309550e+00] [-3.24844662e-02 -1.76709870e-03 9.99470678e-01 -1.35350999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382791604999994 meters 0.03294981665619579 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.42, Z:-1.35 [[ 9.79068723e-01 2.00517509e-01 3.48878734e-02 3.52436466e+01] [-2.00464725e-01 9.79687955e-01 -5.04031415e-03 -2.41735567e+00] [-3.51899006e-02 -2.05897399e-03 9.99378523e-01 -1.35469266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442791605 meters 0.03355000429160749 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.43, Z:-1.35 [[ 9.78030338e-01 2.05154440e-01 3.69907297e-02 3.53026702e+01] [-2.05098532e-01 9.78726760e-01 -5.34062351e-03 -2.42918190e+00] [-3.72994696e-02 -2.36345256e-03 9.99301338e-01 -1.35440818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502791605 meters 0.03439605623201643 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.44, Z:-1.36 [[ 9.77376710e-01 2.07393008e-01 4.15079148e-02 3.53602473e+01] [-2.07324697e-01 9.78253841e-01 -5.99106935e-03 -2.44291326e+00] [-4.18477830e-02 -2.75008420e-03 9.99120213e-01 -1.35662256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562791605 meters 0.03529037364420125 Centerline is valid? [True, True] Translation: X:35.42, Y:-2.46, Z:-1.36 [[ 9.75431100e-01 2.15532474e-01 4.56061594e-02 3.54187995e+01] [-2.15459024e-01 9.76490722e-01 -6.57868223e-03 -2.45704164e+00] [-4.59519112e-02 -3.40920736e-03 9.98937835e-01 -1.35948324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622791604999996 meters 0.03689390778172625 Centerline is valid? [True, True] Translation: X:35.48, Y:-2.47, Z:-1.36 [[ 9.72844076e-01 2.27023879e-01 4.51061217e-02 3.54780910e+01] [-2.26964339e-01 9.73881346e-01 -6.50484579e-03 -2.46579706e+00] [-4.54047658e-02 -3.90928038e-03 9.98961023e-01 -1.35927611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682791605 meters 0.03845693227419219 Centerline is valid? [True, True] Translation: X:35.54, Y:-2.47, Z:-1.36 [[ 9.69448194e-01 2.40735350e-01 4.70817477e-02 3.55384313e+01] [-2.40686594e-01 9.70579159e-01 -6.78669498e-03 -2.46967937e+00] [-4.73303605e-02 -4.75259631e-03 9.98867984e-01 -1.35888313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742791605 meters 0.03975860637262901 Centerline is valid? [True, True] Translation: X:35.60, Y:-2.47, Z:-1.36 [[ 9.66367526e-01 2.52681239e-01 4.78120822e-02 3.55992260e+01] [-2.52645501e-01 9.67534388e-01 -6.88905527e-03 -2.46818679e+00] [-4.80005688e-02 -5.42214818e-03 9.98832591e-01 -1.36206850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802791604999996 meters 0.04027308139516617 Centerline is valid? [True, True] Translation: X:35.66, Y:-2.46, Z:-1.37 [[ 9.64259417e-01 2.60572366e-01 4.80189511e-02 3.56601466e+01] [-2.60546040e-01 9.65436647e-01 -6.91681340e-03 -2.46445912e+00] [-4.81615856e-02 -5.84154511e-03 9.98822476e-01 -1.36516978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862791605 meters 0.04113061566318882 Centerline is valid? [True, True] Translation: X:35.72, Y:-2.47, Z:-1.37 [[ 9.63968468e-01 2.61845037e-01 4.69251568e-02 3.57203125e+01] [-2.61821475e-01 9.65092667e-01 -6.75711118e-03 -2.46615875e+00] [-4.70564408e-02 -5.77237168e-03 9.98875553e-01 -1.36871007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922791605 meters 0.03908374258134579 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.46, Z:-1.37 [[ 9.65444586e-01 2.56474897e-01 4.62317904e-02 3.57822661e+01] [-2.56446076e-01 9.66535632e-01 -6.65453768e-03 -2.45537279e+00] [-4.63913946e-02 -5.43137383e-03 9.98908574e-01 -1.37002996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982791604999996 meters 0.03926774685921684 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.46, Z:-1.37 [[ 9.66777828e-01 2.51093631e-01 4.78813132e-02 3.58419905e+01] [-2.51056348e-01 9.67947959e-01 -6.88905304e-03 -2.45923698e+00] [-4.80764167e-02 -5.36072389e-03 9.98829275e-01 -1.37113960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042791605 meters 0.03974543958224209 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.46, Z:-1.37 [[ 9.68557955e-01 2.44620735e-01 4.53451669e-02 3.59015383e+01] [-2.44580384e-01 9.69607088e-01 -6.52157353e-03 -2.46306811e+00] [-4.55623073e-02 -4.77401643e-03 9.98950091e-01 -1.37409955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102791605 meters 0.037898470910434925 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.46, Z:-1.38 [[ 9.70183098e-01 2.38071429e-01 4.54615442e-02 3.59617875e+01] [-2.38023883e-01 9.71237314e-01 -6.53533196e-03 -2.46268629e+00] [-4.57098239e-02 -4.48046468e-03 9.98944712e-01 -1.37729817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162791604999995 meters 0.03757687140395384 Centerline is valid? [True, True] Translation: X:36.02, Y:-2.47, Z:-1.38 [[ 9.71354290e-01 2.33111419e-01 4.61509316e-02 3.60222989e+01] [-2.33057048e-01 9.72440459e-01 -6.63067632e-03 -2.46538850e+00] [-4.64247195e-02 -4.31506400e-03 9.98912471e-01 -1.37716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222791605 meters 0.03668642969412809 Centerline is valid? [True, True] Translation: X:36.08, Y:-2.47, Z:-1.38 [[ 9.72831285e-01 2.26465160e-01 4.80918196e-02 3.60823568e+01] [-2.26398300e-01 9.74010336e-01 -6.90466855e-03 -2.46701238e+00] [-4.84055962e-02 -4.17082860e-03 9.98819054e-01 -1.37804026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282791605 meters 0.0358843845575673 Centerline is valid? [True, True] Translation: X:36.14, Y:-2.47, Z:-1.38 [[ 9.75318476e-01 2.16212707e-01 4.47876732e-02 3.61427029e+01] [-2.16144063e-01 9.76340323e-01 -6.42780051e-03 -2.46916536e+00] [-4.51177835e-02 -3.41143709e-03 9.98975849e-01 -1.37778247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342791604999995 meters 0.03382981277605934 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.47, Z:-1.38 [[ 9.76736290e-01 2.10211331e-01 4.23959360e-02 3.62027119e+01] [-2.10144310e-01 9.77651462e-01 -6.08174870e-03 -2.47286573e+00] [-4.27269013e-02 -2.96900006e-03 9.99082377e-01 -1.37995226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402791605 meters 0.03332283502212656 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.47, Z:-1.38 [[ 9.78379453e-01 2.02642845e-01 4.13463832e-02 3.62632268e+01] [-2.02572441e-01 9.79249329e-01 -5.92932736e-03 -2.47439002e+00] [-4.16899538e-02 -2.57450572e-03 9.99127279e-01 -1.38031183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462791605 meters 0.03244639283910168 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.48, Z:-1.38 [[ 9.79344666e-01 1.97770505e-01 4.20814922e-02 3.63226766e+01] [-1.97693175e-01 9.80245385e-01 -6.03277894e-03 -2.48345238e+00] [-4.24432942e-02 -2.41105391e-03 9.99095968e-01 -1.38370204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522791604999995 meters 0.0305427823094609 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.49, Z:-1.38 [[ 9.80978778e-01 1.89893945e-01 4.02607293e-02 3.63829783e+01] [-1.89816587e-01 9.81802609e-01 -5.77055789e-03 -2.48826792e+00] [-4.06238830e-02 -1.98135939e-03 9.99172545e-01 -1.38284185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582791605 meters 0.030836525141042286 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.50, Z:-1.38 [[ 9.81334922e-01 1.87488779e-01 4.27753371e-02 3.64412661e+01] [-1.87399353e-01 9.82264701e-01 -6.12688475e-03 -2.49780943e+00] [-4.31654259e-02 -2.00354455e-03 9.99065930e-01 -1.38369958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642791605 meters 0.03270524376419323 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.51, Z:-1.39 [[ 9.79985881e-01 1.94131436e-01 4.40529034e-02 3.65001260e+01] [-1.94043934e-01 9.80972642e-01 -6.29497263e-03 -2.50716689e+00] [-4.44367452e-02 -2.37921439e-03 9.99009367e-01 -1.38767171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702791604999994 meters 0.033663134895666046 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.51, Z:-1.39 [[ 9.78667929e-01 2.00515467e-01 4.47507732e-02 3.65599758e+01] [-2.00431888e-01 9.79686780e-01 -6.39299869e-03 -2.51241711e+00] [-4.51236360e-02 -2.71285919e-03 9.98977726e-01 -1.38865555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762791605 meters 0.03369128208062684 Centerline is valid? [True, True] Translation: X:36.62, Y:-2.52, Z:-1.39 [[ 9.78813555e-01 1.99172608e-01 4.74794352e-02 3.66177307e+01] [-1.99077253e-01 9.79960369e-01 -6.77658826e-03 -2.52040880e+00] [-4.78776756e-02 -2.81905910e-03 9.98849228e-01 -1.39254153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822791605 meters 0.03662102970958153 Centerline is valid? [True, True] Translation: X:36.68, Y:-2.53, Z:-1.39 [[ 9.81076797e-01 1.88826600e-01 4.28116159e-02 3.66764956e+01] [-1.88739834e-01 9.82008202e-01 -6.09642110e-03 -2.53372958e+00] [-4.31925244e-02 -2.09920000e-03 9.99064562e-01 -1.39251331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882791604999994 meters 0.03272620945249802 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.54, Z:-1.40 [[ 9.82917797e-01 1.79506062e-01 4.06223734e-02 3.67354892e+01] [-1.79420069e-01 9.83755559e-01 -5.78271347e-03 -2.54086661e+00] [-4.10005178e-02 -1.60453703e-03 9.99157837e-01 -1.39623553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942791605 meters 0.028136606113178506 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.55, Z:-1.40 [[ 9.85040659e-01 1.67709061e-01 3.96051976e-02 3.67950489e+01] [-1.67617846e-01 9.85835935e-01 -5.63627436e-03 -2.54770844e+00] [-3.99894813e-02 -1.08657849e-03 9.99199510e-01 -1.39592641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002791605 meters 0.026339256662686796 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.56, Z:-1.40 [[ 9.86255315e-01 1.60585912e-01 3.88923856e-02 3.68527038e+01] [-1.60492541e-01 9.87021553e-01 -5.53153297e-03 -2.55898290e+00] [-3.92759091e-02 -7.86434015e-04 9.99228094e-01 -1.40020683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062791604999994 meters 0.024266895673662133 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.57, Z:-1.40 [[ 9.87828517e-01 1.50251558e-01 4.02404122e-02 3.69107037e+01] [-1.50143215e-01 9.88647720e-01 -5.71840925e-03 -2.57089690e+00] [-4.06427917e-02 -3.93017150e-04 9.99173663e-01 -1.40203365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122791604999996 meters 0.023823741465067536 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.59, Z:-1.41 [[ 9.89041140e-01 1.41782239e-01 4.11754791e-02 3.69669491e+01] [-1.41661824e-01 9.89897870e-01 -5.84242539e-03 -2.59115803e+00] [-4.15878713e-02 -5.45943986e-05 9.99134849e-01 -1.40628253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182791605 meters 0.02360768306130228 Centerline is valid? [True, True] Translation: X:37.02, Y:-2.61, Z:-1.40 [[ 9.90144673e-01 1.34956078e-01 3.74217096e-02 3.70232146e+01] [-1.34852260e-01 9.90851562e-01 -5.29621174e-03 -2.60771099e+00] [-3.77941154e-02 1.97613717e-04 9.99285528e-01 -1.40499838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242791605 meters 0.023453911489492562 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.63, Z:-1.41 [[ 9.90380547e-01 1.31854877e-01 4.19602510e-02 3.70790979e+01] [-1.31722425e-01 9.91268975e-01 -5.91800417e-03 -2.62913096e+00] [-4.23742127e-02 3.33970176e-04 9.99101754e-01 -1.41012355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302791604999996 meters 0.02359204903888382 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.65, Z:-1.42 [[ 9.90674574e-01 1.28899892e-01 4.41441456e-02 3.71347066e+01] [-1.28751164e-01 9.91657502e-01 -6.20784532e-03 -2.65173574e+00] [-4.45760637e-02 4.66344380e-04 9.99005884e-01 -1.41558491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362791605 meters 0.022799973902063085 Centerline is valid? [True, True] Translation: X:37.19, Y:-2.68, Z:-1.42 [[ 9.90525046e-01 1.29868238e-01 4.46584066e-02 3.71898558e+01] [-1.29717824e-01 9.91531176e-01 -6.26206338e-03 -2.67612290e+00] [-4.50934456e-02 4.09739315e-04 9.98982689e-01 -1.41906577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422791605 meters 0.022332750546169216 Centerline is valid? [True, True] Translation: X:37.24, Y:-2.70, Z:-1.42 [[ 9.90149432e-01 1.31607718e-01 4.77860937e-02 3.72449877e+01] [-1.31438568e-01 9.91301820e-01 -6.67865064e-03 -2.70207629e+00] [-4.82494036e-02 3.31926402e-04 9.98835264e-01 -1.42339945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482791604999996 meters 0.0217533983826826 Centerline is valid? [True, True] Translation: X:37.30, Y:-2.73, Z:-1.43 [[ 9.89307984e-01 1.36240266e-01 5.20413486e-02 3.73000102e+01] [-1.36047170e-01 9.90675820e-01 -7.25165180e-03 -2.72762228e+00] [-5.25440727e-02 9.40388442e-05 9.98618602e-01 -1.42829737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542791605 meters 0.02146538245825256 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.75, Z:-1.43 [[ 9.88060046e-01 1.45026200e-01 5.20071758e-02 3.73549416e+01] [-1.44846567e-01 9.89427737e-01 -7.22666762e-03 -2.75496485e+00] [-5.25053984e-02 -3.92679338e-04 9.98620563e-01 -1.43018588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602791605 meters 0.022100613777831752 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.78, Z:-1.43 [[ 9.87012301e-01 1.51494276e-01 5.34434379e-02 3.74110027e+01] [-1.51315200e-01 9.88457828e-01 -7.40483270e-03 -2.77813231e+00] [-5.39483743e-02 -7.78143523e-04 9.98543423e-01 -1.43432602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662791604999995 meters 0.02402075388815174 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.81, Z:-1.44 [[ 9.84722485e-01 1.64705622e-01 5.65126973e-02 3.74672044e+01] [-1.64527970e-01 9.86341466e-01 -7.81406036e-03 -2.81284604e+00] [-5.70278364e-02 -1.60323840e-03 9.98371301e-01 -1.43838156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722791605 meters 0.026057714698344486 Centerline is valid? [True, True] Translation: X:37.52, Y:-2.84, Z:-1.44 [[ 9.82902528e-01 1.74706850e-01 5.81389531e-02 3.75238174e+01] [-1.74536251e-01 9.84617932e-01 -8.03892418e-03 -2.84058743e+00] [-5.86491109e-02 -2.24587603e-03 9.98276133e-01 -1.44242912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782791605 meters 0.027183951796971386 Centerline is valid? [True, True] Translation: X:37.58, Y:-2.86, Z:-1.45 [[ 9.81754272e-01 1.80175656e-01 6.07888395e-02 3.75819845e+01] [-1.79999593e-01 9.83630773e-01 -8.40532629e-03 -2.86152896e+00] [-6.13082083e-02 -2.69000136e-03 9.98115258e-01 -1.44533623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842791604999995 meters 0.028726630869296613 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.88, Z:-1.45 [[ 9.80293686e-01 1.88016915e-01 6.06129411e-02 3.76397057e+01] [-1.87856832e-01 9.82160670e-01 -8.38027517e-03 -2.88331017e+00] [-6.11072803e-02 -3.17142427e-03 9.98126166e-01 -1.44670363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902791605 meters 0.030604923190564445 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.91, Z:-1.45 [[ 9.78230437e-01 1.97270688e-01 6.44165176e-02 3.76966410e+01] [-1.97109963e-01 9.80340951e-01 -8.90405961e-03 -2.90683436e+00] [-6.49066601e-02 -3.98691531e-03 9.97883375e-01 -1.45155105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962791605 meters 0.03197762323174018 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.92, Z:-1.45 [[ 9.76525329e-01 2.04289153e-01 6.82951281e-02 3.77549386e+01] [-2.04125711e-01 9.78899188e-01 -9.43784906e-03 -2.92197603e+00] [-6.87820956e-02 -4.72449294e-03 9.97620520e-01 -1.45386690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022791604999995 meters 0.03275844699655609 Centerline is valid? [True, True] Translation: X:37.81, Y:-2.94, Z:-1.46 [[ 9.74598694e-01 2.13852572e-01 6.65166297e-02 3.78128902e+01] [-2.13719744e-01 9.76851788e-01 -9.18995161e-03 -2.93983858e+00] [-6.69421834e-02 -5.25940221e-03 9.97742994e-01 -1.45500141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082791605 meters 0.034391271487969645 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.95, Z:-1.46 [[ 9.72963700e-01 2.21501441e-01 6.54121491e-02 3.78718378e+01] [-2.21390188e-01 9.75143444e-01 -9.03596302e-03 -2.95339608e+00] [-6.57877072e-02 -5.68994399e-03 9.97817419e-01 -1.45774480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142791605 meters 0.034502934336477095 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.96, Z:-1.46 [[ 9.71588357e-01 2.26974532e-01 6.70717961e-02 3.79314011e+01] [-2.26870544e-01 9.73880860e-01 -9.26429768e-03 -2.96386559e+00] [-6.74226981e-02 -6.21553112e-03 9.97705140e-01 -1.45936144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202791604999994 meters 0.03585662161889332 Centerline is valid? [True, True] Translation: X:37.99, Y:-2.97, Z:-1.46 [[ 9.69370191e-01 2.36002884e-01 6.80005275e-02 3.79907412e+01] [-2.35918033e-01 9.71727579e-01 -9.39113036e-03 -2.97475700e+00] [-6.82943218e-02 -6.93906887e-03 9.97641085e-01 -1.46180561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262791605 meters 0.035556771514887946 Centerline is valid? [True, True] Translation: X:38.05, Y:-2.98, Z:-1.46 [[ 9.67496867e-01 2.43839276e-01 6.70240319e-02 3.80508145e+01] [-2.43775481e-01 9.69787538e-01 -9.25455027e-03 -2.97813635e+00] [-6.72556937e-02 -7.38506719e-03 9.97708441e-01 -1.46227788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322791605 meters 0.03699440295425251 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.98, Z:-1.47 [[ 9.65859016e-01 2.50106731e-01 6.75498701e-02 3.81114354e+01] [-2.50057107e-01 9.68186175e-01 -9.32596336e-03 -2.98059031e+00] [-6.77333366e-02 -7.88375932e-03 9.97672312e-01 -1.46612240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382791604999994 meters 0.037694727098968296 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.98, Z:-1.47 [[ 9.63899629e-01 2.56441630e-01 7.16602825e-02 3.81724875e+01] [-2.56403154e-01 9.66519305e-01 -9.89225160e-03 -2.97879798e+00] [-7.17978315e-02 -8.83878477e-03 9.97380042e-01 -1.46843118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442791605 meters 0.03713739097756697 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.97, Z:-1.47 [[ 9.63129329e-01 2.59995873e-01 6.91667682e-02 3.82345407e+01] [-2.59969117e-01 9.65569745e-01 -9.54602739e-03 -2.97034532e+00] [-6.92672664e-02 -8.78716467e-03 9.97559438e-01 -1.46964432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502791605 meters 0.038225688702726454 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.96, Z:-1.47 [[ 9.62260069e-01 2.62994797e-01 6.99234991e-02 3.82964709e+01] [-2.62975394e-01 9.64754297e-01 -9.64825087e-03 -2.96293872e+00] [-6.99964360e-02 -9.10403315e-03 9.97505697e-01 -1.47337138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562791604999994 meters 0.037889061088703685 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.95, Z:-1.48 [[ 9.61728895e-01 2.65128849e-01 6.91680971e-02 3.83588414e+01] [-2.65115462e-01 9.64169466e-01 -9.54111600e-03 -2.94899728e+00] [-6.92193923e-02 -9.16156505e-03 9.97559392e-01 -1.47533091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622791604999996 meters 0.038713465384048906 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.94, Z:-1.48 [[ 9.63018729e-01 2.60942210e-01 6.71125173e-02 3.84207816e+01] [-2.60919858e-01 9.65316116e-01 -9.25327041e-03 -2.94057184e+00] [-6.71993634e-02 -8.59991580e-03 9.97702504e-01 -1.47968990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682791605 meters 0.03933153225364446 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.93, Z:-1.48 [[ 9.64223569e-01 2.56674115e-01 6.62669457e-02 3.84821811e+01] [-2.56642677e-01 9.66463210e-01 -9.13232875e-03 -2.93184850e+00] [-6.63885974e-02 -8.20131971e-03 9.97760138e-01 -1.48240964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742791605 meters 0.03880899132945275 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.93, Z:-1.48 [[ 9.65557795e-01 2.52326502e-01 6.34781901e-02 3.85429323e+01] [-2.52288553e-01 9.67612533e-01 -8.74483576e-03 -2.92896067e+00] [-6.36288461e-02 -7.57117638e-03 9.97944912e-01 -1.48318017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802791604999996 meters 0.038688163201903505 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.92, Z:-1.49 [[ 9.67561337e-01 2.45339510e-01 6.02792168e-02 3.86035558e+01] [-2.45292027e-01 9.69413693e-01 -8.30133860e-03 -2.92417922e+00] [-6.04721446e-02 -6.75395703e-03 9.98147035e-01 -1.48563388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862791605 meters 0.03799851755043153 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.92, Z:-1.49 [[ 9.69944557e-01 2.36400252e-01 5.76409376e-02 3.86639079e+01] [-2.36341328e-01 9.71637692e-01 -7.93551526e-03 -2.92303082e+00] [-5.78820653e-02 -5.92592592e-03 9.98305840e-01 -1.48752259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922791605 meters 0.03680837350388601 Centerline is valid? [True, True] Translation: X:38.72, Y:-2.93, Z:-1.49 [[ 9.72366216e-01 2.27178241e-01 5.37958040e-02 3.87231925e+01] [-2.27113041e-01 9.73840263e-01 -7.40335973e-03 -2.92833280e+00] [-5.40704021e-02 -5.01895173e-03 9.98524512e-01 -1.49061876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982791604999996 meters 0.03577398225552542 Centerline is valid? [True, True] Translation: X:38.78, Y:-2.94, Z:-1.49 [[ 9.75024217e-01 2.15814445e-01 5.24585680e-02 3.87827589e+01] [-2.15736275e-01 9.76425006e-01 -7.21575216e-03 -2.93845568e+00] [-5.27791211e-02 -4.28168297e-03 9.98597032e-01 -1.49141383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042791605 meters 0.03358876806961599 Centerline is valid? [True, True] Translation: X:38.84, Y:-2.95, Z:-1.49 [[ 9.77033627e-01 2.07348866e-01 4.91094573e-02 3.88413988e+01] [-2.07269858e-01 9.78260506e-01 -6.75194933e-03 -2.95207776e+00] [-4.94418515e-02 -3.58202870e-03 9.98770580e-01 -1.49102432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102791605 meters 0.033393627818810674 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.97, Z:-1.49 [[ 9.78172516e-01 2.02437681e-01 4.68776591e-02 3.88992161e+01] [-2.02360127e-01 9.79289975e-01 -6.44394649e-03 -2.97181583e+00] [-4.72113192e-02 -3.18287771e-03 9.98879853e-01 -1.49301549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162791604999995 meters 0.03231184400311618 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.99, Z:-1.49 [[ 9.78631449e-01 2.00116504e-01 4.72638535e-02 3.89556202e+01] [-2.00035087e-01 9.79767209e-01 -6.49462251e-03 -2.99055790e+00] [-4.76072550e-02 -3.09858722e-03 9.98861326e-01 -1.49318891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222791605 meters 0.031486827021782765 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.01, Z:-1.50 [[ 9.77969527e-01 2.02181959e-01 5.19428546e-02 3.90130839e+01] [-2.02086806e-01 9.79341643e-01 -7.13232742e-03 -3.01177833e+00] [-5.23118285e-02 -3.52176672e-03 9.98624589e-01 -1.49579572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282791605 meters 0.031815403542753445 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.03, Z:-1.50 [[ 9.77921273e-01 2.01816396e-01 5.42229299e-02 3.90701411e+01] [-2.01712648e-01 9.79416514e-01 -7.43637733e-03 -3.02923453e+00] [-5.46076159e-02 -3.66525917e-03 9.98501164e-01 -1.49721120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342791604999995 meters 0.03710557515576177 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.07, Z:-1.51 [[ 9.77930387e-01 2.00706294e-01 5.80443032e-02 3.91230564e+01] [-2.00587026e-01 9.79643760e-01 -7.93396156e-03 -3.07169222e+00] [-5.84551354e-02 -3.88407203e-03 9.98282481e-01 -1.50572779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402791605 meters 0.0369113581802383 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.09, Z:-1.51 [[ 9.77817451e-01 2.00092553e-01 6.19354708e-02 3.91789857e+01] [-1.99957234e-01 9.79768284e-01 -8.43885395e-03 -3.09225190e+00] [-6.23709618e-02 -4.13278678e-03 9.98044480e-01 -1.50679283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462791605 meters 0.03811723066590292 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.12, Z:-1.52 [[ 9.77510434e-01 1.98262207e-01 7.18710597e-02 3.92349453e+01] [-1.98076471e-01 9.80137837e-01 -9.77408194e-03 -3.12338720e+00] [-7.23813760e-02 -4.68169877e-03 9.97366040e-01 -1.51520387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522791604999995 meters 0.04068830939649955 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.15, Z:-1.52 [[ 9.77398437e-01 1.95804458e-01 7.97051410e-02 3.92904842e+01] [-1.95568332e-01 9.80630223e-01 -1.08347705e-02 -3.15426696e+00] [-8.02827666e-02 -4.99791381e-03 9.96759599e-01 -1.52099753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582791605 meters 0.042642073966716376 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.19, Z:-1.53 [[ 9.76460689e-01 1.97059398e-01 8.77047153e-02 3.93469466e+01] [-1.96778814e-01 9.80375447e-01 -1.19197690e-02 -3.18610572e+00] [-8.83324520e-02 -5.61924395e-03 9.96075199e-01 -1.52676786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642791605 meters 0.046626175340143385 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.22, Z:-1.54 [[ 9.74076196e-01 1.99321043e-01 1.06989186e-01 3.94031575e+01] [-1.98917360e-01 9.79908390e-01 -1.45406890e-02 -3.22150383e+00] [-1.07737866e-01 -7.11826742e-03 9.94153853e-01 -1.53547316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702791604999994 meters 0.04938556262760177 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.26, Z:-1.54 [[ 9.71649645e-01 2.04502269e-01 1.18641431e-01 3.94591620e+01] [-2.04044414e-01 9.78828829e-01 -1.61245081e-02 -3.25589498e+00] [-1.19427152e-01 -8.54074874e-03 9.92806230e-01 -1.53949103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762791605 meters 0.051779112558417106 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.29, Z:-1.54 [[ 9.68385763e-01 2.15652102e-01 1.25392126e-01 3.95152895e+01] [-2.15233080e-01 9.76413976e-01 -1.70431445e-02 -3.29247213e+00] [-1.26110014e-01 -1.04841950e-02 9.91960859e-01 -1.54409709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822791605 meters 0.05012058081291514 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.32, Z:-1.54 [[ 9.63142159e-01 2.33994942e-01 1.32678363e-01 3.95719062e+01] [-2.33697082e-01 9.72142179e-01 -1.80349014e-02 -3.32289663e+00] [-1.33202309e-01 -1.36363725e-02 9.90995053e-01 -1.54344254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882791604999994 meters 0.06173305824358858 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.34, Z:-1.55 [[ 9.60980827e-01 2.33114497e-01 1.48907627e-01 3.96312522e+01] [-2.32731032e-01 9.72330452e-01 -2.02425092e-02 -3.33550804e+00] [-1.49506243e-01 -1.52027625e-02 9.88643899e-01 -1.54762599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942791605 meters 0.0627243536631633 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.37, Z:-1.55 [[ 9.55959974e-01 2.47439385e-01 1.57842574e-01 3.96884360e+01] [-2.47200420e-01 9.68726683e-01 -2.14607968e-02 -3.36502993e+00] [-1.58216560e-01 -1.85030879e-02 9.87231055e-01 -1.55266074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002791605 meters 0.06510904293584642 Centerline is valid? [True, True] Translation: X:39.75, Y:-3.39, Z:-1.56 [[ 9.49339338e-01 2.61506022e-01 1.74268247e-01 3.97451224e+01] [-2.61449098e-01 9.64926262e-01 -2.36997533e-02 -3.39442546e+00] [-1.74353636e-01 -2.30631678e-02 9.84412972e-01 -1.56028031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062791604999994 meters 0.0791774028854597 Centerline is valid? [True, True] Translation: X:39.80, Y:-3.42, Z:-1.58 [[ 9.38492344e-01 2.74962629e-01 2.08872383e-01 3.98022586e+01] [-2.75221653e-01 9.60960814e-01 -2.84139899e-02 -3.42406563e+00] [-2.08530961e-01 -3.08198905e-02 9.77530037e-01 -1.57717958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122791604999996 meters 0.09044735494422179 Centerline is valid? [True, True] Translation: X:39.86, Y:-3.46, Z:-1.60 [[ 9.24063779e-01 2.88077148e-01 2.51232342e-01 3.98590828e+01] [-2.88964530e-01 9.56729018e-01 -3.41919030e-02 -3.45607226e+00] [-2.50211178e-01 -4.10017365e-02 9.67322709e-01 -1.59724857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182791605 meters 0.11427834281366614 Centerline is valid? [True, False] Translation: X:40.03, Y:-3.52, Z:-1.64 [[ 9.47115828e-01 2.45882401e-01 2.06187910e-01 4.00329682e+01] [-2.48959439e-01 9.68447935e-01 -1.13046319e-02 -3.51954939e+00] [-2.02461866e-01 -4.06256306e-02 9.78447112e-01 -1.63881684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242791605 meters 0.12294231434650163 Centerline is valid? [False, False] Translation: X:40.21, Y:-3.55, Z:-1.67 [[ 9.65017968e-01 2.10938523e-01 1.55708896e-01 4.02085693e+01] [-2.12804370e-01 9.77083130e-01 -4.78092110e-03 -3.55266557e+00] [-1.53149016e-01 -2.85218587e-02 9.87791416e-01 -1.66607146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302791604999996 meters 0.15877287795827477 Centerline is valid? [False, False] Translation: X:40.36, Y:-3.57, Z:-1.68 [[ 9.75706191e-01 1.85083437e-01 1.17224362e-01 4.03607294e+01] [-1.85157043e-01 9.82654358e-01 -1.03576810e-02 -3.56534307e+00] [-1.17108065e-01 -1.15988627e-02 9.93051443e-01 -1.68437823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362791605 meters 0.4613814290675838 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.57, Z:-1.70 [[ 9.82636014e-01 1.65482607e-01 8.39164474e-02 4.04849088e+01] [-1.64800883e-01 9.86212256e-01 -1.50351005e-02 -3.57028958e+00] [-8.52474766e-02 9.44526547e-04 9.96359361e-01 -1.69566983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422791605 meters 0.3386894258418597 Centerline is valid? [False, False] Translation: X:40.60, Y:-3.57, Z:-1.71 [[ 9.87497608e-01 1.45367383e-01 6.09655493e-02 4.05993822e+01] [-1.44359584e-01 9.89309903e-01 -2.06452284e-02 -3.57282155e+00] [-6.33149646e-02 1.15861524e-02 9.97926338e-01 -1.70512189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482791604999996 meters 0.5814191932067166 Centerline is valid? [False, False] Translation: X:40.64, Y:-3.57, Z:-1.73 [[ 9.89944343e-01 1.30464092e-01 5.46746624e-02 4.06436892e+01] [-1.29286177e-01 9.91302899e-01 -2.45692163e-02 -3.57218889e+00] [-5.74045519e-02 1.72534786e-02 9.98201901e-01 -1.72563945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542791605 meters 0.5513957710003506 Centerline is valid? [False, False] Translation: X:40.71, Y:-3.57, Z:-1.74 [[ 9.92718861e-01 1.10503655e-01 4.79396031e-02 4.07101336e+01] [-1.09388663e-01 9.93677084e-01 -2.52976839e-02 -3.56828236e+00] [-5.04319715e-02 1.98694389e-02 9.98529830e-01 -1.74191036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602791605 meters 0.4971569436630563 Centerline is valid? [False, False] Translation: X:40.80, Y:-3.56, Z:-1.76 [[ 9.95696478e-01 8.86799740e-02 2.69144051e-02 4.08003701e+01] [-8.79547639e-02 9.95757653e-01 -2.70306579e-02 -3.56278604e+00] [-2.91973029e-02 2.45470808e-02 9.99272214e-01 -1.75669358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662791604999995 meters 0.45978917488085147 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.56, Z:-1.77 [[ 9.97649321e-01 6.47753814e-02 2.23602930e-02 4.08398068e+01] [-6.42891270e-02 9.97692716e-01 -2.18209263e-02 -3.56052570e+00] [-2.37221603e-02 2.03321086e-02 9.99511813e-01 -1.77450262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722791605 meters 0.6500852084192198 Centerline is valid? [False, False] Translation: X:40.88, Y:-3.57, Z:-1.79 [[ 9.98962010e-01 4.39494846e-02 1.19726602e-02 4.08807823e+01] [-4.37730957e-02 9.98934568e-01 -1.46166124e-02 -3.56501015e+00] [-1.26022967e-02 1.40773601e-02 9.99821489e-01 -1.79398596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782791605 meters 0.42576746275507243 Centerline is valid? [False, False] Translation: X:40.91, Y:-3.56, Z:-1.80 [[ 9.99620695e-01 2.22136975e-02 1.62793574e-02 4.09090278e+01] [-2.20670962e-02 9.99714799e-01 -9.13033909e-03 -3.55673471e+00] [-1.64775332e-02 8.76763776e-03 9.99825795e-01 -1.80484774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842791604999995 meters 0.40070703412065484 Centerline is valid? [False, False] Translation: X:40.96, Y:-3.54, Z:-1.79 [[ 9.99922907e-01 1.06665577e-02 6.35639967e-03 4.09645851e+01] [-1.05950764e-02 9.99881424e-01 -1.11750719e-02 -3.54418229e+00] [-6.47484551e-03 1.11068638e-02 9.99917354e-01 -1.78900539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902791605 meters 0.3864893858132422 Centerline is valid? [False, False] Translation: X:40.99, Y:-3.54, Z:-1.82 [[ 9.99952057e-01 -7.17904522e-04 9.76569980e-03 4.09900239e+01] [ 7.75467187e-04 9.99982342e-01 -5.89186278e-03 -3.54273866e+00] [-9.76129756e-03 5.89915328e-03 9.99934956e-01 -1.82022791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962791605 meters 0.3664037959154787 Centerline is valid? [False, False] Translation: X:41.02, Y:-3.54, Z:-1.83 [[ 9.99952051e-01 -6.87537321e-03 6.97317991e-03 4.10216427e+01] [ 6.89100465e-03 9.99973792e-01 -2.22010684e-03 -3.53608865e+00] [-6.95773310e-03 2.26805260e-03 9.99973223e-01 -1.82815068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022791604999995 meters 0.35013902224789545 Centerline is valid? [False, False] Translation: X:41.07, Y:-3.52, Z:-1.80 [[ 9.99765127e-01 -1.65476819e-02 1.39951730e-02 4.10652112e+01] [ 1.65749400e-02 9.99860944e-01 -1.83392886e-03 -3.52330634e+00] [-1.39628796e-02 2.06546727e-03 9.99900381e-01 -1.80171681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082791605 meters 0.3407261556884115 Centerline is valid? [False, False] Translation: X:41.09, Y:-3.52, Z:-1.80 [[ 9.99917269e-01 -4.48443961e-03 1.20559415e-02 4.10921386e+01] [ 4.46715090e-03 9.99988956e-01 1.46058779e-03 -3.51866265e+00] [-1.20623582e-02 -1.40661125e-03 9.99926258e-01 -1.80200562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142791605 meters 0.33261342437071145 Centerline is valid? [False, False] Translation: X:41.13, Y:-3.51, Z:-1.80 [[ 9.99820905e-01 -5.89296442e-03 1.79841814e-02 4.11258847e+01] [ 5.85631371e-03 9.99980668e-01 2.08992643e-03 -3.51081774e+00] [-1.79961496e-02 -1.98423113e-03 9.99836087e-01 -1.79591369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202791604999994 meters 0.3374926300294028 Centerline is valid? [False, False] Translation: X:41.13, Y:-3.51, Z:-1.81 [[ 9.99929464e-01 2.57138837e-03 1.15954676e-02 4.11259678e+01] [-2.55901148e-03 9.99996140e-01 -1.08210161e-03 -3.50616497e+00] [-1.15982053e-02 1.05235235e-03 9.99932185e-01 -1.81245326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262791605 meters 0.33585024007924213 Centerline is valid? [False, False] Translation: X:41.17, Y:-3.50, Z:-1.80 [[ 9.99776486e-01 -7.61459632e-03 1.97229596e-02 4.11701091e+01] [ 7.56012067e-03 9.99967403e-01 2.83513346e-03 -3.50405980e+00] [-1.97439051e-02 -2.68539181e-03 9.99801464e-01 -1.79800485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322791605 meters 0.3514720759980893 Centerline is valid? [False, False] Translation: X:41.17, Y:-3.50, Z:-1.81 [[ 9.99850714e-01 2.88148620e-03 1.70366301e-02 4.11652214e+01] [-2.92206862e-03 9.99992951e-01 2.35765522e-03 -3.50257692e+00] [-1.70297165e-02 -2.40708546e-03 9.99852086e-01 -1.81405662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382791604999994 meters 0.36213480656202446 Centerline is valid? [False, False] Translation: X:41.18, Y:-3.50, Z:-1.83 [[ 9.99886075e-01 3.46990823e-03 1.46899976e-02 4.11810458e+01] [-3.51067174e-03 9.99990056e-01 2.75003882e-03 -3.50041022e+00] [-1.46803091e-02 -2.80129728e-03 9.99888314e-01 -1.83106902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442791605 meters 0.38022044739671085 Centerline is valid? [False, False] Translation: X:41.25, Y:-3.49, Z:-1.83 [[ 9.99987973e-01 -2.00139445e-03 4.47745031e-03 4.12465879e+01] [ 1.99180930e-03 9.99995718e-01 2.14419636e-03 -3.49316259e+00] [-4.48172252e-03 -2.13525235e-03 9.99987677e-01 -1.82603094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502791605 meters 0.3961130033568185 Centerline is valid? [False, False] Translation: X:41.28, Y:-3.49, Z:-1.82 [[ 9.99940667e-01 -3.43203868e-03 1.03384545e-02 4.12765925e+01] [ 3.39019901e-03 9.99986004e-01 4.06180456e-03 -3.49276771e+00] [-1.03522501e-02 -4.02651414e-03 9.99938307e-01 -1.81685713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562791604999994 meters 0.41743358120775137 Centerline is valid? [False, False] Translation: X:41.31, Y:-3.49, Z:-1.81 [[ 9.99872242e-01 -4.06135377e-03 1.54597884e-02 4.13100869e+01] [ 3.95297721e-03 9.99967446e-01 7.03433710e-03 -3.49292192e+00] [-1.54878540e-02 -6.97232622e-03 9.99855746e-01 -1.81145289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622791604999996 meters 0.4602840165359238 Centerline is valid? [False, False] Translation: X:41.33, Y:-3.49, Z:-1.81 [[ 9.99854585e-01 3.67328350e-04 1.70491336e-02 4.13319604e+01] [-4.16681255e-04 9.99995733e-01 2.89128365e-03 -3.48866106e+00] [-1.70479988e-02 -2.89796727e-03 9.99850473e-01 -1.81201250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682791605 meters 0.482692123375074 Centerline is valid? [False, False] Translation: X:41.36, Y:-3.49, Z:-1.80 [[ 9.99746913e-01 -2.03331926e-03 2.24048087e-02 4.13624985e+01] [ 1.93789862e-03 9.99988964e-01 4.27982481e-03 -3.49058142e+00] [-2.24132637e-02 -4.23532339e-03 9.99739820e-01 -1.80386018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742791605 meters 0.13956811303417863 Centerline is valid? [False, False] Translation: X:41.38, Y:-3.49, Z:-1.80 [[ 9.99671407e-01 6.29153157e-04 2.56258066e-02 4.13784233e+01] [-5.90698533e-04 9.99998688e-01 -1.50816316e-03 -3.48826817e+00] [-2.56267219e-02 1.49253046e-03 9.99670467e-01 -1.79865911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802791604999996 meters 0.2454263283240097 Centerline is valid? [False, False] Translation: X:41.39, Y:-3.49, Z:-1.81 [[ 9.99720489e-01 -3.37198288e-04 2.36396055e-02 4.13897033e+01] [ 3.85068381e-04 9.99997885e-01 -2.02047260e-03 -3.48917975e+00] [-2.36388742e-02 2.02901072e-03 9.99718504e-01 -1.81064353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862791605 meters 0.10338874048384368 Centerline is valid? [False, False] Translation: X:41.43, Y:-3.50, Z:-1.81 [[ 9.99975663e-01 -7.45641911e-04 6.93660278e-03 4.14313933e+01] [ 7.69311903e-04 9.99993889e-01 -3.41028998e-03 -3.49744079e+00] [-6.93401754e-03 3.41554340e-03 9.99970126e-01 -1.80895591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922791605 meters 0.10085825038972893 Centerline is valid? [False, False] Translation: X:41.44, Y:-3.51, Z:-1.82 [[ 9.99979590e-01 -3.79311445e-03 5.14118991e-03 4.14380563e+01] [ 3.81040601e-03 9.99987103e-01 -3.35772561e-03 -3.51176794e+00] [-5.12838737e-03 3.37724710e-03 9.99981147e-01 -1.81601318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982791604999996 meters 0.10787502080683316 Centerline is valid? [False, False] Translation: X:41.46, Y:-3.52, Z:-1.82 [[ 9.99981647e-01 1.39251435e-03 5.89636549e-03 4.14640114e+01] [-1.36892386e-03 9.99991051e-01 -4.00300102e-03 -3.52231126e+00] [-5.90188696e-03 3.99485587e-03 9.99974604e-01 -1.82140361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042791605 meters 0.10197369021432916 Centerline is valid? [False, False] Translation: X:41.49, Y:-3.53, Z:-1.82 [[ 9.99958580e-01 6.09759424e-03 6.75702597e-03 4.14880646e+01] [-6.06055573e-03 9.99966573e-01 -5.48846652e-03 -3.53187551e+00] [-6.79026655e-03 5.44728786e-03 9.99962109e-01 -1.82440253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102791605 meters 0.11135766301187482 Centerline is valid? [False, False] Translation: X:41.51, Y:-3.55, Z:-1.83 [[ 9.99988322e-01 3.49186809e-04 4.82021838e-03 4.15142868e+01] [-3.69637567e-04 9.99990932e-01 4.24246499e-03 -3.55185018e+00] [-4.81869326e-03 -4.24419718e-03 9.99979383e-01 -1.83122670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162791604999995 meters 0.11605636204939103 Centerline is valid? [False, False] Translation: X:41.54, Y:-3.55, Z:-1.84 [[ 9.99974411e-01 2.74247812e-03 6.60732663e-03 4.15386367e+01] [-2.72806381e-03 9.99993882e-01 -2.18958983e-03 -3.54863401e+00] [-6.61329110e-03 2.17150859e-03 9.99975774e-01 -1.83510477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222791605 meters 0.12195660752600332 Centerline is valid? [False, False] Translation: X:41.56, Y:-3.56, Z:-1.84 [[ 9.99978280e-01 -1.93199737e-03 6.30132858e-03 4.15640044e+01] [ 1.88835685e-03 9.99974244e-01 6.92421782e-03 -3.55972836e+00] [-6.31454386e-03 -6.91216827e-03 9.99956173e-01 -1.84201222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282791605 meters 0.11869840795735596 Centerline is valid? [False, False] Translation: X:41.59, Y:-3.55, Z:-1.84 [[ 9.99959811e-01 7.04867903e-05 8.96504393e-03 4.15862356e+01] [-6.33397445e-05 9.99999680e-01 -7.97494010e-04 -3.55245571e+00] [-8.96509728e-03 7.96894116e-04 9.99959495e-01 -1.84386497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342791604999995 meters 0.10327949153004339 Centerline is valid? [False, False] Translation: X:41.64, Y:-3.55, Z:-1.85 [[ 9.99950105e-01 4.23593102e-04 -9.98041294e-03 4.16400167e+01] [-4.43641990e-04 9.99997888e-01 -2.00669527e-03 -3.54972275e+00] [ 9.97954185e-03 2.01102287e-03 9.99948181e-01 -1.84503572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402791605 meters 0.11768503894978594 Centerline is valid? [False, False] Translation: X:41.64, Y:-3.55, Z:-1.85 [[ 9.99984304e-01 1.80808289e-03 5.30302092e-03 4.16376708e+01] [-1.80227450e-03 9.99997771e-01 -1.09987153e-03 -3.55248243e+00] [-5.30499776e-03 1.09029676e-03 9.99985334e-01 -1.84927265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462791605 meters 0.11938812935614393 Centerline is valid? [False, False] Translation: X:41.64, Y:-3.56, Z:-1.86 [[ 9.99991215e-01 -6.94078468e-04 4.13377417e-03 4.16434923e+01] [ 7.05381395e-04 9.99996015e-01 -2.73345744e-03 -3.55643186e+00] [-4.13186047e-03 2.73634932e-03 9.99987720e-01 -1.85556998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522791604999995 meters 0.10699350301952566 Centerline is valid? [False, False] Translation: X:41.68, Y:-3.56, Z:-1.85 [[ 9.99986837e-01 -9.25338167e-04 5.04671731e-03 4.16832930e+01] [ 9.26328041e-04 9.99999552e-01 -1.93808255e-04 -3.55682517e+00] [-5.04653571e-03 1.98480619e-04 9.99987246e-01 -1.85314810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582791605 meters 0.11080017773947888 Centerline is valid? [False, False] Translation: X:41.71, Y:-3.56, Z:-1.85 [[ 9.99967615e-01 4.49126711e-03 6.67812330e-03 4.17056236e+01] [-4.47161330e-03 9.99985636e-01 -2.95503758e-03 -3.55905873e+00] [-6.69129924e-03 2.92507990e-03 9.99973335e-01 -1.85439813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642791605 meters 0.11000010366008642 Centerline is valid? [False, False] Translation: X:41.73, Y:-3.57, Z:-1.86 [[ 9.99960448e-01 -3.86635181e-03 8.00959056e-03 4.17295481e+01] [ 3.85574731e-03 9.99991670e-01 1.33899314e-03 -3.56745135e+00] [-8.01470086e-03 -1.30805723e-03 9.99967026e-01 -1.85912432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702791604999994 meters 0.10502862080863735 Centerline is valid? [False, False] Translation: X:41.75, Y:-3.57, Z:-1.86 [[ 9.99985960e-01 -1.26030770e-04 5.29756377e-03 4.17526702e+01] [ 1.46174537e-04 9.99992761e-01 -3.80224330e-03 -3.56557068e+00] [-5.29704622e-03 3.80296428e-03 9.99978739e-01 -1.85683368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762791605 meters 0.11659136836104095 Centerline is valid? [False, False] Translation: X:41.78, Y:-3.57, Z:-1.86 [[ 9.99984335e-01 4.21334425e-03 3.68483145e-03 4.17761232e+01] [-4.18688847e-03 9.99965615e-01 -7.15812684e-03 -3.57069029e+00] [-3.71486440e-03 7.14258672e-03 9.99967591e-01 -1.85689059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822791605 meters 0.11755363746071884 Centerline is valid? [False, False] Translation: X:41.80, Y:-3.58, Z:-1.86 [[ 9.99966541e-01 1.55425113e-05 8.18022364e-03 4.17982525e+01] [-2.61070135e-05 9.99999166e-01 1.29136343e-03 -3.58498587e+00] [-8.18019675e-03 -1.29153379e-03 9.99965708e-01 -1.86251774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882791604999994 meters 0.13324105257719407 Centerline is valid? [False, False] Translation: X:41.82, Y:-3.58, Z:-1.86 [[ 9.99973125e-01 4.36915324e-03 5.88717483e-03 4.18225205e+01] [-4.35029187e-03 9.99985376e-01 -3.21281139e-03 -3.58361333e+00] [-5.90112600e-03 3.18711412e-03 9.99977509e-01 -1.86330474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942791605 meters 0.14111353872901744 Centerline is valid? [False, False] Translation: X:41.84, Y:-3.59, Z:-1.87 [[ 9.99940328e-01 -1.37243391e-03 1.08377322e-02 4.18407319e+01] [ 1.34250042e-03 9.99995266e-01 2.76876252e-03 -3.59136488e+00] [-1.08414808e-02 -2.75404764e-03 9.99937437e-01 -1.86594841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002791605 meters 0.14317148211026998 Centerline is valid? [False, False] Translation: X:41.87, Y:-3.59, Z:-1.87 [[ 9.99971132e-01 2.40654573e-03 7.20720638e-03 4.18653316e+01] [-2.38582059e-03 9.99992999e-01 -2.88283213e-03 -3.58548481e+00] [-7.21409359e-03 2.86555381e-03 9.99969872e-01 -1.86580111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062791604999994 meters 0.21628542481832588 Centerline is valid? [False, False] Translation: X:41.92, Y:-3.58, Z:-1.87 [[ 9.99926518e-01 5.18934848e-03 -1.09558279e-02 4.19184591e+01] [-5.24286667e-03 9.99974437e-01 -4.86185001e-03 -3.57866126e+00] [ 1.09303180e-02 4.91893269e-03 9.99928164e-01 -1.86564560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122791604999996 meters 0.6545283823569351 Centerline is valid? [False, False] Translation: X:41.92, Y:-3.58, Z:-1.88 [[ 9.99955309e-01 8.88221908e-03 3.23836030e-03 4.19205597e+01] [-8.87838126e-03 9.99959869e-01 -1.19756765e-03 -3.58043393e+00] [-3.24886740e-03 1.16876273e-03 9.99994039e-01 -1.87696955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182791605 meters 0.7475787178047264 Centerline is valid? [False, False] Translation: X:41.93, Y:-3.58, Z:-1.89 [[ 9.99965715e-01 8.21646705e-03 1.02895521e-03 4.19319134e+01] [-8.21472858e-03 9.99964843e-01 -1.68252974e-03 -3.58134271e+00] [-1.04274349e-03 1.67401947e-03 9.99998055e-01 -1.88884361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242791604999994 meters 0.7021946891518536 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.58, Z:-1.89 [[ 9.99982838e-01 5.64836444e-03 1.55528944e-03 4.19766031e+01] [-5.64458594e-03 9.99981133e-01 -2.42321667e-03 -3.58048904e+00] [-1.56894731e-03 2.41439612e-03 9.99995855e-01 -1.88985067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302791604999996 meters 0.708613090917094 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.59, Z:-1.90 [[ 9.99982336e-01 5.77629304e-03 -1.40057825e-03 4.19916124e+01] [-5.77823938e-03 9.99982340e-01 -1.38962975e-03 -3.58519012e+00] [ 1.39252661e-03 1.39769808e-03 9.99998054e-01 -1.90468014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362791605 meters 0.6478101531815161 Centerline is valid? [False, False] Translation: X:42.05, Y:-3.58, Z:-1.90 [[ 9.99958537e-01 5.18589935e-03 -7.48533783e-03 4.20515494e+01] [-5.21132012e-03 9.99980707e-01 -3.38057421e-03 -3.58169909e+00] [ 7.46766210e-03 3.41944254e-03 9.99966270e-01 -1.90159423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422791605 meters 0.6046981105741216 Centerline is valid? [False, False] Translation: X:42.07, Y:-3.59, Z:-1.92 [[ 9.99934957e-01 3.04350147e-03 -1.09917461e-02 4.20719369e+01] [-3.08406906e-03 9.99988489e-01 -3.67567010e-03 -3.59056666e+00] [ 1.09804326e-02 3.70933033e-03 9.99932833e-01 -1.92312961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482791604999996 meters 0.5550386427914279 Centerline is valid? [False, False] Translation: X:42.08, Y:-3.60, Z:-1.94 [[ 9.99947716e-01 4.33106123e-03 9.26317617e-03 4.20802349e+01] [-4.31460491e-03 9.99989080e-01 -1.79577820e-03 -3.59677458e+00] [-9.27085264e-03 1.75571736e-03 9.99955483e-01 -1.94059551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 381.51 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%| | 0/1418 [00:00