+ python -m lidar_slam --no-model /working/6376223f-eee8-41d6-be3d-0c5e2e05034e Lidar SLAM 0.0.11 ===================================================== The recording path: /working/6376223f-eee8-41d6-be3d-0c5e2e05034e 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 0.026547615 Adjusted end_distance from 9.223372036854776e+18 to 81.826547615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026547615 meters 0.24931161852300704 Centerline is valid? [0, False] SLAMing on 0.086547615 meters 0.2447740989457255 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.00 [[ 0.99969584 0.02029449 -0.01401323 0.06735379] [-0.02104271 0.99823752 -0.05548931 0.00883188] [ 0.01286241 0.05576731 0.99836094 -0.00138787] [ 0. 0. 0. 1. ]] SLAMing on 0.146547615 meters 0.2532381724393183 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.00 [[ 0.99987157 0.01245693 -0.01008271 0.10425348] [-0.01257653 0.99985026 -0.01188611 0.00888147] [ 0.00993313 0.01201139 0.99987852 -0.00482138] [ 0. 0. 0. 1. ]] SLAMing on 0.206547615 meters 0.2507167435759563 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.01 [[ 0.99975806 -0.01996307 -0.0092358 0.1533414 ] [ 0.02009733 0.99969025 0.01467969 -0.00790063] [ 0.00893989 -0.01486175 0.99984959 -0.00712474] [ 0. 0. 0. 1. ]] SLAMing on 0.266547615 meters 0.2469235917607934 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.00 [[ 0.99902008 -0.04406445 -0.00414675 0.20192314] [ 0.04398079 0.99886162 -0.01847036 -0.02419532] [ 0.00495591 0.01826989 0.99982081 -0.00307924] [ 0. 0. 0. 1. ]] SLAMing on 0.326547615 meters 0.24709173140502322 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.01 [[ 0.99918912 -0.03977269 -0.00626415 0.23817307] [ 0.03970141 0.99914971 -0.01111978 -0.03755417] [ 0.00670109 0.01086207 0.99991855 0.00649836] [ 0. 0. 0. 1. ]] SLAMing on 0.386547615 meters 0.2511491684197086 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:0.01 [[ 0.99950136 -0.02838554 -0.0138312 0.28937549] [ 0.0284406 0.99958826 0.00380068 -0.0317939 ] [ 0.01371762 -0.00419215 0.99989712 0.01121255] [ 0. 0. 0. 1. ]] SLAMing on 0.446547615 meters 0.24706134897975968 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:0.02 [[ 0.99980128 -0.01987247 -0.00157776 0.29431305] [ 0.01984642 0.99968903 -0.01509846 -0.02944822] [ 0.00187732 0.01506415 0.99988477 0.0207965 ] [ 0. 0. 0. 1. ]] SLAMing on 0.506547615 meters 0.24931676090507612 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:0.01 [[ 0.99990182 -0.00706146 -0.01210313 0.35660823] [ 0.00721432 0.99989417 0.01263326 -0.00779634] [ 0.01201264 -0.01271933 0.99984695 0.00859297] [ 0. 0. 0. 1. ]] SLAMing on 0.5665476150000001 meters 0.2555403540917439 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:0.01 [[ 0.99994773 0.00276859 -0.00984247 0.36202728] [-0.00275358 0.99999503 0.00153851 0.0036763 ] [ 0.00984668 -0.00151133 0.99995038 0.00692867] [ 0. 0. 0. 1. ]] SLAMing on 0.626547615 meters 0.2553935696880601 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:0.01 [[ 0.99998608 -0.00346504 -0.00397921 0.39407275] [ 0.00337178 0.99972494 -0.02320949 -0.01195435] [ 0.00405854 0.02319575 0.9997227 0.00983679] [ 0. 0. 0. 1. ]] SLAMing on 0.6865476149999999 meters 0.25422644454082666 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:0.02 [[ 0.99978058 -0.02023636 -0.00541158 0.44678013] [ 0.02045378 0.99883521 0.04370197 -0.01534271] [ 0.00452091 -0.04380307 0.99902996 0.02196347] [ 0. 0. 0. 1. ]] SLAMing on 0.746547615 meters 0.2519075295202991 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:0.02 [[ 0.99980813 -0.01683171 -0.01001941 0.49542279] [ 0.01725137 0.99890941 0.04338645 -0.00617924] [ 0.00927821 -0.04355097 0.99900812 0.01516179] [ 0. 0. 0. 1. ]] SLAMing on 0.806547615 meters 0.24461872392295997 Centerline is valid? [False, False] Translation: X:0.50, Y:0.01, Z:-0.01 [[ 9.99974632e-01 5.65907658e-03 -4.32557467e-03 5.02934702e-01] [-5.65648119e-03 9.99983815e-01 6.12008335e-04 1.36228252e-02] [ 4.32896806e-03 -5.87525277e-04 9.99990457e-01 -1.06728289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.866547615 meters 0.24447681238286773 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.02 [[ 9.99968685e-01 7.91346329e-03 -7.35667900e-05 5.25079042e-01] [-7.91380489e-03 9.99928179e-01 -9.00046090e-03 2.32925711e-02] [ 2.33668953e-06 9.00076125e-03 9.99959492e-01 -1.66381669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9265476149999999 meters 0.23878337509882067 Centerline is valid? [False, False] Translation: X:0.54, Y:0.01, Z:0.00 [[ 9.99981804e-01 -5.74266458e-03 -1.84769954e-03 5.44739491e-01] [ 5.76660346e-03 9.99895949e-01 1.32226459e-02 1.34010099e-02] [ 1.77157406e-03 -1.32330603e-02 9.99910870e-01 1.49777706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.986547615 meters 0.24089183304656814 Centerline is valid? [False, False] Translation: X:0.59, Y:0.00, Z:0.00 [[ 9.99642722e-01 -2.55252600e-02 7.93027161e-03 5.93455609e-01] [ 2.51799113e-02 9.98843457e-01 4.09599966e-02 2.47856646e-04] [-8.96661447e-03 -4.07456790e-02 9.99129316e-01 1.35927168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.046547615 meters 0.24481238528717086 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.01 [[ 0.99963926 -0.0256598 0.00793213 0.6373348 ] [ 0.02557363 0.9996148 0.01078128 -0.0117143 ] [-0.00820572 -0.01057453 0.99991042 0.00835404] [ 0. 0. 0. 1. ]] SLAMing on 1.106547615 meters 0.23290285305248173 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.01 [[ 0.99978226 -0.01955692 -0.00727779 0.68686401] [ 0.01957666 0.99980484 0.00265121 -0.0108911 ] [ 0.00722452 -0.00279311 0.99997 0.00554906] [ 0. 0. 0. 1. ]] SLAMing on 1.1665476149999998 meters 0.2319602492783064 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.00 [[ 0.99996406 -0.00555495 -0.00640432 0.70228535] [ 0.00556418 0.9999835 0.00142478 -0.0107843 ] [ 0.0063963 -0.00146036 0.99997848 -0.00108059] [ 0. 0. 0. 1. ]] SLAMing on 1.2265476149999999 meters 0.22761891794696415 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.00 [[ 0.99997664 -0.00163824 -0.00663597 0.70484094] [ 0.00167778 0.99998085 0.00595726 -0.00907036] [ 0.00662609 -0.00596826 0.99996024 -0.00322444] [ 0. 0. 0. 1. ]] SLAMing on 1.286547615 meters 0.2346055698617726 Centerline is valid? [False, False] Translation: X:0.74, Y:0.00, Z:0.00 [[ 0.99996883 0.00438947 -0.0065631 0.73794013] [-0.00419878 0.99957659 0.02879266 0.00263985] [ 0.00668671 -0.0287642 0.99956386 0.00188416] [ 0. 0. 0. 1. ]] SLAMing on 1.3465476149999998 meters 0.22522650215028442 Centerline is valid? [False, False] Translation: X:0.74, Y:0.02, Z:-0.00 [[ 0.99998848 0.0038748 -0.00283218 0.74231174] [-0.00385584 0.99997031 0.00667202 0.01689444] [ 0.00285795 -0.00666102 0.99997373 -0.00106274] [ 0. 0. 0. 1. ]] SLAMing on 1.4065476149999998 meters 0.2232581603299509 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:-0.00 [[ 9.99982974e-01 5.82799209e-03 -2.93296442e-04 7.52053710e-01] [-5.83028040e-03 9.99946681e-01 -8.52306023e-03 1.92383928e-02] [ 2.43608476e-04 8.52462512e-03 9.99963635e-01 -4.72699533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4665476149999999 meters 0.21874886831569165 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:0.00 [[ 9.99978382e-01 -6.57412109e-03 -1.30406658e-04 7.76541321e-01] [ 6.57529384e-03 9.99883456e-01 1.37782774e-02 1.39055193e-02] [ 3.98113960e-05 -1.37788370e-02 9.99905067e-01 3.76247471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.526547615 meters 0.2130397832741267 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.00 [[ 9.99950859e-01 -9.47516353e-03 -2.91576907e-03 8.28194078e-01] [ 9.56618315e-03 9.99410539e-01 3.29706365e-02 1.56536208e-02] [ 2.60164816e-03 -3.29969091e-02 9.99452068e-01 -7.81204253e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.586547615 meters 0.20550885935301924 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.02 [[ 0.99999351 0.00215005 -0.00289204 0.83264557] [-0.00215338 0.99999702 -0.0011499 0.02118756] [ 0.00288956 0.00115612 0.99999516 -0.0178014 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6465476149999998 meters 0.20925060352935815 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.02 [[ 0.9999907 0.00211975 -0.00375667 0.83406011] [-0.00212778 0.99999546 -0.00213528 0.02303275] [ 0.00375212 0.00214326 0.99999066 -0.01804654] [ 0. 0. 0. 1. ]] SLAMing on 1.7065476149999999 meters 0.20331417795992146 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.02 [[ 9.99968754e-01 -7.87435195e-03 6.96542656e-04 8.67729141e-01] [ 7.83959137e-03 9.99145078e-01 4.05913094e-02 2.38642481e-02] [-1.01557742e-03 -4.05845804e-02 9.99175590e-01 -2.09595297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.766547615 meters 0.20113360851991033 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.01 [[ 0.99988459 -0.012363 0.00882959 0.87866908] [ 0.01208845 0.99946171 0.03049842 0.02365553] [-0.00920188 -0.03038817 0.99949582 -0.01445714] [ 0. 0. 0. 1. ]] SLAMing on 1.8265476149999997 meters 0.20116201131957312 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.01 [[ 0.99984457 -0.00576373 0.01666185 0.89249005] [ 0.00592431 0.99993633 -0.00960454 0.01916309] [-0.01660543 0.00970176 0.99981505 -0.01187986] [ 0. 0. 0. 1. ]] SLAMing on 1.8865476149999998 meters 0.20913161020910256 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.01 [[ 9.99844781e-01 3.47213473e-03 1.72730245e-02 8.90762411e-01] [-3.47458340e-03 9.99993957e-01 1.11754090e-04 1.88008273e-02] [-1.72725321e-02 -1.71753308e-04 9.99850804e-01 -1.15537913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9465476149999998 meters 0.2043329353147001 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.02 [[ 0.9998655 -0.00770337 0.01447927 0.94119947] [ 0.00726418 0.99951918 0.03014366 0.01480094] [-0.01470451 -0.03003443 0.9994407 -0.01504797] [ 0. 0. 0. 1. ]] SLAMing on 2.006547615 meters 0.205087697148399 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.02 [[ 0.9999218 -0.00353799 0.01199471 0.95967882] [ 0.00331815 0.99982705 0.01829921 0.01684514] [-0.01205738 -0.01825798 0.9997606 -0.02174203] [ 0. 0. 0. 1. ]] SLAMing on 2.066547615 meters 0.21026853895757902 Centerline is valid? [False, False] Translation: X:0.97, Y:0.03, Z:-0.02 [[ 0.99992019 0.01249376 0.00187778 0.97092169] [-0.01248941 0.99991934 -0.00230916 0.03120633] [-0.00190647 0.00228552 0.99999557 -0.01849945] [ 0. 0. 0. 1. ]] SLAMing on 2.1265476150000002 meters 0.21032205911009622 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.03 [[ 9.99885160e-01 1.51405461e-02 6.55769974e-04 9.76956072e-01] [-1.51392786e-02 9.99883596e-01 -1.89645296e-03 4.00499403e-02] [-6.84406974e-04 1.88630729e-03 9.99997987e-01 -2.61626704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1865476150000003 meters 0.21519188404684356 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.02 [[ 9.99982739e-01 5.84902442e-03 5.57966283e-04 9.83385400e-01] [-5.85658650e-03 9.99875072e-01 1.46813345e-02 4.16993540e-02] [-4.72025094e-04 -1.46843488e-02 9.99892068e-01 -2.04560570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.246547615 meters 0.22210143032841206 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.01 [[ 0.99996156 0.002146 0.00850121 0.99165989] [-0.00220205 0.99997586 0.0065897 0.03942509] [-0.00848687 -0.00660816 0.99994215 -0.00886434] [ 0. 0. 0. 1. ]] SLAMing on 2.306547615 meters 0.23006795399532087 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.01 [[ 0.99996695 0.00183414 0.007921 0.99365654] [-0.00188703 0.99997595 0.00667428 0.03854304] [-0.00790857 -0.00668901 0.99994635 -0.00971775] [ 0. 0. 0. 1. ]] SLAMing on 2.366547615 meters 0.2341964410547869 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:-0.02 [[ 0.99997762 0.00319353 0.00587827 1.00425131] [-0.00322549 0.99998003 0.00543443 0.04630377] [-0.0058608 -0.00545327 0.99996796 -0.02248445] [ 0. 0. 0. 1. ]] SLAMing on 2.426547615 meters 0.24679349868542574 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:-0.02 [[ 0.99999653 0.0023967 0.00109053 1.04586918] [-0.00238967 0.99997665 -0.00640236 0.05526641] [-0.00110585 0.00639973 0.99997891 -0.01777989] [ 0. 0. 0. 1. ]] SLAMing on 2.486547615 meters 0.2552667883119607 Centerline is valid? [False, False] Translation: X:1.07, Y:0.06, Z:-0.02 [[ 0.9999894 -0.00425513 0.00175723 1.07126275] [ 0.00425298 0.9999902 0.00122568 0.05851175] [-0.00176243 -0.00121819 0.9999977 -0.01565916] [ 0. 0. 0. 1. ]] SLAMing on 2.546547615 meters 0.26496267503461557 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:-0.02 [[ 9.99988039e-01 -4.86784935e-03 4.74580227e-04 1.07578002e+00] [ 4.86704580e-03 9.99986745e-01 1.67987553e-03 5.53852318e-02] [-4.82751317e-04 -1.67754563e-03 9.99998476e-01 -1.74121431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606547615 meters 0.2874434823660037 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.01 [[ 0.99991445 -0.00698291 0.01106041 1.11447105] [ 0.00709712 0.99992156 -0.01032052 0.05256297] [-0.01098747 0.01039813 0.99988557 -0.01273406] [ 0. 0. 0. 1. ]] SLAMing on 2.666547615 meters 0.3191981488483343 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.02 [[ 0.99995099 -0.00263388 0.00954374 1.12267515] [ 0.00267409 0.99998759 -0.00420262 0.05257347] [-0.00953255 0.00422793 0.99994563 -0.0171193 ] [ 0. 0. 0. 1. ]] SLAMing on 2.726547615 meters 0.33407094621236416 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.02 [[ 9.99963811e-01 5.59635829e-04 8.48900572e-03 1.12637496e+00] [-5.35625083e-04 9.99995851e-01 -2.83046195e-03 6.30530132e-02] [-8.49055452e-03 2.82581260e-03 9.99959962e-01 -1.93894958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786547615 meters 0.34318878555851945 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.02 [[ 0.99990457 -0.0054103 0.01271136 1.12556496] [ 0.00576185 0.99959734 -0.02778407 0.06237594] [-0.01255592 0.02785466 0.99953312 -0.01848547] [ 0. 0. 0. 1. ]] SLAMing on 2.846547615 meters 0.35785405960282135 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:-0.04 [[ 0.99998307 0.0042554 0.00396825 1.16019152] [-0.00427646 0.99997674 0.00531393 0.07880527] [-0.00394554 -0.00533081 0.99997801 -0.03553191] [ 0. 0. 0. 1. ]] SLAMing on 2.906547615 meters 0.35912800520837673 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:-0.03 [[ 0.99993082 0.01112686 0.00381325 1.15991691] [-0.01116495 0.99988648 0.01011785 0.09308115] [-0.00370023 -0.01015972 0.99994154 -0.03416422] [ 0. 0. 0. 1. ]] SLAMing on 2.966547615 meters 0.3518352814171139 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:-0.02 [[ 0.99986472 0.00529848 0.0155713 1.14042344] [-0.00479114 0.99946218 -0.03244056 0.08707542] [-0.01573481 0.03236156 0.99935236 -0.01935674] [ 0. 0. 0. 1. ]] SLAMing on 3.026547615 meters 0.3394388650653849 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:-0.00 [[ 0.99993978 -0.00389125 0.01026124 1.15464405] [ 0.00407669 0.99982763 -0.01811328 0.06727264] [-0.01018899 0.01815402 0.99978328 -0.00469087] [ 0. 0. 0. 1. ]] SLAMing on 3.086547615 meters 0.33507212083978205 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.02 [[ 9.99936626e-01 -9.01803173e-03 6.73941875e-03 1.17472149e+00] [ 9.01865579e-03 9.99959329e-01 -6.22124046e-05 6.07131877e-02] [-6.73858362e-03 1.22988960e-04 9.99977288e-01 -1.97367391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1465476150000002 meters 0.4150243826946424 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.02 [[ 0.99997719 -0.00635553 0.00228834 1.15197378] [ 0.00638536 0.99989152 -0.01327348 0.05799147] [-0.00220373 0.01328779 0.99990928 -0.02031062] [ 0. 0. 0. 1. ]] SLAMing on 3.206547615 meters 0.39991518326288844 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:-0.01 [[ 0.99994777 -0.00979497 0.00291928 1.14409352] [ 0.00984795 0.99977616 -0.01872578 0.05651437] [-0.00273521 0.01875355 0.9998204 -0.01423585] [ 0. 0. 0. 1. ]] SLAMing on 3.266547615 meters 0.3831169453395676 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:-0.01 [[ 0.9999705 -0.0050158 -0.00581659 1.09397753] [ 0.00492328 0.99986284 -0.01581357 0.06478073] [ 0.00589511 0.01578447 0.99985804 -0.01413858] [ 0. 0. 0. 1. ]] SLAMing on 3.326547615 meters 0.370884161704745 Centerline is valid? [False, False] Translation: X:1.06, Y:0.07, Z:-0.02 [[ 0.99997759 -0.00322557 -0.00586654 1.05845185] [ 0.00318802 0.99997444 -0.00639899 0.07081707] [ 0.00588703 0.00638015 0.99996232 -0.02461097] [ 0. 0. 0. 1. ]] SLAMing on 3.386547615 meters 0.3518483025601158 Centerline is valid? [False, False] Translation: X:1.06, Y:0.07, Z:-0.02 [[ 0.99992038 -0.01132032 -0.00557482 1.05723537] [ 0.01124115 0.99983833 -0.01403407 0.06839733] [ 0.00573279 0.01397029 0.99988598 -0.02327699] [ 0. 0. 0. 1. ]] SLAMing on 3.446547615 meters 0.3204886105184839 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:-0.01 [[ 0.99993274 -0.01116918 -0.00312627 1.04185297] [ 0.0111283 0.99985611 -0.01280291 0.06042096] [ 0.00326882 0.01276726 0.99991315 -0.00749133] [ 0. 0. 0. 1. ]] SLAMing on 3.506547615 meters 0.3153747879053801 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.02 [[ 0.99999541 -0.00224977 0.00203095 1.01215354] [ 0.00226848 0.99995454 -0.00926152 0.06416966] [-0.00201003 0.00926609 0.99995505 -0.020427 ] [ 0. 0. 0. 1. ]] SLAMing on 3.566547615 meters 0.29549210579763424 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.01 [[ 0.99994143 -0.01032875 -0.00323295 1.00196575] [ 0.01031885 0.99994206 -0.00306431 0.05851229] [ 0.00326441 0.00303077 0.99999008 -0.01416168] [ 0. 0. 0. 1. ]] SLAMing on 3.626547615 meters 0.2811044478437739 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:-0.01 [[ 9.99955564e-01 -8.95100910e-03 -2.95802826e-03 9.99437517e-01] [ 8.94991293e-03 9.99959875e-01 -3.83604287e-04 5.34234926e-02] [ 2.96134321e-03 3.57113146e-04 9.99995551e-01 -1.01348494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.686547615 meters 0.26277465109532083 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:-0.01 [[ 9.99957383e-01 -9.18161408e-03 9.64757545e-04 9.70529359e-01] [ 9.18165102e-03 9.99957847e-01 -3.38666373e-05 5.39382815e-02] [-9.64405927e-04 4.27232611e-05 9.99999534e-01 -1.35102474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746547615 meters 0.26148428423889036 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.03 [[ 9.99969356e-01 -7.78223971e-03 -8.50410625e-04 9.78031456e-01] [ 7.77951008e-03 9.99964723e-01 -3.16727635e-03 5.96725428e-02] [ 8.75029129e-04 3.16056352e-03 9.99994623e-01 -2.73849422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806547615 meters 0.23864946542269946 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.01 [[ 9.99980134e-01 -5.89223716e-03 2.23916745e-03 9.58926414e-01] [ 5.89368480e-03 9.99982427e-01 -6.40459293e-04 4.62593699e-02] [-2.23535436e-03 6.53643517e-04 9.99997288e-01 -1.02311105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.866547615 meters 0.23548643294185373 Centerline is valid? [False, False] Translation: X:0.97, Y:0.03, Z:-0.00 [[ 9.99937041e-01 -6.30169490e-03 -9.28454726e-03 9.70522252e-01] [ 6.28463409e-03 9.99978511e-01 -1.86558099e-03 3.45393158e-02] [ 9.29610407e-03 1.80711355e-03 9.99955157e-01 -2.06856124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.926547615 meters 0.23148663700045868 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:-0.02 [[ 0.99979776 -0.00404638 -0.01969941 0.99005551] [ 0.00429695 0.99991019 0.01269418 0.04730802] [ 0.01964628 -0.01277626 0.99972536 -0.02130429] [ 0. 0. 0. 1. ]] SLAMing on 3.986547615 meters 0.19930661552957385 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.02 [[ 0.99994221 0.00205543 -0.01055203 0.9605383 ] [-0.00203883 0.99999667 0.00158375 0.05458123] [ 0.01055525 -0.00156215 0.99994307 -0.02259828] [ 0. 0. 0. 1. ]] SLAMing on 4.046547615 meters 0.16998866145258243 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.01 [[ 0.99994108 0.00821396 0.007097 0.92299126] [-0.0080705 0.99976717 -0.02001194 0.04595015] [-0.00725972 0.01995348 0.99977455 -0.0111941 ] [ 0. 0. 0. 1. ]] SLAMing on 4.106547615 meters 0.15247809938358822 Centerline is valid? [False, False] Translation: X:0.93, Y:0.05, Z:-0.02 [[ 0.99995986 0.00880489 -0.00166163 0.92963578] [-0.00881566 0.99993943 -0.00658991 0.0518646 ] [ 0.0016035 0.0066043 0.99997691 -0.02061096] [ 0. 0. 0. 1. ]] SLAMing on 4.166547615 meters 0.11217049515990993 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.02 [[ 9.99974389e-01 -7.15682763e-03 3.18044912e-05 9.38388781e-01] [ 7.15671651e-03 9.99970789e-01 2.68374019e-03 4.25014042e-02] [-5.10106281e-05 -2.68344384e-03 9.99996398e-01 -2.34903089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226547615 meters 0.09603302326490588 Centerline is valid? [False, True] Translation: X:0.93, Y:0.03, Z:-0.01 [[ 0.99992803 -0.00842186 0.00854392 0.93226121] [ 0.00848897 0.99993317 -0.00784871 0.03079308] [-0.00847725 0.00792068 0.9999327 -0.00974266] [ 0. 0. 0. 1. ]] SLAMing on 4.286547615 meters 0.08414092582218137 Centerline is valid? [True, True] Translation: X:0.99, Y:0.05, Z:-0.01 [[ 9.99865637e-01 7.68757813e-03 1.44778951e-02 9.93377073e-01] [-7.68402488e-03 9.99970432e-01 -3.01037699e-04 5.30148715e-02] [-1.44797813e-02 1.89748744e-04 9.99895144e-01 -1.32369102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.346547615 meters 0.07674129715123797 Centerline is valid? [True, True] Translation: X:1.06, Y:0.09, Z:-0.02 [[ 9.99315396e-01 2.47434641e-02 2.75045518e-02 1.05513576e+00] [-2.47371024e-02 9.99693828e-01 -5.71578159e-04 8.74881472e-02] [-2.75102735e-02 -1.09196061e-04 9.99621515e-01 -1.55706400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406547615 meters 0.07484758314080053 Centerline is valid? [True, True] Translation: X:1.12, Y:0.09, Z:-0.01 [[ 9.98998386e-01 3.21588732e-02 3.11132019e-02 1.11740762e+00] [-3.21544652e-02 9.99482705e-01 -6.42131909e-04 9.30637248e-02] [-3.11177575e-02 -3.58939627e-04 9.99515661e-01 -1.22172988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466547615 meters 0.07413365350526736 Centerline is valid? [True, True] Translation: X:1.18, Y:0.10, Z:-0.01 [[ 9.98704033e-01 4.35105781e-02 2.64023388e-02 1.17921690e+00] [-4.35111361e-02 9.99052789e-01 -5.53636573e-04 9.71759555e-02] [-2.64014193e-02 -5.95876679e-04 9.99651244e-01 -5.39204259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526547615 meters 0.07356451181719915 Centerline is valid? [True, True] Translation: X:1.24, Y:0.10, Z:-0.01 [[ 9.98511153e-01 4.76843515e-02 2.64892377e-02 1.24058359e+00] [-4.76865215e-02 9.98862199e-01 -5.50132947e-04 1.00338164e-01] [-2.64853310e-02 -7.13865720e-04 9.99648947e-01 -1.24097579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.586547615 meters 0.07164581888894397 Centerline is valid? [True, True] Translation: X:1.30, Y:0.09, Z:-0.02 [[ 9.98444250e-01 4.70380340e-02 2.99416601e-02 1.30201840e+00] [-4.70401400e-02 9.98892798e-01 -6.34438937e-04 9.36284557e-02] [-2.99383514e-02 -7.75007973e-04 9.99551447e-01 -1.65154701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646547615 meters 0.0710023045571957 Centerline is valid? [True, True] Translation: X:1.36, Y:0.08, Z:-0.01 [[ 9.98122925e-01 5.25428531e-02 3.14622952e-02 1.36386837e+00] [-5.25479063e-02 9.98618182e-01 -6.66784016e-04 8.36807233e-02] [-3.14538548e-02 -9.87745327e-04 9.99504717e-01 -1.23224968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.706547615 meters 0.07010695319738548 Centerline is valid? [True, True] Translation: X:1.42, Y:0.07, Z:-0.02 [[ 9.98652680e-01 4.41107400e-02 2.73325207e-02 1.42349295e+00] [-4.41112532e-02 9.99026454e-01 -5.84465363e-04 7.20066679e-02] [-2.73316924e-02 -6.21993837e-04 9.99626226e-01 -2.08029406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.766547615 meters 0.06913268979934983 Centerline is valid? [True, True] Translation: X:1.48, Y:0.06, Z:-0.03 [[ 9.99066453e-01 3.58338944e-02 2.41278626e-02 1.48495988e+00] [-3.58320496e-02 9.99357696e-01 -5.08933346e-04 5.76836756e-02] [-2.41306023e-02 -3.56092538e-04 9.99708751e-01 -2.99475336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826547615 meters 0.0687075369157809 Centerline is valid? [True, True] Translation: X:1.55, Y:0.06, Z:-0.03 [[ 9.98958901e-01 3.66431811e-02 2.71733417e-02 1.54676816e+00] [-3.66409180e-02 9.99328327e-01 -5.81367115e-04 5.58486883e-02] [-2.71763933e-02 -4.14894331e-04 9.99630568e-01 -3.12835122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886547615 meters 0.06804652997430154 Centerline is valid? [True, True] Translation: X:1.61, Y:0.05, Z:-0.02 [[ 9.98516797e-01 4.29724956e-02 3.34301009e-02 1.60994178e+00] [-4.29721111e-02 9.99076005e-01 -7.30315926e-04 5.28967221e-02] [-3.34305951e-02 -7.07329290e-04 9.99440791e-01 -2.16583939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946547615 meters 0.06872863028044753 Centerline is valid? [True, True] Translation: X:1.67, Y:0.06, Z:-0.03 [[ 9.98400862e-01 4.64650234e-02 3.21981503e-02 1.67194736e+00] [-4.64663726e-02 9.98919605e-01 -7.06761760e-04 5.64075912e-02] [-3.21962032e-02 -7.90499697e-04 9.99481255e-01 -2.77187777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006547615 meters 0.07042005968144802 Centerline is valid? [True, True] Translation: X:1.73, Y:0.07, Z:-0.04 [[ 9.98180561e-01 5.09493557e-02 3.22448686e-02 1.73266888e+00] [-5.09530030e-02 9.98700800e-01 -7.09111951e-04 7.06090392e-02] [-3.22391049e-02 -9.35151121e-04 9.99479747e-01 -3.98259212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066547615 meters 0.0719396951494426 Centerline is valid? [True, True] Translation: X:1.79, Y:0.07, Z:-0.05 [[ 9.98123394e-01 5.56755698e-02 2.54935672e-02 1.79294063e+00] [-5.56792491e-02 9.98448547e-01 -5.66052752e-04 7.46635058e-02] [-2.54855304e-02 -8.54472183e-04 9.99674826e-01 -4.63057879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.126547615 meters 0.0725147215612977 Centerline is valid? [True, True] Translation: X:1.85, Y:0.07, Z:-0.05 [[ 9.98002704e-01 6.03665582e-02 1.86140073e-02 1.85363652e+00] [-6.03693396e-02 9.98176023e-01 -4.12957144e-04 6.87179885e-02] [-1.86049846e-02 -7.11582981e-04 9.99826659e-01 -4.81664841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186547615 meters 0.07079536693031832 Centerline is valid? [True, True] Translation: X:1.91, Y:0.07, Z:-0.05 [[ 9.97897002e-01 5.65018952e-02 3.17664813e-02 1.91455120e+00] [-5.65080284e-02 9.98401896e-01 -7.05372486e-04 6.90684668e-02] [-3.17555701e-02 -1.09117214e-03 9.99495069e-01 -4.52334868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.246547615 meters 0.06851567016770571 Centerline is valid? [True, True] Translation: X:1.97, Y:0.06, Z:-0.05 [[ 9.98272242e-01 4.66292706e-02 3.57525061e-02 1.97460382e+00] [-4.66306755e-02 9.98911882e-01 -7.95004175e-04 5.50277528e-02] [-3.57506736e-02 -8.73532910e-04 9.99360359e-01 -4.63632390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3065476149999995 meters 0.06980838049631875 Centerline is valid? [True, True] Translation: X:2.04, Y:0.06, Z:-0.05 [[ 9.98176098e-01 4.97437992e-02 3.42057408e-02 2.03634988e+00] [-4.97469615e-02 9.98761565e-01 -7.59139177e-04 5.97335328e-02] [-3.42011417e-02 -9.43877088e-04 9.99414524e-01 -5.47481130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.366547615 meters 0.07434670106894456 Centerline is valid? [True, True] Translation: X:2.10, Y:0.08, Z:-0.06 [[ 9.97408603e-01 6.86215151e-02 2.16140094e-02 2.09714849e+00] [-6.86271565e-02 9.97642261e-01 -4.81502183e-04 7.73217145e-02] [-2.15960906e-02 -1.00305359e-03 9.99766274e-01 -6.01192753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426547615 meters 0.07167070632549338 Centerline is valid? [True, True] Translation: X:2.16, Y:0.06, Z:-0.05 [[ 9.97667165e-01 6.09008291e-02 3.08434403e-02 2.15729263e+00] [-6.09085752e-02 9.98143111e-01 -6.89206946e-04 6.23364535e-02] [-3.08281407e-02 -1.19103086e-03 9.99523990e-01 -4.91375630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486547615 meters 0.06793118955526554 Centerline is valid? [True, True] Translation: X:2.22, Y:0.05, Z:-0.06 [[ 9.98385752e-01 4.33105271e-02 3.67435525e-02 2.21592829e+00] [-4.33096318e-02 9.99061361e-01 -8.20683783e-04 4.96606947e-02] [-3.67446078e-02 -7.71990735e-04 9.99324391e-01 -5.85553304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.546547615 meters 0.06823564147440006 Centerline is valid? [True, True] Translation: X:2.28, Y:0.05, Z:-0.07 [[ 9.98879736e-01 2.77375207e-02 3.83393256e-02 2.27582215e+00] [-2.77251214e-02 9.99615219e-01 -8.55148654e-04 4.52646661e-02] [-3.83482931e-02 -2.08771796e-04 9.99264412e-01 -7.29544324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606547615 meters 0.06925102793423812 Centerline is valid? [True, True] Translation: X:2.34, Y:0.05, Z:-0.06 [[ 9.98511678e-01 4.43663891e-02 3.17183390e-02 2.33618529e+00] [-4.43662506e-02 9.99015082e-01 -7.08500284e-04 5.08561830e-02] [-3.17185326e-02 -6.99777969e-04 9.99496596e-01 -6.42602144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666547615 meters 0.07483456136981319 Centerline is valid? [True, True] Translation: X:2.40, Y:0.09, Z:-0.07 [[ 9.97093973e-01 7.05527706e-02 2.87387543e-02 2.39685842e+00] [-7.05635124e-02 9.97507082e-01 -6.41482448e-04 8.81790268e-02] [-2.87123693e-02 -1.38828916e-03 9.99586751e-01 -7.47682526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726547615 meters 0.07077163193568946 Centerline is valid? [True, True] Translation: X:2.46, Y:0.08, Z:-0.08 [[ 9.97751150e-01 5.64681418e-02 3.61108138e-02 2.45719019e+00] [-5.64759065e-02 9.98403637e-01 -8.05780854e-04 7.78999856e-02] [-3.60986688e-02 -1.23542217e-03 9.99347467e-01 -8.07544816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786547615 meters 0.06765223623428028 Centerline is valid? [True, True] Translation: X:2.52, Y:0.05, Z:-0.07 [[ 9.98289249e-01 4.11521250e-02 4.15340583e-02 2.51751128e+00] [-4.11490971e-02 9.99152586e-01 -9.28175536e-04 5.39529176e-02] [-4.15370581e-02 -7.82501337e-04 9.99136658e-01 -7.02253109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8465476149999995 meters 0.06678571859501621 Centerline is valid? [True, True] Translation: X:2.58, Y:0.05, Z:-0.07 [[ 9.98349975e-01 3.78895448e-02 4.31475309e-02 2.57922548e+00] [-3.78833840e-02 9.99281705e-01 -9.60738087e-04 5.47486093e-02] [-4.31529402e-02 -6.75421635e-04 9.99068250e-01 -7.20515982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.906547615 meters 0.06827173708692143 Centerline is valid? [True, True] Translation: X:2.64, Y:0.06, Z:-0.09 [[ 9.98675936e-01 3.96597016e-02 3.27640344e-02 2.63984150e+00] [-3.96567558e-02 9.99213087e-01 -7.39991509e-04 6.07669874e-02] [-3.27675998e-02 -5.60303599e-04 9.99462841e-01 -8.63127784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966547615 meters 0.06776210974459902 Centerline is valid? [True, True] Translation: X:2.70, Y:0.04, Z:-0.09 [[ 9.99282895e-01 3.05632403e-02 2.23513700e-02 2.70039647e+00] [-3.05595917e-02 9.99532819e-01 -5.04866885e-04 3.99940163e-02] [-2.23563583e-02 -1.78543899e-04 9.99750049e-01 -9.05691884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026547615 meters 0.06849566442267974 Centerline is valid? [True, True] Translation: X:2.76, Y:0.06, Z:-0.10 [[ 9.98952004e-01 3.50697623e-02 2.94109627e-02 2.75961635e+00] [-3.50653428e-02 9.99384800e-01 -6.66176530e-04 5.99545807e-02] [-2.94162317e-02 -3.65827109e-04 9.99567182e-01 -1.03512048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086547615 meters 0.06752648354976858 Centerline is valid? [True, True] Translation: X:2.82, Y:0.05, Z:-0.10 [[ 9.98795020e-01 3.41808320e-02 3.52161779e-02 2.82175728e+00] [-3.41740271e-02 9.99415581e-01 -7.95316507e-04 5.28177516e-02] [-3.52227815e-02 -4.09120453e-04 9.99379402e-01 -9.51516261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146547615 meters 0.06631079917485033 Centerline is valid? [True, True] Translation: X:2.88, Y:0.04, Z:-0.08 [[ 9.98548954e-01 3.32227222e-02 4.23820335e-02 2.88353247e+00] [-3.32118731e-02 9.99447872e-01 -9.60263142e-04 4.30972654e-02] [-4.23905358e-02 -4.48716963e-04 9.99101016e-01 -8.45322395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.206547615 meters 0.06663528349134289 Centerline is valid? [True, True] Translation: X:2.95, Y:0.05, Z:-0.09 [[ 9.98483659e-01 3.37027623e-02 4.35259376e-02 2.94520514e+00] [-3.36918274e-02 9.99431784e-01 -9.84993226e-04 5.00366036e-02] [-4.35344024e-02 -4.82968735e-04 9.99051812e-01 -9.29527919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.266547615 meters 0.0664605503732897 Centerline is valid? [True, True] Translation: X:3.01, Y:0.02, Z:-0.10 [[ 9.99158591e-01 2.12648913e-02 3.50701401e-02 3.00661417e+00] [-2.12497889e-02 9.99773875e-01 -8.03350087e-04 2.49860868e-02] [-3.50792930e-02 5.74410660e-05 9.99384531e-01 -9.93604798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326547615 meters 0.06734812011308788 Centerline is valid? [True, True] Translation: X:3.07, Y:0.03, Z:-0.11 [[ 9.99336840e-01 1.57571296e-02 3.28267209e-02 3.06849085e+00] [-1.57409970e-02 9.99875822e-01 -7.49837519e-04 3.24752876e-02] [-3.28344598e-02 2.32614942e-04 9.99460777e-01 -1.12457993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386547615 meters 0.06746692084835292 Centerline is valid? [True, True] Translation: X:3.13, Y:0.02, Z:-0.10 [[ 9.99211677e-01 2.93853935e-03 3.95902711e-02 3.13039047e+00] [-2.90450033e-03 9.99995361e-01 -9.17272678e-04 1.55576621e-02] [-3.95927829e-02 8.01559615e-04 9.99215577e-01 -1.04851510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446547615 meters 0.06779045436989325 Centerline is valid? [True, True] Translation: X:3.19, Y:0.01, Z:-0.10 [[ 9.99005015e-01 -6.14219015e-03 4.41730011e-02 3.19167059e+00] [ 6.19415812e-03 9.99980276e-01 -1.03968524e-03 1.06913268e-02] [-4.41657439e-02 1.31226532e-03 9.99023356e-01 -1.01245177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506547615 meters 0.0682473234359516 Centerline is valid? [True, True] Translation: X:3.25, Y:0.02, Z:-0.11 [[ 9.99103045e-01 -5.87614871e-03 4.19353774e-02 3.25388498e+00] [ 5.92262763e-03 9.99981977e-01 -9.84192891e-04 1.70314283e-02] [-4.19288383e-02 1.23167774e-03 9.99119840e-01 -1.05738674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566547615 meters 0.06768668226120417 Centerline is valid? [True, True] Translation: X:3.31, Y:0.03, Z:-0.12 [[ 9.99169939e-01 4.12717135e-03 4.05265334e-02 3.31325275e+00] [-4.09140258e-03 9.99991164e-01 -9.65501312e-04 3.14621327e-02] [-4.05301601e-02 7.98889524e-04 9.99177996e-01 -1.17963980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.626547615 meters 0.06818657539627782 Centerline is valid? [True, True] Translation: X:3.38, Y:0.07, Z:-0.14 [[ 9.98994301e-01 2.73877450e-02 3.55006740e-02 3.37507774e+00] [-2.73750330e-02 9.99624877e-01 -8.44187944e-04 7.45016664e-02] [-3.55104772e-02 -1.28493178e-04 9.99369296e-01 -1.36363415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686547615 meters 0.06740768826400809 Centerline is valid? [True, True] Translation: X:3.44, Y:0.09, Z:-0.12 [[ 9.98667358e-01 3.48435957e-02 3.80714009e-02 3.43919524e+00] [-3.48344243e-02 9.99392688e-01 -9.04413746e-04 8.53858936e-02] [-3.80797927e-02 -4.22986844e-04 9.99274612e-01 -1.23475601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.746547615 meters 0.0673936749100745 Centerline is valid? [True, True] Translation: X:3.50, Y:0.08, Z:-0.13 [[ 9.99197351e-01 1.61132449e-02 3.66744697e-02 3.50120443e+00] [-1.60917438e-02 9.99870131e-01 -8.81388118e-04 8.16350831e-02] [-3.66839088e-02 2.90524502e-04 9.99326877e-01 -1.31765341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8065476149999995 meters 0.07000665058604176 Centerline is valid? [True, True] Translation: X:3.56, Y:0.06, Z:-0.14 [[ 9.99515105e-01 -5.70173708e-03 3.06112004e-02 3.56113337e+00] [ 5.72736026e-03 9.99983318e-01 -7.49435642e-04 5.91469180e-02] [-3.06064167e-02 9.24393617e-04 9.99531086e-01 -1.35722589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.866547615 meters 0.06960875965043485 Centerline is valid? [True, True] Translation: X:3.62, Y:0.07, Z:-0.14 [[ 9.99151278e-01 -8.62363046e-03 4.02784823e-02 3.62347896e+00] [ 8.67036301e-03 9.99961926e-01 -9.85691729e-04 7.36038029e-02] [-4.02684484e-02 1.33408421e-03 9.99188006e-01 -1.35652982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926547615 meters 0.06763046024693949 Centerline is valid? [True, True] Translation: X:3.69, Y:0.08, Z:-0.12 [[ 9.98753128e-01 -5.49003022e-03 4.96190360e-02 3.68520085e+00] [ 5.55730516e-03 9.99983816e-01 -1.21797097e-03 8.23755680e-02] [-4.96115463e-02 1.49220044e-03 9.98767474e-01 -1.23015795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986547615 meters 0.06911302644465654 Centerline is valid? [True, True] Translation: X:3.75, Y:0.10, Z:-0.14 [[ 9.99166974e-01 -8.83602788e-03 3.98407221e-02 3.74602027e+00] [ 8.88204553e-03 9.99960075e-01 -9.78181259e-04 1.03257154e-01] [-3.98304882e-02 1.33123352e-03 9.99205564e-01 -1.43861918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046547615 meters 0.06919777526873165 Centerline is valid? [True, True] Translation: X:3.81, Y:0.13, Z:-0.16 [[ 9.99361429e-01 -5.02844486e-03 3.53758180e-02 3.80843673e+00] [ 5.06234753e-03 9.99986809e-01 -8.68851631e-04 1.25905136e-01] [-3.53709824e-02 1.04738149e-03 9.99373702e-01 -1.55088647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106547615 meters 0.06668551443370843 Centerline is valid? [True, True] Translation: X:3.87, Y:0.14, Z:-0.14 [[ 9.99380930e-01 5.75327997e-03 3.47081564e-02 3.87035358e+00] [-5.72701302e-03 9.99983234e-01 -8.56165245e-04 1.43811417e-01] [-3.47125002e-02 6.56861155e-04 9.99397124e-01 -1.43492910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166547615 meters 0.06530778432176644 Centerline is valid? [True, True] Translation: X:3.93, Y:0.18, Z:-0.15 [[ 9.99292020e-01 1.03959396e-02 3.61577645e-02 3.93235294e+00] [-1.03704565e-02 9.99945827e-01 -8.92258055e-04 1.81082713e-01] [-3.61650816e-02 5.16653830e-04 9.99345696e-01 -1.50942950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226547614999999 meters 0.06582724867144994 Centerline is valid? [True, True] Translation: X:3.99, Y:0.19, Z:-0.16 [[ 9.99197074e-01 9.89820095e-03 3.88231056e-02 3.99317955e+00] [-9.86852146e-03 9.99950848e-01 -9.56045751e-04 1.94898494e-01] [-3.88306605e-02 5.72151466e-04 9.99245642e-01 -1.56637066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286547615 meters 0.06613381047262328 Centerline is valid? [True, True] Translation: X:4.05, Y:0.19, Z:-0.16 [[ 9.99359414e-01 1.84831945e-04 3.57872461e-02 4.05408740e+00] [-1.52946473e-04 9.99999589e-01 -8.93708645e-04 1.89621337e-01] [-3.57873966e-02 8.87662615e-04 9.99359032e-01 -1.58446271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3465476149999995 meters 0.06775527357981137 Centerline is valid? [True, True] Translation: X:4.11, Y:0.21, Z:-0.17 [[ 9.99572260e-01 -2.02629342e-03 2.91751977e-02 4.11404051e+00] [ 2.04838040e-03 9.99997638e-01 -7.27179028e-04 2.08818423e-01] [-2.91736553e-02 7.86629887e-04 9.99574049e-01 -1.72213835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406547615 meters 0.06577047420371562 Centerline is valid? [True, True] Translation: X:4.18, Y:0.23, Z:-0.17 [[ 9.99493089e-01 1.36653021e-02 2.87545692e-02 4.17538230e+00] [-1.36502331e-02 9.99906572e-01 -7.20294707e-04 2.28962516e-01] [-2.87617257e-02 3.27423011e-04 9.99586242e-01 -1.68261906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466547615 meters 0.06618402300491513 Centerline is valid? [True, True] Translation: X:4.24, Y:0.26, Z:-0.17 [[ 9.98865816e-01 3.87730980e-02 2.76356530e-02 4.23764932e+00] [-3.87689666e-02 9.99247966e-01 -6.85487793e-04 2.62930679e-01] [-2.76414486e-02 -3.86695385e-04 9.99617827e-01 -1.71207444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526547615 meters 0.06843158215380997 Centerline is valid? [True, True] Translation: X:4.30, Y:0.28, Z:-0.18 [[ 9.98316313e-01 5.34675230e-02 2.24891739e-02 4.29906633e+00] [-5.34682754e-02 9.98569387e-01 -5.68278633e-04 2.82824441e-01] [-2.24873850e-02 -6.35135513e-04 9.99746925e-01 -1.78105006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586547615 meters 0.06610067935238503 Centerline is valid? [True, True] Translation: X:4.36, Y:0.28, Z:-0.18 [[ 9.98371133e-01 4.51832740e-02 3.48360935e-02 4.35969821e+00] [-4.51799732e-02 9.98978474e-01 -8.82332548e-04 2.78982250e-01] [-3.48403742e-02 -6.92998428e-04 9.99392650e-01 -1.78722092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646547615 meters 0.06583527902300357 Centerline is valid? [True, True] Translation: X:4.42, Y:0.27, Z:-0.18 [[ 9.98423081e-01 4.37724663e-02 3.51471443e-02 4.42173342e+00] [-4.37684056e-02 9.99041312e-01 -8.85300328e-04 2.74289319e-01] [-3.51522009e-02 -6.54430184e-04 9.99381756e-01 -1.76722088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.706547615 meters 0.06634919834739988 Centerline is valid? [True, True] Translation: X:4.48, Y:0.28, Z:-0.18 [[ 9.98347063e-01 4.72464717e-02 3.27248037e-02 4.48389369e+00] [-4.72444056e-02 9.98883009e-01 -8.36804934e-04 2.78709728e-01] [-3.27277864e-02 -7.10642150e-04 9.99464050e-01 -1.80633489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7665476149999995 meters 0.0681071977242896 Centerline is valid? [True, True] Translation: X:4.54, Y:0.29, Z:-0.19 [[ 9.98118936e-01 5.49287663e-02 2.72290166e-02 4.54442646e+00] [-5.49300975e-02 9.98489957e-01 -6.99658046e-04 2.85499048e-01] [-2.72263310e-02 -7.97350592e-04 9.99628977e-01 -1.88422600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.826547615 meters 0.07089192681744112 Centerline is valid? [True, True] Translation: X:4.60, Y:0.29, Z:-0.19 [[ 9.97374861e-01 6.52964652e-02 3.13010791e-02 4.60433259e+00] [-6.53033035e-02 9.97865137e-01 -8.04857642e-04 2.90837730e-01] [-3.12868099e-02 -1.24131909e-03 9.99509677e-01 -1.90457614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886547615 meters 0.07356206352418881 Centerline is valid? [True, True] Translation: X:4.66, Y:0.29, Z:-0.20 [[ 9.96694278e-01 7.53488830e-02 3.03819304e-02 4.66493986e+00] [-7.53599899e-02 9.97156087e-01 -7.80945688e-04 2.92438782e-01] [-3.03543702e-02 -1.51121787e-03 9.99538058e-01 -1.96551540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946547615 meters 0.07424961694397766 Centerline is valid? [True, True] Translation: X:4.73, Y:0.29, Z:-0.20 [[ 9.96729321e-01 7.41816959e-02 3.20583259e-02 4.72522119e+00] [-7.41934741e-02 9.97243526e-01 -8.23653459e-04 2.86558926e-01] [-3.20310580e-02 -1.55755902e-03 9.99485660e-01 -2.04587266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006547614999999 meters 0.07464520826091146 Centerline is valid? [True, True] Translation: X:4.79, Y:0.27, Z:-0.21 [[ 9.96766670e-01 7.57637460e-02 2.67593031e-02 4.78557906e+00] [-7.57724851e-02 9.97124895e-01 -6.88718465e-04 2.70040534e-01] [-2.67345471e-02 -1.34112728e-03 9.99641668e-01 -2.09813521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066547615 meters 0.07852780895463042 Centerline is valid? [True, True] Translation: X:4.85, Y:0.27, Z:-0.21 [[ 9.96185239e-01 8.44512335e-02 2.19763379e-02 4.84569724e+00] [-8.44592070e-02 9.96426777e-01 -5.66751086e-04 2.71742906e-01] [-2.19456744e-02 -1.29151501e-03 9.99758330e-01 -2.14272597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126547615 meters 0.07838427284104876 Centerline is valid? [True, True] Translation: X:4.91, Y:0.26, Z:-0.21 [[ 9.96031467e-01 8.12547345e-02 3.63178341e-02 4.90598897e+00] [-8.12744296e-02 9.96691322e-01 -9.36162839e-04 2.64386651e-01] [-3.62737377e-02 -2.01926360e-03 9.99339851e-01 -2.09447783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.186547615 meters 0.06952119644909101 Centerline is valid? [True, True] Translation: X:4.97, Y:0.22, Z:-0.20 [[ 9.97026255e-01 6.44973789e-02 4.21750560e-02 4.96562231e+00] [-6.45090226e-02 9.97916533e-01 -1.08622284e-03 2.21619343e-01] [-4.21572442e-02 -1.63767895e-03 9.99109646e-01 -2.04906620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.246547614999999 meters 0.06789462651108347 Centerline is valid? [True, True] Translation: X:5.02, Y:0.21, Z:-0.22 [[ 9.98121176e-01 5.01902606e-02 3.51433470e-02 5.02384302e+00] [-5.01894453e-02 9.98739305e-01 -9.05939039e-04 2.09531557e-01] [-3.51445113e-02 -8.59588154e-04 9.99381871e-01 -2.21789682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306547615 meters 0.06780959512373684 Centerline is valid? [True, True] Translation: X:5.09, Y:0.20, Z:-0.23 [[ 9.98580387e-01 4.60364232e-02 2.67928650e-02 5.08548699e+00] [-4.60345263e-02 9.98939612e-01 -6.87932876e-04 1.96853854e-01] [-2.67961242e-02 -5.46440570e-04 9.99640770e-01 -2.26935117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366547615 meters 0.06798945076137344 Centerline is valid? [True, True] Translation: X:5.14, Y:0.18, Z:-0.23 [[ 9.98780636e-01 4.47696343e-02 2.08067430e-02 5.14474940e+00] [-4.47681467e-02 9.98997259e-01 -5.37515847e-04 1.81512881e-01] [-2.08099436e-02 -3.94618903e-04 9.99783372e-01 -2.29364187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426547615 meters 0.06779375803921077 Centerline is valid? [True, True] Translation: X:5.21, Y:0.20, Z:-0.23 [[ 9.98308564e-01 4.95355530e-02 3.04342016e-02 5.20627526e+00] [-4.95346030e-02 9.98772099e-01 -7.85625904e-04 2.03868943e-01] [-3.04357478e-02 -7.23249025e-04 9.99536464e-01 -2.33902356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486547615 meters 0.07000258029376169 Centerline is valid? [True, True] Translation: X:5.27, Y:0.21, Z:-0.24 [[ 9.98351300e-01 5.30800489e-02 2.18446964e-02 5.26650107e+00] [-5.30804013e-02 9.98590082e-01 -5.64110778e-04 2.06291010e-01] [-2.18438403e-02 -5.96344524e-04 9.99761217e-01 -2.44966447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546547615 meters 0.06762825397013461 Centerline is valid? [True, True] Translation: X:5.33, Y:0.18, Z:-0.23 [[ 9.98558100e-01 4.73821927e-02 2.52318986e-02 5.32792834e+00] [-4.73808253e-02 9.98876685e-01 -6.52374937e-04 1.78331055e-01] [-2.52344661e-02 -5.44073900e-04 9.99681412e-01 -2.31870656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606547615 meters 0.06716163915137784 Centerline is valid? [True, True] Translation: X:5.39, Y:0.19, Z:-0.24 [[ 9.98344614e-01 4.89113138e-02 3.02607768e-02 5.38965319e+00] [-4.89100591e-02 9.98802881e-01 -7.82105407e-04 1.93113903e-01] [-3.02628048e-02 -6.99245658e-04 9.99541732e-01 -2.38814386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666547615 meters 0.07048209784061601 Centerline is valid? [True, True] Translation: X:5.45, Y:0.21, Z:-0.25 [[ 9.97551967e-01 6.15598828e-02 3.31730769e-02 5.45004393e+00] [-6.15652434e-02 9.98102690e-01 -8.60788743e-04 2.08124594e-01] [-3.31631273e-02 -1.18362705e-03 9.99449251e-01 -2.46279970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726547615 meters 0.07324258641856571 Centerline is valid? [True, True] Translation: X:5.51, Y:0.22, Z:-0.25 [[ 9.97312982e-01 6.82986673e-02 2.64973362e-02 5.51054860e+00] [-6.83044804e-02 9.97664285e-01 -6.86714082e-04 2.17054948e-01] [-2.64823476e-02 -1.12501791e-03 9.99648648e-01 -2.51490006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786547615 meters 0.07356911078648998 Centerline is valid? [True, True] Translation: X:5.57, Y:0.22, Z:-0.25 [[ 9.97231859e-01 6.94079714e-02 2.66674629e-02 5.57284573e+00] [-6.94144036e-02 9.97587676e-01 -6.85558168e-04 2.22662321e-01] [-2.66507155e-02 -1.16744558e-03 9.99644125e-01 -2.50345863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846547615 meters 0.07318191686107123 Centerline is valid? [True, True] Translation: X:5.63, Y:0.21, Z:-0.26 [[ 9.97454236e-01 6.77138749e-02 2.23579654e-02 5.63403055e+00] [-6.77178795e-02 9.97704342e-01 -5.78821230e-04 2.14615700e-01] [-2.23458334e-02 -9.36686319e-04 9.99749862e-01 -2.55604023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906547615 meters 0.07280184194302342 Centerline is valid? [True, True] Translation: X:5.70, Y:0.22, Z:-0.27 [[ 9.97618719e-01 6.51251797e-02 2.27068745e-02 5.69503033e+00] [-6.51283531e-02 9.97876714e-01 -6.00528430e-04 2.16557373e-01] [-2.26977708e-02 -8.79762936e-04 9.99741985e-01 -2.65253774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966547615 meters 0.07246009355814528 Centerline is valid? [True, True] Translation: X:5.75, Y:0.21, Z:-0.27 [[ 9.97988426e-01 5.82271988e-02 2.50737928e-02 5.75454130e+00] [-5.82288380e-02 9.98303040e-01 -6.65364747e-04 2.06193269e-01] [-2.50699859e-02 -7.95991503e-04 9.99685382e-01 -2.73030244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026547615 meters 0.06995181947081987 Centerline is valid? [True, True] Translation: X:5.82, Y:0.18, Z:-0.26 [[ 9.98171229e-01 5.23900699e-02 3.01575636e-02 5.81516531e+00] [-5.23897771e-02 9.98626392e-01 -8.00406089e-04 1.79187267e-01] [-3.01580722e-02 -7.81005704e-04 9.99544837e-01 -2.63402354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086547615 meters 0.07049512643019268 Centerline is valid? [True, True] Translation: X:5.88, Y:0.18, Z:-0.26 [[ 9.97534408e-01 5.83303760e-02 3.90214355e-02 5.87771927e+00] [-5.83345932e-02 9.98296555e-01 -1.03147017e-03 1.78778890e-01] [-3.90151307e-02 -1.24737259e-03 9.99237841e-01 -2.58863658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146547615 meters 0.08142014686708317 Centerline is valid? [True, True] Translation: X:5.94, Y:0.20, Z:-0.27 [[ 9.95766956e-01 8.43985480e-02 3.64013050e-02 5.93753187e+00] [-8.44190795e-02 9.96429861e-01 -9.75339194e-04 1.95767481e-01] [-3.63536645e-02 -2.10175412e-03 9.99336777e-01 -2.68477134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206547615 meters 0.08948406437010527 Centerline is valid? [True, True] Translation: X:6.00, Y:0.21, Z:-0.28 [[ 9.94026803e-01 1.04825096e-01 3.03712660e-02 5.99817370e+00] [-1.04848836e-01 9.94487837e-01 -8.14260596e-04 2.09597840e-01] [-3.02892096e-02 -2.37499503e-03 9.99538355e-01 -2.81158717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266547615 meters 0.0929057646860765 Centerline is valid? [True, True] Translation: X:6.06, Y:0.20, Z:-0.28 [[ 9.93311410e-01 1.10097085e-01 3.48004895e-02 6.05864748e+00] [-1.10131432e-01 9.93916594e-01 -9.34230136e-04 2.04567521e-01] [-3.46916400e-02 -2.90464628e-03 9.99393843e-01 -2.80015212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326547614999999 meters 0.08595177179008298 Centerline is valid? [True, True] Translation: X:6.12, Y:0.17, Z:-0.28 [[ 9.94099578e-01 1.02514304e-01 3.54520234e-02 6.11895775e+00] [-1.02545167e-01 9.94727894e-01 -9.51447573e-04 1.67789997e-01] [-3.53626536e-02 -2.68960001e-03 9.99370927e-01 -2.78433326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386547615 meters 0.08708506998053436 Centerline is valid? [True, True] Translation: X:6.18, Y:0.16, Z:-0.29 [[ 9.94492917e-01 9.96350667e-02 3.25067773e-02 6.17822375e+00] [-9.96594738e-02 9.95021220e-01 -8.72581901e-04 1.58611249e-01] [-3.24318729e-02 -2.37183180e-03 9.99471134e-01 -2.93538920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446547615 meters 0.08837531574681579 Centerline is valid? [True, True] Translation: X:6.24, Y:0.13, Z:-0.29 [[ 9.94523917e-01 1.00052501e-01 3.01939800e-02 6.23940971e+00] [-1.00073775e-01 9.94979690e-01 -8.09554004e-04 1.31558580e-01] [-3.01233948e-02 -2.21650475e-03 9.99543730e-01 -2.94903022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506547615 meters 0.08915766236123435 Centerline is valid? [True, True] Translation: X:6.30, Y:0.11, Z:-0.29 [[ 9.94268569e-01 1.01793169e-01 3.26827646e-02 6.30058587e+00] [-1.01819072e-01 9.94802549e-01 -8.75120716e-04 1.10372085e-01] [-3.26019788e-02 -2.45762374e-03 9.99465393e-01 -2.93900825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566547615 meters 0.09607479223625398 Centerline is valid? [True, True] Translation: X:6.36, Y:0.11, Z:-0.30 [[ 9.93524500e-01 1.08042999e-01 3.51536352e-02 6.36066646e+00] [-1.08076356e-01 9.94142137e-01 -9.55543722e-04 1.11030875e-01] [-3.50509499e-02 -2.84992069e-03 9.99381463e-01 -3.02660265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626547615 meters 0.09283096179607633 Centerline is valid? [True, True] Translation: X:6.42, Y:0.09, Z:-0.30 [[ 9.93596282e-01 1.05466401e-01 4.05372337e-02 6.42173668e+00] [-1.05508620e-01 9.94417777e-01 -1.10248326e-03 9.18194112e-02] [-4.04272208e-02 -3.18160433e-03 9.99177420e-01 -2.97542969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686547615 meters 0.08532509492902535 Centerline is valid? [True, True] Translation: X:6.48, Y:0.05, Z:-0.29 [[ 9.94956853e-01 9.26867368e-02 3.83409736e-02 6.48205980e+00] [-9.27150319e-02 9.95692138e-01 -1.04324136e-03 4.82438472e-02] [-3.82725006e-02 -2.51680445e-03 9.99264170e-01 -2.90815015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746547614999999 meters 0.08290156210224278 Centerline is valid? [True, True] Translation: X:6.54, Y:0.04, Z:-0.31 [[ 9.95530347e-01 8.73939747e-02 3.57997508e-02 6.54161281e+00] [-8.74152161e-02 9.96171486e-01 -9.74458268e-04 3.69174622e-02] [-3.57478527e-02 -2.15934017e-03 9.99358508e-01 -3.05710493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806547615 meters 0.08468920230050203 Centerline is valid? [True, True] Translation: X:6.60, Y:0.03, Z:-0.31 [[ 9.95155825e-01 9.01789146e-02 3.91490482e-02 6.60335783e+00] [-9.02064827e-02 9.95922515e-01 -1.06528078e-03 2.56741387e-02] [-3.90854844e-02 -2.47137756e-03 9.99232814e-01 -3.09070064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866547615 meters 0.08966304983777272 Centerline is valid? [True, True] Translation: X:6.66, Y:0.02, Z:-0.31 [[ 9.94061360e-01 1.00563827e-01 4.15803846e-02 6.66388071e+00] [-1.00603803e-01 9.94925920e-01 -1.13525851e-03 2.31411275e-02] [-4.14835683e-02 -3.05462821e-03 9.99134517e-01 -3.11953335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926547615 meters 0.08611103589674265 Centerline is valid? [True, True] Translation: X:6.72, Y:0.02, Z:-0.31 [[ 9.94407413e-01 9.44310008e-02 4.72935771e-02 6.72427715e+00] [-9.44757401e-02 9.95526324e-01 -1.29342703e-03 2.15268837e-02] [-4.72041406e-02 -3.18190227e-03 9.98880195e-01 -3.14139856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986547615 meters 0.08718392620586397 Centerline is valid? [True, True] Translation: X:6.78, Y:0.01, Z:-0.32 [[ 9.94837147e-01 9.50300692e-02 3.56137123e-02 6.78379166e+00] [-9.50557935e-02 9.95471470e-01 -9.74015499e-04 1.19669266e-02] [-3.55449953e-02 -2.41630288e-03 9.99365156e-01 -3.19688152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046547615 meters 0.08342372982316429 Centerline is valid? [True, True] Translation: X:6.84, Y:0.01, Z:-0.35 [[ 9.96043449e-01 8.55674584e-02 2.39928834e-02 6.84347481e+00] [-8.55764016e-02 9.96331395e-01 -6.55658476e-04 5.99035381e-03] [-2.39609660e-02 -1.40016029e-03 9.99711914e-01 -3.47121686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106547615 meters 0.08455645127838125 Centerline is valid? [True, True] Translation: X:6.91, Y:0.01, Z:-0.34 [[ 9.95483891e-01 8.97611948e-02 3.08990352e-02 6.90594425e+00] [-8.97782097e-02 9.95961429e-01 -8.39065495e-04 6.28792622e-03] [-3.08495628e-02 -1.93878388e-03 9.99522159e-01 -3.42459433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166547614999999 meters 0.08461047352440122 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.01, Z:-0.33 [[ 9.95171949e-01 9.18464986e-02 3.45978715e-02 6.96812499e+00] [-9.18687267e-02 9.95770674e-01 -9.50056446e-04 -9.74233860e-03] [-3.45388052e-02 -2.23299288e-03 9.99400863e-01 -3.28440673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226547615 meters 0.07875139786798613 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.02, Z:-0.33 [[ 9.95582271e-01 7.94265041e-02 5.00736609e-02 7.02822283e+00] [-7.94564439e-02 9.96837362e-01 -1.39554164e-03 -1.71081452e-02] [-5.00261390e-02 -2.58929851e-03 9.98744552e-01 -3.33366433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286547615 meters 0.07918730112084575 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.01, Z:-0.34 [[ 9.95844154e-01 7.86740619e-02 4.58782307e-02 7.08935664e+00] [-7.86984924e-02 9.96897647e-01 -1.27628206e-03 -1.38831762e-02] [-4.58363105e-02 -2.33956956e-03 9.98946224e-01 -3.44979952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346547615 meters 0.07971087060535914 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.03, Z:-0.33 [[ 9.95813181e-01 8.21131502e-02 4.01688908e-02 7.15075360e+00] [-8.21341673e-02 9.96620641e-01 -1.12958122e-03 -3.04359364e-02] [-4.01258992e-02 -2.17438654e-03 9.99192266e-01 -3.33538655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406547615 meters 0.07856348232853183 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.03, Z:-0.34 [[ 9.95741112e-01 8.17068022e-02 4.27040629e-02 7.21308835e+00] [-8.17302058e-02 9.96653767e-01 -1.20050100e-03 -2.75675488e-02] [-4.26592543e-02 -2.29482365e-03 9.99087044e-01 -3.43357487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466547615 meters 0.0787551027790523 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.02, Z:-0.37 [[ 9.96558602e-01 7.48868427e-02 3.55374820e-02 7.27199210e+00] [-7.48985604e-02 9.97190653e-01 -1.00330428e-03 -2.23317587e-02] [-3.55127792e-02 -1.66185473e-03 9.99367841e-01 -3.71356216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526547615 meters 0.0744251408827657 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.05, Z:-0.36 [[ 9.97137649e-01 6.36242392e-02 4.08468546e-02 7.33295079e+00] [-6.36303065e-02 9.97972873e-01 -1.15285561e-03 -4.61053450e-02] [-4.08374024e-02 -1.44954214e-03 9.99164754e-01 -3.62399375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586547614999999 meters 0.07229225404443024 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.07, Z:-0.34 [[ 9.96889940e-01 6.51624608e-02 4.43204433e-02 7.39703242e+00] [-6.51712240e-02 9.97873315e-01 -1.24870518e-03 -6.85004194e-02] [-4.43075564e-02 -1.64359590e-03 9.99016586e-01 -3.37712186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646547615 meters 0.07705755727562964 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.04, Z:-0.37 [[ 9.96424514e-01 7.60217726e-02 3.68629522e-02 7.45674370e+00] [-7.60347519e-02 9.97104614e-01 -1.05171870e-03 -3.94587764e-02] [-3.68361732e-02 -1.75490712e-03 9.99319777e-01 -3.73338218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706547615 meters 0.08111144059750533 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.02, Z:-0.38 [[ 9.95837802e-01 8.21253463e-02 3.95284715e-02 7.51714348e+00] [-8.21450239e-02 9.96619747e-01 -1.12885392e-03 -1.95466077e-02] [-3.94875628e-02 -2.12291182e-03 9.99217807e-01 -3.84727940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766547615 meters 0.08008462335845346 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.04, Z:-0.36 [[ 9.95818589e-01 8.23773273e-02 3.94881474e-02 7.57927532e+00] [-8.23973114e-02 9.96598926e-01 -1.12391903e-03 -3.87791519e-02] [-3.94464307e-02 -2.13449771e-03 9.99219407e-01 -3.64716178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826547614999999 meters 0.0780072523598841 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.05, Z:-0.36 [[ 9.95857564e-01 7.76111710e-02 4.73731893e-02 7.63985217e+00] [-7.76337283e-02 9.96981012e-01 -1.36634791e-03 -5.10894073e-02] [-4.73362141e-02 -2.31706941e-03 9.98876326e-01 -3.56626378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886547615 meters 0.07623691545858693 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.05, Z:-0.38 [[ 9.96136657e-01 7.19456508e-02 5.03545891e-02 7.70000022e+00] [-7.19639052e-02 9.97406179e-01 -1.45275169e-03 -4.89736987e-02] [-5.03284974e-02 -2.17657366e-03 9.98730346e-01 -3.77378223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.946547615 meters 0.08032089411733624 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.03, Z:-0.39 [[ 9.95795168e-01 7.86865907e-02 4.69084571e-02 7.76030924e+00] [-7.87098206e-02 9.96896649e-01 -1.35454291e-03 -3.22694192e-02] [-4.68694680e-02 -2.34330896e-03 9.98898274e-01 -3.92719133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.006547615 meters 0.08464110503675178 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.04, Z:-0.38 [[ 9.95169402e-01 8.97255434e-02 3.98395340e-02 7.82165491e+00] [-8.97510947e-02 9.95963562e-01 -1.15033014e-03 -3.56938992e-02] [-3.97819382e-02 -2.43086844e-03 9.99205428e-01 -3.81552731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.066547615 meters 0.08591240046423342 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.04, Z:-0.39 [[ 9.95316267e-01 9.13007980e-02 3.17756507e-02 7.88190461e+00] [-9.13178118e-02 9.95821376e-01 -9.18399651e-04 -3.61601189e-02] [-3.17267229e-02 -1.98758478e-03 9.99494605e-01 -3.92117826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126547615 meters 0.07850499873765865 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.05, Z:-0.40 [[ 9.96476382e-01 7.33730472e-02 4.06351487e-02 7.94202970e+00] [-7.33859852e-02 9.97302921e-01 -1.17517074e-03 -5.25188166e-02] [-4.06117784e-02 -1.81102053e-03 9.99173360e-01 -4.03672670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.186547615 meters 0.07460212680520328 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.07, Z:-0.41 [[ 9.97278944e-01 6.17578379e-02 4.02576416e-02 8.00264181e+00] [-6.17610402e-02 9.98090284e-01 -1.16531907e-03 -6.55020858e-02] [-4.02527285e-02 -1.32420565e-03 9.99188653e-01 -4.10784104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246547614999999 meters 0.07713299193744859 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.07, Z:-0.40 [[ 9.96384677e-01 7.48065018e-02 4.02686240e-02 8.06477903e+00] [-7.48202989e-02 9.97196351e-01 -1.16644776e-03 -6.55785884e-02] [-4.02429828e-02 -1.85067980e-03 9.99188209e-01 -3.95756001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306547615 meters 0.08196737852639147 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.06, Z:-0.39 [[ 9.95162551e-01 8.85391000e-02 4.25714126e-02 8.12641892e+00] [-8.85670243e-02 9.96069456e-01 -1.23339558e-03 -5.64827116e-02] [-4.25132875e-02 -2.54299424e-03 9.99092665e-01 -3.89638077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366547615 meters 0.07790362974736552 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.06, Z:-0.42 [[ 9.96514449e-01 7.37430005e-02 3.89990043e-02 8.18526398e+00] [-7.37550706e-02 9.97275744e-01 -1.13110995e-03 -5.84472062e-02] [-3.89761725e-02 -1.74920690e-03 9.99238609e-01 -4.22145560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.426547615 meters 0.07519016517767292 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.06, Z:-0.42 [[ 9.96984422e-01 6.28860074e-02 4.54688120e-02 8.24474261e+00] [-6.28910922e-02 9.98019523e-01 -1.32011213e-03 -6.46894491e-02] [-4.54617786e-02 -1.54345201e-03 9.98964886e-01 -4.22028285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.486547615 meters 0.07461279284409082 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.08, Z:-0.40 [[ 9.96743887e-01 6.85094994e-02 4.25214313e-02 8.30597942e+00] [-6.85190641e-02 9.97649044e-01 -1.23416089e-03 -8.30049050e-02] [-4.25060171e-02 -1.68338636e-03 9.99094793e-01 -4.00285206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546547615 meters 0.07875384108584398 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.06, Z:-0.42 [[ 9.96120959e-01 8.02286564e-02 3.61441236e-02 8.36648853e+00] [-8.02432421e-02 9.96774759e-01 -1.04925538e-03 -5.99846571e-02] [-3.61117304e-02 -1.85513638e-03 9.99346037e-01 -4.21208413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606547615 meters 0.08275184905617902 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.04, Z:-0.43 [[ 9.95137962e-01 8.83571868e-02 4.35137276e-02 8.42722760e+00] [-8.83860165e-02 9.96085495e-01 -1.26469884e-03 -4.43977173e-02] [-4.34551381e-02 -2.58745522e-03 9.99052029e-01 -4.29134648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666547614999999 meters 0.07462083807673853 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.08, Z:-0.42 [[ 9.96465401e-01 6.91628147e-02 4.76781882e-02 8.48785561e+00] [-6.91755024e-02 9.97603543e-01 -1.38583770e-03 -8.24108286e-02] [-4.76597780e-02 -1.91722331e-03 9.98861787e-01 -4.16452266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726547615 meters 0.07494817592803084 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.07, Z:-0.43 [[ 9.96658327e-01 6.80766923e-02 4.51413582e-02 8.54859143e+00] [-6.80870005e-02 9.97678526e-01 -1.31094914e-03 -7.17021292e-02] [-4.51258088e-02 -1.76697130e-03 9.98979749e-01 -4.30877569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786547615 meters 0.08412159509270939 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.05, Z:-0.45 [[ 9.95814391e-01 8.57134099e-02 3.17318312e-02 8.60838468e+00] [-8.57271495e-02 9.96318218e-01 -9.29747290e-04 -4.75432973e-02] [-3.16946934e-02 -1.79442371e-03 9.99495986e-01 -4.46765212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846547615 meters 0.0878994081065701 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.05, Z:-0.44 [[ 9.94945645e-01 9.47915367e-02 3.31319694e-02 8.66958841e+00] [-9.48114733e-02 9.95494771e-01 -9.72373228e-04 -4.74248755e-02] [-3.30748751e-02 -2.17383232e-03 9.99450513e-01 -4.39088651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906547615 meters 0.08427892358222006 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.04, Z:-0.45 [[ 9.95154814e-01 8.78565936e-02 4.41374677e-02 8.72972268e+00] [-8.78851746e-02 9.96129769e-01 -1.29626260e-03 -4.13022722e-02] [-4.40805307e-02 -2.58904708e-03 9.99024626e-01 -4.50210598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966547615 meters 0.07647056208626593 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.07, Z:-0.44 [[ 9.96055731e-01 7.42160169e-02 4.86308862e-02 8.79013241e+00] [-7.42344984e-02 9.97239790e-01 -1.42846337e-03 -7.12521667e-02] [-4.86026696e-02 -2.18726032e-03 9.98815797e-01 -4.40414319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026547615 meters 0.07636044008419739 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.08, Z:-0.44 [[ 9.96400046e-01 7.26582209e-02 4.36775729e-02 8.85076503e+00] [-7.26716977e-02 9.97355094e-01 -1.28129326e-03 -8.11473342e-02] [-4.36551463e-02 -1.89744271e-03 9.99044858e-01 -4.41051466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086547614999999 meters 0.08247199397982731 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.06, Z:-0.46 [[ 9.95460897e-01 8.80001365e-02 3.62433182e-02 8.91098622e+00] [-8.80191401e-02 9.96118205e-01 -1.07401272e-03 -5.84486912e-02] [-3.61971423e-02 -2.12096804e-03 9.99342418e-01 -4.62240561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146547615 meters 0.08300187652509722 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.07, Z:-0.46 [[ 9.95323397e-01 8.99076017e-02 3.53264565e-02 8.97224834e+00] [-8.99270206e-02 9.95947812e-01 -1.04204185e-03 -6.91172202e-02] [-3.52769946e-02 -2.13963434e-03 9.99375283e-01 -4.62663768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206547615 meters 0.07964318757762288 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.07, Z:-0.48 [[ 9.96272007e-01 7.85476016e-02 3.56701782e-02 9.03240478e+00] [-7.85596764e-02 9.96908844e-01 -1.06509683e-03 -7.37898804e-02] [-3.56435769e-02 -1.74111150e-03 9.99363049e-01 -4.75914280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266547615 meters 0.07805293341810046 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.08, Z:-0.47 [[ 9.96551223e-01 7.45609578e-02 3.64187259e-02 9.09345790e+00] [-7.45708548e-02 9.97215124e-01 -1.08840173e-03 -8.30836004e-02] [-3.63984565e-02 -1.63112745e-03 9.99336025e-01 -4.71177670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326547614999999 meters 0.07763202089892716 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.10, Z:-0.46 [[ 9.96343876e-01 7.61562740e-02 3.87182406e-02 9.15537597e+00] [-7.61687939e-02 9.97094270e-01 -1.15379824e-03 -1.02059695e-01] [-3.86936048e-02 -1.79954188e-03 9.99249502e-01 -4.58434164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386547615 meters 0.07920944259502005 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.09, Z:-0.48 [[ 9.96017462e-01 7.80442875e-02 4.31080514e-02 9.21806199e+00] [-7.80610730e-02 9.96947736e-01 -1.29636671e-03 -8.89228613e-02] [-4.30776483e-02 -2.07385687e-03 9.99069575e-01 -4.75879065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446547615 meters 0.0769869234857421 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.11, Z:-0.49 [[ 9.96977732e-01 7.01499281e-02 3.33824719e-02 9.27758115e+00] [-7.01551607e-02 9.97535574e-01 -1.01597667e-03 -1.11684740e-01] [-3.33714740e-02 -1.32904656e-03 9.99442134e-01 -4.85984301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506547615 meters 0.07484451225634084 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.13, Z:-0.49 [[ 9.97316944e-01 6.58366249e-02 3.20070560e-02 9.33886031e+00] [-6.58392497e-02 9.97829768e-01 -9.73062811e-04 -1.29008009e-01] [-3.20016565e-02 -1.13686852e-03 9.99487169e-01 -4.87450372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566547615 meters 0.07637847611906444 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.12, Z:-0.50 [[ 9.97249982e-01 6.44046985e-02 3.66675364e-02 9.39981555e+00] [-6.44070789e-02 9.97923083e-01 -1.11753031e-03 -1.19311626e-01] [-3.66633552e-02 -1.24719183e-03 9.99326895e-01 -4.95763304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626547615 meters 0.07571865061779787 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.13, Z:-0.50 [[ 9.97402889e-01 6.58814344e-02 2.91052188e-02 9.46051105e+00] [-6.58835242e-02 9.97826925e-01 -8.88216338e-04 -1.33704951e-01] [-2.91004880e-02 -1.03164485e-03 9.99575959e-01 -4.96717507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686547615 meters 0.07434791152593 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.15, Z:-0.50 [[ 9.97689881e-01 6.07617907e-02 3.03793728e-02 9.52036928e+00] [-6.07616696e-02 9.98151871e-01 -9.28003443e-04 -1.49710006e-01] [-3.03796149e-02 -9.20041767e-04 9.99538010e-01 -4.97816764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746547614999999 meters 0.07180548566295247 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.16, Z:-0.50 [[ 9.97839367e-01 5.31645701e-02 3.86021630e-02 9.58117328e+00] [-5.31587108e-02 9.98585380e-01 -1.17890237e-03 -1.58984091e-01] [-3.86102315e-02 -8.75686031e-04 9.99253963e-01 -4.96501285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806547615 meters 0.07104300530832584 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.17, Z:-0.50 [[ 9.98110233e-01 4.71499505e-02 3.94061485e-02 9.64198963e+00] [-4.71391469e-02 9.98887607e-01 -1.20377873e-03 -1.69086328e-01] [-3.94190715e-02 -6.56068353e-04 9.99222551e-01 -5.01308258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866547615 meters 0.0707433708668761 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.18, Z:-0.50 [[ 9.98392054e-01 4.57707716e-02 3.34416346e-02 9.70215721e+00] [-4.57621874e-02 9.98951839e-01 -1.02244520e-03 -1.84660827e-01] [-3.34533805e-02 -5.09561189e-04 9.99440149e-01 -5.04830484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926547615 meters 0.0716497968205627 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.17, Z:-0.52 [[ 9.98354129e-01 4.76328239e-02 3.19397522e-02 9.76375397e+00] [-4.76260732e-02 9.98864761e-01 -9.72534984e-04 -1.73421564e-01] [-3.19498176e-02 -5.50230660e-04 9.99489323e-01 -5.16528140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986547615 meters 0.07709326112265999 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.14, Z:-0.54 [[ 9.97905212e-01 6.11069946e-02 2.12396424e-02 9.82365415e+00] [-6.11068859e-02 9.98131013e-01 -6.54742797e-04 -1.43975763e-01] [-2.12399551e-02 -6.44517153e-04 9.99774199e-01 -5.36671904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046547615 meters 0.07735419918822069 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.15, Z:-0.52 [[ 9.97524021e-01 6.76264798e-02 1.92999023e-02 9.88535093e+00] [-6.76275926e-02 9.97710456e-01 -5.95750705e-04 -1.50953166e-01] [-1.92960029e-02 -7.10930294e-04 9.99813562e-01 -5.24609735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106547615 meters 0.07473133105668478 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.15, Z:-0.52 [[ 9.97300891e-01 6.52044555e-02 3.37536962e-02 9.94687888e+00] [-6.52064529e-02 9.97871250e-01 -1.04278533e-03 -1.48758842e-01] [-3.37498373e-02 -1.16098807e-03 9.99429638e-01 -5.20277764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166547614999999 meters 0.07356546356943985 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.16, Z:-0.53 [[ 9.97816204e-01 5.80071169e-02 3.15911045e-02 1.00068814e+01] [-5.80052562e-02 9.98315800e-01 -9.76125127e-04 -1.60164856e-01] [-3.15945210e-02 -8.58456642e-04 9.99500400e-01 -5.30506951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226547615 meters 0.074308845768714 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.16, Z:-0.53 [[ 9.97565081e-01 6.12273582e-02 3.33934157e-02 1.00694153e+01] [-6.12272283e-02 9.98123324e-01 -1.02742943e-03 -1.55577295e-01] [-3.33936538e-02 -1.01965856e-03 9.99441756e-01 -5.33203224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286547615 meters 0.07652541950364357 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.15, Z:-0.54 [[ 9.97209541e-01 6.94136094e-02 2.74751361e-02 1.01305821e+01] [-6.94163290e-02 9.97587410e-01 -8.55947762e-04 -1.51346520e-01] [-2.74682643e-02 -1.05366381e-03 9.99622121e-01 -5.36938399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346547615 meters 0.07595824088194507 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.17, Z:-0.54 [[ 9.97503695e-01 6.73078142e-02 2.13549944e-02 1.01923319e+01] [-6.73090006e-02 9.97731957e-01 -6.64032244e-04 -1.68729946e-01] [-2.13512549e-02 -7.75008710e-04 9.99771736e-01 -5.39121155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406547615 meters 0.07276033854092841 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.18, Z:-0.55 [[ 9.98229922e-01 5.25282653e-02 2.78891370e-02 1.02511993e+01] [-5.25243822e-02 9.98619261e-01 -8.72293387e-04 -1.83043492e-01] [-2.78964495e-02 -5.94110333e-04 9.99610642e-01 -5.48051735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466547615 meters 0.07162219850485443 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.20, Z:-0.55 [[ 9.98629678e-01 4.25679402e-02 3.04423517e-02 1.03101721e+01] [-4.25586701e-02 9.99093515e-01 -9.52685337e-04 -2.02948203e-01] [-3.04553100e-02 -3.44206149e-04 9.99536070e-01 -5.50446955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526547615 meters 0.07159369493728905 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.21, Z:-0.55 [[ 9.98391412e-01 4.84115410e-02 2.95112152e-02 1.03723390e+01] [-4.84054392e-02 9.98827345e-01 -9.21552351e-04 -2.06773409e-01] [-2.95212225e-02 -5.08433380e-04 9.99564024e-01 -5.45491190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586547614999999 meters 0.07252496406783383 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.20, Z:-0.56 [[ 9.98309320e-01 5.04926303e-02 2.87922820e-02 1.04336504e+01] [-5.04877580e-02 9.98724277e-01 -8.96641598e-04 -1.99264770e-01] [-2.88008249e-02 -5.58532103e-04 9.99585014e-01 -5.55968693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646547615 meters 0.07288960072699138 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.20, Z:-0.56 [[ 9.98355440e-01 5.04480750e-02 2.72287828e-02 1.04949568e+01] [-5.04435523e-02 9.98726549e-01 -8.53395716e-04 -1.98969463e-01] [-2.72371605e-02 -5.21524275e-04 9.99628864e-01 -5.62181651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706547615 meters 0.07441349038235909 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.19, Z:-0.57 [[ 9.98140022e-01 5.41719375e-02 2.79624351e-02 1.05569384e+01] [-5.41684571e-02 9.98531421e-01 -8.82498267e-04 -1.87414723e-01] [-2.79691767e-02 -6.33825125e-04 9.99608585e-01 -5.73052721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766547615 meters 0.07540620688511714 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.19, Z:-0.57 [[ 9.97714122e-01 6.25344057e-02 2.56120928e-02 1.06180490e+01] [-6.25339294e-02 9.98042501e-01 -8.20324208e-04 -1.87990670e-01] [-2.56132557e-02 -7.83175756e-04 9.99671620e-01 -5.66125521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826547614999999 meters 0.07567507301818717 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.19, Z:-0.57 [[ 9.97501408e-01 6.53846566e-02 2.67542264e-02 1.06797899e+01] [-6.53853259e-02 9.97859727e-01 -8.50743091e-04 -1.86087673e-01] [-2.67525906e-02 -9.00716383e-04 9.99641680e-01 -5.65825182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886547615 meters 0.0746137322955544 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.19, Z:-0.57 [[ 9.97637611e-01 5.99124929e-02 3.36108764e-02 1.07392530e+01] [-5.99098932e-02 9.98203199e-01 -1.08534476e-03 -1.85851976e-01] [-3.36155101e-02 -9.30843263e-04 9.99434406e-01 -5.71661669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946547615 meters 0.07398377705366803 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.19, Z:-0.57 [[ 9.97673320e-01 5.72288935e-02 3.70513322e-02 1.08004858e+01] [-5.72239423e-02 9.98360653e-01 -1.19496387e-03 -1.94102541e-01] [-3.70589787e-02 -9.28039724e-04 9.99312649e-01 -5.73063632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006547614999999 meters 0.07721138168796633 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.18, Z:-0.57 [[ 9.96937836e-01 6.86285487e-02 3.74843181e-02 1.08617888e+01] [-6.86314537e-02 9.97641347e-01 -1.21076860e-03 -1.79776987e-01] [-3.74789989e-02 -1.36554221e-03 9.99296482e-01 -5.73737397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066547615 meters 0.08064557787113803 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.18, Z:-0.59 [[ 9.96861791e-01 7.68591013e-02 1.89538279e-02 1.09219694e+01] [-7.68613332e-02 9.97041605e-01 -6.11770103e-04 -1.81100091e-01] [-1.89447751e-02 -8.46966241e-04 9.99820173e-01 -5.86793958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126547615 meters 0.080488399130373 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.17, Z:-0.60 [[ 9.97072705e-01 7.48479364e-02 1.56143571e-02 1.09838436e+01] [-7.48493535e-02 9.97194730e-01 -4.94441311e-04 -1.69646122e-01] [-1.56075625e-02 -6.75730600e-04 9.99877966e-01 -6.04338069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186547615 meters 0.0789837374533045 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.18, Z:-0.60 [[ 9.97546771e-01 6.60559724e-02 2.31743089e-02 1.10432016e+01] [-6.60562223e-02 9.97815617e-01 -7.55559777e-04 -1.79110686e-01] [-2.31735965e-02 -7.77101083e-04 9.99731154e-01 -6.03848264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246547614999999 meters 0.0762173153040974 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.20, Z:-0.58 [[ 9.97413538e-01 6.43877763e-02 3.19444559e-02 1.11039090e+01] [-6.43874358e-02 9.97924434e-01 -1.04040222e-03 -2.04255172e-01] [-3.19451423e-02 -1.01911035e-03 9.99489104e-01 -5.79753069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306547615 meters 0.07633071843370036 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.20, Z:-0.59 [[ 9.96820360e-01 6.89584299e-02 3.99237431e-02 1.11661600e+01] [-6.89617090e-02 9.97618465e-01 -1.29665647e-03 -1.98640047e-01] [-3.99180787e-02 -1.46067599e-03 9.99201888e-01 -5.88798592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366547615 meters 0.07663315193427335 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.20, Z:-0.61 [[ 9.97495991e-01 6.22207608e-02 3.36203020e-02 1.12254563e+01] [-6.22188789e-02 9.98061919e-01 -1.10319018e-03 -1.97165332e-01] [-3.36237845e-02 -9.91389723e-04 9.99434069e-01 -6.08185406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426547614999999 meters 0.07908579798537502 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.20, Z:-0.61 [[ 9.97251746e-01 7.00869109e-02 2.40162574e-02 1.12859216e+01] [-7.00882233e-02 9.97540485e-01 -7.88135422e-04 -1.96913720e-01] [-2.40124270e-02 -8.97287384e-04 9.99711257e-01 -6.10988145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486547615 meters 0.07811615591822517 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.20, Z:-0.61 [[ 9.97142376e-01 6.98864067e-02 2.86874766e-02 1.13464694e+01] [-6.98881758e-02 9.97554387e-01 -9.42217617e-04 -2.03339290e-01] [-2.86831663e-02 -1.06539029e-03 9.99587986e-01 -6.07288842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546547615 meters 0.07398037958401647 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.23, Z:-0.61 [[ 9.97574072e-01 5.96597578e-02 3.58703706e-02 1.14067187e+01] [-5.96558952e-02 9.98218305e-01 -1.17891099e-03 -2.26168816e-01] [-3.58767941e-02 -9.63828030e-04 9.99355756e-01 -6.07338943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606547615 meters 0.07197384902045252 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.23, Z:-0.60 [[ 9.97585188e-01 5.24037454e-02 4.55811382e-02 1.14667255e+01] [-5.23898731e-02 9.98625581e-01 -1.49972860e-03 -2.34590021e-01] [-4.55970820e-02 -8.91883007e-04 9.98959514e-01 -6.04365602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666547614999999 meters 0.07278481615596033 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.23, Z:-0.61 [[ 9.97601230e-01 5.40897220e-02 4.31982335e-02 1.15281349e+01] [-5.40789876e-02 9.98535654e-01 -1.41791413e-03 -2.30569147e-01] [-4.32116710e-02 -9.21603851e-04 9.99065514e-01 -6.12479666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726547615 meters 0.07835544985814662 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.21, Z:-0.64 [[ 9.97459849e-01 6.68797853e-02 2.45141613e-02 1.15884908e+01] [-6.68800292e-02 9.97760695e-01 -8.10849061e-04 -2.06808717e-01] [-2.45134960e-02 -8.30718442e-04 9.99699154e-01 -6.36630594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786547615 meters 0.07557626277840292 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.23, Z:-0.61 [[ 9.97547637e-01 6.47410055e-02 2.65953697e-02 1.16506533e+01] [-6.47405441e-02 9.97901743e-01 -8.79304414e-04 -2.34810811e-01] [-2.65964928e-02 -8.44650661e-04 9.99645894e-01 -6.14758050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846547615 meters 0.07160667356926234 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.25, Z:-0.63 [[ 9.98180228e-01 4.66664506e-02 3.81899849e-02 1.17098380e+01] [-4.66521294e-02 9.98910394e-01 -1.26654505e-03 -2.46657520e-01] [-3.82074780e-02 -5.17403894e-04 9.99269694e-01 -6.29262546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906547615 meters 0.07224324986745835 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.25, Z:-0.63 [[ 9.98294393e-01 3.89045325e-02 4.35286403e-02 1.17694325e+01] [-3.88785110e-02 9.99242901e-01 -1.44452946e-03 -2.51675952e-01] [-4.35518835e-02 -2.50263060e-04 9.99051135e-01 -6.32926482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966547615 meters 0.0708310161316811 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.27, Z:-0.62 [[ 9.98157325e-01 4.59173195e-02 3.96680493e-02 1.18310257e+01] [-4.59012668e-02 9.98945115e-01 -1.31582939e-03 -2.69889675e-01] [-3.96866234e-02 -5.07408969e-04 9.99212047e-01 -6.15842994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026547615 meters 0.074270005180717 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.24, Z:-0.63 [[ 9.97495396e-01 5.95068715e-02 3.82343654e-02 1.18905796e+01] [-5.95018996e-02 9.98227386e-01 -1.26895978e-03 -2.39754866e-01] [-3.82421024e-02 -1.00923583e-03 9.99267994e-01 -6.31283425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086547614999999 meters 0.0743625057693411 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.24, Z:-0.65 [[ 9.97825252e-01 5.64556795e-02 3.40223726e-02 1.19529965e+01] [-5.64500666e-02 9.98404788e-01 -1.12628300e-03 -2.38593551e-01] [-3.40316848e-02 -7.96731573e-04 9.99420437e-01 -6.45239822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146547615 meters 0.07100882658811003 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.26, Z:-0.63 [[ 9.97795138e-01 4.69859106e-02 4.68741571e-02 1.20143553e+01] [-4.69638288e-02 9.98895352e-01 -1.57288409e-03 -2.59034750e-01] [-4.68962811e-02 -6.31973790e-04 9.98899564e-01 -6.31543107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206547615 meters 0.07391857397421527 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.24, Z:-0.64 [[ 9.97245816e-01 5.94364187e-02 4.43632075e-02 1.20753552e+01] [-5.94289054e-02 9.98231430e-01 -1.48938481e-03 -2.40494903e-01] [-4.43732718e-02 -1.15117409e-03 9.99014358e-01 -6.41439319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266547615 meters 0.07759699349233787 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.24, Z:-0.65 [[ 9.97323249e-01 6.74661068e-02 2.81897270e-02 1.21345021e+01] [-6.74663149e-02 9.97721105e-01 -9.44822480e-04 -2.38602549e-01] [-2.81892291e-02 -9.59563572e-04 9.99602144e-01 -6.49996065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326547614999999 meters 0.07554791064036284 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.23, Z:-0.66 [[ 9.97487714e-01 6.25641164e-02 3.32263633e-02 1.21950063e+01] [-6.25615444e-02 9.98040482e-01 -1.11805528e-03 -2.32624952e-01] [-3.32312057e-02 -9.63446196e-04 9.99447227e-01 -6.58648750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386547615 meters 0.07491426131804985 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.23, Z:-0.67 [[ 9.97758747e-01 5.65833709e-02 3.57183993e-02 1.22559085e+01] [-5.65765621e-02 9.98397540e-01 -1.20214256e-03 -2.31538706e-01] [-3.57291832e-02 -8.21375976e-04 9.99361171e-01 -6.68595915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446547615 meters 0.07352342561504398 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.25, Z:-0.65 [[ 9.97523733e-01 6.01014245e-02 3.65269847e-02 1.23186737e+01] [-6.00968003e-02 9.98191802e-01 -1.22551972e-03 -2.47803943e-01] [-3.65345921e-02 -9.72669899e-04 9.99331916e-01 -6.50091309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506547614999999 meters 0.07836141988148901 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.23, Z:-0.65 [[ 9.95932988e-01 7.91381966e-02 4.30654087e-02 1.23801388e+01] [-7.91488348e-02 9.96861740e-01 -1.46068061e-03 -2.26489766e-01] [-4.30458539e-02 -1.95383691e-03 9.99071187e-01 -6.47901878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566547615 meters 0.07945223562414049 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.21, Z:-0.67 [[ 9.96308395e-01 7.55453028e-02 4.07736467e-02 1.24404886e+01] [-7.55518131e-02 9.97140918e-01 -1.38341563e-03 -2.12944424e-01] [-4.07615821e-02 -1.70221433e-03 9.99167451e-01 -6.71480369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626547615 meters 0.07790009449766548 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.24, Z:-0.67 [[ 9.96858918e-01 7.08622201e-02 3.53672501e-02 1.25004652e+01] [-7.08641221e-02 9.97485255e-01 -1.20132526e-03 -2.36217192e-01] [-3.53634390e-02 -1.30871732e-03 9.99373661e-01 -6.68742970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686547615 meters 0.0746373715566509 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.25, Z:-0.66 [[ 9.96943339e-01 6.72035137e-02 3.98455414e-02 1.25607820e+01] [-6.72029717e-02 9.97738406e-01 -1.35452246e-03 -2.51247595e-01] [-3.98464556e-02 -1.32735665e-03 9.99204933e-01 -6.63977042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746547614999999 meters 0.0745405523293727 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.25, Z:-0.67 [[ 9.97229921e-01 6.31647046e-02 3.92772784e-02 1.26218508e+01] [-6.31610844e-02 9.98002453e-01 -1.33428251e-03 -2.52510575e-01] [-3.92830998e-02 -1.15020906e-03 9.99227459e-01 -6.74316672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806547615 meters 0.07617797714025036 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.25, Z:-0.68 [[ 9.96978278e-01 6.86642930e-02 3.63252971e-02 1.26823116e+01] [-6.86647483e-02 9.97639025e-01 -1.23648768e-03 -2.49691292e-01] [-3.63244365e-02 -1.26151602e-03 9.99339254e-01 -6.77673656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866547615 meters 0.07951183351229582 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.24, Z:-0.68 [[ 9.96201125e-01 7.98215126e-02 3.48115735e-02 1.27436472e+01] [-7.98287037e-02 9.96807892e-01 -1.18550460e-03 -2.36155045e-01] [-3.47950799e-02 -1.59796177e-03 9.99393190e-01 -6.78277479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926547614999999 meters 0.07807144547657971 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.24, Z:-0.68 [[ 9.96513925e-01 7.56442745e-02 3.51843780e-02 1.28039014e+01] [-7.56490105e-02 9.97133788e-01 -1.19853136e-03 -2.42101760e-01] [-3.51741941e-02 -1.46731019e-03 9.99380119e-01 -6.83867336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986547615 meters 0.07528779177869362 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.25, Z:-0.69 [[ 9.97036948e-01 6.49771588e-02 4.11739284e-02 1.28643332e+01] [-6.49745337e-02 9.97885936e-01 -1.40336607e-03 -2.53660681e-01] [-4.11780708e-02 -1.27604898e-03 9.99151009e-01 -6.88175563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046547614999998 meters 0.07581711925269534 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.26, Z:-0.68 [[ 9.96832634e-01 6.71581407e-02 4.25967645e-02 1.29267275e+01] [-6.71574069e-02 9.97741340e-01 -1.44983882e-03 -2.57402809e-01] [-4.25979214e-02 -1.41544160e-03 9.99091294e-01 -6.83619988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106547614999997 meters 0.08022664376424228 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.25, Z:-0.69 [[ 9.96281572e-01 7.94207448e-02 3.33972227e-02 1.29875376e+01] [-7.94268024e-02 9.96840041e-01 -1.14736906e-03 -2.45091004e-01] [-3.33828138e-02 -1.50953196e-03 9.99441499e-01 -6.93243196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166547615 meters 0.08025593043213955 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.24, Z:-0.71 [[ 9.96641053e-01 7.71264806e-02 2.75339462e-02 1.30491907e+01] [-7.71299128e-02 9.97020609e-01 -9.38956111e-04 -2.41319304e-01] [-2.75243302e-02 -1.18788866e-03 9.99620428e-01 -7.10379335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226547614999998 meters 0.07992407967060446 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.25, Z:-0.72 [[ 9.97011696e-01 7.17363586e-02 2.86631064e-02 1.31085438e+01] [-7.17374268e-02 9.97423058e-01 -9.92377853e-04 -2.48694631e-01] [-2.86604328e-02 -1.06680517e-03 9.99588636e-01 -7.16978564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286547614999996 meters 0.07922831448897183 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.25, Z:-0.71 [[ 9.96549961e-01 7.57129872e-02 3.39958776e-02 1.31721459e+01] [-7.57170290e-02 9.97128659e-01 -1.17035121e-03 -2.50821962e-01] [-3.39868746e-02 -1.40775339e-03 9.99421288e-01 -7.12034586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346547615 meters 0.08038725362049579 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.25, Z:-0.70 [[ 9.95887911e-01 8.13184021e-02 3.99322744e-02 1.32343658e+01] [-8.13278599e-02 9.96686433e-01 -1.39024543e-03 -2.51558887e-01] [-3.99130086e-02 -1.86307780e-03 9.99201421e-01 -7.04005149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406547614999997 meters 0.07917168848250082 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.26, Z:-0.71 [[ 9.96077129e-01 7.74275147e-02 4.28407839e-02 1.32937185e+01] [-7.74342103e-02 9.96996327e-01 -1.50561754e-03 -2.60278320e-01] [-4.28286805e-02 -1.81763108e-03 9.99080778e-01 -7.05536261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466547614999996 meters 0.0779962648325073 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.26, Z:-0.72 [[ 9.96809608e-01 6.98280352e-02 3.86607128e-02 1.33535526e+01] [-6.98277859e-02 9.97558136e-01 -1.35840175e-03 -2.60107122e-01] [-3.86611632e-02 -1.34552406e-03 9.99251472e-01 -7.23149186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526547615 meters 0.07809310191906967 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.26, Z:-0.73 [[ 9.97005581e-01 6.89949751e-02 3.49222742e-02 1.34155086e+01] [-6.89944158e-02 9.97616297e-01 -1.22254404e-03 -2.62814985e-01] [-3.49233792e-02 -1.19055867e-03 9.99389284e-01 -7.33053848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586547614999997 meters 0.07811696460869147 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.27, Z:-0.73 [[ 9.97220376e-01 6.90232396e-02 2.80591053e-02 1.34761221e+01] [-6.90225839e-02 9.97614603e-01 -9.93070470e-04 -2.68641383e-01] [-2.80607182e-02 -9.46401843e-04 9.99605773e-01 -7.34324447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646547615 meters 0.08086758432285354 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.27, Z:-0.73 [[ 9.96387950e-01 8.03341848e-02 2.75221965e-02 1.35377955e+01] [-8.03378534e-02 9.96767215e-01 -9.74212446e-04 -2.70850728e-01] [-2.75114857e-02 -1.24038065e-03 9.99620718e-01 -7.28882366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706547614999998 meters 0.07573561961263203 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.28, Z:-0.73 [[ 9.97042612e-01 6.46928173e-02 4.14833515e-02 1.35974467e+01] [-6.46875530e-02 9.97904483e-01 -1.47060488e-03 -2.82821037e-01] [-4.14915600e-02 -1.21720076e-03 9.99138113e-01 -7.33410213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766547614999997 meters 0.07529635939181875 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.29, Z:-0.74 [[ 9.97356307e-01 5.96827788e-02 4.14531499e-02 1.36583666e+01] [-5.96731686e-02 9.98216886e-01 -1.47025208e-03 -2.87154965e-01] [-4.14669830e-02 -1.00727561e-03 9.99139367e-01 -7.43414406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826547615 meters 0.07695027770979107 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.28, Z:-0.75 [[ 9.97168902e-01 6.52685476e-02 3.73389597e-02 1.37190842e+01] [-6.52646034e-02 9.97867112e-01 -1.32580600e-03 -2.81152727e-01] [-3.73458533e-02 -1.11485989e-03 9.99301778e-01 -7.46929382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886547614999998 meters 0.0821785415434712 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.28, Z:-0.75 [[ 9.96270638e-01 8.17047862e-02 2.77334537e-02 1.37805586e+01] [-8.17089541e-02 9.96655746e-01 -9.84833500e-04 -2.75840052e-01] [-2.77211717e-02 -1.28491080e-03 9.99614869e-01 -7.46605822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946547614999997 meters 0.07804917831833473 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.29, Z:-0.76 [[ 9.97151553e-01 6.87714228e-02 3.09720992e-02 1.38400489e+01] [-6.87703555e-02 9.97631909e-01 -1.10095842e-03 -2.86229052e-01] [-3.09744690e-02 -1.03213988e-03 9.99519643e-01 -7.61649942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006547615 meters 0.07479821830875491 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.31, Z:-0.75 [[ 9.97448282e-01 5.68351682e-02 4.32051801e-02 1.39000323e+01] [-5.68218733e-02 9.98383149e-01 -1.53672140e-03 -3.06220586e-01] [-4.32226636e-02 -9.22199143e-04 9.99065038e-01 -7.54755552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066547614999998 meters 0.07460516593502171 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.31, Z:-0.74 [[ 9.96787021e-01 6.27564746e-02 4.97720724e-02 1.39627992e+01] [-6.27462525e-02 9.98027944e-01 -1.76936959e-03 -3.09715180e-01] [-4.97849585e-02 -1.35932638e-03 9.98759035e-01 -7.44274503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126547614999996 meters 0.07739617959591255 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.30, Z:-0.76 [[ 9.96933813e-01 6.82191340e-02 3.83291222e-02 1.40233885e+01] [-6.82169957e-02 9.97669573e-01 -1.36514075e-03 -2.99942447e-01] [-3.83329277e-02 -1.25374259e-03 9.99264237e-01 -7.63151470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186547615 meters 0.07959082041199364 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.29, Z:-0.77 [[ 9.96695710e-01 7.45821132e-02 3.21740465e-02 1.40837467e+01] [-7.45838992e-02 9.97214083e-01 -1.14630433e-03 -2.89902800e-01] [-3.21699061e-02 -1.25714923e-03 9.99481624e-01 -7.74145255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246547614999997 meters 0.07904918843212443 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.30, Z:-0.77 [[ 9.96973140e-01 7.20129934e-02 2.93033630e-02 1.41439929e+01] [-7.20134873e-02 9.97403116e-01 -1.03986491e-03 -3.04148035e-01] [-2.93021493e-02 -1.07351997e-03 9.99570023e-01 -7.74758776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306547615 meters 0.07569969301430825 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.32, Z:-0.78 [[ 9.97471830e-01 5.88595739e-02 3.98183250e-02 1.42027423e+01] [-5.88493141e-02 9.98265852e-01 -1.43074060e-03 -3.16906984e-01] [-3.98334869e-02 -9.16157674e-04 9.99205912e-01 -7.79797387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366547614999998 meters 0.07613419792591483 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.32, Z:-0.79 [[ 9.97567594e-01 5.83110432e-02 3.81931506e-02 1.42651312e+01] [-5.83014140e-02 9.98298090e-01 -1.36678352e-03 -3.21021326e-01] [-3.82078478e-02 -8.63255731e-04 9.99269441e-01 -7.85320979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426547614999997 meters 0.07932200407901337 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.32, Z:-0.78 [[ 9.97087705e-01 6.95650173e-02 3.12540703e-02 1.43260253e+01] [-6.95637074e-02 9.97576870e-01 -1.13056937e-03 -3.18983615e-01] [-3.12569857e-02 -1.04687218e-03 9.99510833e-01 -7.82514598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486547615 meters 0.07828974386004683 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.31, Z:-0.80 [[ 9.97434623e-01 6.38268042e-02 3.24085063e-02 1.43867062e+01] [-6.38223631e-02 9.97960586e-01 -1.17253728e-03 -3.14819554e-01] [-3.24172512e-02 -8.98858177e-04 9.99474019e-01 -7.97547353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546547614999998 meters 0.07797456459999264 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.32, Z:-0.80 [[ 9.97600150e-01 6.13634423e-02 3.20697467e-02 1.44491766e+01] [-6.13578587e-02 9.98115158e-01 -1.15912700e-03 -3.22979271e-01] [-3.20804283e-02 -8.11385720e-04 9.99484961e-01 -7.98611994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606547614999997 meters 0.07698556814757346 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.33, Z:-0.79 [[ 9.97215486e-01 6.26167621e-02 4.05020392e-02 1.45107609e+01] [-6.26086655e-02 9.98037071e-01 -1.46953323e-03 -3.31721609e-01] [-4.05145540e-02 -1.07033732e-03 9.99178375e-01 -7.88701732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666547615 meters 0.07983429515320628 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.31, Z:-0.80 [[ 9.96646422e-01 7.13804134e-02 4.00093165e-02 1.45714913e+01] [-7.13794964e-02 9.97448172e-01 -1.45323892e-03 -3.11286017e-01] [-4.00109524e-02 -1.40747949e-03 9.99198250e-01 -8.02944686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726547614999998 meters 0.08193901654574635 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.31, Z:-0.80 [[ 9.96248317e-01 8.07371425e-02 3.11577417e-02 1.46326369e+01] [-8.07411286e-02 9.96734462e-01 -1.13226473e-03 -3.13171200e-01] [-3.11474107e-02 -1.38769440e-03 9.99513838e-01 -8.01562795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786547614999996 meters 0.08207412832570725 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.30, Z:-0.82 [[ 9.96177965e-01 7.97023132e-02 3.57351892e-02 1.46942972e+01] [-7.97069015e-02 9.96817498e-01 -1.29848144e-03 -3.00775985e-01] [-3.57249538e-02 -1.55482261e-03 9.99360451e-01 -8.15753640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846547615 meters 0.08191755648407312 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.31, Z:-0.82 [[ 9.96338730e-01 7.80409432e-02 3.49105336e-02 1.47553969e+01] [-7.80443726e-02 9.96949082e-01 -1.26653789e-03 -3.08459224e-01] [-3.49028662e-02 -1.46266994e-03 9.99389639e-01 -8.15688948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906547614999997 meters 0.0817792149100407 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.31, Z:-0.82 [[ 9.96294677e-01 7.79297031e-02 3.63851228e-02 1.48180103e+01] [-7.79329292e-02 9.96957715e-01 -1.33175859e-03 -3.09020941e-01] [-3.63782124e-02 -1.50877520e-03 9.99336955e-01 -8.19003253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966547614999996 meters 0.08448348276253968 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.31, Z:-0.83 [[ 9.96125131e-01 8.29174556e-02 2.93158393e-02 1.48787386e+01] [-8.29216114e-02 9.96555492e-01 -1.07603179e-03 -3.05051817e-01] [-2.93040825e-02 -1.35905432e-03 9.99569619e-01 -8.27146848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026547615 meters 0.084841274165532 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.30, Z:-0.84 [[ 9.96360495e-01 8.17524399e-02 2.41309291e-02 1.49404771e+01] [-8.17549266e-02 9.96652070e-01 -8.85139425e-04 -2.97503851e-01] [-2.41225028e-02 -1.09090438e-03 9.99708415e-01 -8.38361398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086547614999997 meters 0.08314406321662489 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.31, Z:-0.83 [[ 9.96672620e-01 7.69284121e-02 2.69389752e-02 1.50002917e+01] [-7.69296297e-02 9.97036031e-01 -9.92727701e-04 -3.14630799e-01] [-2.69354978e-02 -1.08298087e-03 9.99636587e-01 -8.30828758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146547615 meters 0.08164490994473642 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.32, Z:-0.83 [[ 9.96488445e-01 7.62180209e-02 3.46639769e-02 1.50606675e+01] [-7.62196271e-02 9.97090235e-01 -1.27702113e-03 -3.16689832e-01] [-3.46604449e-02 -1.36953859e-03 9.99398208e-01 -8.33655355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206547614999998 meters 0.08172911162405284 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.32, Z:-0.84 [[ 9.96767213e-01 7.40285147e-02 3.12234299e-02 1.51218795e+01] [-7.40289321e-02 9.97255438e-01 -1.14422175e-03 -3.15885584e-01] [-3.12224403e-02 -1.17091444e-03 9.99511775e-01 -8.43136991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266547614999997 meters 0.08066698701791555 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.33, Z:-0.84 [[ 9.96959695e-01 7.27029459e-02 2.80294139e-02 1.51835357e+01] [-7.27026104e-02 9.97353129e-01 -1.03242488e-03 -3.34631765e-01] [-2.80302840e-02 -1.00852557e-03 9.99606566e-01 -8.37206493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326547615 meters 0.07881268608592767 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.35, Z:-0.84 [[ 9.97092650e-01 6.80261420e-02 3.43320660e-02 1.52437311e+01] [-6.80223099e-02 9.97682978e-01 -1.28098037e-03 -3.47309795e-01] [-3.43396580e-02 -1.05809032e-03 9.99409660e-01 -8.40816815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386547614999998 meters 0.07755940336661381 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.36, Z:-0.85 [[ 9.97752279e-01 5.69503823e-02 3.53135052e-02 1.53028351e+01] [-5.69393690e-02 9.98376768e-01 -1.31828830e-03 -3.56578057e-01] [-3.53312602e-02 -6.95403547e-04 9.99375414e-01 -8.53166049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446547614999997 meters 0.07884080151004647 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.36, Z:-0.86 [[ 9.97687865e-01 6.11819255e-02 2.95921565e-02 1.53635796e+01] [-6.11760689e-02 9.98126380e-01 -1.10408396e-03 -3.56422375e-01] [-2.96042620e-02 -7.08800635e-04 9.99561446e-01 -8.58874687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506547615 meters 0.08025693579584883 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.36, Z:-0.86 [[ 9.97429017e-01 6.73939329e-02 2.43601047e-02 1.54247139e+01] [-6.73918174e-02 9.97726173e-01 -9.08722517e-04 -3.57370440e-01] [-2.43659565e-02 -7.35285523e-04 9.99702836e-01 -8.59942198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566547614999998 meters 0.07631232878036168 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.38, Z:-0.86 [[ 9.97934739e-01 5.43178027e-02 3.42904247e-02 1.54845209e+01] [-5.43058389e-02 9.98523528e-01 -1.28084660e-03 -3.80529732e-01] [-3.43093686e-02 -5.83968965e-04 9.99411090e-01 -8.56965079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626547614999996 meters 0.07597758978442572 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.39, Z:-0.86 [[ 9.98125533e-01 4.79542395e-02 3.80238208e-02 1.55446142e+01] [-4.79348971e-02 9.98849452e-01 -1.42071533e-03 -3.85115193e-01] [-3.80482019e-02 -4.04615695e-04 9.99275823e-01 -8.64804459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686547615 meters 0.07655641470892881 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.39, Z:-0.86 [[ 9.97670836e-01 5.88454469e-02 3.44980726e-02 1.56063672e+01] [-5.88360448e-02 9.98266828e-01 -1.28852250e-03 -3.85341335e-01] [-3.45141051e-02 -7.44208827e-04 9.99403934e-01 -8.57354946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746547614999997 meters 0.07758389785587479 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.38, Z:-0.87 [[ 9.97880512e-01 5.79248812e-02 2.96511747e-02 1.56666000e+01] [-5.79176786e-02 9.98320754e-01 -1.10242854e-03 -3.79587442e-01] [-2.96652412e-02 -6.17235255e-04 9.99559699e-01 -8.73483863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806547614999996 meters 0.07689357890252858 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.38, Z:-0.88 [[ 9.98094733e-01 5.24969128e-02 3.24187806e-02 1.57268028e+01] [-5.24849884e-02 9.98620969e-01 -1.21927361e-03 -3.82302118e-01] [-3.24380822e-02 -4.84548758e-04 9.99473629e-01 -8.78385992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866547614999998 meters 0.07838554813409457 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.37, Z:-0.87 [[ 9.97097858e-01 6.52401178e-02 3.92375923e-02 1.57875852e+01] [-6.52325010e-02 9.97869001e-01 -1.47572980e-03 -3.69275630e-01] [-3.92502538e-02 -1.08811925e-03 9.99228819e-01 -8.70254539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926547614999997 meters 0.07926216507271046 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.36, Z:-0.88 [[ 9.97062123e-01 6.80955937e-02 3.50729669e-02 1.58482942e+01] [-6.80912829e-02 9.97678224e-01 -1.31873253e-03 -3.64030784e-01] [-3.50813352e-02 -1.07330506e-03 9.99383884e-01 -8.80908534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986547615 meters 0.07912004262432724 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.36, Z:-0.89 [[ 9.97130868e-01 6.65682990e-02 3.60374030e-02 1.59103056e+01] [-6.65628926e-02 9.97781317e-01 -1.35110161e-03 -3.58822089e-01] [-3.60473880e-02 -1.05152867e-03 9.99349528e-01 -8.89149381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046547614999998 meters 0.08066046729678922 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.36, Z:-0.89 [[ 9.96825891e-01 7.35806634e-02 3.03978511e-02 1.59715916e+01] [-7.35797485e-02 9.97288673e-01 -1.15020700e-03 -3.57729868e-01] [-3.04000656e-02 -1.09011012e-03 9.99537217e-01 -8.90183592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106547614999997 meters 0.08311888904669523 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.34, Z:-0.90 [[ 9.96500248e-01 7.95207287e-02 2.57625496e-02 1.60328080e+01] [-7.95220341e-02 9.96832631e-01 -9.75464058e-04 -3.44753061e-01] [-2.57585198e-02 -1.07664018e-03 9.99667615e-01 -9.01438870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166547615 meters 0.08159730670398702 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.36, Z:-0.89 [[ 9.96517150e-01 7.78321976e-02 2.99285539e-02 1.60939101e+01] [-7.78331624e-02 9.96965753e-01 -1.13450892e-03 -3.59849744e-01] [-2.99260446e-02 -1.19887640e-03 9.99551397e-01 -8.94785596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226547614999998 meters 0.07831401520434343 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.38, Z:-0.90 [[ 9.97364033e-01 6.50940794e-02 3.20584838e-02 1.61541512e+01] [-6.50885898e-02 9.97878749e-01 -1.21590262e-03 -3.78887323e-01] [-3.20696278e-02 -8.73943963e-04 9.99485255e-01 -8.99639208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286547614999996 meters 0.07753319158677822 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.38, Z:-0.90 [[ 9.97390591e-01 6.25864706e-02 3.59853257e-02 1.62156799e+01] [-6.25779269e-02 9.98039148e-01 -1.36478581e-03 -3.80090603e-01] [-3.60001810e-02 -8.90662558e-04 9.99351386e-01 -9.00173359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346547615 meters 0.08250104697540057 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.36, Z:-0.91 [[ 9.96833676e-01 7.64403262e-02 2.18974828e-02 1.62769890e+01] [-7.64404666e-02 9.97073800e-01 -8.31842110e-04 -3.56563111e-01] [-2.18969927e-02 -8.44645575e-04 9.99759875e-01 -9.14357497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406547614999997 meters 0.08313418927442569 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.37, Z:-0.90 [[ 9.96211964e-01 8.35476536e-02 2.41145830e-02 1.63371364e+01] [-8.35498815e-02 9.96503174e-01 -9.16896621e-04 -3.68839591e-01] [-2.41068630e-02 -1.10134717e-03 9.99708781e-01 -9.00330398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466547614999996 meters 0.07936028404789519 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.37, Z:-0.92 [[ 9.97186065e-01 6.59687359e-02 3.56100920e-02 1.63958418e+01] [-6.59623915e-02 9.97821191e-01 -1.35425185e-03 -3.68245818e-01] [-3.56218427e-02 -9.98485763e-04 9.99364842e-01 -9.17516217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526547615 meters 0.07931266267019965 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.37, Z:-0.90 [[ 9.96811251e-01 7.11658644e-02 3.60936281e-02 1.64575718e+01] [-7.11627937e-02 9.97463772e-01 -1.37138215e-03 -3.71315633e-01] [-3.60996821e-02 -1.20151426e-03 9.99347472e-01 -9.01610411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586547614999997 meters 0.08264101457049579 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.35, Z:-0.91 [[ 9.96174988e-01 8.16120527e-02 3.12228351e-02 1.65192572e+01] [-8.16148533e-02 9.96663237e-01 -1.18685760e-03 -3.53158296e-01] [-3.12155138e-02 -1.36592925e-03 9.99511744e-01 -9.06831520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646547615 meters 0.08240185832429699 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.36, Z:-0.93 [[ 9.97019869e-01 7.36811057e-02 2.28577093e-02 1.65791948e+01] [-7.36806807e-02 9.97281512e-01 -8.61934284e-04 -3.56984612e-01] [-2.28590792e-02 -8.24805975e-04 9.99738357e-01 -9.31849980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706547614999998 meters 0.08077372896577217 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.36, Z:-0.92 [[ 9.96937059e-01 7.23611059e-02 2.96710489e-02 1.66399511e+01] [-7.23593374e-02 9.97377982e-01 -1.13473671e-03 -3.60627698e-01] [-2.96753616e-02 -1.01571636e-03 9.99559073e-01 -9.24767541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766547614999997 meters 0.08689628143241264 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.34, Z:-0.92 [[ 9.95391607e-01 8.95537017e-02 3.42882433e-02 1.67012973e+01] [-8.95614993e-02 9.95980430e-01 -1.31151805e-03 -3.37246363e-01] [-3.42678706e-02 -1.76543242e-03 9.99411125e-01 -9.23896746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.826547615 meters 0.08458712560091426 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.34, Z:-0.94 [[ 9.95687115e-01 8.64273924e-02 3.37264722e-02 1.67626047e+01] [-8.64331510e-02 9.96256818e-01 -1.28991131e-03 -3.35339946e-01] [-3.37117115e-02 -1.63073719e-03 9.99430268e-01 -9.35433393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886547614999998 meters 0.08291903612083903 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.36, Z:-0.93 [[ 9.96345011e-01 8.21137919e-02 2.35360168e-02 1.68241296e+01] [-8.21153736e-02 9.96622423e-01 -9.00890154e-04 -3.59351175e-01] [-2.35304976e-02 -1.03507140e-03 9.99722584e-01 -9.30077030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946547614999997 meters 0.08599332170280462 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.34, Z:-0.95 [[ 9.95949176e-01 8.65014662e-02 2.45506457e-02 1.68835520e+01] [-8.65044761e-02 9.96251017e-01 -9.41397402e-04 -3.43041996e-01] [-2.45400380e-02 -1.18615677e-03 9.99698144e-01 -9.52280716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006547615 meters 0.08515640262491918 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.36, Z:-0.95 [[ 9.96103118e-01 8.41198844e-02 2.65032605e-02 1.69435469e+01] [-8.41224219e-02 9.96454904e-01 -1.02117637e-03 -3.59072877e-01] [-2.64952051e-02 -1.21232149e-03 9.99648205e-01 -9.47857080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066547614999998 meters 0.08276709787129055 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.38, Z:-0.94 [[ 9.95650873e-01 8.65181367e-02 3.45535942e-02 1.70053920e+01] [-8.65239399e-02 9.96248884e-01 -1.33013231e-03 -3.76058392e-01] [-3.45390602e-02 -1.66536571e-03 9.99401961e-01 -9.37293612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126547614999996 meters 0.08312441668675191 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.37, Z:-0.95 [[ 9.96153370e-01 7.97186575e-02 3.63785495e-02 1.70645792e+01] [-7.97204412e-02 9.96816272e-01 -1.40381721e-03 -3.74246709e-01] [-3.63746405e-02 -1.50169677e-03 9.99337095e-01 -9.52042986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186547615 meters 0.08239193026605238 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.39, Z:-0.96 [[ 9.96625212e-01 7.87971968e-02 2.30041131e-02 1.71246770e+01] [-7.87976834e-02 9.96890234e-01 -8.86714790e-04 -3.91093041e-01] [-2.30024463e-02 -9.28948507e-04 9.99734977e-01 -9.57800897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246547614999997 meters 0.08415728582252995 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.39, Z:-0.97 [[ 9.96705943e-01 7.87046076e-02 1.95665252e-02 1.71849461e+01] [-7.87050852e-02 9.96897664e-01 -7.46847868e-04 -3.89088498e-01] [-1.95646036e-02 -7.95597322e-04 9.99808278e-01 -9.72102096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306547614999996 meters 0.07971102633269946 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.41, Z:-0.96 [[ 9.97062999e-01 6.70526534e-02 3.70042846e-02 1.72452279e+01] [-6.70454596e-02 9.97748887e-01 -1.43668023e-03 -4.08158355e-01] [-3.70173170e-02 -1.04850857e-03 9.99314074e-01 -9.59905923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366547614999998 meters 0.07871376767376283 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.41, Z:-0.96 [[ 9.96856907e-01 6.70714214e-02 4.21631476e-02 1.73071505e+01] [-6.70620916e-02 9.97747461e-01 -1.63724018e-03 -4.12026999e-01] [-4.21779855e-02 -1.19545468e-03 9.99109398e-01 -9.56782671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426547614999997 meters 0.08194187768986275 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.41, Z:-0.97 [[ 9.96618371e-01 7.57366879e-02 3.18712370e-02 1.73673831e+01] [-7.57357232e-02 9.97127156e-01 -1.23920824e-03 -4.06288497e-01] [-3.18735294e-02 -1.17877348e-03 9.99491215e-01 -9.68244181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486547615 meters 0.08458257178432278 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.40, Z:-0.99 [[ 9.96702340e-01 7.82236837e-02 2.15754456e-02 1.74277501e+01] [-7.82238227e-02 9.96935469e-01 -8.38808485e-04 -4.02613326e-01] [-2.15749416e-02 -8.51671447e-04 9.99766871e-01 -9.85235992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546547614999998 meters 0.0809797526921389 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.41, Z:-0.99 [[ 9.97184611e-01 7.00066032e-02 2.68686987e-02 1.74880785e+01] [-7.00037983e-02 9.97546176e-01 -1.04616023e-03 -4.14971985e-01] [-2.68760058e-02 -8.37696086e-04 9.99638424e-01 -9.86177398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606547614999997 meters 0.07922977873567749 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.43, Z:-0.97 [[ 9.97064797e-01 6.65751986e-02 3.78091838e-02 1.75480417e+01] [-6.65671250e-02 9.97780861e-01 -1.47376865e-03 -4.25257376e-01] [-3.78233964e-02 -1.04740583e-03 9.99283890e-01 -9.74959253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666547615 meters 0.0801652109946106 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.43, Z:-0.98 [[ 9.96820562e-01 6.98049223e-02 3.84192721e-02 1.76094953e+01] [-6.97991678e-02 9.97559947e-01 -1.49271229e-03 -4.25678838e-01] [-3.84297257e-02 -1.19366692e-03 9.99260592e-01 -9.81918808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726547614999998 meters 0.08092546116238149 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.43, Z:-1.00 [[ 9.97334389e-01 6.66879515e-02 2.96113899e-02 1.76708844e+01] [-6.66829233e-02 9.97773544e-01 -1.15837620e-03 -4.25282841e-01] [-2.96227112e-02 -8.19285620e-04 9.99560815e-01 -9.98239298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786547614999996 meters 0.08326034055461878 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.43, Z:-1.00 [[ 9.97184024e-01 7.24984993e-02 1.91830593e-02 1.77314750e+01] [-7.24974222e-02 9.97368316e-01 -7.52480870e-04 -4.25777100e-01] [-1.91871292e-02 -6.40360445e-04 9.99815705e-01 -1.00450535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846547615 meters 0.07945769343773557 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.44, Z:-1.00 [[ 9.97448032e-01 6.26518491e-02 3.42369586e-02 1.77915322e+01] [-6.26425851e-02 9.98035119e-01 -1.34423174e-03 -4.38405053e-01] [-3.42539057e-02 -8.03890291e-04 9.99412839e-01 -1.00088086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906547614999997 meters 0.08032083983259582 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.43, Z:-1.01 [[ 9.97326225e-01 6.52604557e-02 3.28857831e-02 1.78535371e+01] [-6.52533824e-02 9.97867894e-01 -1.28943202e-03 -4.33507757e-01] [-3.28998161e-02 -8.59924218e-04 9.99458285e-01 -1.00724934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966547614999996 meters 0.08105824582700413 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.45, Z:-1.00 [[ 9.97057254e-01 7.31285353e-02 2.30010613e-02 1.79138011e+01] [-7.31271114e-02 9.97322219e-01 -9.04141097e-04 -4.47828733e-01] [-2.30055880e-02 -7.80520729e-04 9.99735032e-01 -1.00205020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026547615 meters 0.07843254658892419 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.46, Z:-1.02 [[ 9.98064535e-01 5.60731044e-02 2.68884943e-02 1.79720858e+01] [-5.60649415e-02 9.98426564e-01 -1.05796629e-03 -4.60487781e-01] [-2.69055105e-02 -4.51583228e-04 9.99637879e-01 -1.01764908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086547614999997 meters 0.07688368750700164 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.47, Z:-1.01 [[ 9.98130189e-01 5.12854310e-02 3.32555358e-02 1.80317088e+01] [-5.12703016e-02 9.98683957e-01 -1.30809445e-03 -4.72308545e-01] [-3.32788562e-02 -3.99372790e-04 9.99446026e-01 -1.01263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146547614999996 meters 0.07695079270376386 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.47, Z:-1.01 [[ 9.97706057e-01 5.88514151e-02 3.34534673e-02 1.80933472e+01] [-5.88405330e-02 9.98266535e-01 -1.31053838e-03 -4.73452616e-01] [-3.34726039e-02 -6.60887763e-04 9.99439417e-01 -1.00984734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206547614999998 meters 0.07718124659983744 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.48, Z:-1.02 [[ 9.98063402e-01 5.62443256e-02 2.65710510e-02 1.81524534e+01] [-5.62362711e-02 9.98416936e-01 -1.05088557e-03 -4.79096289e-01] [-2.65880936e-02 -4.45406396e-04 9.99646375e-01 -1.01896282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266547614999997 meters 0.07957992248705668 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.46, Z:-1.04 [[ 9.98091948e-01 5.72713580e-02 2.30749962e-02 1.82128043e+01] [-5.72655707e-02 9.98358564e-01 -9.12058413e-04 -4.63578287e-01] [-2.30893549e-02 -4.11084666e-04 9.99733321e-01 -1.03733937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326547615 meters 0.0775381558804579 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.47, Z:-1.02 [[ 9.97547204e-01 6.23466522e-02 3.18193478e-02 1.82749250e+01] [-6.23382127e-02 9.98054289e-01 -1.25815870e-03 -4.72747959e-01] [-3.18358785e-02 -7.28488576e-04 9.99492844e-01 -1.01930424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386547614999998 meters 0.07664707094766125 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.47, Z:-1.02 [[ 9.97289736e-01 5.92890827e-02 4.35659005e-02 1.83361836e+01] [-5.92702456e-02 9.98240483e-01 -1.72508646e-03 -4.71080047e-01] [-4.35915243e-02 -8.61750600e-04 9.99049066e-01 -1.01827199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446547614999997 meters 0.07664910205373447 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.48, Z:-1.03 [[ 9.97983676e-01 5.49308662e-02 3.17991032e-02 1.83965866e+01] [-5.49186306e-02 9.98490040e-01 -1.25871517e-03 -4.82141016e-01] [-3.18202301e-02 -4.90186005e-04 9.99493488e-01 -1.02991947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506547615 meters 0.07633605498216911 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.49, Z:-1.03 [[ 9.98016599e-01 5.20639377e-02 3.53866421e-02 1.84567583e+01] [-5.20469201e-02 9.98643656e-01 -1.40253204e-03 -4.85699981e-01] [-3.54116670e-02 -4.42015475e-04 9.99372712e-01 -1.03148879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566547614999998 meters 0.07404022952715666 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.52, Z:-1.03 [[ 9.98637960e-01 3.45245575e-02 3.91187871e-02 1.85173236e+01] [-3.44902815e-02 9.99403830e-01 -1.55093248e-03 -5.17789743e-01] [-3.91490109e-02 1.99602066e-04 9.99233364e-01 -1.02701786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626547614999996 meters 0.07592429559416149 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.50, Z:-1.04 [[ 9.98527878e-01 3.64719985e-02 4.01481089e-02 1.85788079e+01] [-3.64375430e-02 9.99334668e-01 -1.58986294e-03 -5.00688556e-01] [-4.01793826e-02 1.24624023e-04 9.99192475e-01 -1.04450575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686547615 meters 0.07538235185050549 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.49, Z:-1.03 [[ 9.97923143e-01 5.34578138e-02 3.59397007e-02 1.86409440e+01] [-5.34408117e-02 9.98569989e-01 -1.43422594e-03 -4.91410980e-01] [-3.59649771e-02 -4.89399518e-04 9.99352931e-01 -1.03368396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746547614999997 meters 0.07622169357012996 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.48, Z:-1.05 [[ 9.97996000e-01 5.39954559e-02 3.29920408e-02 1.87024134e+01] [-5.39815334e-02 9.98541071e-01 -1.31322208e-03 -4.81913388e-01] [-3.30148157e-02 -4.70370568e-04 9.99454752e-01 -1.04720794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.806547614999996 meters 0.07562641425821354 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.50, Z:-1.05 [[ 9.98567175e-01 3.26984155e-02 4.23604761e-02 1.87621576e+01] [-3.26555698e-02 9.99465213e-01 -1.70320979e-03 -4.97920593e-01] [-4.23935146e-02 3.17463909e-04 9.99100940e-01 -1.04897340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.866547614999998 meters 0.0771550934170084 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.47, Z:-1.04 [[ 9.97557242e-01 6.22511383e-02 3.16913953e-02 1.88249189e+01] [-6.22420737e-02 9.98060270e-01 -1.27342417e-03 -4.72027316e-01] [-3.17091947e-02 -7.02224656e-04 9.99496890e-01 -1.04167574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926547614999997 meters 0.08279087592124672 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.44, Z:-1.06 [[ 9.95882194e-01 8.45074356e-02 3.28199355e-02 1.88863010e+01] [-8.45097183e-02 9.96421781e-01 -1.32010675e-03 -4.36485138e-01] [-3.28140574e-02 -1.45893269e-03 9.99460409e-01 -1.05509834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986547615 meters 0.08496664241649197 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.43, Z:-1.06 [[ 9.95526560e-01 8.82553559e-02 3.37321891e-02 1.89466790e+01] [-8.82599117e-02 9.96096555e-01 -1.35685340e-03 -4.31369761e-01] [-3.37202669e-02 -1.62641643e-03 9.99429987e-01 -1.06178883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046547614999998 meters 0.08347506375285343 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.44, Z:-1.06 [[ 9.95641196e-01 8.50910498e-02 3.81853656e-02 1.90073956e+01] [-8.50945405e-02 9.96371696e-01 -1.53680999e-03 -4.39320846e-01] [-3.81775863e-02 -1.71925480e-03 9.99269491e-01 -1.05692564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106547614999997 meters 0.08640948576525657 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.44, Z:-1.06 [[ 9.95064577e-01 9.41160688e-02 3.14428649e-02 1.90681847e+01] [-9.41229166e-02 9.95559780e-01 -1.26554987e-03 -4.39070842e-01] [-3.14223603e-02 -1.70019031e-03 9.99504750e-01 -1.06476017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166547615 meters 0.08393438178519044 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.45, Z:-1.07 [[ 9.95610770e-01 8.66965348e-02 3.52548524e-02 1.91274990e+01] [-8.67004474e-02 9.96233413e-01 -1.42067220e-03 -4.51311127e-01] [-3.52452293e-02 -1.64217493e-03 9.99377345e-01 -1.06795123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226547614999998 meters 0.08443157332849341 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.46, Z:-1.08 [[ 9.96163652e-01 8.36161681e-02 2.58130613e-02 1.91877268e+01] [-8.36174072e-02 9.96497397e-01 -1.03327695e-03 -4.55112264e-01] [-2.58090471e-02 -1.12910832e-03 9.99666253e-01 -1.08453825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286547614999996 meters 0.08801189788012873 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.45, Z:-1.09 [[ 9.95406682e-01 9.29814971e-02 2.28030258e-02 1.92486940e+01] [-9.29846709e-02 9.95667112e-01 -9.23383142e-04 -4.49264633e-01] [-2.27900804e-02 -1.20119010e-03 9.99739551e-01 -1.08718075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346547615 meters 0.08671581562945695 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.46, Z:-1.08 [[ 9.95316931e-01 9.18074337e-02 3.02589258e-02 1.93101981e+01] [-9.18124484e-02 9.95775562e-01 -1.22656478e-03 -4.57617945e-01] [-3.02437066e-02 -1.55732538e-03 9.99541341e-01 -1.07927001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406547614999997 meters 0.08384431547024002 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.47, Z:-1.09 [[ 9.96232458e-01 8.21886404e-02 2.76752197e-02 1.93699564e+01] [-8.21891262e-02 9.96616119e-01 -1.12189286e-03 -4.69068307e-01] [-2.76737769e-02 -1.15693604e-03 9.99616338e-01 -1.09218265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466547614999996 meters 0.07813004151974831 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.50, Z:-1.08 [[ 9.97019860e-01 6.80128940e-02 3.64094154e-02 1.94305789e+01] [-6.80042539e-02 9.97683938e-01 -1.47709760e-03 -4.98247265e-01] [-3.64255506e-02 -1.00329949e-03 9.99335866e-01 -1.08282420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526547615 meters 0.0779153788051942 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.50, Z:-1.09 [[ 9.97270692e-01 6.44448608e-02 3.60281460e-02 1.94912315e+01] [-6.44340546e-02 9.97920896e-01 -1.46216408e-03 -4.98529603e-01] [-3.60474687e-02 -8.63266143e-04 9.99349706e-01 -1.08980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586547614999997 meters 0.08043586147350877 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.49, Z:-1.10 [[ 9.96964977e-01 7.24635377e-02 2.84582127e-02 1.95518870e+01] [-7.24600222e-02 9.97370648e-01 -1.15611929e-03 -4.91025121e-01] [-2.84671625e-02 -9.09472287e-04 9.99594314e-01 -1.09637646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646547614999996 meters 0.08844446123471196 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.47, Z:-1.10 [[ 9.95737922e-01 8.84245194e-02 2.62125140e-02 1.96117939e+01] [-8.84270703e-02 9.96082085e-01 -1.06409307e-03 -4.70611369e-01] [-2.62039075e-02 -1.25833800e-03 9.99655827e-01 -1.10404156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706547614999998 meters 0.08180704974859009 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.49, Z:-1.10 [[ 9.96196070e-01 7.97931781e-02 3.50205508e-02 1.96721222e+01] [-7.97923115e-02 9.96810492e-01 -1.42459326e-03 -4.85092391e-01] [-3.50225253e-02 -1.37519649e-03 9.99385577e-01 -1.10358851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766547614999997 meters 0.08110599713379632 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.49, Z:-1.10 [[ 9.96095458e-01 8.03876365e-02 3.64920050e-02 1.97346320e+01] [-8.03872288e-02 9.96762610e-01 -1.48078522e-03 -4.89282590e-01] [-3.64929030e-02 -1.45848772e-03 9.99332848e-01 -1.10308647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826547615 meters 0.08610402489895246 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.48, Z:-1.10 [[ 9.95002844e-01 9.53392892e-02 2.96607496e-02 1.97960234e+01] [-9.53453132e-02 9.95443517e-01 -1.21438478e-03 -4.82965217e-01] [-2.96413795e-02 -1.61969715e-03 9.99559285e-01 -1.10405994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886547614999998 meters 0.08533949598595643 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.49, Z:-1.12 [[ 9.95422173e-01 9.20193438e-02 2.58290309e-02 1.98568178e+01] [-9.20229635e-02 9.95756330e-01 -1.05098557e-03 -4.86250579e-01] [-2.58161320e-02 -1.33068963e-03 9.99665822e-01 -1.11989220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946547614999997 meters 0.08236836037076829 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.50, Z:-1.13 [[ 9.96257914e-01 8.17315097e-02 2.81092492e-02 1.99172144e+01] [-8.17312947e-02 9.96653728e-01 -1.15850343e-03 -5.01704234e-01] [-2.81098743e-02 -1.14323713e-03 9.99604186e-01 -1.12650699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006547615 meters 0.08099741722166924 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.51, Z:-1.12 [[ 9.96225500e-01 8.11033400e-02 3.09354483e-02 1.99785781e+01] [-8.11027575e-02 9.96704929e-01 -1.27567869e-03 -5.12892234e-01] [-3.09369756e-02 -1.23808651e-03 9.99520570e-01 -1.12135699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066547614999998 meters 0.08253782742620776 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.51, Z:-1.13 [[ 9.96338560e-01 8.14648875e-02 2.59411876e-02 2.00393605e+01] [-8.14645824e-02 9.96675662e-01 -1.07034348e-03 -5.14589200e-01] [-2.59421457e-02 -1.04686353e-03 9.99662898e-01 -1.13486532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126547614999996 meters 0.08117852459428022 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.53, Z:-1.13 [[ 9.96630618e-01 7.80167267e-02 2.53140444e-02 2.00991643e+01] [-7.80152910e-02 9.96951614e-01 -1.04581878e-03 -5.28889329e-01] [-2.53184688e-02 -9.32587526e-04 9.99679001e-01 -1.13254431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186547615 meters 0.0775628662486394 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.54, Z:-1.14 [[ 9.97108509e-01 6.78426130e-02 3.42345082e-02 2.01595305e+01] [-6.78339707e-02 9.97695620e-01 -1.41519535e-03 -5.37500837e-01] [-3.42516294e-02 -9.11159296e-04 9.99412825e-01 -1.13529945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246547614999997 meters 0.07805343776103715 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.54, Z:-1.13 [[ 9.96577543e-01 7.34174749e-02 3.79878408e-02 2.02219157e+01] [-7.34108786e-02 9.97300545e-01 -1.57036418e-03 -5.39535394e-01] [-3.80005865e-02 -1.22373109e-03 9.99276968e-01 -1.13038759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306547614999996 meters 0.08118638115732868 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.54, Z:-1.13 [[ 9.96225049e-01 8.10311971e-02 3.11383516e-02 2.02815287e+01] [-8.10303680e-02 9.96710797e-01 -1.29058575e-03 -5.35805776e-01] [-3.11405089e-02 -1.23743823e-03 9.99514251e-01 -1.13414266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366547614999998 meters 0.07982041271253881 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.54, Z:-1.15 [[ 9.96997928e-01 7.25104010e-02 2.71546155e-02 2.03415496e+01] [-7.25066351e-02 9.97367296e-01 -1.12458391e-03 -5.43300972e-01] [-2.71646695e-02 -8.47681968e-04 9.99630613e-01 -1.15009110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426547614999997 meters 0.07815435089782002 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.55, Z:-1.15 [[ 9.97216030e-01 6.74909690e-02 3.17042245e-02 2.04017100e+01] [-6.74832664e-02 9.97719541e-01 -1.31413300e-03 -5.54138244e-01] [-3.17206164e-02 -8.29030129e-04 9.99496431e-01 -1.15103080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486547615 meters 0.0782854225006291 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.56, Z:-1.15 [[ 9.96954424e-01 6.99646700e-02 3.44502680e-02 2.04633782e+01] [-6.99571528e-02 9.97548979e-01 -1.42501500e-03 -5.61138691e-01] [-3.44655304e-02 -9.89367661e-04 9.99405397e-01 -1.14541883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546547614999998 meters 0.07969861802770625 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.55, Z:-1.16 [[ 9.97060573e-01 7.05408195e-02 2.99032933e-02 2.05237178e+01] [-7.05351804e-02 9.97508516e-01 -1.24470496e-03 -5.54138501e-01] [-2.99165922e-02 -8.68187949e-04 9.99552022e-01 -1.16178974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606547614999997 meters 0.07959898924517472 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.56, Z:-1.17 [[ 9.97198482e-01 7.16053358e-02 2.16301324e-02 2.05838151e+01] [-7.16026324e-02 9.97432831e-01 -9.00432411e-04 -5.60259987e-01] [-2.16390800e-02 -6.50864587e-04 9.99765636e-01 -1.16656416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666547615 meters 0.07828193869173014 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.57, Z:-1.17 [[ 9.97393759e-01 6.68446011e-02 2.71567487e-02 2.06431927e+01] [-6.68385372e-02 9.97763163e-01 -1.13197370e-03 -5.66619668e-01] [-2.71716698e-02 -6.86093850e-04 9.99630547e-01 -1.16748944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726547614999998 meters 0.07777155477558606 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.56, Z:-1.17 [[ 9.97183952e-01 6.59923843e-02 3.56254196e-02 2.07042896e+01] [-6.59814462e-02 9.97819747e-01 -1.48390923e-03 -5.63219712e-01] [-3.56456738e-02 -8.70886236e-04 9.99364112e-01 -1.16771106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786547614999996 meters 0.07862177733719877 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.57, Z:-1.17 [[ 9.96961108e-01 7.14561444e-02 3.10253017e-02 2.07644172e+01] [-7.14504934e-02 9.97443310e-01 -1.29217622e-03 -5.69867548e-01] [-3.10383136e-02 -9.28523682e-04 9.99517764e-01 -1.16697529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846547615 meters 0.07802048015309904 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.57, Z:-1.17 [[ 9.97202879e-01 6.76373560e-02 3.18057437e-02 2.08253396e+01] [-6.76294350e-02 9.97709628e-01 -1.32598570e-03 -5.70257903e-01] [-3.18225828e-02 -8.28727719e-04 9.99493190e-01 -1.17309948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906547614999997 meters 0.0798165323444106 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.56, Z:-1.18 [[ 9.97050782e-01 7.18480028e-02 2.69741087e-02 2.08862903e+01] [-7.18438097e-02 9.97415259e-01 -1.12580845e-03 -5.60130259e-01] [-2.69852747e-02 -8.15434542e-04 9.99635499e-01 -1.18417514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966547614999996 meters 0.08024624217766492 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.56, Z:-1.17 [[ 9.96261967e-01 7.91697236e-02 3.45578947e-02 2.09496804e+01] [-7.91673927e-02 9.96860299e-01 -1.43793262e-03 -5.56165327e-01] [-3.45632339e-02 -1.30330084e-03 9.99401663e-01 -1.17247661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026547615 meters 0.08056926922779843 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.55, Z:-1.18 [[ 9.96244122e-01 7.79019474e-02 3.78012693e-02 2.10109795e+01] [-7.78977081e-02 9.96960093e-01 -1.58721815e-03 -5.45337879e-01] [-3.78100044e-02 -1.36337550e-03 9.99284016e-01 -1.17991156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086547614999997 meters 0.08547686351970069 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.53, Z:-1.19 [[ 9.95418106e-01 9.16038131e-02 2.74141456e-02 2.10717097e+01] [-9.16067327e-02 9.95794597e-01 -1.15202332e-03 -5.33620276e-01] [-2.74043878e-02 -1.36457544e-03 9.99623498e-01 -1.18775682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146547614999996 meters 0.0931316016235858 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.51, Z:-1.20 [[ 9.95132240e-01 9.43483172e-02 2.84643730e-02 2.11328549e+01] [-9.43527428e-02 9.95538117e-01 -1.19060452e-03 -5.12919747e-01] [-2.84496998e-02 -1.50088272e-03 9.99594099e-01 -1.20131683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206547614999998 meters 0.08530784518925892 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.53, Z:-1.20 [[ 9.95357836e-01 9.25772519e-02 2.63102937e-02 2.11940763e+01] [-9.25802974e-02 9.95704609e-01 -1.10496196e-03 -5.29379307e-01] [-2.62995750e-02 -1.33598227e-03 9.99653214e-01 -1.20062865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266547614999997 meters 0.08232410399505681 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.54, Z:-1.20 [[ 9.95745448e-01 8.63798841e-02 3.20861228e-02 2.12551944e+01] [-8.63806661e-02 9.96261270e-01 -1.36439103e-03 -5.37283134e-01] [-3.20840174e-02 -1.41303451e-03 9.99484177e-01 -1.19684323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326547615 meters 0.08177171769411569 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.54, Z:-1.20 [[ 9.95991845e-01 8.33453900e-02 3.24621281e-02 2.13148986e+01] [-8.33446216e-02 9.96519830e-01 -1.37915852e-03 -5.43636830e-01] [-3.24641009e-02 -1.33191314e-03 9.99472015e-01 -1.20022579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386547614999998 meters 0.08646582450974606 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.53, Z:-1.21 [[ 9.95371107e-01 9.05576672e-02 3.21817944e-02 2.13755930e+01] [-9.05605147e-02 9.95890009e-01 -1.37208839e-03 -5.29350749e-01] [-3.21737807e-02 -1.54866273e-03 9.99481090e-01 -1.20897585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446547614999997 meters 0.08558912575775385 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.54, Z:-1.21 [[ 9.95145218e-01 9.42530373e-02 2.83259779e-02 2.14365373e+01] [-9.42566940e-02 9.95547193e-01 -1.20908341e-03 -5.36752851e-01] [-2.83138076e-02 -1.46669947e-03 9.99598008e-01 -1.20965293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506547615 meters 0.08448841399953468 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.54, Z:-1.21 [[ 9.95109682e-01 9.28288344e-02 3.37569028e-02 2.14974820e+01] [-9.28331899e-02 9.95680632e-01 -1.44167350e-03 -5.40679400e-01] [-3.37449232e-02 -1.69913771e-03 9.99429034e-01 -1.20679048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566547614999998 meters 0.08280393877078163 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.55, Z:-1.21 [[ 9.95294108e-01 9.07575521e-02 3.39515278e-02 2.15587170e+01] [-9.07607640e-02 9.95871669e-01 -1.44975248e-03 -5.51087894e-01] [-3.39429406e-02 -1.63853650e-03 9.99422429e-01 -1.21112071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626547614999996 meters 0.08239575215146512 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.56, Z:-1.21 [[ 9.95260566e-01 9.14520799e-02 3.30593781e-02 2.16209355e+01] [-9.14556026e-02 9.95808158e-01 -1.40875291e-03 -5.60017491e-01] [-3.30496319e-02 -1.62138913e-03 9.99452397e-01 -1.20688785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686547615 meters 0.08310312194172134 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.56, Z:-1.22 [[ 9.95591678e-01 8.94023621e-02 2.83624423e-02 2.16831159e+01] [-8.94040033e-02 9.95994705e-01 -1.21278993e-03 -5.55660542e-01] [-2.83572686e-02 -1.32827233e-03 9.99596969e-01 -1.22385070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746547614999997 meters 0.08181398578328673 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.57, Z:-1.22 [[ 9.95625730e-01 8.75659980e-02 3.25822256e-02 2.17441889e+01] [-8.75665998e-02 9.96157668e-01 -1.41121499e-03 -5.66519175e-01] [-3.25806083e-02 -1.44807276e-03 9.99468062e-01 -1.21605468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806547614999996 meters 0.08181678145288372 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.57, Z:-1.22 [[ 9.95524950e-01 8.84218443e-02 3.33414427e-02 2.18066557e+01] [-8.84231360e-02 9.96081964e-01 -1.43863843e-03 -5.70642105e-01] [-3.33380168e-02 -1.51595448e-03 9.99442984e-01 -1.21748724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866547614999998 meters 0.08245638378101813 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.57, Z:-1.23 [[ 9.95936554e-01 8.58623820e-02 2.71667336e-02 2.18683938e+01] [-8.58621279e-02 9.96306332e-01 -1.17802497e-03 -5.68193557e-01] [-2.71675367e-02 -1.15935543e-03 9.99630222e-01 -1.23316252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926547614999997 meters 0.08384233111499685 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.57, Z:-1.23 [[ 9.95509647e-01 9.08606477e-02 2.65496883e-02 2.19294531e+01] [-9.08618367e-02 9.95862828e-01 -1.16410308e-03 -5.73711611e-01] [-2.65456188e-02 -1.25347760e-03 9.99646817e-01 -1.22895440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986547615 meters 0.0818145836360767 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.58, Z:-1.24 [[ 9.96273250e-01 8.28152303e-02 2.41090936e-02 2.19894022e+01] [-8.28138517e-02 9.96564473e-01 -1.05732208e-03 -5.76559634e-01] [-2.41138285e-02 -9.43185191e-04 9.99708774e-01 -1.24238893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046547614999998 meters 0.081031057297756 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.59, Z:-1.24 [[ 9.96313131e-01 8.27234252e-02 2.27371818e-02 2.20512057e+01] [-8.27223455e-02 9.96572142e-01 -9.89652385e-04 -5.85897735e-01] [-2.27411094e-02 -8.94869343e-04 9.99740987e-01 -1.23748075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106547614999997 meters 0.08044356702183435 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.60, Z:-1.24 [[ 9.96279219e-01 8.34996968e-02 2.13428845e-02 2.21131952e+01] [-8.34987002e-02 9.96507443e-01 -9.39403257e-04 -5.95468340e-01] [-2.13467831e-02 -8.46195169e-04 9.99771773e-01 -1.23713318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166547615 meters 0.08334282726585261 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.58, Z:-1.25 [[ 9.96033612e-01 8.54264767e-02 2.48869725e-02 2.21745557e+01] [-8.54257989e-02 9.96343936e-01 -1.09234392e-03 -5.80100297e-01] [-2.48892993e-02 -1.03797825e-03 9.99689675e-01 -1.25492337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226547614999998 meters 0.0800305051396636 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.61, Z:-1.24 [[ 9.96365703e-01 8.16258642e-02 2.43434634e-02 2.22359342e+01] [-8.16237942e-02 9.96662626e-01 -1.08033472e-03 -6.06112259e-01] [-2.43504034e-02 -9.10597377e-04 9.99703070e-01 -1.24449038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286547614999996 meters 0.08257951851735623 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.59, Z:-1.25 [[ 9.95713232e-01 8.85477392e-02 2.67293557e-02 2.22969905e+01] [-8.85476580e-02 9.96071232e-01 -1.18899365e-03 -5.93732164e-01] [-2.67296249e-02 -1.18292514e-03 9.99642000e-01 -1.25318594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346547615 meters 0.0830786679734847 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.60, Z:-1.26 [[ 9.95959814e-01 8.70959020e-02 2.18712692e-02 2.23569076e+01] [-8.70955056e-02 9.96199492e-01 -9.72498813e-04 -6.01123017e-01] [-2.18728479e-02 -9.36319511e-04 9.99760322e-01 -1.26287090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406547614999997 meters 0.08309441302295796 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.60, Z:-1.27 [[ 9.95818695e-01 8.84660466e-02 2.27790435e-02 2.24190726e+01] [-8.84661165e-02 9.96078678e-01 -1.00663047e-03 -5.98414532e-01] [-2.27787722e-02 -1.01275208e-03 9.99740017e-01 -1.26575216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466547614999996 meters 0.08339564095325153 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.59, Z:-1.27 [[ 9.95573629e-01 9.09453239e-02 2.37086041e-02 2.24814493e+01] [-9.09458146e-02 9.95855278e-01 -1.05979034e-03 -5.94030258e-01] [-2.37067215e-02 -1.10109900e-03 9.99718350e-01 -1.26887481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526547615 meters 0.08791812626725097 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.58, Z:-1.28 [[ 9.95173102e-01 9.59343195e-02 2.06664849e-02 2.25419588e+01] [-9.59357213e-02 9.95387101e-01 -9.25884667e-04 -5.82177952e-01] [-2.06599766e-02 -1.06123862e-03 9.99785997e-01 -1.27948784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586547614999997 meters 0.0836482911758978 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.60, Z:-1.28 [[ 9.95651540e-01 9.06800476e-02 2.13339933e-02 2.26025810e+01] [-9.06803055e-02 9.95879594e-01 -9.57303292e-04 -5.95753309e-01] [-2.13328969e-02 -9.81432529e-04 9.99771946e-01 -1.27637739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646547614999996 meters 0.08232517322654315 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.60, Z:-1.28 [[ 9.96163396e-01 8.43921059e-02 2.31616321e-02 2.26621316e+01] [-8.43906734e-02 9.96432201e-01 -1.04103108e-03 -5.97651515e-01] [-2.31668509e-02 -9.17588679e-04 9.99731191e-01 -1.28246326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706547614999998 meters 0.07883528013953614 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.62, Z:-1.27 [[ 9.96455129e-01 7.96533391e-02 2.70651188e-02 2.27227267e+01] [-7.96496703e-02 9.96822177e-01 -1.21530522e-03 -6.18253218e-01] [-2.70759138e-02 -9.44730672e-04 9.99632934e-01 -1.27026465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766547614999997 meters 0.08193270073614531 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.61, Z:-1.28 [[ 9.95953578e-01 8.55001752e-02 2.76801539e-02 2.27824275e+01] [-8.54985543e-02 9.96337518e-01 -1.24425532e-03 -6.07143160e-01] [-2.76851599e-02 -1.12739260e-03 9.99616057e-01 -1.28390869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826547615 meters 0.08398501151713737 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.61, Z:-1.28 [[ 9.95179640e-01 9.39840010e-02 2.80087709e-02 2.28429138e+01] [-9.39856997e-02 9.95572752e-01 -1.25873712e-03 -6.11478070e-01] [-2.80030702e-02 -1.37975437e-03 9.99606885e-01 -1.28425942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886547614999998 meters 0.08558063067219283 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.62, Z:-1.29 [[ 9.95350210e-01 9.37713988e-02 2.20200872e-02 2.29023688e+01] [-9.37723850e-02 9.95593170e-01 -9.90052514e-04 -6.19767753e-01] [-2.20158871e-02 -1.07942712e-03 9.99757038e-01 -1.29092333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946547614999997 meters 0.08201462095035725 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.63, Z:-1.30 [[ 9.96072248e-01 8.50859037e-02 2.45044089e-02 2.29626160e+01] [-8.50845150e-02 9.96373129e-01 -1.10118849e-03 -6.31221044e-01] [-2.45092301e-02 -9.88082445e-04 9.99699115e-01 -1.29889669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006547615 meters 0.08108015601803063 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.64, Z:-1.30 [[ 9.96189925e-01 8.40246890e-02 2.33556376e-02 2.30245721e+01] [-8.40233086e-02 9.96463244e-01 -1.04217848e-03 -6.41243030e-01] [-2.33606031e-02 -9.24210244e-04 9.99726677e-01 -1.30025148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066547614999998 meters 0.08185689244522461 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.64, Z:-1.31 [[ 9.96104434e-01 8.50397120e-02 2.33281585e-02 2.30860657e+01] [-8.50384742e-02 9.96377118e-01 -1.04688606e-03 -6.42310356e-01] [-2.33326703e-02 -9.40983157e-04 9.99727313e-01 -1.30586031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126547614999996 meters 0.0805161635980424 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.66, Z:-1.31 [[ 9.96638994e-01 8.01393283e-02 1.69824276e-02 2.31467113e+01] [-8.01379407e-02 9.96783491e-01 -7.63308735e-04 -6.64405903e-01] [-1.69889745e-02 -6.00193526e-04 9.99855497e-01 -1.30797191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186547615 meters 0.07996216620190556 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.67, Z:-1.32 [[ 9.97287665e-01 7.07180269e-02 2.04027962e-02 2.32059573e+01] [-7.07137375e-02 9.97496214e-01 -9.32516778e-04 -6.68381884e-01] [-2.04176577e-02 -5.12770495e-04 9.99791406e-01 -1.32386753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246547614999997 meters 0.07684003859325651 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.69, Z:-1.30 [[ 9.97208842e-01 6.85446557e-02 2.95999094e-02 2.32671149e+01] [-6.85346739e-02 9.97647818e-01 -1.35282173e-03 -6.89454263e-01] [-2.96230137e-02 -6.79574347e-04 9.99560911e-01 -1.30430516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306547614999996 meters 0.07877207852755937 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.68, Z:-1.33 [[ 9.97506007e-01 6.69669365e-02 2.22978788e-02 2.33260490e+01] [-6.69608729e-02 9.97755081e-01 -1.01929890e-03 -6.80043170e-01] [-2.23160812e-02 -4.76328647e-04 9.99750852e-01 -1.32680235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366547614999998 meters 0.07848257103745834 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.69, Z:-1.32 [[ 9.96946543e-01 7.35289676e-02 2.62884155e-02 2.33886163e+01] [-7.35230070e-02 9.97292806e-01 -1.19454517e-03 -6.85249072e-01] [-2.63050813e-02 -7.41905676e-04 9.99653686e-01 -1.31575313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426547614999997 meters 0.07864002843128863 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.68, Z:-1.32 [[ 9.96947450e-01 7.31834611e-02 2.72022648e-02 2.34507496e+01] [-7.31767616e-02 9.97318212e-01 -1.24301060e-03 -6.78330059e-01] [-2.72202819e-02 -7.51357400e-04 9.99629177e-01 -1.32355836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486547614999996 meters 0.08075145130630587 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.67, Z:-1.33 [[ 9.96521962e-01 8.02206634e-02 2.25527124e-02 2.35115330e+01] [-8.02176147e-02 9.96776831e-01 -1.04128853e-03 -6.73404551e-01] [-2.25635540e-02 -7.71457905e-04 9.99745113e-01 -1.32971413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546547614999998 meters 0.08093356830657623 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.67, Z:-1.32 [[ 9.95930461e-01 8.42937459e-02 3.18917075e-02 2.35736224e+01] [-8.42897391e-02 9.96440200e-01 -1.47242946e-03 -6.69236614e-01] [-3.19022960e-02 -1.22170635e-03 9.99490246e-01 -1.32432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606547614999997 meters 0.08074964603980667 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.67, Z:-1.33 [[ 9.96193279e-01 8.25557759e-02 2.79909928e-02 2.36347937e+01] [-8.25521511e-02 9.96585915e-01 -1.28703698e-03 -6.72212599e-01] [-2.80016815e-02 -1.02857908e-03 9.99607347e-01 -1.33268983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666547615 meters 0.08140307603266868 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.68, Z:-1.33 [[ 9.96112076e-01 8.50230444e-02 2.30610951e-02 2.36949837e+01] [-8.50209893e-02 9.96378584e-01 -1.07135264e-03 -6.83970962e-01] [-2.30686710e-02 -8.93489821e-04 9.99733484e-01 -1.33426655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726547614999998 meters 0.09389737602205575 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.66, Z:-1.37 [[ 9.96603647e-01 7.68756267e-02 2.95179281e-02 2.37542252e+01] [-7.68686745e-02 9.97040282e-01 -1.37188192e-03 -6.55851187e-01] [-2.95360277e-02 -9.01781488e-04 9.99563310e-01 -1.37182303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786547614999996 meters 0.07854849915175477 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.70, Z:-1.34 [[ 9.96912056e-01 7.28318402e-02 2.93577116e-02 2.38152075e+01] [-7.28232118e-02 9.97343932e-01 -1.36441397e-03 -6.99898053e-01] [-2.93791083e-02 -7.77722110e-04 9.99568038e-01 -1.34030927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846547615 meters 0.08204634661693991 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.69, Z:-1.34 [[ 9.96008956e-01 8.55637588e-02 2.53968869e-02 2.38762243e+01] [-8.55614041e-02 9.96332199e-01 -1.18137245e-03 -6.86842095e-01] [-2.54048188e-02 -9.96335757e-04 9.99676749e-01 -1.34358094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906547614999997 meters 0.084703122850376 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.68, Z:-1.35 [[ 9.95622654e-01 9.14229787e-02 1.94259934e-02 2.39369743e+01] [-9.14227049e-02 9.95811765e-01 -9.04034569e-04 -6.76336594e-01] [-1.94272823e-02 -8.75899561e-04 9.99810889e-01 -1.35320625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966547614999996 meters 0.08276365440226445 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.68, Z:-1.36 [[ 9.96051432e-01 8.57876445e-02 2.28478793e-02 2.39972834e+01] [-8.57857728e-02 9.96313038e-01 -1.06385945e-03 -6.84847900e-01] [-2.28549060e-02 -9.00364259e-04 9.99738387e-01 -1.35618245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026547615 meters 0.07879536854475828 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.71, Z:-1.35 [[ 9.96491447e-01 7.64509964e-02 3.40593919e-02 2.40575528e+01] [-7.64413769e-02 9.97072815e-01 -1.58640605e-03 -7.07447932e-01] [-3.40809761e-02 -1.02270675e-03 9.99418552e-01 -1.34596966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086547614999997 meters 0.08130882681575298 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.70, Z:-1.36 [[ 9.96128554e-01 8.19016790e-02 3.19377278e-02 2.41180831e+01] [-8.18960181e-02 9.96639769e-01 -1.48753065e-03 -6.99277956e-01] [-3.19522409e-02 -1.13380098e-03 9.99488754e-01 -1.35592391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146547614999996 meters 0.08105688594402255 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.71, Z:-1.36 [[ 9.96308423e-01 8.15607754e-02 2.67837060e-02 2.41782389e+01] [-8.15566649e-02 9.96667926e-01 -1.24764891e-03 -7.07051350e-01] [-2.67962199e-02 -9.41346619e-04 9.99640474e-01 -1.36371355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206547614999998 meters 0.08055606186809759 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.71, Z:-1.37 [[ 9.96691204e-01 7.59756245e-02 2.88850730e-02 2.42381121e+01] [-7.59684689e-02 9.97109311e-01 -1.34663861e-03 -7.10912776e-01] [-2.89038869e-02 -8.52171916e-04 9.99581832e-01 -1.37166401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266547614999997 meters 0.08081594401206843 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.72, Z:-1.36 [[ 9.96205392e-01 8.09642813e-02 3.19312082e-02 2.43002717e+01] [-8.09581526e-02 9.96716392e-01 -1.48689213e-03 -7.16676920e-01] [-3.19467438e-02 -1.10384167e-03 9.99488963e-01 -1.36455062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326547615 meters 0.07982350787699671 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.72, Z:-1.37 [[ 9.96540718e-01 7.71971746e-02 3.07765124e-02 2.43608040e+01] [-7.71895991e-02 9.97015398e-01 -1.43593912e-03 -7.23682298e-01] [-3.07955072e-02 -9.44654855e-04 9.99525259e-01 -1.37101560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386547614999998 meters 0.08166955495716921 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.72, Z:-1.39 [[ 9.96785238e-01 7.64671665e-02 2.39157224e-02 2.44196999e+01] [-7.64623448e-02 9.97071844e-01 -1.11734321e-03 -7.20232976e-01] [-2.39311335e-02 -7.14900993e-04 9.99713354e-01 -1.38819017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446547614999997 meters 0.0799378293011765 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.74, Z:-1.38 [[ 9.96680244e-01 7.72455938e-02 2.57217887e-02 2.44822251e+01] [-7.72403440e-02 9.97011781e-01 -1.19906710e-03 -7.36594001e-01] [-2.57375490e-02 -7.91673315e-04 9.99668421e-01 -1.37998320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506547615 meters 0.07894287070787555 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.74, Z:-1.39 [[ 9.96984292e-01 7.14086862e-02 3.03829087e-02 2.45423307e+01] [-7.13984968e-02 9.97446858e-01 -1.42151740e-03 -7.37648417e-01] [-3.04068455e-02 -7.52063493e-04 9.99537322e-01 -1.38629414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566547614999998 meters 0.07958498355294498 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.74, Z:-1.38 [[ 9.96241483e-01 8.09458384e-02 3.08330772e-02 2.46041078e+01] [-8.09398743e-02 9.96717941e-01 -1.44354396e-03 -7.41105388e-01] [-3.08487301e-02 -1.05750702e-03 9.99523505e-01 -1.37648896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626547614999996 meters 0.08205690925376195 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.73, Z:-1.39 [[ 9.96197400e-01 7.98206574e-02 3.49199455e-02 2.46644035e+01] [-7.98123704e-02 9.96808566e-01 -1.63342673e-03 -7.31968500e-01] [-3.49388820e-02 -1.15982816e-03 9.99388778e-01 -1.38529941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686547615 meters 0.07986058650996794 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.74, Z:-1.39 [[ 9.96555213e-01 7.58830008e-02 3.34585899e-02 2.47251448e+01] [-7.58730095e-02 9.97116253e-01 -1.57000914e-03 -7.38618813e-01] [-3.34812408e-02 -9.74003123e-04 9.99438871e-01 -1.39155926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746547614999997 meters 0.08179743908765533 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.74, Z:-1.39 [[ 9.96116608e-01 8.35731906e-02 2.76988106e-02 2.47866216e+01] [-8.35692879e-02 9.96501120e-01 -1.30050419e-03 -7.38588032e-01] [-2.77105830e-02 -1.01931605e-03 9.99615468e-01 -1.39458644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806547614999996 meters 0.08171389976898819 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.74, Z:-1.39 [[ 9.95731671e-01 8.72552830e-02 3.00824608e-02 2.48492252e+01] [-8.72525039e-02 9.96185233e-01 -1.40756214e-03 -7.37699227e-01] [-3.00905205e-02 -1.22321583e-03 9.99546429e-01 -1.39456262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866547614999998 meters 0.07991843054834083 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.76, Z:-1.41 [[ 9.96622319e-01 7.67568751e-02 2.91947733e-02 2.49079306e+01] [-7.67493461e-02 9.97049464e-01 -1.38003740e-03 -7.56415257e-01] [-2.92145605e-02 -8.65303689e-04 9.99572789e-01 -1.40532308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926547614999997 meters 0.07973450737662602 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.76, Z:-1.41 [[ 9.96786608e-01 7.40631505e-02 3.05140485e-02 2.49674544e+01] [-7.40537544e-02 9.97253212e-01 -1.43946963e-03 -7.64616841e-01] [-3.05368445e-02 -8.24835800e-04 9.99533301e-01 -1.40995834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986547614999996 meters 0.0788533679614078 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.77, Z:-1.41 [[ 9.96612489e-01 7.55917862e-02 3.23948847e-02 2.50290577e+01] [-7.55819902e-02 9.97138419e-01 -1.52860067e-03 -7.74616940e-01] [-3.24177338e-02 -9.25047341e-04 9.99473979e-01 -1.40657467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046547614999998 meters 0.07756877979715995 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.78, Z:-1.41 [[ 9.96723168e-01 7.26545060e-02 3.55562798e-02 2.50908743e+01] [-7.26403760e-02 9.97356765e-01 -1.69076544e-03 -7.78137363e-01] [-3.55851379e-02 -8.97596451e-04 9.99366245e-01 -1.40782039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106547614999997 meters 0.07763623302654432 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.79, Z:-1.42 [[ 9.97271274e-01 6.77118858e-02 2.94127076e-02 2.51508398e+01] [-6.77001386e-02 9.97704737e-01 -1.39619206e-03 -7.88659047e-01] [-2.94397365e-02 -5.98862141e-04 9.99566378e-01 -1.41864854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166547615 meters 0.07768525009165503 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.78, Z:-1.41 [[ 9.96505884e-01 7.42120039e-02 3.83223265e-02 2.52142653e+01] [-7.41963011e-02 9.97241970e-01 -1.83376879e-03 -7.81294415e-01] [-3.83527200e-02 -1.01601348e-03 9.99263747e-01 -1.41207577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226547614999998 meters 0.08127936860500554 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.77, Z:-1.42 [[ 9.95997904e-01 8.10559720e-02 3.76577271e-02 2.52748366e+01] [-8.10455105e-02 9.96708764e-01 -1.80677731e-03 -7.65161148e-01] [-3.76802367e-02 -1.25244331e-03 9.99289063e-01 -1.41933748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286547614999996 meters 0.08140789090301652 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.77, Z:-1.42 [[ 9.95746650e-01 8.63739468e-02 3.20647952e-02 2.53354299e+01] [-8.63691171e-02 9.96262018e-01 -1.53824691e-03 -7.67776257e-01] [-3.20778021e-02 -1.23770385e-03 9.99484609e-01 -1.42081520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346547615 meters 0.08129934983103167 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.76, Z:-1.43 [[ 9.95911773e-01 8.40123804e-02 3.31912618e-02 2.53971176e+01] [-8.40059419e-02 9.96463984e-01 -1.59092176e-03 -7.61618030e-01] [-3.32075541e-02 -1.20384550e-03 9.99447752e-01 -1.43331063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406547614999997 meters 0.08289230297058856 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.76, Z:-1.43 [[ 9.95071539e-01 9.23180481e-02 3.61940640e-02 2.54586128e+01] [-9.23157185e-02 9.95728268e-01 -1.73912723e-03 -7.58484143e-01] [-3.62000055e-02 -1.61072501e-03 9.99343267e-01 -1.42767192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466547614999996 meters 0.08428245116809704 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.76, Z:-1.43 [[ 9.94658108e-01 9.59895840e-02 3.79637790e-02 2.55186255e+01] [-9.59896562e-02 9.95380658e-01 -1.82504328e-03 -7.58802075e-01] [-3.79635964e-02 -1.82883599e-03 9.99277449e-01 -1.42583600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526547615 meters 0.08240754435351888 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.76, Z:-1.44 [[ 9.95262658e-01 9.02614234e-02 3.61264088e-02 2.55787606e+01] [-9.02577395e-02 9.95916927e-01 -1.73617223e-03 -7.63261676e-01] [-3.61356114e-02 -1.53274060e-03 9.99345720e-01 -1.43990756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586547614999997 meters 0.0797760018249784 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.78, Z:-1.44 [[ 9.95805995e-01 8.34612652e-02 3.74784891e-02 2.56389713e+01] [-8.34524540e-02 9.96510130e-01 -1.80216110e-03 -7.77659452e-01] [-3.74981047e-02 -1.33306906e-03 9.99295810e-01 -1.43861873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646547614999996 meters 0.0785690464947431 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.79, Z:-1.45 [[ 9.96396828e-01 7.89150072e-02 3.10770348e-02 2.56998614e+01] [-7.89068827e-02 9.96880878e-01 -1.48965457e-03 -7.91273815e-01] [-3.10976578e-02 -9.67904851e-04 9.99515882e-01 -1.44566258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706547614999998 meters 0.07839596251340952 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.79, Z:-1.45 [[ 9.96414269e-01 7.76581720e-02 3.35829181e-02 2.57610836e+01] [-7.76475411e-02 9.96979552e-01 -1.62259829e-03 -7.94904359e-01] [-3.36074906e-02 -9.90850923e-04 9.99434618e-01 -1.45239086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766547614999997 meters 0.0792977077717112 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.80, Z:-1.45 [[ 9.95908036e-01 8.34384676e-02 3.47160693e-02 2.58225903e+01] [-8.34304906e-02 9.96512182e-01 -1.68087382e-03 -7.96436826e-01] [-3.47352355e-02 -1.22238295e-03 9.99395802e-01 -1.45033873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826547614999996 meters 0.07801761235663981 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.80, Z:-1.45 [[ 9.95858060e-01 8.19876416e-02 3.93033267e-02 2.58839082e+01] [-8.19762306e-02 9.96632465e-01 -1.90455433e-03 -7.99420001e-01] [-3.93271213e-02 -1.32527279e-03 9.99225511e-01 -1.44800726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886547614999998 meters 0.07805371130969961 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.80, Z:-1.46 [[ 9.96131313e-01 8.00504563e-02 3.62537062e-02 2.59458438e+01] [-8.00395740e-02 9.96790144e-01 -1.75375087e-03 -8.02299408e-01] [-3.62777256e-02 -1.15476504e-03 9.99341079e-01 -1.45809359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946547614999997 meters 0.07884053614824307 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.80, Z:-1.46 [[ 9.95697394e-01 8.46701117e-02 3.76519850e-02 2.60074473e+01] [-8.46611678e-02 9.96408109e-01 -1.83474501e-03 -8.00555232e-01] [-3.76720912e-02 -1.36081019e-03 9.99289228e-01 -1.45885382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006547615 meters 0.08181306412411082 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.79, Z:-1.47 [[ 9.95120073e-01 9.14550105e-02 3.70407955e-02 2.60672626e+01] [-9.14510018e-02 9.95807940e-01 -1.80606068e-03 -7.89284512e-01] [-3.70506915e-02 -1.59017062e-03 9.99312122e-01 -1.46682258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066547614999998 meters 0.08141861521628785 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.80, Z:-1.47 [[ 9.95118937e-01 9.19808521e-02 3.57466649e-02 2.61286687e+01] [-9.19775511e-02 9.95759560e-01 -1.74030104e-03 -7.98269397e-01] [-3.57551577e-02 -1.55608418e-03 9.99359368e-01 -1.46871814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126547614999996 meters 0.0788281541021381 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.81, Z:-1.48 [[ 9.96043583e-01 8.12010498e-02 3.61049894e-02 2.61889097e+01] [-8.11901264e-02 9.96697059e-01 -1.77103200e-03 -8.08336097e-01] [-3.61295464e-02 -1.16734360e-03 9.99346433e-01 -1.47965224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186547615 meters 0.0748297931204617 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.84, Z:-1.47 [[ 9.97000752e-01 6.91941344e-02 3.46651343e-02 2.62489672e+01] [-6.91767816e-02 9.97602967e-01 -1.70114590e-03 -8.36775378e-01] [-3.46997502e-02 -7.01978684e-04 9.99397536e-01 -1.47378520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246547614999997 meters 0.07379658694263509 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.84, Z:-1.48 [[ 9.97156601e-01 6.43042941e-02 3.92895642e-02 2.63100524e+01] [-6.42781812e-02 9.97930155e-01 -1.92879561e-03 -8.37783634e-01] [-3.93322708e-02 -6.02150453e-04 9.99226005e-01 -1.47780322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306547614999996 meters 0.07378564692268333 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.84, Z:-1.48 [[ 9.96877910e-01 6.75270123e-02 4.09210832e-02 2.63717747e+01] [-6.75015098e-02 9.97717155e-01 -2.00616885e-03 -8.36859299e-01] [-4.09631373e-02 -7.62329490e-04 9.99160368e-01 -1.47981259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366547614999998 meters 0.07453535410351542 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.83, Z:-1.48 [[ 9.96278491e-01 7.48181708e-02 4.27949840e-02 2.64322119e+01] [-7.47963657e-02 9.97196590e-01 -2.11273596e-03 -8.29769895e-01] [-4.28330832e-02 -1.09603589e-03 9.99081641e-01 -1.47981401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426547614999997 meters 0.0796095582117378 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.81, Z:-1.49 [[ 9.95163221e-01 9.11103731e-02 3.67295979e-02 2.64940967e+01] [-9.11053929e-02 9.95839606e-01 -1.81275592e-03 -8.10427672e-01] [-3.67419492e-02 -1.54227643e-03 9.99323597e-01 -1.48840282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486547614999996 meters 0.0807619317714815 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.81, Z:-1.50 [[ 9.94992721e-01 9.38080116e-02 3.44897424e-02 2.65543181e+01] [-9.38052193e-02 9.95589113e-01 -1.70266881e-03 -8.11733522e-01] [-3.44973361e-02 -1.54117478e-03 9.99403601e-01 -1.49787249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546547614999998 meters 0.07934291962301822 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.82, Z:-1.50 [[ 9.95188118e-01 8.93657975e-02 4.01791470e-02 2.66153974e+01] [-8.93582944e-02 9.95997565e-01 -1.98620219e-03 -8.16813953e-01] [-4.01958311e-02 -1.61369523e-03 9.99190518e-01 -1.49623567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606547614999997 meters 0.07825637299455349 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.83, Z:-1.50 [[ 9.95706818e-01 8.55344723e-02 3.53805933e-02 2.66758268e+01] [-8.55263718e-02 9.96334379e-01 -1.74513171e-03 -8.33023844e-01] [-3.54001703e-02 -1.28833424e-03 9.99372387e-01 -1.49829585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666547615 meters 0.08001806326196238 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.83, Z:-1.51 [[ 9.95494180e-01 8.85486942e-02 3.39185247e-02 2.67361217e+01] [-8.85425961e-02 9.96070966e-01 -1.68475107e-03 -8.27933762e-01] [-3.39344402e-02 -1.32607434e-03 9.99423181e-01 -1.51400336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726547614999998 meters 0.07864805905352817 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.84, Z:-1.52 [[ 9.96016820e-01 8.36731193e-02 3.08107790e-02 2.67973181e+01] [-8.36657696e-02 9.96492699e-01 -1.52994011e-03 -8.41257420e-01] [-3.08307311e-02 -1.05396145e-03 9.99524064e-01 -1.51567318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786547614999996 meters 0.0796365114271267 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.84, Z:-1.52 [[ 9.95824787e-01 8.65915904e-02 2.88944676e-02 2.68583433e+01] [-8.65862998e-02 9.96243318e-01 -1.43659708e-03 -8.44374223e-01] [-2.89103175e-02 -1.07126605e-03 9.99581435e-01 -1.52123087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846547615 meters 0.07916314568738689 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.85, Z:-1.53 [[ 9.96174499e-01 8.21889564e-02 2.96874096e-02 2.69188491e+01] [-8.21813736e-02 9.96616295e-01 -1.47754524e-03 -8.49097528e-01] [-2.97083941e-02 -9.67859210e-04 9.99558140e-01 -1.53020675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906547614999997 meters 0.07777993372884935 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.86, Z:-1.53 [[ 9.96587558e-01 7.74121600e-02 2.86460703e-02 2.69794191e+01] [-7.74031283e-02 9.96998858e-01 -1.42569375e-03 -8.64152512e-01] [-2.86704654e-02 -7.96466800e-04 9.99588600e-01 -1.53368038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966547614999996 meters 0.07781753905979862 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.87, Z:-1.53 [[ 9.96209221e-01 8.25869095e-02 2.73238118e-02 2.70408170e+01] [-8.25806157e-02 9.96583459e-01 -1.36061151e-03 -8.66465403e-01] [-2.73428276e-02 -9.00963472e-04 9.99625709e-01 -1.53003781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026547615 meters 0.07658783298866087 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.89, Z:-1.54 [[ 9.96808836e-01 7.62203626e-02 2.37192277e-02 2.71008558e+01] [-7.62139500e-02 9.97090794e-01 -1.17554820e-03 -8.87007024e-01] [-2.37398243e-02 -6.35939199e-04 9.99717968e-01 -1.53700155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086547614999997 meters 0.07439882942825095 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.90, Z:-1.54 [[ 9.97285932e-01 6.43113088e-02 3.58444628e-02 2.71614827e+01] [-6.42882875e-02 9.97929753e-01 -1.79564159e-03 -8.97132160e-01] [-3.58857359e-02 -5.13611033e-04 9.99355768e-01 -1.53879629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146547614999996 meters 0.07392227313346433 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.91, Z:-1.54 [[ 9.97415815e-01 6.52290456e-02 3.01141746e-02 2.72224202e+01] [-6.52132283e-02 9.97870212e-01 -1.50813800e-03 -9.09477072e-01] [-3.01484122e-02 -4.59601852e-04 9.99545328e-01 -1.53771835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206547614999998 meters 0.0743372120950408 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.90, Z:-1.54 [[ 9.97045478e-01 6.94481965e-02 3.28216691e-02 2.72849100e+01] [-6.94317519e-02 9.97585353e-01 -1.64188404e-03 -9.01442593e-01] [-3.28564422e-02 -6.41832928e-04 9.99459875e-01 -1.54019114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266547614999997 meters 0.07563904449980402 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.90, Z:-1.55 [[ 9.97307197e-01 6.81407272e-02 2.71145085e-02 2.73455460e+01] [-6.81288397e-02 9.97675600e-01 -1.36306255e-03 -9.00188547e-01] [-2.71443636e-02 -4.87887914e-04 9.99631405e-01 -1.55439439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326547614999996 meters 0.07560237109920176 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.90, Z:-1.54 [[ 9.96410434e-01 7.69859982e-02 3.52051461e-02 2.74084108e+01] [-7.69715627e-02 9.97031722e-01 -1.76718736e-03 -8.96564423e-01] [-3.52366962e-02 -9.48951186e-04 9.99378544e-01 -1.54144063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386547614999998 meters 0.0783251154522107 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.88, Z:-1.56 [[ 9.96059781e-01 8.23519907e-02 3.29099236e-02 2.74696718e+01] [-8.23418973e-02 9.96602751e-01 -1.66418723e-03 -8.77714587e-01] [-3.29351696e-02 -1.05223559e-03 9.99456936e-01 -1.55788619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446547614999997 meters 0.078680914350986 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.88, Z:-1.55 [[ 9.95609266e-01 8.70154259e-02 3.45037075e-02 2.75312986e+01] [-8.70071185e-02 9.96206161e-01 -1.74503100e-03 -8.81072114e-01] [-3.45246506e-02 -1.26469913e-03 9.99403046e-01 -1.55006730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506547615 meters 0.07909563622365903 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.88, Z:-1.57 [[ 9.95879371e-01 8.58166554e-02 2.93220041e-02 2.75918643e+01] [-8.58102635e-02 9.96310400e-01 -1.47858402e-03 -8.84506328e-01] [-2.93407048e-02 -1.04363757e-03 9.99568924e-01 -1.56562583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566547614999998 meters 0.07785209033303407 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.89, Z:-1.57 [[ 9.96252556e-01 7.94754682e-02 3.41247029e-02 2.76521212e+01] [-7.94626073e-02 9.96836337e-01 -1.73507864e-03 -8.92036035e-01] [-3.41546400e-02 -9.83061335e-04 9.99416077e-01 -1.56848877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626547614999996 meters 0.07962044948427045 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.89, Z:-1.57 [[ 9.95852786e-01 8.68024130e-02 2.72501372e-02 2.77127503e+01] [-8.67969608e-02 9.96225059e-01 -1.38508731e-03 -8.90344481e-01] [-2.72674985e-02 -9.85886037e-04 9.99627686e-01 -1.57167778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686547615 meters 0.07822703315992303 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.90, Z:-1.58 [[ 9.96321164e-01 8.05731075e-02 2.91909784e-02 2.77714323e+01] [-8.05641197e-02 9.96748321e-01 -1.48580616e-03 -9.01536759e-01] [-2.92157747e-02 -8.71405360e-04 9.99572748e-01 -1.57698518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746547614999997 meters 0.07525362066288377 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.92, Z:-1.57 [[ 9.96718296e-01 6.98975234e-02 4.08285932e-02 2.78319835e+01] [-6.98710149e-02 9.97553871e-01 -2.07761370e-03 -9.20244024e-01] [-4.08739412e-02 -7.81939654e-04 9.99164005e-01 -1.57145059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806547614999996 meters 0.07691612082868463 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.92, Z:-1.58 [[ 9.96696702e-01 7.50281473e-02 3.10879708e-02 2.78919960e+01] [-7.50152709e-02 9.97181130e-01 -1.58194972e-03 -9.20570657e-01] [-3.11190287e-02 -7.55348482e-04 9.99515400e-01 -1.58120995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866547614999998 meters 0.07658349651545258 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.93, Z:-1.58 [[ 9.96755228e-01 7.47050645e-02 2.99694636e-02 2.79536263e+01] [-7.46930734e-02 9.97205411e-01 -1.52098345e-03 -9.30148197e-01] [-2.99993364e-02 -7.22463134e-04 9.99549658e-01 -1.58275603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926547614999997 meters 0.07611810185262936 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.93, Z:-1.60 [[ 9.97324508e-01 6.57613206e-02 3.19260735e-02 2.80135205e+01] [-6.57426903e-02 9.97835271e-01 -1.63405266e-03 -9.34042432e-01] [-3.19644196e-02 -4.69225194e-04 9.99488897e-01 -1.59696427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986547614999996 meters 0.07752852885526057 Centerline is valid? [True, True] Translation: X:28.08, Y:-0.93, Z:-1.59 [[ 9.96402607e-01 7.69908316e-02 3.54154869e-02 2.80752045e+01] [-7.69749832e-02 9.97031377e-01 -1.81279052e-03 -9.26418260e-01] [-3.54499199e-02 -9.19837313e-04 9.99371031e-01 -1.59175875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046547614999998 meters 0.07979245794908467 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.92, Z:-1.59 [[ 9.95797196e-01 8.62780500e-02 3.07252801e-02 2.81363022e+01] [-8.62704756e-02 9.96270508e-01 -1.57456655e-03 -9.19386523e-01] [-3.07465410e-02 -1.08273558e-03 9.99526627e-01 -1.59408458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.106547614999997 meters 0.07850370363146159 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.92, Z:-1.61 [[ 9.96477676e-01 7.78675957e-02 3.11268052e-02 2.81969352e+01] [-7.78557254e-02 9.96963360e-01 -1.59500794e-03 -9.22304539e-01] [-3.11564838e-02 -8.34010195e-04 9.99514171e-01 -1.60692592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166547615 meters 0.07981701872840365 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.92, Z:-1.60 [[ 9.95987859e-01 8.35130040e-02 3.21521801e-02 2.82575774e+01] [-8.35032166e-02 9.96506143e-01 -1.64939042e-03 -9.17592530e-01] [-3.21775905e-02 -1.04203762e-03 9.99481624e-01 -1.60376403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226547614999998 meters 0.0809940203206223 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.92, Z:-1.61 [[ 9.95230784e-01 9.33905002e-02 2.81762410e-02 2.83190773e+01] [-9.33869561e-02 9.95628841e-01 -1.44454979e-03 -9.15787154e-01] [-2.81879854e-02 -1.19363296e-03 9.99601927e-01 -1.60515321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.286547614999996 meters 0.08203730485580979 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.91, Z:-1.61 [[ 9.95103085e-01 9.27703637e-02 3.41102678e-02 2.83795234e+01] [-9.27647378e-02 9.95686516e-01 -1.75089490e-03 -9.11095890e-01] [-3.41255648e-02 -1.42190913e-03 9.99416542e-01 -1.60799179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.346547615 meters 0.08106556067040167 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.91, Z:-1.62 [[ 9.95405761e-01 9.10322450e-02 2.96732529e-02 2.84412969e+01] [-9.10274117e-02 9.95847233e-01 -1.51649159e-03 -9.14291553e-01] [-2.96880764e-02 -1.19155495e-03 9.99558502e-01 -1.61777811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.406547614999997 meters 0.08107197153197446 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.92, Z:-1.61 [[ 9.95015935e-01 9.44046319e-02 3.21100349e-02 2.85036124e+01] [-9.44004344e-02 9.95532940e-01 -1.65008539e-03 -9.16964451e-01] [-3.21223732e-02 -1.38933999e-03 9.99482978e-01 -1.61452563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466547614999996 meters 0.08244345047812165 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.92, Z:-1.62 [[ 9.94905536e-01 9.56152252e-02 3.19484313e-02 2.85641804e+01] [-9.56112712e-02 9.95417373e-01 -1.65495216e-03 -9.16715379e-01] [-3.19602622e-02 -1.40810907e-03 9.99488148e-01 -1.62041187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526547615 meters 0.08179989555507095 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.92, Z:-1.63 [[ 9.95021237e-01 9.49657295e-02 3.02365461e-02 2.86267461e+01] [-9.49620564e-02 9.95479669e-01 -1.56070129e-03 -9.23205017e-01] [-3.02480800e-02 -1.31839367e-03 9.99541553e-01 -1.62592007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586547614999997 meters 0.08144439700286224 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.93, Z:-1.63 [[ 9.94950988e-01 9.51855385e-02 3.18157942e-02 2.86889070e+01] [-9.51812428e-02 9.95458587e-01 -1.65295762e-03 -9.26069093e-01] [-3.18286432e-02 -1.38365501e-03 9.99492383e-01 -1.62743220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646547614999996 meters 0.08101202804308624 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.93, Z:-1.64 [[ 9.95474131e-01 9.19768926e-02 2.39062030e-02 2.87499867e+01] [-9.19733460e-02 9.95760684e-01 -1.25017205e-03 -9.31815183e-01] [-2.39198440e-02 -9.54219549e-04 9.99713424e-01 -1.63885634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706547614999998 meters 0.07788250265840763 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.95, Z:-1.63 [[ 9.96142600e-01 8.26245296e-02 2.95483992e-02 2.88097595e+01] [-8.26148672e-02 9.96580344e-01 -1.54977882e-03 -9.45633062e-01] [-2.95754036e-02 -8.97336371e-04 9.99562149e-01 -1.63348337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766547614999997 meters 0.0776534526665327 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.95, Z:-1.64 [[ 9.96265824e-01 8.15641985e-02 2.83141103e-02 2.88723353e+01] [-8.15550893e-02 9.96667739e-01 -1.47830953e-03 -9.47957447e-01] [-2.83403374e-02 -8.36370524e-04 9.99597982e-01 -1.63819359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826547614999996 meters 0.07920463994934043 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.95, Z:-1.64 [[ 9.95581231e-01 9.06393160e-02 2.45464255e-02 2.89328574e+01] [-9.06349220e-02 9.95883345e-01 -1.29379137e-03 -9.48984385e-01] [-2.45626447e-02 -9.36688957e-04 9.99697854e-01 -1.64062645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886547614999998 meters 0.07949669269855246 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.94, Z:-1.64 [[ 9.95461908e-01 8.91692558e-02 3.32330339e-02 2.89930591e+01] [-8.91602909e-02 9.96015745e-01 -1.75456451e-03 -9.44646456e-01] [-3.32570782e-02 -1.21646483e-03 9.99446090e-01 -1.64492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946547614999997 meters 0.07918263314396032 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.95, Z:-1.65 [[ 9.95379534e-01 9.15445083e-02 2.89687037e-02 2.90542738e+01] [-9.15387340e-02 9.95800344e-01 -1.52821384e-03 -9.49368991e-01] [-2.89869447e-02 -1.13060568e-03 9.99579151e-01 -1.64738320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006547615 meters 0.08307148932440551 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.94, Z:-1.65 [[ 9.94367661e-01 1.02061364e-01 2.85732700e-02 2.91151065e+01] [-1.02060062e-01 9.94777096e-01 -1.50778801e-03 -9.39041500e-01] [-2.85779214e-02 -1.41689405e-03 9.99590564e-01 -1.64743537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066547615 meters 0.0808579694549901 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.95, Z:-1.65 [[ 9.94790023e-01 9.78156495e-02 2.87212217e-02 2.91748296e+01] [-9.78124906e-02 9.95203704e-01 -1.51828136e-03 -9.54551475e-01] [-2.87319779e-02 -1.29892308e-03 9.99586308e-01 -1.65083744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.126547615 meters 0.0795654931127128 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.96, Z:-1.67 [[ 9.95916781e-01 8.59593988e-02 2.75816382e-02 2.92338451e+01] [-8.59519172e-02 9.96298218e-01 -1.45890975e-03 -9.60732684e-01] [-2.76049440e-02 -9.17741975e-04 9.99618490e-01 -1.66527338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186547614999995 meters 0.07837821923623137 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.97, Z:-1.66 [[ 9.95738002e-01 8.87524533e-02 2.50765675e-02 2.92948972e+01] [-8.87471628e-02 9.96053303e-01 -1.32601040e-03 -9.72963675e-01] [-2.50952846e-02 -9.05115273e-04 9.99684654e-01 -1.65749447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246547615 meters 0.08192262503869614 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.95, Z:-1.67 [[ 9.94947061e-01 9.67120672e-02 2.69651944e-02 2.93556030e+01] [-9.67088331e-02 9.95311692e-01 -1.42709793e-03 -9.54972275e-01] [-2.69767908e-02 -1.18788559e-03 9.99635354e-01 -1.67018497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.306547615 meters 0.07948219368597483 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.98, Z:-1.67 [[ 9.95665997e-01 9.00915918e-02 2.30809026e-02 2.94155796e+01] [-9.00874765e-02 9.95933109e-01 -1.22014468e-03 -9.79891686e-01] [-2.30969599e-02 -8.64443705e-04 9.99732856e-01 -1.66965054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366547614999995 meters 0.07962581185313318 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.98, Z:-1.68 [[ 9.95857703e-01 8.69769995e-02 2.65035113e-02 2.94754221e+01] [-8.69704107e-02 9.96209907e-01 -1.40340359e-03 -9.79584104e-01] [-2.65251244e-02 -9.07430991e-04 9.99647735e-01 -1.67557913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426547615 meters 0.08104294943863434 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.98, Z:-1.68 [[ 9.95737408e-01 8.90854639e-02 2.38913122e-02 2.95348901e+01] [-8.90807154e-02 9.96023607e-01 -1.26508344e-03 -9.81642536e-01] [-2.39090115e-02 -8.68564277e-04 9.99713761e-01 -1.68067887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486547615 meters 0.08226454357035398 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.97, Z:-1.68 [[ 9.94881086e-01 9.69210413e-02 2.85996009e-02 2.95963132e+01] [-9.69174813e-02 9.95291269e-01 -1.51390729e-03 -9.71206255e-01] [-2.86116625e-02 -1.26564356e-03 9.99589801e-01 -1.67953379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546547614999994 meters 0.08349633252621545 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.97, Z:-1.69 [[ 9.95169924e-01 9.56466481e-02 2.21029534e-02 2.96555015e+01] [-9.56442512e-02 9.95414895e-01 -1.16798681e-03 -9.71627813e-01] [-2.21133231e-02 -9.51675080e-04 9.99755018e-01 -1.69000925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606547615 meters 0.08398168949416475 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.97, Z:-1.69 [[ 9.94851993e-01 9.87470667e-02 2.27712288e-02 2.97181424e+01] [-9.87452788e-02 9.95112012e-01 -1.20567954e-03 -9.70976757e-01] [-2.27789806e-02 -1.04907864e-03 9.99739975e-01 -1.68913726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666547615 meters 0.08310284859234333 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.97, Z:-1.69 [[ 9.94934778e-01 9.76179948e-02 2.39898889e-02 2.97792036e+01] [-9.76156116e-02 9.95223378e-01 -1.27318616e-03 -9.74468073e-01] [-2.39995842e-02 -1.07505049e-03 9.99711390e-01 -1.69484378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726547614999994 meters 0.08287371996425284 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.98, Z:-1.69 [[ 9.94664647e-01 9.83500113e-02 3.11370486e-02 2.98398612e+01] [-9.83462782e-02 9.95150878e-01 -1.65507225e-03 -9.79071917e-01] [-3.11488376e-02 -1.41597098e-03 9.99513754e-01 -1.69091730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786547614999996 meters 0.08358333979742523 Centerline is valid? [True, True] Translation: X:29.90, Y:-0.98, Z:-1.69 [[ 9.94498997e-01 1.00533923e-01 2.94053480e-02 2.99011968e+01] [-1.00531572e-01 9.94932642e-01 -1.56209983e-03 -9.79932832e-01] [-2.94133847e-02 -1.40265914e-03 9.99566349e-01 -1.69116049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.846547615 meters 0.08444433647345902 Centerline is valid? [True, True] Translation: X:29.96, Y:-0.98, Z:-1.70 [[ 9.94409927e-01 1.02461402e-01 2.55060395e-02 2.99618444e+01] [-1.02460235e-01 9.94736177e-01 -1.35608687e-03 -9.78145286e-01] [-2.55107268e-02 -1.26484855e-03 9.99673748e-01 -1.70245486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906547614999994 meters 0.08573468350137886 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.98, Z:-1.71 [[ 9.94363967e-01 1.03705171e-01 2.20349366e-02 3.00230814e+01] [-1.03704612e-01 9.94607451e-01 -1.17118224e-03 -9.77635435e-01] [-2.20375698e-02 -1.12054313e-03 9.99756515e-01 -1.70990695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966547614999996 meters 0.08411705371021654 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.99, Z:-1.70 [[ 9.94414720e-01 1.02010271e-01 2.70789491e-02 3.00838403e+01] [-1.02008755e-01 9.94782457e-01 -1.44098383e-03 -9.88852106e-01] [-2.70846587e-02 -1.32935435e-03 9.99632259e-01 -1.70271388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.026547615 meters 0.08569160235962352 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.98, Z:-1.72 [[ 9.94233948e-01 1.03881533e-01 2.65985582e-02 3.01459109e+01] [-1.03880757e-01 9.94588753e-01 -1.41469190e-03 -9.77646234e-01] [-2.66015872e-02 -1.35654366e-03 9.99645195e-01 -1.71705307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086547615 meters 0.08900026128657919 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.98, Z:-1.71 [[ 9.93530543e-01 1.11462964e-01 2.17501113e-02 3.02073495e+01] [-1.11464198e-01 9.93767774e-01 -1.15935324e-03 -9.81535396e-01] [-2.17437846e-02 -1.27250587e-03 9.99762766e-01 -1.71480908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146547614999996 meters 0.08908908064789976 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.98, Z:-1.73 [[ 9.93840827e-01 1.09353549e-01 1.79502395e-02 3.02698380e+01] [-1.09354220e-01 9.94002393e-01 -9.47106312e-04 -9.78230084e-01] [-1.79461505e-02 -1.02166152e-03 9.99838433e-01 -1.73007164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.206547615 meters 0.08198026782898565 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.00, Z:-1.73 [[ 9.95335772e-01 9.43099325e-02 2.03060919e-02 3.03295506e+01] [-9.43073258e-02 9.95542538e-01 -1.08807804e-03 -1.00428782e+00] [-2.03181949e-02 -8.32010232e-04 9.99793218e-01 -1.72696056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.266547615 meters 0.08142331348894231 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.01, Z:-1.72 [[ 9.95433996e-01 9.20962378e-02 2.50886964e-02 3.03890100e+01] [-9.20915071e-02 9.95749638e-01 -1.34636760e-03 -1.01098241e+00] [-2.51060558e-02 -9.70235785e-04 9.99684322e-01 -1.72387863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.326547614999996 meters 0.08469985660044985 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.00, Z:-1.73 [[ 9.94389352e-01 1.02619243e-01 2.56731078e-02 3.04505299e+01] [-1.02617813e-01 9.94719905e-01 -1.37665413e-03 -9.97259147e-01] [-2.56788225e-02 -1.26558796e-03 9.99669444e-01 -1.73100528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.386547615 meters 0.0825403825688719 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.01, Z:-1.73 [[ 9.94778681e-01 9.86595218e-02 2.61088870e-02 3.05109661e+01] [-9.86566486e-02 9.95120546e-01 -1.40130157e-03 -1.01311871e+00] [-2.61197417e-02 -1.18183036e-03 9.99658123e-01 -1.72531319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.446547615 meters 0.08100104082752402 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.02, Z:-1.74 [[ 9.95334073e-01 9.34059098e-02 2.41954251e-02 3.05707188e+01] [-9.34018840e-02 9.95627642e-01 -1.29892436e-03 -1.02177708e+00] [-2.42109612e-02 -9.67034609e-04 9.99706404e-01 -1.73765585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506547614999995 meters 0.08257234941461603 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.02, Z:-1.74 [[ 9.95093926e-01 9.59512519e-02 2.41129751e-02 3.06316393e+01] [-9.59481529e-02 9.95385500e-01 -1.28812903e-03 -1.02344180e+00] [-2.41253033e-02 -1.03178604e-03 9.99708410e-01 -1.73743226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.566547615 meters 0.0847019488969944 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.02, Z:-1.75 [[ 9.94563714e-01 1.02435396e-01 1.87085071e-02 3.06926245e+01] [-1.02434507e-01 9.94739240e-01 -1.00830136e-03 -1.02340712e+00] [-1.87133718e-02 -9.13576752e-04 9.99824472e-01 -1.74688401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.626547615 meters 0.08252690045152064 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.03, Z:-1.75 [[ 9.94948414e-01 9.71535363e-02 2.52753798e-02 3.07535804e+01] [-9.71501707e-02 9.95268800e-01 -1.36398282e-03 -1.02640809e+00] [-2.52883127e-02 -1.09841492e-03 9.99679596e-01 -1.74705907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686547614999995 meters 0.08166499302626277 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.04, Z:-1.74 [[ 9.95132334e-01 9.46045594e-02 2.75973735e-02 3.08128481e+01] [-9.45995391e-02 9.95514292e-01 -1.49038740e-03 -1.04141213e+00] [-2.76145772e-02 -1.12756613e-03 9.99618009e-01 -1.74229969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.746547615 meters 0.0815423089053905 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.04, Z:-1.75 [[ 9.95036137e-01 9.61658663e-02 2.55970993e-02 3.08743716e+01] [-9.61622465e-02 9.95364723e-01 -1.37517813e-03 -1.03571676e+00] [-2.56106949e-02 -1.09312264e-03 9.99671395e-01 -1.75219482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.806547615 meters 0.08170119133682484 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.04, Z:-1.75 [[ 9.95101879e-01 9.62239472e-02 2.26539508e-02 3.09366678e+01] [-9.62209171e-02 9.95359247e-01 -1.22628259e-03 -1.04138098e+00] [-2.26668172e-02 -9.59507813e-04 9.99742614e-01 -1.75275032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.866547614999995 meters 0.08284235348800548 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.04, Z:-1.76 [[ 9.95046297e-01 9.58505678e-02 2.63730184e-02 3.09968248e+01] [-9.58462222e-02 9.95395123e-01 -1.43173820e-03 -1.03909490e+00] [-2.63888068e-02 -1.10310839e-03 9.99651146e-01 -1.75974721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.926547615 meters 0.07983829634112106 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.06, Z:-1.76 [[ 9.95565890e-01 9.01608258e-02 2.68250750e-02 3.10568488e+01] [-9.01542539e-02 9.95926748e-01 -1.45677141e-03 -1.05598140e+00] [-2.68471534e-02 -9.68082699e-04 9.99639081e-01 -1.76061352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.986547615 meters 0.08146751816506848 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.06, Z:-1.76 [[ 9.94972900e-01 9.61584314e-02 2.79729308e-02 3.11179546e+01] [-9.61536351e-02 9.95365345e-01 -1.51965001e-03 -1.05609696e+00] [-2.79894131e-02 -1.17768840e-03 9.99607526e-01 -1.75853446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046547614999994 meters 0.0812695648330756 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.06, Z:-1.77 [[ 9.95520197e-01 9.11552701e-02 2.51048447e-02 3.11778658e+01] [-9.11498223e-02 9.95836257e-01 -1.36363651e-03 -1.06149954e+00] [-2.51246172e-02 -9.30774450e-04 9.99683894e-01 -1.77031151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106547615 meters 0.08176851771241639 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.06, Z:-1.78 [[ 9.95676902e-01 9.00906872e-02 2.26091690e-02 3.12398451e+01] [-9.00861388e-02 9.95933228e-01 -1.22168754e-03 -1.06112499e+00] [-2.26272853e-02 -8.20366666e-04 9.99743634e-01 -1.78100455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.166547615 meters 0.08399887479682241 Centerline is valid? [True, True] Translation: X:31.30, Y:-1.06, Z:-1.78 [[ 9.95007696e-01 9.68322458e-02 2.41495685e-02 3.12999237e+01] [-9.68286865e-02 9.95300188e-01 -1.31945234e-03 -1.05960686e+00] [-2.41638356e-02 -1.02550576e-03 9.99707486e-01 -1.77671394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226547614999994 meters 0.08196117608878857 Centerline is valid? [True, True] Translation: X:31.36, Y:-1.06, Z:-1.78 [[ 9.95472482e-01 9.08779238e-02 2.78521038e-02 3.13601063e+01] [-9.08708826e-02 9.95861521e-01 -1.52104657e-03 -1.06105776e+00] [-2.78750680e-02 -1.01678525e-03 9.99610898e-01 -1.78294434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.286547614999996 meters 0.08225956302614625 Centerline is valid? [True, True] Translation: X:31.42, Y:-1.07, Z:-1.79 [[ 9.95702608e-01 9.00176882e-02 2.17516018e-02 3.14202532e+01] [-9.00131785e-02 9.95939865e-01 -1.18831286e-03 -1.07062720e+00] [-2.17702566e-02 -7.74724606e-04 9.99762700e-01 -1.78720585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.346547615 meters 0.08032733278010891 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.09, Z:-1.78 [[ 9.95747904e-01 8.71325877e-02 2.99002189e-02 3.14793327e+01] [-8.71227217e-02 9.96196245e-01 -1.63507627e-03 -1.08645108e+00] [-2.99289543e-02 -9.76864681e-04 9.99551551e-01 -1.78253121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.406547614999994 meters 0.07840537619821696 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.10, Z:-1.79 [[ 9.96707290e-01 7.58916757e-02 2.85487430e-02 3.15391771e+01] [-7.58781054e-02 9.97115881e-01 -1.55993516e-03 -1.10303541e+00] [-2.85847911e-02 -6.11425783e-04 9.99591184e-01 -1.79430220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466547614999996 meters 0.07880545434765304 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.11, Z:-1.80 [[ 9.96873122e-01 7.52773147e-02 2.40271422e-02 3.15998357e+01] [-7.52675200e-02 9.97162513e-01 -1.31303748e-03 -1.11112679e+00] [-2.40578074e-02 -4.99531630e-04 9.99710444e-01 -1.80126128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.526547615 meters 0.07931806122416994 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.11, Z:-1.80 [[ 9.96660205e-01 7.72984457e-02 2.63322150e-02 3.16620885e+01] [-7.72875165e-02 9.97007815e-01 -1.43407592e-03 -1.11039648e+00] [-2.63642760e-02 -6.05865096e-04 9.99652218e-01 -1.80473901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.586547615 meters 0.08066001022138859 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.10, Z:-1.81 [[ 9.96166642e-01 8.33079819e-02 2.66796147e-02 3.17241317e+01] [-8.32985875e-02 9.96523556e-01 -1.46524582e-03 -1.09995659e+00] [-2.67089312e-02 -7.62745210e-04 9.99642962e-01 -1.80700299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646547614999996 meters 0.08284002470777051 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.09, Z:-1.81 [[ 9.95598625e-01 9.03860716e-02 2.47737100e-02 3.17857528e+01] [-9.03801277e-02 9.95906410e-01 -1.36181618e-03 -1.09137095e+00] [-2.47953858e-02 -8.83228755e-04 9.99692157e-01 -1.81047380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.706547615 meters 0.08249266712353634 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.09, Z:-1.81 [[ 9.95370827e-01 9.10947947e-02 3.06374769e-02 3.18469622e+01] [-9.10860318e-02 9.95841603e-01 -1.68445818e-03 -1.09296477e+00] [-3.06635195e-02 -1.11398566e-03 9.99529143e-01 -1.81090175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.766547615 meters 0.0807106839380439 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.10, Z:-1.81 [[ 9.95854949e-01 8.49562869e-02 3.24861605e-02 3.19075063e+01] [-8.49431161e-02 9.96384198e-01 -1.78781674e-03 -1.10383763e+00] [-3.25205832e-02 -9.79069557e-04 9.99470586e-01 -1.81207782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826547614999996 meters 0.08310091857127978 Centerline is valid? [True, True] Translation: X:31.97, Y:-1.10, Z:-1.82 [[ 9.95652260e-01 8.92820754e-02 2.65572604e-02 3.19684925e+01] [-8.92748060e-02 9.96005960e-01 -1.46163267e-03 -1.09852939e+00] [-2.65816872e-02 -9.15616397e-04 9.99646225e-01 -1.82281060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.886547615 meters 0.08188615949271008 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.11, Z:-1.83 [[ 9.96255414e-01 8.28752124e-02 2.46343000e-02 3.20275468e+01] [-8.28669851e-02 9.96559694e-01 -1.35638949e-03 -1.11398416e+00] [-2.46619616e-02 -6.90059797e-04 9.99695609e-01 -1.82912155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.946547615 meters 0.0808670558774764 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.12, Z:-1.84 [[ 9.96739915e-01 7.60459973e-02 2.69545675e-02 3.20875089e+01] [-7.60336345e-02 9.97104148e-01 -1.48475903e-03 -1.12316414e+00] [-2.69894211e-02 -5.69535149e-04 9.99635557e-01 -1.83589305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006547614999995 meters 0.07797602955220355 Centerline is valid? [True, True] Translation: X:32.15, Y:-1.15, Z:-1.83 [[ 9.97001248e-01 7.01804628e-02 3.26069587e-02 3.21465990e+01] [-7.01591983e-02 9.97534188e-01 -1.79724472e-03 -1.14514197e+00] [-3.26526875e-02 -4.95822848e-04 9.99466636e-01 -1.82579305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.066547615 meters 0.0811637034876629 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.12, Z:-1.84 [[ 9.96385899e-01 7.92000613e-02 3.07000203e-02 3.22081295e+01] [-7.91855054e-02 9.96858463e-01 -1.69154302e-03 -1.12283710e+00] [-3.07375453e-02 -7.45567011e-04 9.99527212e-01 -1.83896400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.126547615 meters 0.08126798096453602 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.13, Z:-1.83 [[ 9.95688710e-01 8.55679896e-02 3.58065828e-02 3.22703335e+01] [-8.55524409e-02 9.96331723e-01 -1.96899677e-03 -1.12925924e+00] [-3.58437174e-02 -1.10283270e-03 9.99356799e-01 -1.83154244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186547614999995 meters 0.08039064477905514 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.14, Z:-1.84 [[ 9.96202907e-01 7.99393539e-02 3.44886706e-02 3.23311219e+01] [-7.99211548e-02 9.96799362e-01 -1.90817004e-03 -1.13741116e+00] [-3.45308227e-02 -8.55449841e-04 9.99403267e-01 -1.84016695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.246547615 meters 0.08049704297510746 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.15, Z:-1.85 [[ 9.96537505e-01 7.73318655e-02 3.05415088e-02 3.23925303e+01] [-7.73164779e-02 9.97005175e-01 -1.68623274e-03 -1.14571105e+00] [-3.05804418e-02 -6.80967716e-04 9.99532077e-01 -1.84713751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.306547615 meters 0.08197386262478723 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.14, Z:-1.85 [[ 9.96113955e-01 8.38925167e-02 2.68148229e-02 3.24538655e+01] [-8.38827273e-02 9.96474517e-01 -1.49170791e-03 -1.14244972e+00] [-2.68454308e-02 -7.63389407e-04 9.99639305e-01 -1.85109254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366547614999995 meters 0.08020310231627797 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.15, Z:-1.85 [[ 9.96127687e-01 8.06284033e-02 3.50526861e-02 3.25145366e+01] [-8.06096291e-02 9.96743840e-01 -1.95080205e-03 -1.15056595e+00] [-3.50958390e-02 -8.82336097e-04 9.99383562e-01 -1.85025879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.426547615 meters 0.08083493818498419 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.15, Z:-1.85 [[ 9.95795900e-01 8.44946762e-02 3.53719487e-02 3.25770087e+01] [-8.44780209e-02 9.96423400e-01 -1.96782222e-03 -1.15126394e+00] [-3.54117079e-02 -1.02860292e-03 9.99372279e-01 -1.85241719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.486547615 meters 0.08241553533626195 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.15, Z:-1.86 [[ 9.95490303e-01 9.05054701e-02 2.84221215e-02 3.26383383e+01] [-9.04970933e-02 9.95895461e-01 -1.58355595e-03 -1.14888370e+00] [-2.84487823e-02 -9.95704789e-04 9.99594756e-01 -1.86080658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546547614999994 meters 0.08375163060388248 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.15, Z:-1.86 [[ 9.95077134e-01 9.45008747e-02 2.98509920e-02 3.26998404e+01] [-9.44935623e-02 9.95524091e-01 -1.65870984e-03 -1.14838014e+00] [-2.98741312e-02 -1.17018234e-03 9.99552984e-01 -1.86162458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.606547615 meters 0.08429264624714579 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.15, Z:-1.87 [[ 9.95073588e-01 9.43574716e-02 3.04174539e-02 3.27603187e+01] [-9.43495897e-02 9.95537681e-01 -1.69749991e-03 -1.15102316e+00] [-3.04418933e-02 -1.18073697e-03 9.99535841e-01 -1.86602008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.666547615 meters 0.08262809557462683 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.16, Z:-1.87 [[ 9.95454772e-01 9.03341138e-02 3.01586721e-02 3.28212403e+01] [-9.03241819e-02 9.95910976e-01 -1.69428977e-03 -1.16273150e+00] [-3.01884047e-02 -1.03746855e-03 9.99543688e-01 -1.86855739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726547614999994 meters 0.08318222491962504 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.16, Z:-1.87 [[ 9.95247873e-01 9.31542583e-02 2.83541092e-02 3.28828469e+01] [-9.31465730e-02 9.95651130e-01 -1.59461584e-03 -1.15840780e+00] [-2.83793461e-02 -1.05405008e-03 9.99596670e-01 -1.87370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786547614999996 meters 0.08519131011458676 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.16, Z:-1.87 [[ 9.94617395e-01 1.00360682e-01 2.57676265e-02 3.29427083e+01] [-1.00356763e-01 9.94950462e-01 -1.44849814e-03 -1.16107682e+00] [-2.57828841e-02 -1.14525414e-03 9.99666910e-01 -1.87236268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.846547615 meters 0.08578960412450075 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.15, Z:-1.89 [[ 9.95010408e-01 9.60885057e-02 2.68567755e-02 3.30024603e+01] [-9.60825668e-02 9.95372215e-01 -1.51450566e-03 -1.15411806e+00] [-2.68780147e-02 -1.07351902e-03 9.99638144e-01 -1.88751492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.906547614999994 meters 0.08611867786198422 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.17, Z:-1.88 [[ 9.94704806e-01 9.86314776e-02 2.88821750e-02 3.30637021e+01] [-9.86257797e-02 9.95123266e-01 -1.62525744e-03 -1.16579114e+00] [-2.89016259e-02 -1.23187564e-03 9.99581502e-01 -1.87842354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966547614999996 meters 0.08644702750042736 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.16, Z:-1.89 [[ 9.94819829e-01 9.74090732e-02 2.90685449e-02 3.31242725e+01] [-9.74027450e-02 9.95243702e-01 -1.63697361e-03 -1.16464260e+00] [-2.90897423e-02 -1.20286226e-03 9.99576080e-01 -1.88739520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026547615 meters 0.08507468975184412 Centerline is valid? [True, True] Translation: X:33.19, Y:-1.17, Z:-1.90 [[ 9.95248405e-01 9.31657885e-02 2.82975122e-02 3.31856832e+01] [-9.31577839e-02 9.95650066e-01 -1.60394724e-03 -1.16731306e+00] [-2.83238529e-02 -1.03980760e-03 9.99598258e-01 -1.89544029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08654761499999 meters 0.08691105725256171 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.17, Z:-1.89 [[ 9.94297060e-01 1.03119330e-01 2.71985228e-02 3.32466776e+01] [-1.03115596e-01 9.94668182e-01 -1.54353953e-03 -1.17417267e+00] [-2.72126740e-02 -1.26985507e-03 9.99628860e-01 -1.88748509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146547614999996 meters 0.08679534274060174 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.17, Z:-1.91 [[ 9.94930830e-01 9.73341593e-02 2.52726257e-02 3.33073205e+01] [-9.73290444e-02 9.95251223e-01 -1.43531407e-03 -1.16582330e+00] [-2.52923167e-02 -1.03172229e-03 9.99679566e-01 -1.90745453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206547615 meters 0.08586426245675387 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.17, Z:-1.90 [[ 9.94766171e-01 9.88090565e-02 2.60199132e-02 3.33694981e+01] [-9.88043083e-02 9.95105795e-01 -1.47123494e-03 -1.16935515e+00] [-2.60379377e-02 -1.10734478e-03 9.99660342e-01 -1.90385190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266547615 meters 0.09047892556965811 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.15, Z:-1.90 [[ 9.93282414e-01 1.11649912e-01 3.04030102e-02 3.34313954e+01] [-1.11648947e-01 9.93746197e-01 -1.73469112e-03 -1.15345758e+00] [-3.04065539e-02 -1.67142589e-03 9.99536216e-01 -1.90257318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326547614999996 meters 0.09337690798559414 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.14, Z:-1.91 [[ 9.92804561e-01 1.15544488e-01 3.14416055e-02 3.34926481e+01] [-1.15545370e-01 9.93300582e-01 -1.79498934e-03 -1.14127607e+00] [-3.14383662e-02 -1.85085833e-03 9.99503979e-01 -1.91154832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.386547615 meters 0.09143869824181806 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.16, Z:-1.91 [[ 9.93301904e-01 1.12388863e-01 2.68341245e-02 3.35533662e+01] [-1.12388510e-01 9.93663169e-01 -1.52614007e-03 -1.15508716e+00] [-2.68356023e-02 -1.49992943e-03 9.99638735e-01 -1.91166146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446547615 meters 0.08757119103654395 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.16, Z:-1.91 [[ 9.93632853e-01 1.08189388e-01 3.14453324e-02 3.36136664e+01] [-1.08186355e-01 9.94128997e-01 -1.80283991e-03 -1.16094884e+00] [-3.14557649e-02 -1.61059492e-03 9.99503847e-01 -1.91310645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.506547614999995 meters 0.0877706953749499 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.16, Z:-1.92 [[ 9.93818904e-01 1.07142381e-01 2.90602246e-02 3.36767305e+01] [-1.07139543e-01 9.94242609e-01 -1.65923222e-03 -1.15995791e+00] [-2.90706876e-02 -1.46452282e-03 9.99576285e-01 -1.91795666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.566547615 meters 0.08669841926827374 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.17, Z:-1.92 [[ 9.94011383e-01 1.05881530e-01 2.70272473e-02 3.37386524e+01] [-1.05878406e-01 9.94377875e-01 -1.55065143e-03 -1.16858517e+00] [-2.70394821e-02 -1.32023670e-03 9.99633495e-01 -1.91811612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.626547615 meters 0.08564131414315619 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.18, Z:-1.93 [[ 9.94846207e-01 9.92654227e-02 2.06736590e-02 3.37986737e+01] [-9.92619731e-02 9.95060617e-01 -1.19549688e-03 -1.17687402e+00] [-2.06902153e-02 -8.62772646e-04 9.99785562e-01 -1.93288540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686547614999995 meters 0.08344086127120304 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.19, Z:-1.93 [[ 9.95134618e-01 9.60518564e-02 2.19347246e-02 3.38593264e+01] [-9.60471702e-02 9.95375974e-01 -1.26949637e-03 -1.18642870e+00] [-2.19552353e-02 -8.43448434e-04 9.99758599e-01 -1.92903693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.746547615 meters 0.08254714740784745 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.19, Z:-1.93 [[ 9.95595285e-01 9.04583906e-02 2.46436127e-02 3.39189053e+01] [-9.04507136e-02 9.95899909e-01 -1.42831807e-03 -1.19351089e+00] [-2.46717750e-02 -8.07005624e-04 9.99695280e-01 -1.92936186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.806547615 meters 0.07933403487790805 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.20, Z:-1.93 [[ 9.96242138e-01 8.07812113e-02 3.12409600e-02 3.39796207e+01] [-8.07641452e-02 9.96731597e-01 -1.80983579e-03 -1.20004132e+00] [-3.12850527e-02 -7.20114747e-04 9.99510244e-01 -1.93120032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.866547614999995 meters 0.07663742966931415 Centerline is valid? [True, True] Translation: X:34.04, Y:-1.22, Z:-1.93 [[ 9.97121549e-01 6.76724648e-02 3.41914330e-02 3.40399404e+01] [-6.76442769e-02 9.97707534e-01 -1.98183454e-03 -1.22264326e+00] [-3.42471659e-02 -3.36724830e-04 9.99413337e-01 -1.92724174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.926547615 meters 0.07579272888375997 Centerline is valid? [True, True] Translation: X:34.10, Y:-1.23, Z:-1.92 [[ 9.97620095e-01 5.90124352e-02 3.56605961e-02 3.41024473e+01] [-5.89762774e-02 9.98257247e-01 -2.06590921e-03 -1.22944675e+00] [-3.57203628e-02 -4.21366605e-05 9.99361823e-01 -1.92460391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.986547615 meters 0.0762851675547757 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.22, Z:-1.93 [[ 9.97672974e-01 5.86582259e-02 3.47541386e-02 3.41631181e+01] [-5.86236700e-02 9.98278123e-01 -2.01335696e-03 -1.22427108e+00] [-3.48123962e-02 -2.87433257e-05 9.99393864e-01 -1.93398670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.046547614999994 meters 0.07845332649272112 Centerline is valid? [True, True] Translation: X:34.23, Y:-1.20, Z:-1.94 [[ 9.96700571e-01 7.54811167e-02 2.98424803e-02 3.42255425e+01] [-7.54628538e-02 9.97147097e-01 -1.73936344e-03 -1.19953947e+00] [-2.98886316e-02 -5.18374192e-04 9.99553101e-01 -1.93943141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.106547615 meters 0.07900573251609304 Centerline is valid? [True, True] Translation: X:34.29, Y:-1.18, Z:-1.94 [[ 9.95820534e-01 8.46568787e-02 3.42735591e-02 3.42892233e+01] [-8.46382348e-02 9.96409745e-01 -1.99707308e-03 -1.18067983e+00] [-3.43195743e-02 -9.12127160e-04 9.99410494e-01 -1.93914624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.166547615 meters 0.08087956114615508 Centerline is valid? [True, True] Translation: X:34.35, Y:-1.17, Z:-1.95 [[ 9.95536705e-01 9.02612296e-02 2.75604584e-02 3.43500325e+01] [-9.02512525e-02 9.95917730e-01 -1.60826024e-03 -1.17295708e+00] [-2.75931127e-02 -8.86283796e-04 9.99618845e-01 -1.94876520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226547614999994 meters 0.08360879766908316 Centerline is valid? [True, True] Translation: X:34.41, Y:-1.16, Z:-1.95 [[ 9.94646120e-01 9.97824985e-02 2.68802597e-02 3.44110405e+01] [-9.97764612e-02 9.95008641e-01 -1.56911387e-03 -1.15862663e+00] [-2.69026608e-02 -1.12130416e-03 9.99637429e-01 -1.95245553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.286547614999996 meters 0.08749137584351865 Centerline is valid? [True, True] Translation: X:34.47, Y:-1.15, Z:-1.96 [[ 9.93559835e-01 1.10432864e-01 2.53660419e-02 3.44721564e+01] [-1.10430903e-01 9.93882698e-01 -1.48239529e-03 -1.14967094e+00] [-2.53745754e-02 -1.32834650e-03 9.99677131e-01 -1.95508188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.346547615 meters 0.08557308904233664 Centerline is valid? [True, True] Translation: X:34.53, Y:-1.16, Z:-1.96 [[ 9.94019382e-01 1.05693659e-01 2.74648774e-02 3.45328220e+01] [-1.05689544e-01 9.94397879e-01 -1.60550476e-03 -1.15621917e+00] [-2.74807075e-02 -1.30684752e-03 9.99621480e-01 -1.95943773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406547614999994 meters 0.08267149447982551 Centerline is valid? [True, True] Translation: X:34.59, Y:-1.18, Z:-1.96 [[ 9.94993035e-01 9.52416886e-02 3.02965411e-02 3.45931096e+01] [-9.52318364e-02 9.95453545e-01 -1.77124238e-03 -1.17690707e+00] [-3.03274953e-02 -1.12282141e-03 9.99539385e-01 -1.95824513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466547614999996 meters 0.08123122291404047 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.19, Z:-1.96 [[ 9.95165168e-01 9.39040996e-02 2.87803585e-02 3.46548634e+01] [-9.38948168e-02 9.95580711e-01 -1.67680595e-03 -1.18512990e+00] [-2.88106288e-02 -1.03362762e-03 9.99584353e-01 -1.95943425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526547615 meters 0.0820683574957094 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.19, Z:-1.97 [[ 9.95189685e-01 9.40712762e-02 2.73511418e-02 3.47157677e+01] [-9.40627641e-02 9.95564983e-01 -1.60051118e-03 -1.19006597e+00] [-2.73804012e-02 -9.79911785e-04 9.99624606e-01 -1.96673366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58654761499999 meters 0.08163028412663391 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.20, Z:-1.97 [[ 9.95429625e-01 9.13655902e-02 2.77883283e-02 3.47769250e+01] [-9.13554172e-02 9.95817003e-01 -1.63808567e-03 -1.19707386e+00] [-2.78217544e-02 -9.08015320e-04 9.99612488e-01 -1.97339587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646547614999996 meters 0.08330907143383987 Centerline is valid? [True, True] Translation: X:34.84, Y:-1.20, Z:-1.98 [[ 9.95002520e-01 9.71517069e-02 2.30549410e-02 3.48372291e+01] [-9.71462033e-02 9.95269191e-01 -1.36124974e-03 -1.19741074e+00] [-2.30781202e-02 -8.85253057e-04 9.99733273e-01 -1.98235011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.706547615 meters 0.08296449920568043 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.21, Z:-1.98 [[ 9.95041214e-01 9.58557020e-02 2.65455652e-02 3.48967739e+01] [-9.58479281e-02 9.95394754e-01 -1.56802802e-03 -1.20674544e+00] [-2.65736208e-02 -9.84084925e-04 9.99646375e-01 -1.98050269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766547615 meters 0.08001776512089709 Centerline is valid? [True, True] Translation: X:34.96, Y:-1.23, Z:-1.98 [[ 9.95693419e-01 8.76446272e-02 3.02164752e-02 3.49563359e+01] [-8.76307907e-02 9.96151424e-01 -1.78441353e-03 -1.22638293e+00] [-3.02565791e-02 -8.71164808e-04 9.99541785e-01 -1.98195299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826547614999996 meters 0.0808380541561446 Centerline is valid? [True, True] Translation: X:35.02, Y:-1.23, Z:-1.99 [[ 9.95758032e-01 8.66718758e-02 3.08857216e-02 3.50174771e+01] [-8.66571183e-02 9.96236536e-01 -1.81856786e-03 -1.22877974e+00] [-3.09271031e-02 -8.65614086e-04 9.99521268e-01 -1.98794096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886547615 meters 0.08188752084015385 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.24, Z:-1.98 [[ 9.95004832e-01 9.48016635e-02 3.12734634e-02 3.50781574e+01] [-9.47901450e-02 9.95495550e-01 -1.85402877e-03 -1.23833755e+00] [-3.13083586e-02 -1.11964854e-03 9.99509146e-01 -1.98154238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946547615 meters 0.08218818105851447 Centerline is valid? [True, True] Translation: X:35.14, Y:-1.24, Z:-2.00 [[ 9.95082768e-01 9.43886996e-02 3.00176349e-02 3.51402027e+01] [-9.43781004e-02 9.95534847e-01 -1.77289805e-03 -1.24078885e+00] [-3.00509431e-02 -1.06882707e-03 9.99547797e-01 -1.99531629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006547614999995 meters 0.07940954475481099 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.27, Z:-2.00 [[ 9.96389245e-01 8.01167847e-02 2.81029190e-02 3.51980196e+01] [-8.01013951e-02 9.96785314e-01 -1.67476683e-03 -1.26783799e+00] [-2.81467538e-02 -5.82363360e-04 9.99603632e-01 -2.00090571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.066547615 meters 0.07803613088922576 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.28, Z:-2.00 [[ 9.96891003e-01 7.41745188e-02 2.65794719e-02 3.52585814e+01] [-7.41588195e-02 9.97245196e-01 -1.57725389e-03 -1.28086844e+00] [-2.66232427e-02 -3.98752050e-04 9.99645459e-01 -2.00348744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.126547615 meters 0.07711369424093115 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.29, Z:-2.01 [[ 9.97317687e-01 6.73885680e-02 2.85694433e-02 3.53192692e+01] [-6.73673003e-02 9.97726782e-01 -1.70738400e-03 -1.28897178e+00] [-2.86195569e-02 -2.21842005e-04 9.99590352e-01 -2.00731663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186547614999995 meters 0.07685625795367074 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.29, Z:-2.01 [[ 9.97195602e-01 6.86142067e-02 2.98834587e-02 3.53820922e+01] [-6.85916161e-02 9.97643231e-01 -1.78161631e-03 -1.28588425e+00] [-2.99352745e-02 -2.73134785e-04 9.99551802e-01 -2.00773448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.246547615 meters 0.07866999241173996 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.27, Z:-2.01 [[ 9.96608829e-01 7.82737504e-02 2.53783791e-02 3.54434513e+01] [-7.82603058e-02 9.96931794e-01 -1.52407905e-03 -1.27013864e+00] [-2.54198084e-02 -4.67209074e-04 9.99676755e-01 -2.01236028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306547615 meters 0.08078135541187205 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.26, Z:-2.02 [[ 9.95851571e-01 8.80830763e-02 2.28258811e-02 3.55051539e+01] [-8.80747752e-02 9.96112923e-01 -1.37069817e-03 -1.25576811e+00] [-2.28578904e-02 -6.45372419e-04 9.99738516e-01 -2.01896517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366547614999995 meters 0.07964734309481478 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.26, Z:-2.02 [[ 9.96016255e-01 8.44092561e-02 2.87523499e-02 3.55645999e+01] [-8.43945103e-02 9.96430921e-01 -1.72816046e-03 -1.25940858e+00] [-2.87956033e-02 -7.05264587e-04 9.99585072e-01 -2.01916572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.426547615 meters 0.07837388986680724 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.26, Z:-2.02 [[ 9.96044164e-01 8.23121441e-02 3.34773787e-02 3.56251391e+01] [-8.22909826e-02 9.96606315e-01 -2.01179581e-03 -1.26239339e+00] [-3.35293623e-02 -7.51048918e-04 9.99437451e-01 -2.01779238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486547615 meters 0.07900734295953404 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.26, Z:-2.02 [[ 9.95835632e-01 8.55836185e-02 3.14139700e-02 3.56863249e+01] [-8.55666390e-02 9.96330663e-01 -1.88690840e-03 -1.26453536e+00] [-3.14601900e-02 -8.08937210e-04 9.99504678e-01 -2.02175581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546547614999994 meters 0.07967198947204938 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.26, Z:-2.03 [[ 9.95678777e-01 8.76587873e-02 3.06546746e-02 3.57481237e+01] [-8.76436409e-02 9.96150193e-01 -1.84000217e-03 -1.25728315e+00] [-3.06979524e-02 -8.54636183e-04 9.99528341e-01 -2.02832853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.606547615 meters 0.07778103973146706 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.28, Z:-2.03 [[ 9.96333578e-01 7.91291763e-02 3.25265316e-02 3.58074479e+01] [-7.91073320e-02 9.96864178e-01 -1.95994027e-03 -1.27587224e+00] [-3.25796226e-02 -6.20332839e-04 9.99468951e-01 -2.02717092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666547615 meters 0.0791895605401225 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.27, Z:-2.04 [[ 9.96367551e-01 8.05676830e-02 2.75780869e-02 3.58685506e+01] [-8.05525672e-02 9.96748979e-01 -1.66043593e-03 -1.26966005e+00] [-2.76222074e-02 -5.67081220e-04 9.99618273e-01 -2.03844030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726547614999994 meters 0.0811472147892673 Centerline is valid? [True, True] Translation: X:35.93, Y:-1.27, Z:-2.04 [[ 9.95526170e-01 9.13231583e-02 2.42430397e-02 3.59301335e+01] [-9.13146325e-02 9.95821020e-01 -1.46079883e-03 -1.26935619e+00] [-2.42751333e-02 -7.59480796e-04 9.99705027e-01 -2.03905670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.786547614999996 meters 0.08340903991183281 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.26, Z:-2.05 [[ 9.95034234e-01 9.62837094e-02 2.52253803e-02 3.59912978e+01] [-9.62760384e-02 9.95353510e-01 -1.52124349e-03 -1.25968547e+00] [-2.52546418e-02 -9.14910338e-04 9.99680632e-01 -2.04972501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846547615 meters 0.0826414678618044 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.28, Z:-2.05 [[ 9.94950253e-01 9.72281307e-02 2.49135499e-02 3.60524153e+01] [-9.72211150e-02 9.95261683e-01 -1.49557403e-03 -1.27654596e+00] [-2.49409135e-02 -9.34101335e-04 9.99688491e-01 -2.04644980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.906547614999994 meters 0.08584146872444108 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.27, Z:-2.05 [[ 9.93812129e-01 1.07662222e-01 2.73184664e-02 3.61142688e+01] [-1.07657321e-01 9.94186685e-01 -1.65439813e-03 -1.27073683e+00] [-2.73377717e-02 -1.29687199e-03 9.99625412e-01 -2.04688756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966547614999996 meters 0.0857497892300417 Centerline is valid? [True, True] Translation: X:36.18, Y:-1.28, Z:-2.05 [[ 9.93783045e-01 1.07834969e-01 2.76925643e-02 3.61760015e+01] [-1.07830151e-01 9.94167926e-01 -1.67163699e-03 -1.28215581e+00] [-2.77113201e-02 -1.32484888e-03 9.99615090e-01 -2.05213114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026547615 meters 0.08295764098211797 Centerline is valid? [True, True] Translation: X:36.24, Y:-1.30, Z:-2.05 [[ 9.94677032e-01 9.89255121e-02 2.88330390e-02 3.62356787e+01] [-9.89161424e-02 9.95094226e-01 -1.75461460e-03 -1.30316417e+00] [-2.88651667e-02 -1.10677814e-03 9.99582702e-01 -2.05320182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08654761499999 meters 0.08139610850120009 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.32, Z:-2.06 [[ 9.95379317e-01 9.13106571e-02 2.97048848e-02 3.62957661e+01] [-9.12973073e-02 9.95822038e-01 -1.80823225e-03 -1.31584413e+00] [-2.97458898e-02 -9.12099017e-04 9.99557077e-01 -2.05769646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146547614999996 meters 0.08151707835341501 Centerline is valid? [True, True] Translation: X:36.36, Y:-1.33, Z:-2.06 [[ 9.95262801e-01 9.38566858e-02 2.53550862e-02 3.63558745e+01] [-9.38477652e-02 9.95585362e-01 -1.54418031e-03 -1.32933925e+00] [-2.53880843e-02 -8.42652960e-04 9.99677315e-01 -2.05860933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.206547615 meters 0.08381639180035041 Centerline is valid? [True, True] Translation: X:36.42, Y:-1.32, Z:-2.07 [[ 9.94641915e-01 9.94417725e-02 2.82629738e-02 3.64170391e+01] [-9.94330011e-02 9.95042774e-01 -1.71909129e-03 -1.32142003e+00] [-2.82938173e-02 -1.10039206e-03 9.99599044e-01 -2.06783733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.266547615 meters 0.08546424131507643 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.33, Z:-2.08 [[ 9.94420646e-01 1.02293081e-01 2.57624803e-02 3.64765350e+01] [-1.02286590e-01 9.94753728e-01 -1.57308525e-03 -1.32744795e+00] [-2.57882391e-02 -1.07084780e-03 9.99666855e-01 -2.07547295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326547614999996 meters 0.08629445291213113 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.33, Z:-2.07 [[ 9.93665269e-01 1.08571083e-01 2.90112479e-02 3.65377402e+01] [-1.08565536e-01 9.94087717e-01 -1.77097337e-03 -1.33299593e+00] [-2.90320017e-02 -1.38986694e-03 9.99577516e-01 -2.07184396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386547615 meters 0.0890997988372446 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.34, Z:-2.08 [[ 9.93121928e-01 1.14024796e-01 2.65929124e-02 3.65987781e+01] [-1.14022079e-01 9.93476889e-01 -1.62346667e-03 -1.33555246e+00] [-2.66045594e-02 -1.41987881e-03 9.99645028e-01 -2.08076802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446547615 meters 0.09199482943566213 Centerline is valid? [True, True] Translation: X:36.66, Y:-1.33, Z:-2.09 [[ 9.92575631e-01 1.18121277e-01 2.89996649e-02 3.66595149e+01] [-1.18119756e-01 9.92997777e-01 -1.77155739e-03 -1.33477877e+00] [-2.90058614e-02 -1.66702864e-03 9.99577851e-01 -2.08826207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506547614999995 meters 0.0903287854794701 Centerline is valid? [True, True] Translation: X:36.72, Y:-1.35, Z:-2.08 [[ 9.92789198e-01 1.15931592e-01 3.04872739e-02 3.67201609e+01] [-1.15928876e-01 9.93255771e-01 -1.86262727e-03 -1.35304138e+00] [-3.04975981e-02 -1.68515917e-03 9.99533420e-01 -2.08319412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566547615 meters 0.0878607523364732 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.37, Z:-2.10 [[ 9.93743452e-01 1.08857510e-01 2.49798805e-02 3.67796001e+01] [-1.08853431e-01 9.94056638e-01 -1.52706884e-03 -1.36812882e+00] [-2.49976489e-02 -1.20163103e-03 9.99686788e-01 -2.09745021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626547615 meters 0.0882365091446998 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.38, Z:-2.10 [[ 9.93640845e-01 1.09726155e-01 2.52594791e-02 3.68399289e+01] [-1.09722416e-01 9.93961078e-01 -1.53813441e-03 -1.38007146e+00] [-2.52757127e-02 -1.24317791e-03 9.99679745e-01 -2.09556102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686547614999995 meters 0.08588338814828848 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.39, Z:-2.10 [[ 9.94502692e-01 1.01250201e-01 2.66981745e-02 3.68995540e+01] [-1.01242618e-01 9.94860415e-01 -1.63908297e-03 -1.39161584e+00] [-2.67269144e-02 -1.07292065e-03 9.99642196e-01 -2.10256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.746547615 meters 0.08461768522214062 Centerline is valid? [True, True] Translation: X:36.96, Y:-1.40, Z:-2.11 [[ 9.95234039e-01 9.31710602e-02 2.87812769e-02 3.69588278e+01] [-9.31588581e-02 9.95649689e-01 -1.76748645e-03 -1.40317365e+00] [-2.88207480e-02 -9.22168213e-04 9.99584171e-01 -2.10753616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806547615 meters 0.08448354314754693 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.42, Z:-2.10 [[ 9.94768434e-01 9.85937213e-02 2.67402306e-02 3.70199722e+01] [-9.85851771e-02 9.95127263e-01 -1.64088941e-03 -1.41523447e+00] [-2.67717139e-02 -1.00388538e-03 9.99641069e-01 -2.10131715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866547614999995 meters 0.08472689848437631 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.41, Z:-2.12 [[ 9.95202211e-01 9.34564734e-02 2.89559331e-02 3.70795752e+01] [-9.34442251e-02 9.95622927e-01 -1.77884440e-03 -1.40912106e+00] [-2.89954354e-02 -9.35454845e-04 9.99579106e-01 -2.11500590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926547615 meters 0.08363913762213801 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.42, Z:-2.11 [[ 9.95236887e-01 9.26162477e-02 3.04264711e-02 3.71418462e+01] [-9.26024005e-02 9.95701416e-01 -1.86693379e-03 -1.42474960e+00] [-3.04685888e-02 -9.59522894e-04 9.99535264e-01 -2.10993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986547615 meters 0.08426451134603719 Centerline is valid? [True, True] Translation: X:37.21, Y:-1.42, Z:-2.11 [[ 9.94759835e-01 9.62004308e-02 3.46171693e-02 3.72055721e+01] [-9.61846918e-02 9.95361239e-01 -2.12356691e-03 -1.41743553e+00] [-3.46608765e-02 -1.21720269e-03 9.99398390e-01 -2.11312149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046547614999994 meters 0.0864975965103584 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.42, Z:-2.12 [[ 9.94707715e-01 9.82638975e-02 3.00127966e-02 3.72658335e+01] [-9.82526265e-02 9.95159779e-01 -1.85363832e-03 -1.41543124e+00] [-3.00496737e-02 -1.10500775e-03 9.99547796e-01 -2.12439049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.106547615 meters 0.08548976444146822 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.42, Z:-2.12 [[ 9.94481190e-01 9.90523812e-02 3.45801822e-02 3.73279035e+01] [-9.90378535e-02 9.95081372e-01 -2.13697541e-03 -1.41955126e+00] [-3.46217676e-02 -1.29956517e-03 9.99399642e-01 -2.11942193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166547615 meters 0.08693918588120635 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.41, Z:-2.13 [[ 9.94547267e-01 9.92134457e-02 3.21313851e-02 3.73887789e+01] [-9.92010716e-02 9.95065433e-01 -1.98296963e-03 -1.41258252e+00] [-3.21695679e-02 -1.21531081e-03 9.99481687e-01 -2.13055899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226547614999994 meters 0.08607002395616975 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.42, Z:-2.13 [[ 9.94646505e-01 9.76470319e-02 3.38140088e-02 3.74495046e+01] [-9.76320050e-02 9.95220370e-01 -2.09920988e-03 -1.41914374e+00] [-3.38573720e-02 -1.21335770e-03 9.99425938e-01 -2.13258003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.286547614999996 meters 0.08655714710299413 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.42, Z:-2.14 [[ 9.94814454e-01 9.67216764e-02 3.14502715e-02 3.75102164e+01] [-9.67083300e-02 9.95310857e-01 -1.94879434e-03 -1.42140251e+00] [-3.14912873e-02 -1.10281446e-03 9.99503418e-01 -2.14179532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.346547615 meters 0.08424184899155017 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.44, Z:-2.14 [[ 9.95207825e-01 9.34463422e-02 2.87952534e-02 3.75715101e+01] [-9.34336500e-02 9.95623901e-01 -1.78891396e-03 -1.43790870e+00] [-2.88364100e-02 -9.10104465e-04 9.99583730e-01 -2.14319975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406547614999994 meters 0.08367202645756788 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.44, Z:-2.14 [[ 9.95289334e-01 9.20950068e-02 3.02927493e-02 3.76332458e+01] [-9.20799400e-02 9.95749815e-01 -1.89496715e-03 -1.44138632e+00] [-3.03385166e-02 -9.03313945e-04 9.99539273e-01 -2.14414488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.466547614999996 meters 0.0816246141288481 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.46, Z:-2.15 [[ 9.96167066e-01 8.24286577e-02 2.92693122e-02 3.76928263e+01] [-8.24103512e-02 9.96596796e-01 -1.83326309e-03 -1.45996932e+00] [-2.93208161e-02 -5.85857982e-04 9.99569881e-01 -2.14846063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526547615 meters 0.08177506355907786 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.46, Z:-2.15 [[ 9.95947983e-01 8.41436696e-02 3.17404784e-02 3.77559202e+01] [-8.41230454e-02 9.96453393e-01 -1.98697811e-03 -1.45501838e+00] [-3.17950990e-02 -6.91178859e-04 9.99494169e-01 -2.15029098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58654761499999 meters 0.0816408929902551 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.47, Z:-2.15 [[ 9.95935537e-01 8.51134846e-02 2.94635530e-02 3.78177336e+01] [-8.50960600e-02 9.96371040e-01 -1.84706009e-03 -1.46539383e+00] [-2.95138406e-02 -6.67679491e-04 9.99564149e-01 -2.15040831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.646547614999996 meters 0.08506018351092899 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.44, Z:-2.16 [[ 9.95009788e-01 9.49543294e-02 3.06463134e-02 3.78795584e+01] [-9.49400333e-02 9.95481133e-01 -1.92456989e-03 -1.44423139e+00] [-3.06905730e-02 -9.94596138e-04 9.99528439e-01 -2.16167204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706547615 meters 0.08665704099250053 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.45, Z:-2.16 [[ 9.93951573e-01 1.06009772e-01 2.86740160e-02 3.79410591e+01] [-1.06001833e-01 9.94364303e-01 -1.80109650e-03 -1.44841951e+00] [-2.87033518e-02 -1.24929556e-03 9.99587193e-01 -2.15681911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.766547615 meters 0.08725345353259298 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.45, Z:-2.16 [[ 9.93848206e-01 1.05905635e-01 3.23996904e-02 3.80025542e+01] [-1.05895422e-01 9.94375188e-01 -2.03582991e-03 -1.44855044e+00] [-3.24330541e-02 -1.40767297e-03 9.99472919e-01 -2.16463831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826547614999996 meters 0.0875526239454623 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.46, Z:-2.17 [[ 9.93797355e-01 1.06770093e-01 3.10960636e-02 3.80640065e+01] [-1.06761213e-01 9.94282776e-01 -1.95052213e-03 -1.45679375e+00] [-3.11265379e-02 -1.38142973e-03 9.99514497e-01 -2.16964358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886547615 meters 0.08753239625378008 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.46, Z:-2.17 [[ 9.93930638e-01 1.05654472e-01 3.06434358e-02 3.81248405e+01] [-1.05645077e-01 9.94402028e-01 -1.93001564e-03 -1.46386795e+00] [-3.06758095e-02 -1.31902645e-03 9.99528516e-01 -2.17192096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946547615 meters 0.08629332670483496 Centerline is valid? [True, True] Translation: X:38.18, Y:-1.47, Z:-2.18 [[ 9.94259025e-01 1.02095952e-01 3.20219786e-02 3.81849387e+01] [-1.02083437e-01 9.94773769e-01 -2.02973895e-03 -1.47226355e+00] [-3.20618525e-02 -1.25082737e-03 9.99485104e-01 -2.17829146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006547614999995 meters 0.08638341842861501 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.48, Z:-2.18 [[ 9.94453617e-01 1.00940607e-01 2.95465385e-02 3.82469187e+01] [-1.00929618e-01 9.94891817e-01 -1.86688948e-03 -1.47824466e+00] [-2.95840544e-02 -1.12558587e-03 9.99561662e-01 -2.18235906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.066547615 meters 0.08480036428825276 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.49, Z:-2.18 [[ 9.94685306e-01 9.97819757e-02 2.53909392e-02 3.83083653e+01] [-9.97733673e-02 9.95008888e-01 -1.60885390e-03 -1.49255921e+00] [-2.54247448e-02 -9.33036165e-04 9.99676304e-01 -2.18422638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.126547615 meters 0.08437124652309143 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.50, Z:-2.19 [[ 9.95275523e-01 9.31477081e-02 2.73886297e-02 3.83676618e+01] [-9.31347591e-02 9.95651973e-01 -1.75084210e-03 -1.50466867e+00] [-2.74326302e-02 -8.08263149e-04 9.99623328e-01 -2.19184558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186547614999995 meters 0.08373002323317702 Centerline is valid? [True, True] Translation: X:38.43, Y:-1.51, Z:-2.19 [[ 9.95090556e-01 9.26341287e-02 3.48382467e-02 3.84289534e+01] [-9.26128804e-02 9.95699702e-01 -2.22662450e-03 -1.50706158e+00] [-3.48946933e-02 -1.01077737e-03 9.99390484e-01 -2.18916043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.246547615 meters 0.085142063924109 Centerline is valid? [True, True] Translation: X:38.49, Y:-1.51, Z:-2.19 [[ 9.94806385e-01 9.71999009e-02 3.02065395e-02 3.84898532e+01] [-9.71860147e-02 9.95264362e-01 -1.93101658e-03 -1.51148234e+00] [-3.02511868e-02 -1.01466557e-03 9.99541813e-01 -2.19243470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306547615 meters 0.08543984803440112 Centerline is valid? [True, True] Translation: X:38.55, Y:-1.51, Z:-2.20 [[ 9.94715777e-01 9.79272409e-02 3.08346862e-02 3.85521663e+01] [-9.79133108e-02 9.95193008e-01 -1.96500432e-03 -1.51145179e+00] [-3.08788915e-02 -1.06450541e-03 9.99522566e-01 -2.19801198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366547614999995 meters 0.08469533028303747 Centerline is valid? [True, True] Translation: X:38.61, Y:-1.52, Z:-2.20 [[ 9.94835800e-01 9.65219714e-02 3.13885471e-02 3.86137239e+01] [-9.65065297e-02 9.95330322e-01 -2.01010463e-03 -1.51849583e+00] [-3.14359919e-02 -1.02947570e-03 9.99505237e-01 -2.20068621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.426547615 meters 0.08555058356536048 Centerline is valid? [True, True] Translation: X:38.68, Y:-1.51, Z:-2.21 [[ 9.94674386e-01 9.83614069e-02 3.07879909e-02 3.86753838e+01] [-9.83472071e-02 9.95150195e-01 -1.97887209e-03 -1.51441130e+00] [-3.08333198e-02 -1.05957953e-03 9.99523979e-01 -2.21125282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486547615 meters 0.08768557231110045 Centerline is valid? [True, True] Translation: X:38.74, Y:-1.51, Z:-2.21 [[ 9.93709113e-01 1.08297309e-01 2.85287780e-02 3.87363552e+01] [-1.08288851e-01 9.94117758e-01 -1.84586280e-03 -1.51361121e+00] [-2.85608668e-02 -1.25509792e-03 9.99591267e-01 -2.20939075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546547614999994 meters 0.08654738826991083 Centerline is valid? [True, True] Translation: X:38.80, Y:-1.52, Z:-2.22 [[ 9.94239223e-01 1.03198048e-01 2.89573890e-02 3.87957958e+01] [-1.03187151e-01 9.94660192e-01 -1.87437819e-03 -1.51739981e+00] [-2.89961943e-02 -1.12445017e-03 9.99578889e-01 -2.21759397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.606547615 meters 0.08472321684300094 Centerline is valid? [True, True] Translation: X:38.86, Y:-1.53, Z:-2.23 [[ 9.95263918e-01 9.37498177e-02 2.57041804e-02 3.88553167e+01] [-9.37380948e-02 9.95595502e-01 -1.66328215e-03 -1.53263638e+00] [-2.57468988e-02 -7.54056189e-04 9.99668209e-01 -2.22611407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.666547615 meters 0.0838154880214569 Centerline is valid? [True, True] Translation: X:38.92, Y:-1.54, Z:-2.22 [[ 9.94890731e-01 9.61369270e-02 3.08240958e-02 3.89175540e+01] [-9.61213642e-02 9.95367633e-01 -1.98971299e-03 -1.53964297e+00] [-3.08725921e-02 -9.83307124e-04 9.99522844e-01 -2.22082085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.726547614999994 meters 0.0851884597168932 Centerline is valid? [True, True] Translation: X:38.98, Y:-1.54, Z:-2.23 [[ 9.94585002e-01 9.96249260e-02 2.95896591e-02 3.89791332e+01] [-9.96117757e-02 9.95024523e-01 -1.92183075e-03 -1.53552885e+00] [-2.96338986e-02 -1.03605444e-03 9.99560283e-01 -2.22912508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.786547614999996 meters 0.0856566839721036 Centerline is valid? [True, True] Translation: X:39.04, Y:-1.54, Z:-2.23 [[ 9.94243794e-01 1.02791911e-01 3.02175687e-02 3.90411447e+01] [-1.02779652e-01 9.94702212e-01 -1.96275363e-03 -1.53659205e+00] [-3.02592376e-02 -1.15429559e-03 9.99541418e-01 -2.23126964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846547615 meters 0.0867869940180821 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.53, Z:-2.23 [[ 9.93876276e-01 1.05697362e-01 3.22182441e-02 3.91029236e+01] [-1.05684989e-01 9.94397460e-01 -2.09153393e-03 -1.53418302e+00] [-3.22588097e-02 -1.32625881e-03 9.99478669e-01 -2.23114543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906547614999994 meters 0.08615727187784857 Centerline is valid? [True, True] Translation: X:39.16, Y:-1.54, Z:-2.24 [[ 9.94138825e-01 1.03567406e-01 3.10127378e-02 3.91643485e+01] [-1.03554723e-01 9.94621708e-01 -2.01916884e-03 -1.53843408e+00] [-3.10550623e-02 -1.20418133e-03 9.99516950e-01 -2.23880582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966547614999996 meters 0.08620227692221469 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.54, Z:-2.24 [[ 9.94088721e-01 1.04326589e-01 3.00595806e-02 3.92260343e+01] [-1.04314818e-01 9.94542388e-01 -1.96379714e-03 -1.54378750e+00] [-3.01004034e-02 -1.18347108e-03 9.99546180e-01 -2.24031260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026547615 meters 0.08651784384227668 Centerline is valid? [True, True] Translation: X:39.29, Y:-1.55, Z:-2.24 [[ 9.93895848e-01 1.06452449e-01 2.89640900e-02 3.92871975e+01] [-1.06442221e-01 9.94317076e-01 -1.89910012e-03 -1.55177927e+00] [-2.90016532e-02 -1.19549436e-03 9.99578649e-01 -2.24271311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08654761499999 meters 0.08548443422864466 Centerline is valid? [True, True] Translation: X:39.35, Y:-1.56, Z:-2.25 [[ 9.94469968e-01 1.01087258e-01 2.84754261e-02 3.93469396e+01] [-1.01074816e-01 9.94877052e-01 -1.87965624e-03 -1.55893382e+00] [-2.85195572e-02 -1.00888678e-03 9.99592726e-01 -2.25162190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.146547614999996 meters 0.08494842125365075 Centerline is valid? [True, True] Translation: X:39.41, Y:-1.57, Z:-2.26 [[ 9.94669356e-01 9.94855295e-02 2.71201308e-02 3.94082192e+01] [-9.94738415e-02 9.95038580e-01 -1.78310776e-03 -1.56801453e+00] [-2.71629698e-02 -9.24140944e-04 9.99630591e-01 -2.25819881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206547615 meters 0.08601497805968336 Centerline is valid? [True, True] Translation: X:39.47, Y:-1.57, Z:-2.26 [[ 9.94258356e-01 1.03599185e-01 2.67867543e-02 3.94697439e+01] [-1.03588938e-01 9.94618613e-01 -1.77365271e-03 -1.56532301e+00] [-2.68263534e-02 -1.01134241e-03 9.99639597e-01 -2.26083312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26654761499999 meters 0.08483151223166126 Centerline is valid? [True, True] Translation: X:39.53, Y:-1.57, Z:-2.26 [[ 9.94410397e-01 1.02009828e-01 2.72388856e-02 3.95314340e+01] [-1.01998772e-01 9.94782899e-01 -1.79865002e-03 -1.57416315e+00] [-2.72802576e-02 -9.89736594e-04 9.99627335e-01 -2.26215912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.326547614999996 meters 0.0837529071219544 Centerline is valid? [True, True] Translation: X:39.59, Y:-1.59, Z:-2.27 [[ 9.95359533e-01 9.31441525e-02 2.41571174e-02 3.95904376e+01] [-9.31325604e-02 9.95652421e-01 -1.60693970e-03 -1.58532253e+00] [-2.42017695e-02 -6.50331447e-04 9.99706883e-01 -2.27362109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386547615 meters 0.08178492053302062 Centerline is valid? [True, True] Translation: X:39.65, Y:-1.59, Z:-2.26 [[ 9.95287857e-01 9.19120332e-02 3.08910917e-02 3.96515229e+01] [-9.18924983e-02 9.95766814e-01 -2.05446924e-03 -1.59465609e+00] [-3.09491544e-02 -7.93871296e-04 9.99520645e-01 -2.26454387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446547615 meters 0.08100622516535883 Centerline is valid? [True, True] Translation: X:39.71, Y:-1.60, Z:-2.27 [[ 9.95662200e-01 8.88258833e-02 2.76901776e-02 3.97135002e+01] [-8.88091944e-02 9.96046968e-01 -1.83436384e-03 -1.60079462e+00] [-2.77436564e-02 -6.32735631e-04 9.99614870e-01 -2.26859506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506547614999995 meters 0.07973608231607716 Centerline is valid? [True, True] Translation: X:39.77, Y:-1.62, Z:-2.28 [[ 9.96626239e-01 7.78430858e-02 2.60114287e-02 3.97725560e+01] [-7.78242436e-02 9.96965580e-01 -1.73746793e-03 -1.61896561e+00] [-2.60677490e-02 -2.92713639e-04 9.99660136e-01 -2.27534130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.566547615 meters 0.07770465598177148 Centerline is valid? [True, True] Translation: X:39.83, Y:-1.64, Z:-2.27 [[ 9.97305794e-01 6.40625942e-02 3.57370678e-02 3.98331892e+01] [-6.40181317e-02 9.97945878e-01 -2.38822641e-03 -1.63633729e+00] [-3.58166555e-02 9.39717263e-05 9.99358373e-01 -2.26774598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626547615 meters 0.0772260971864462 Centerline is valid? [True, True] Translation: X:39.90, Y:-1.64, Z:-2.27 [[ 9.97333300e-01 6.56515749e-02 3.18772688e-02 3.98952460e+01] [-6.56170449e-02 9.97842608e-01 -2.12925373e-03 -1.63935778e+00] [-3.19482859e-02 3.18834689e-05 9.99489523e-01 -2.27193884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686547614999995 meters 0.07783756296260495 Centerline is valid? [True, True] Translation: X:39.96, Y:-1.62, Z:-2.27 [[ 9.96202440e-01 7.88883085e-02 3.68420040e-02 3.99585653e+01] [-7.88512328e-02 9.96883358e-01 -2.46054218e-03 -1.61710398e+00] [-3.69212886e-02 -4.53839316e-04 9.99318074e-01 -2.27365192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.746547615 meters 0.08037796951436588 Centerline is valid? [True, True] Translation: X:40.02, Y:-1.60, Z:-2.28 [[ 9.95444067e-01 9.02882577e-02 3.06453793e-02 4.00205132e+01] [-9.02676818e-02 9.95915415e-01 -2.05706026e-03 -1.60000019e+00] [-3.07059341e-02 -7.18598922e-04 9.99528203e-01 -2.28305527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.806547615 meters 0.08112890714020436 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.60, Z:-2.29 [[ 9.95197412e-01 9.35078146e-02 2.89551413e-02 4.00811859e+01] [-9.34907727e-02 9.95618247e-01 -1.94478401e-03 -1.59735978e+00] [-2.90101196e-02 -7.71594520e-04 9.99578820e-01 -2.28592351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.866547614999995 meters 0.08328370647024355 Centerline is valid? [True, True] Translation: X:40.14, Y:-1.59, Z:-2.29 [[ 9.94727898e-01 9.87484453e-02 2.76614194e-02 4.01424157e+01] [-9.87349032e-02 9.95112037e-01 -1.85832445e-03 -1.58755465e+00] [-2.77097181e-02 -8.82620391e-04 9.99615622e-01 -2.29434968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.926547615 meters 0.08530930816879077 Centerline is valid? [True, True] Translation: X:40.20, Y:-1.59, Z:-2.30 [[ 9.94248240e-01 1.05605269e-01 1.78315482e-02 4.02028416e+01] [-1.05600750e-01 9.94407888e-01 -1.19747697e-03 -1.58809755e+00] [-1.78582921e-02 -6.92435494e-04 9.99840288e-01 -2.30113932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.986547615 meters 0.08780199871428862 Centerline is valid? [True, True] Translation: X:40.26, Y:-1.58, Z:-2.30 [[ 9.93221934e-01 1.13391569e-01 2.55449057e-02 4.02639959e+01] [-1.13384834e-01 9.93549663e-01 -1.71663749e-03 -1.58371749e+00] [-2.55747846e-02 -1.19140288e-03 9.99672202e-01 -2.30030013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046547614999994 meters 0.0878150446647808 Centerline is valid? [True, True] Translation: X:40.33, Y:-1.60, Z:-2.31 [[ 9.93378636e-01 1.11999003e-01 2.55950949e-02 4.03250069e+01] [-1.11991921e-01 9.93707638e-01 -1.71447563e-03 -1.59614421e+00] [-2.56260608e-02 -1.16332040e-03 9.99670922e-01 -2.30900508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106547615 meters 0.0883394643275765 Centerline is valid? [True, True] Translation: X:40.39, Y:-1.61, Z:-2.31 [[ 9.93327922e-01 1.12820629e-01 2.38986547e-02 4.03850856e+01] [-1.12814561e-01 9.93614762e-01 -1.60634055e-03 -1.60648422e+00] [-2.39272845e-02 -1.10049332e-03 9.99713096e-01 -2.31253070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166547615 meters 0.08693187856655979 Centerline is valid? [True, True] Translation: X:40.45, Y:-1.62, Z:-2.32 [[ 9.93950208e-01 1.07767749e-01 2.11919080e-02 4.04460197e+01] [-1.07761646e-01 9.94175726e-01 -1.43311032e-03 -1.61890419e+00] [-2.12229236e-02 -8.59234582e-04 9.99774399e-01 -2.32015356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226547614999994 meters 0.08542985325280002 Centerline is valid? [True, True] Translation: X:40.51, Y:-1.63, Z:-2.32 [[ 9.94244127e-01 1.05203449e-01 2.02694299e-02 4.05080707e+01] [-1.05197349e-01 9.94450422e-01 -1.36993702e-03 -1.62776229e+00] [-2.03010652e-02 -7.70238454e-04 9.99793615e-01 -2.32379995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286547614999996 meters 0.08343797757029363 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.64, Z:-2.32 [[ 9.94683021e-01 1.00599567e-01 2.20321440e-02 4.05685366e+01] [-1.00591064e-01 9.94926730e-01 -1.49666808e-03 -1.64410301e+00] [-2.20709331e-02 -7.27526471e-04 9.99756143e-01 -2.32189988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346547615 meters 0.08326041638376927 Centerline is valid? [True, True] Translation: X:40.63, Y:-1.65, Z:-2.33 [[ 9.94905747e-01 9.82535388e-02 2.25565329e-02 4.06281923e+01] [-9.82440142e-02 9.95161175e-01 -1.53271813e-03 -1.64685686e+00] [-2.25979807e-02 -6.91134260e-04 9.99744394e-01 -2.32935687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406547614999994 meters 0.08277521302632068 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.65, Z:-2.33 [[ 9.94515369e-01 1.01747545e-01 2.42201863e-02 4.06900511e+01] [-1.01737764e-01 9.94809902e-01 -1.63894607e-03 -1.65426896e+00] [-2.42612399e-02 -8.34150535e-04 9.99705305e-01 -2.32553612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466547614999996 meters 0.08156381168515069 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.66, Z:-2.33 [[ 9.94768496e-01 9.81669455e-02 2.82646323e-02 4.07500921e+01] [-9.81517262e-02 9.95169593e-01 -1.92870474e-03 -1.65822117e+00] [-2.83174377e-02 -8.55607734e-04 9.99598615e-01 -2.33142291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526547615 meters 0.08254119619295978 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.66, Z:-2.34 [[ 9.94917132e-01 9.73507237e-02 2.57436781e-02 4.08109729e+01] [-9.73379998e-02 9.95249844e-01 -1.74990241e-03 -1.65869378e+00] [-2.57917459e-02 -7.64830251e-04 9.99667045e-01 -2.33963126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58654761499999 meters 0.0825155036870218 Centerline is valid? [True, True] Translation: X:40.87, Y:-1.66, Z:-2.33 [[ 9.93986928e-01 1.06750052e-01 2.43805781e-02 4.08720958e+01] [-1.06741206e-01 9.94285439e-01 -1.66765555e-03 -1.66130448e+00] [-2.44192761e-02 -9.44784497e-04 9.99701359e-01 -2.33341005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646547614999996 meters 0.08379154685957249 Centerline is valid? [True, True] Translation: X:40.93, Y:-1.66, Z:-2.34 [[ 9.94413330e-01 1.02335039e-01 2.58779677e-02 4.09317330e+01] [-1.02323513e-01 9.94749595e-01 -1.77268138e-03 -1.65747702e+00] [-2.59235053e-02 -8.85146575e-04 9.99663538e-01 -2.34448830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706547615 meters 0.08440986218801767 Centerline is valid? [True, True] Translation: X:40.99, Y:-1.66, Z:-2.35 [[ 9.94067894e-01 1.04709302e-01 2.94106289e-02 4.09930031e+01] [-1.04695624e-01 9.94502283e-01 -2.00884268e-03 -1.65896850e+00] [-2.94592821e-02 -1.08223812e-03 9.99565395e-01 -2.34544960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76654761499999 meters 0.08420401141896242 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.67, Z:-2.35 [[ 9.94159638e-01 1.04144391e-01 2.82941674e-02 4.10556339e+01] [-1.04131383e-01 9.94561664e-01 -1.93683317e-03 -1.66540446e+00] [-2.83420045e-02 -1.02078941e-03 9.99597763e-01 -2.34909148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.826547614999996 meters 0.08213802742068431 Centerline is valid? [True, True] Translation: X:41.12, Y:-1.69, Z:-2.35 [[ 9.94597460e-01 1.00975806e-01 2.40785892e-02 4.11174274e+01] [-1.00965370e-01 9.94888569e-01 -1.65185024e-03 -1.68551037e+00] [-2.41223101e-02 -7.88177618e-04 9.99708704e-01 -2.35381839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886547615 meters 0.0815804745824367 Centerline is valid? [True, True] Translation: X:41.18, Y:-1.69, Z:-2.36 [[ 9.95008764e-01 9.56904263e-02 2.83002211e-02 4.11770740e+01] [-9.56733426e-02 9.95410854e-01 -1.96021944e-03 -1.69393929e+00] [-2.83579215e-02 -7.57141235e-04 9.99597547e-01 -2.36021213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946547615 meters 0.07994399475798804 Centerline is valid? [True, True] Translation: X:41.24, Y:-1.71, Z:-2.36 [[ 9.95363709e-01 9.19377556e-02 2.82583697e-02 4.12378464e+01] [-9.19192666e-02 9.95764543e-01 -1.95535100e-03 -1.70913417e+00] [-2.83184532e-02 -6.51203189e-04 9.99598740e-01 -2.36081717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.006547614999995 meters 0.08041441764407195 Centerline is valid? [True, True] Translation: X:41.30, Y:-1.72, Z:-2.37 [[ 9.95496692e-01 9.19657820e-02 2.29919801e-02 4.12977321e+01] [-9.19534908e-02 9.95762028e-01 -1.59350092e-03 -1.71672859e+00] [-2.30410883e-02 -5.27867931e-04 9.99734380e-01 -2.36977474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.066547615 meters 0.07935518742853424 Centerline is valid? [True, True] Translation: X:41.36, Y:-1.72, Z:-2.37 [[ 9.95461445e-01 9.12896714e-02 2.68832082e-02 4.13591885e+01] [-9.12726195e-02 9.95824200e-01 -1.86325314e-03 -1.72218543e+00] [-2.69410451e-02 -5.98904169e-04 9.99636845e-01 -2.36823408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.126547615 meters 0.08032976058264388 Centerline is valid? [True, True] Translation: X:41.42, Y:-1.72, Z:-2.37 [[ 9.95184449e-01 9.38356393e-02 2.83334531e-02 4.14215916e+01] [-9.38178843e-02 9.95587450e-01 -1.95829602e-03 -1.71846353e+00] [-2.83921883e-02 -7.09318883e-04 9.99596609e-01 -2.37221173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186547614999995 meters 0.08138305989633153 Centerline is valid? [True, True] Translation: X:41.48, Y:-1.72, Z:-2.37 [[ 9.94304915e-01 1.01949533e-01 3.10488004e-02 4.14834889e+01] [-1.01931663e-01 9.94789054e-01 -2.16194368e-03 -1.71577767e+00] [-3.11074159e-02 -1.01522463e-03 9.99515532e-01 -2.37223396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.246547615 meters 0.0829743568813687 Centerline is valid? [True, True] Translation: X:41.55, Y:-1.70, Z:-2.38 [[ 9.93768382e-01 1.06660374e-01 3.23723351e-02 4.15454237e+01] [-1.06643555e-01 9.94294769e-01 -2.25065346e-03 -1.70442622e+00] [-3.24276990e-02 -1.21567266e-03 9.99473345e-01 -2.37920366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.306547615 meters 0.08505950196839386 Centerline is valid? [True, True] Translation: X:41.61, Y:-1.70, Z:-2.39 [[ 9.93498535e-01 1.11068201e-01 2.49903032e-02 4.16060725e+01] [-1.11059345e-01 9.93812242e-01 -1.74634281e-03 -1.70041226e+00] [-2.50296324e-02 -1.04041768e-03 9.99686168e-01 -2.38754221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366547614999995 meters 0.08525302314483185 Centerline is valid? [True, True] Translation: X:41.67, Y:-1.70, Z:-2.39 [[ 9.93363928e-01 1.11446184e-01 2.84227802e-02 4.16681055e+01] [-1.11434853e-01 9.93769754e-01 -1.98728945e-03 -1.70190784e+00] [-2.84671751e-02 -1.19318667e-03 9.99594016e-01 -2.38813838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426547615 meters 0.08540328322446997 Centerline is valid? [True, True] Translation: X:41.73, Y:-1.70, Z:-2.39 [[ 9.93462030e-01 1.09510396e-01 3.22593765e-02 4.17296440e+01] [-1.09494688e-01 9.93984815e-01 -2.25842088e-03 -1.69952660e+00] [-3.23126510e-02 -1.28857499e-03 9.99476979e-01 -2.39126419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486547615 meters 0.08693669956985772 Centerline is valid? [True, True] Translation: X:41.79, Y:-1.71, Z:-2.39 [[ 9.93178858e-01 1.12683614e-01 2.99692983e-02 4.17892744e+01] [-1.12671470e-01 9.93630079e-01 -2.09904810e-03 -1.70733579e+00] [-3.00149246e-02 -1.29195468e-03 9.99548616e-01 -2.39153146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546547614999994 meters 0.08640652611182767 Centerline is valid? [True, True] Translation: X:41.85, Y:-1.71, Z:-2.40 [[ 9.92931119e-01 1.14183438e-01 3.24027078e-02 4.18524269e+01] [-1.14170262e-01 9.93458621e-01 -2.26259448e-03 -1.70764483e+00] [-3.24491002e-02 -1.45282518e-03 9.99472333e-01 -2.39700880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606547615 meters 0.0876186196022088 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.72, Z:-2.40 [[ 9.92884762e-01 1.14794745e-01 3.16546404e-02 4.19128877e+01] [-1.14782160e-01 9.93388205e-01 -2.22048071e-03 -1.71584137e+00] [-3.17002459e-02 -1.42870653e-03 9.99496400e-01 -2.40025786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666547615 meters 0.0876739575406987 Centerline is valid? [True, True] Translation: X:41.97, Y:-1.72, Z:-2.40 [[ 9.92748116e-01 1.14336581e-01 3.71257917e-02 4.19744998e+01] [-1.14318425e-01 9.93440708e-01 -2.61847745e-03 -1.71570979e+00] [-3.71816606e-02 -1.64467348e-03 9.99307170e-01 -2.40338259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726547614999994 meters 0.08546290457417637 Centerline is valid? [True, True] Translation: X:42.04, Y:-1.73, Z:-2.41 [[ 9.92823761e-01 1.14939176e-01 3.30146171e-02 4.20351528e+01] [-1.14925245e-01 9.93371421e-01 -2.32559096e-03 -1.72970444e+00] [-3.30630787e-02 -1.48531101e-03 9.99452163e-01 -2.40537014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.786547614999996 meters 0.08398290008208809 Centerline is valid? [True, True] Translation: X:42.10, Y:-1.74, Z:-2.41 [[ 9.93120328e-01 1.12910384e-01 3.10364320e-02 4.20973171e+01] [-1.12896776e-01 9.93604295e-01 -2.19610792e-03 -1.74045404e+00] [-3.10858956e-02 -1.32291371e-03 9.99515841e-01 -2.40531627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846547615 meters 0.08369636230750219 Centerline is valid? [True, True] Translation: X:42.16, Y:-1.75, Z:-2.42 [[ 9.94009757e-01 1.06003412e-01 2.66059961e-02 4.21567605e+01] [-1.05990837e-01 9.94365317e-01 -1.88642442e-03 -1.74792608e+00] [-2.66560472e-02 -9.44867510e-04 9.99644218e-01 -2.41642046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906547614999994 meters 0.08068579278309108 Centerline is valid? [True, True] Translation: X:42.22, Y:-1.76, Z:-2.42 [[ 9.95045355e-01 9.54689232e-02 2.77565381e-02 4.22170923e+01] [-9.54511216e-02 9.95432171e-01 -1.96862879e-03 -1.76241898e+00] [-2.78176939e-02 -6.90517765e-04 9.99612775e-01 -2.41587881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.966547614999996 meters 0.07809970330581632 Centerline is valid? [True, True] Translation: X:42.28, Y:-1.79, Z:-2.42 [[ 9.96323374e-01 8.02814378e-02 2.99102877e-02 4.22759510e+01] [-8.02538896e-02 9.96772195e-01 -2.12230960e-03 -1.78503185e+00] [-2.99841252e-02 -2.85910273e-04 9.99550334e-01 -2.41640190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.026547615 meters 0.07822311102981686 Centerline is valid? [True, True] Translation: X:42.34, Y:-1.78, Z:-2.42 [[ 9.96634911e-01 7.65104949e-02 2.94108655e-02 4.23383447e+01] [-7.64824081e-02 9.97068761e-01 -2.08040130e-03 -1.77906273e+00] [-2.94838277e-02 -1.76013247e-04 9.99565242e-01 -2.42124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08654761499999 meters 0.07777452728702663 Centerline is valid? [True, True] Translation: X:42.40, Y:-1.79, Z:-2.42 [[ 9.96609055e-01 7.61302679e-02 3.12181642e-02 4.23994386e+01] [-7.60980964e-02 9.97097867e-01 -2.21908533e-03 -1.78523167e+00] [-3.12965045e-02 -1.64082336e-04 9.99510131e-01 -2.42171298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.146547614999996 meters 0.07600866671457228 Centerline is valid? [True, True] Translation: X:42.46, Y:-1.80, Z:-2.41 [[ 9.96732243e-01 7.21936286e-02 3.62341783e-02 4.24609293e+01] [-7.21473901e-02 9.97390635e-01 -2.58372475e-03 -1.79567442e+00] [-3.63261586e-02 -3.89196360e-05 9.99339987e-01 -2.41218502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206547615 meters 0.07750935329022476 Centerline is valid? [True, True] Translation: X:42.52, Y:-1.78, Z:-2.43 [[ 9.96956663e-01 7.13600742e-02 3.13871185e-02 4.25232294e+01] [-7.13249690e-02 9.97450620e-01 -2.23809127e-03 -1.78492304e+00] [-3.14668112e-02 -7.40524319e-06 9.99504797e-01 -2.42653955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26654761499999 meters 0.07771991225505781 Centerline is valid? [True, True] Translation: X:42.58, Y:-1.78, Z:-2.43 [[ 9.96543773e-01 7.92559510e-02 2.48797846e-02 4.25846422e+01] [-7.92362899e-02 9.96854279e-01 -1.77664652e-03 -1.78455036e+00] [-2.49423295e-02 -2.00875799e-04 9.99688872e-01 -2.42796750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326547614999996 meters 0.07959083873279536 Centerline is valid? [True, True] Translation: X:42.65, Y:-1.76, Z:-2.44 [[ 9.95302578e-01 9.27499603e-02 2.77528839e-02 4.26457239e+01] [-9.27307032e-02 9.95689251e-01 -1.98287743e-03 -1.76262074e+00] [-2.78171600e-02 -5.99981421e-04 9.99612848e-01 -2.43612953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386547615 meters 0.08279522502294494 Centerline is valid? [True, True] Translation: X:42.71, Y:-1.75, Z:-2.45 [[ 9.94597992e-01 1.00898601e-01 2.43784091e-02 4.27058525e+01] [-1.00886192e-01 9.94896449e-01 -1.74157015e-03 -1.75392889e+00] [-2.44297146e-02 -7.27282680e-04 9.99701285e-01 -2.44801707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446547615 meters 0.08339445653752246 Centerline is valid? [True, True] Translation: X:42.77, Y:-1.76, Z:-2.44 [[ 9.93342480e-01 1.11940706e-01 2.72028793e-02 4.27674195e+01] [-1.11929389e-01 9.93714263e-01 -1.94313980e-03 -1.75566039e+00] [-2.72494056e-02 -1.11459835e-03 9.99628045e-01 -2.44130599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.506547614999995 meters 0.08434127437080526 Centerline is valid? [True, True] Translation: X:42.83, Y:-1.75, Z:-2.46 [[ 9.93460449e-01 1.11565988e-01 2.42768830e-02 4.28291195e+01] [-1.11557031e-01 9.93756532e-01 -1.72718765e-03 -1.75361567e+00] [-2.43180065e-02 -9.92364375e-04 9.99703781e-01 -2.45641584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.566547615 meters 0.08467453114546876 Centerline is valid? [True, True] Translation: X:42.89, Y:-1.77, Z:-2.44 [[ 9.93155717e-01 1.12188062e-01 3.24893834e-02 4.28890604e+01] [-1.12171744e-01 9.93686102e-01 -2.33027929e-03 -1.76624911e+00] [-3.25456782e-02 -1.33006059e-03 9.99469364e-01 -2.44433872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.626547615 meters 0.0830512176935069 Centerline is valid? [True, True] Translation: X:42.95, Y:-1.78, Z:-2.45 [[ 9.93061627e-01 1.12411926e-01 3.45277268e-02 4.29507625e+01] [-1.12393819e-01 9.93660668e-01 -2.47108420e-03 -1.77566222e+00] [-3.45866234e-02 -1.42676417e-03 9.99400685e-01 -2.44899617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.686547614999995 meters 0.08492879466278419 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.79, Z:-2.46 [[ 9.93329225e-01 1.11646879e-01 2.88448579e-02 4.30105324e+01] [-1.11633673e-01 9.93747265e-01 -2.07283379e-03 -1.78702549e+00] [-2.88959240e-02 -1.16105105e-03 9.99581751e-01 -2.46473977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.746547615 meters 0.08610934711618379 Centerline is valid? [True, True] Translation: X:43.07, Y:-1.79, Z:-2.46 [[ 9.92373110e-01 1.18616654e-01 3.35514525e-02 4.30721547e+01] [-1.18602536e-01 9.92938867e-01 -2.41773545e-03 -1.79339134e+00] [-3.36013249e-02 -1.57999171e-03 9.99434067e-01 -2.45754162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806547615 meters 0.08466765284040845 Centerline is valid? [True, True] Translation: X:43.13, Y:-1.80, Z:-2.47 [[ 9.93440668e-01 1.10983733e-01 2.75363457e-02 4.31304067e+01] [-1.10971305e-01 9.93821631e-01 -1.98382004e-03 -1.80228948e+00] [-2.75863878e-02 -1.08493673e-03 9.99618834e-01 -2.47189785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866547614999995 meters 0.07932682662909948 Centerline is valid? [True, True] Translation: X:43.19, Y:-1.83, Z:-2.46 [[ 9.94495042e-01 9.90523110e-02 3.41796992e-02 4.31904709e+01] [-9.90259728e-02 9.95081792e-01 -2.46673218e-03 -1.83134729e+00] [-3.42559318e-02 -9.31525039e-04 9.99412659e-01 -2.46325268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.926547615 meters 0.08325644000841927 Centerline is valid? [True, True] Translation: X:43.25, Y:-1.82, Z:-2.47 [[ 9.93535159e-01 1.08728329e-01 3.26502315e-02 4.32515121e+01] [-1.08709460e-01 9.94070769e-01 -2.35782035e-03 -1.81674149e+00] [-3.27130026e-02 -1.20681161e-03 9.99464058e-01 -2.47496245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.986547615 meters 0.08769474752753156 Centerline is valid? [True, True] Translation: X:43.31, Y:-1.81, Z:-2.48 [[ 9.92761805e-01 1.15800733e-01 3.18463391e-02 4.33121523e+01] [-1.15786426e-01 9.93271472e-01 -2.29925276e-03 -1.81114215e+00] [-3.18983153e-02 -1.40476347e-03 9.99490132e-01 -2.48058213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046547614999994 meters 0.08637501284833767 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.81, Z:-2.47 [[ 9.92005600e-01 1.19714747e-01 3.99157704e-02 4.33754111e+01] [-1.19695500e-01 9.92806472e-01 -2.88027890e-03 -1.81249717e+00] [-3.99734471e-02 -1.92048532e-03 9.99198897e-01 -2.47255904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.106547615 meters 0.08995859587403475 Centerline is valid? [True, True] Translation: X:43.44, Y:-1.81, Z:-2.48 [[ 9.92287472e-01 1.18633147e-01 3.59409251e-02 4.34363440e+01] [-1.18616419e-01 9.92936735e-01 -2.60491530e-03 -1.80843422e+00] [-3.59960942e-02 -1.67835901e-03 9.99350521e-01 -2.48392424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.166547615 meters 0.09007534526000881 Centerline is valid? [True, True] Translation: X:43.50, Y:-1.82, Z:-2.49 [[ 9.92407851e-01 1.18436388e-01 3.31583866e-02 4.34976679e+01] [-1.18421977e-01 9.92960448e-01 -2.40509976e-03 -1.81625247e+00] [-3.32098177e-02 -1.53984180e-03 9.99447216e-01 -2.48829250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226547614999994 meters 0.0842934935037813 Centerline is valid? [True, True] Translation: X:43.56, Y:-1.83, Z:-2.49 [[ 9.93209000e-01 1.11832215e-01 3.20848484e-02 4.35569488e+01] [-1.11814914e-01 9.93726298e-01 -2.33861754e-03 -1.83284903e+00] [-3.21450904e-02 -1.26482855e-03 9.99482413e-01 -2.49413348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286547614999996 meters 0.08171766111559507 Centerline is valid? [True, True] Translation: X:43.62, Y:-1.86, Z:-2.50 [[ 9.94622811e-01 9.79038447e-02 3.37683402e-02 4.36153674e+01] [-9.78766157e-02 9.95195511e-01 -2.46242688e-03 -1.85501756e+00] [-3.38471816e-02 -8.55944906e-04 9.99426653e-01 -2.49779854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.346547615 meters 0.07745291290010675 Centerline is valid? [True, True] Translation: X:43.68, Y:-1.87, Z:-2.49 [[ 9.95113128e-01 9.04171753e-02 3.96812028e-02 4.36756235e+01] [-9.03736315e-02 9.95903728e-01 -2.89343176e-03 -1.87455993e+00] [-3.97802737e-02 -7.06842470e-04 9.99208202e-01 -2.48871164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406547614999994 meters 0.08119770778366646 Centerline is valid? [True, True] Translation: X:43.74, Y:-1.86, Z:-2.50 [[ 9.94448748e-01 1.00585452e-01 3.08910237e-02 4.37369488e+01] [-1.00563963e-01 9.94928046e-01 -2.25242462e-03 -1.85824891e+00] [-3.09609069e-02 -8.66602926e-04 9.99520221e-01 -2.50043862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466547614999996 meters 0.08052878924313961 Centerline is valid? [True, True] Translation: X:43.80, Y:-1.86, Z:-2.50 [[ 9.94404706e-01 1.00441392e-01 3.27231922e-02 4.37991754e+01] [-1.00417324e-01 9.94942554e-01 -2.38227963e-03 -1.85914539e+00] [-3.27969759e-02 -9.17025309e-04 9.99461614e-01 -2.50151235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526547615 meters 0.08056880545366907 Centerline is valid? [True, True] Translation: X:43.86, Y:-1.86, Z:-2.50 [[ 9.94148189e-01 1.02406361e-01 3.43848197e-02 4.38624720e+01] [-1.02380684e-01 9.94742122e-01 -2.51127225e-03 -1.85993013e+00] [-3.44611987e-02 -1.02376459e-03 9.99405512e-01 -2.50405120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58654761499999 meters 0.08273222979815338 Centerline is valid? [True, True] Translation: X:43.92, Y:-1.86, Z:-2.50 [[ 9.93349519e-01 1.07906889e-01 4.01601474e-02 4.39243378e+01] [-1.07875753e-01 9.94160013e-01 -2.94786551e-03 -1.85746757e+00] [-4.02437076e-02 -1.40404535e-03 9.99188907e-01 -2.49963463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646547614999996 meters 0.08190020024637411 Centerline is valid? [True, True] Translation: X:43.99, Y:-1.86, Z:-2.51 [[ 9.93211566e-01 1.10319221e-01 3.68843272e-02 4.39850484e+01] [-1.10294214e-01 9.93895265e-01 -2.71830970e-03 -1.86418314e+00] [-3.69590400e-02 -1.36827123e-03 9.99315845e-01 -2.50807562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706547615 meters 0.07971383360380525 Centerline is valid? [True, True] Translation: X:44.04, Y:-1.88, Z:-2.52 [[ 9.94379963e-01 1.00075974e-01 3.45440181e-02 4.40446174e+01] [-1.00047811e-01 9.94979370e-01 -2.54721559e-03 -1.88298549e+00] [-3.46255005e-02 -9.23153265e-04 9.99399931e-01 -2.51586147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76654761499999 meters 0.07757195475957858 Centerline is valid? [True, True] Translation: X:44.10, Y:-1.90, Z:-2.51 [[ 9.94744545e-01 9.44394158e-02 3.95535950e-02 4.41048674e+01] [-9.43979978e-02 9.95530263e-01 -2.91763994e-03 -1.89944368e+00] [-3.96523410e-02 -8.31473756e-04 9.99213191e-01 -2.51078257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826547614999996 meters 0.0778857352846123 Centerline is valid? [True, True] Translation: X:44.17, Y:-1.90, Z:-2.52 [[ 9.95019348e-01 9.26775454e-02 3.67065219e-02 4.41670229e+01] [-9.26408168e-02 9.95695922e-01 -2.70384734e-03 -1.90068996e+00] [-3.67991201e-02 -7.10141747e-04 9.99322431e-01 -2.52040471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886547615 meters 0.07805778307264484 Centerline is valid? [True, True] Translation: X:44.23, Y:-1.91, Z:-2.52 [[ 9.94705112e-01 9.65062023e-02 3.53312038e-02 4.42284219e+01] [-9.64742994e-02 9.95332052e-01 -2.61065689e-03 -1.90579537e+00] [-3.54182242e-02 -8.11719387e-04 9.99372248e-01 -2.52183297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946547615 meters 0.08101785514522031 Centerline is valid? [True, True] Translation: X:44.29, Y:-1.89, Z:-2.54 [[ 9.94338762e-01 1.01768187e-01 3.05558815e-02 4.42892009e+01] [-1.01746482e-01 9.94807774e-01 -2.26839420e-03 -1.89337580e+00] [-3.06280788e-02 -8.53401152e-04 9.99530486e-01 -2.53556538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.006547614999995 meters 0.08205950358896157 Centerline is valid? [True, True] Translation: X:44.35, Y:-1.89, Z:-2.54 [[ 9.93981656e-01 1.05165888e-01 3.06692621e-02 4.43510431e+01] [-1.05145700e-01 9.94454226e-01 -2.27474573e-03 -1.89264952e+00] [-3.07384030e-02 -9.63685503e-04 9.99526999e-01 -2.53709146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066547615 meters 0.08150316308210152 Centerline is valid? [True, True] Translation: X:44.41, Y:-1.90, Z:-2.54 [[ 9.93879084e-01 1.06058581e-01 3.09183397e-02 4.44123953e+01] [-1.06038469e-01 9.94359382e-01 -2.29405061e-03 -1.90065119e+00] [-3.09872449e-02 -9.98524486e-04 9.99519281e-01 -2.53511146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.126547615 meters 0.08230444254344263 Centerline is valid? [True, True] Translation: X:44.48, Y:-1.89, Z:-2.54 [[ 9.93729521e-01 1.06764140e-01 3.32122973e-02 4.44750570e+01] [-1.06741066e-01 9.94283779e-01 -2.47209923e-03 -1.89227948e+00] [-3.32863800e-02 -1.08851803e-03 9.99445262e-01 -2.54311722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.186547614999995 meters 0.08294806569661582 Centerline is valid? [True, True] Translation: X:44.54, Y:-1.90, Z:-2.54 [[ 9.93524609e-01 1.09246712e-01 3.12091026e-02 4.45356132e+01] [-1.09227198e-01 9.94014069e-01 -2.33455732e-03 -1.90377018e+00] [-3.12773298e-02 -1.08944267e-03 9.99510151e-01 -2.54299527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246547615 meters 0.08456357853666926 Centerline is valid? [True, True] Translation: X:44.60, Y:-1.89, Z:-2.54 [[ 9.92679245e-01 1.14874967e-01 3.73049475e-02 4.45981910e+01] [-1.14851123e-01 9.93378801e-01 -2.78866357e-03 -1.89230638e+00] [-3.73782917e-02 -1.51626666e-03 9.99300037e-01 -2.54180768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.306547615 meters 0.08388317311142411 Centerline is valid? [True, True] Translation: X:44.66, Y:-1.90, Z:-2.55 [[ 9.93164814e-01 1.12473330e-01 3.11993977e-02 4.46588333e+01] [-1.12455329e-01 9.93654034e-01 -2.33662968e-03 -1.90345211e+00] [-3.12642159e-02 -1.18788016e-03 9.99510449e-01 -2.55157455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366547614999995 meters 0.08096887812940126 Centerline is valid? [True, True] Translation: X:44.72, Y:-1.92, Z:-2.55 [[ 9.93669627e-01 1.06225465e-01 3.65625773e-02 4.47186849e+01] [-1.06195973e-01 9.94341408e-01 -2.75322966e-03 -1.91784722e+00] [-3.66481477e-02 -1.14699779e-03 9.99327573e-01 -2.54724119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.426547615 meters 0.07943783073807252 Centerline is valid? [True, True] Translation: X:44.78, Y:-1.93, Z:-2.56 [[ 9.94864707e-01 9.74633199e-02 2.72968180e-02 4.47796523e+01] [-9.74436354e-02 9.95238926e-01 -2.05357861e-03 -1.93359849e+00] [-2.73670044e-02 -6.16868292e-04 9.99625263e-01 -2.56033684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486547615 meters 0.07811505193362825 Centerline is valid? [True, True] Translation: X:44.84, Y:-1.95, Z:-2.56 [[ 9.95541603e-01 9.05769799e-02 2.63197338e-02 4.48404679e+01] [-9.05561784e-02 9.95889373e-01 -1.98363726e-03 -1.94635376e+00] [-2.63912150e-02 -4.08621086e-04 9.99651608e-01 -2.56056022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546547614999994 meters 0.07775384317004712 Centerline is valid? [True, True] Translation: X:44.90, Y:-1.95, Z:-2.56 [[ 9.95334503e-01 9.01102090e-02 3.44873535e-02 4.49005702e+01] [-9.00741229e-02 9.95931666e-01 -2.60177271e-03 -1.94506833e+00] [-3.45814937e-02 -5.16783968e-04 9.99401748e-01 -2.55953067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606547615 meters 0.0781399584210078 Centerline is valid? [True, True] Translation: X:44.96, Y:-1.94, Z:-2.56 [[ 9.95314753e-01 9.17023356e-02 3.06467608e-02 4.49621792e+01] [-9.16747732e-02 9.95786331e-01 -2.30621447e-03 -1.94440538e+00] [-3.07291108e-02 -5.14125568e-04 9.99527617e-01 -2.56163909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666547615 meters 0.0791451485394559 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.94, Z:-2.56 [[ 9.94836006e-01 9.77485259e-02 2.73230023e-02 4.50232717e+01] [-9.77285991e-02 9.95210957e-01 -2.06693174e-03 -1.93941390e+00] [-2.73941908e-02 -6.13980623e-04 9.99624520e-01 -2.56335603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726547614999994 meters 0.07837144618665794 Centerline is valid? [True, True] Translation: X:45.08, Y:-1.94, Z:-2.57 [[ 9.95272388e-01 9.28825737e-02 2.83848738e-02 4.50849166e+01] [-9.28591226e-02 9.95676944e-01 -2.14608911e-03 -1.94090955e+00] [-2.84614987e-02 -4.99851245e-04 9.99594765e-01 -2.56944509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.786547614999996 meters 0.07824814092758522 Centerline is valid? [True, True] Translation: X:45.15, Y:-1.95, Z:-2.58 [[ 9.96251461e-01 8.29142054e-02 2.46629308e-02 4.51451806e+01] [-8.28935321e-02 9.96556671e-01 -1.86117206e-03 -1.94601521e+00] [-2.47323258e-02 -1.90202059e-04 9.99694091e-01 -2.57817556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.846547615 meters 0.07743405979930275 Centerline is valid? [True, True] Translation: X:45.21, Y:-1.94, Z:-2.58 [[ 9.96061177e-01 8.41753625e-02 2.78682639e-02 4.52061738e+01] [-8.41490604e-02 9.96450928e-01 -2.11731828e-03 -1.94353531e+00] [-2.79475834e-02 -2.36109680e-04 9.99609362e-01 -2.57809025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906547614999994 meters 0.0781659970085433 Centerline is valid? [True, True] Translation: X:45.27, Y:-1.92, Z:-2.58 [[ 9.95140679e-01 9.40866171e-02 2.90299564e-02 4.52703486e+01] [-9.40623152e-02 9.95563871e-01 -2.20463635e-03 -1.92189436e+00] [-2.91086025e-02 -5.36701589e-04 9.99576111e-01 -2.57737220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.966547614999996 meters 0.07806196728211551 Centerline is valid? [True, True] Translation: X:45.33, Y:-1.92, Z:-2.59 [[ 9.95271205e-01 9.30151141e-02 2.79895858e-02 4.53321395e+01] [-9.29921998e-02 9.95664576e-01 -2.12205348e-03 -1.91960971e+00] [-2.80656221e-02 -4.90794432e-04 9.99605962e-01 -2.58500574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026547615 meters 0.07715355442710158 Centerline is valid? [True, True] Translation: X:45.39, Y:-1.92, Z:-2.59 [[ 9.95761841e-01 8.70967100e-02 2.95384308e-02 4.53937548e+01] [-8.70681839e-02 9.96199807e-01 -2.25301673e-03 -1.92320326e+00] [-2.96224094e-02 -3.28389444e-04 9.99561106e-01 -2.58608742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08654761499999 meters 0.07653966426177447 Centerline is valid? [True, True] Translation: X:45.46, Y:-1.93, Z:-2.59 [[ 9.96605059e-01 7.82180412e-02 2.56961987e-02 4.54551771e+01] [-7.81936075e-02 9.96936274e-01 -1.95584228e-03 -1.93106185e+00] [-2.57704547e-02 -6.00761619e-05 9.99667885e-01 -2.58904929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146547614999996 meters 0.07654646898305371 Centerline is valid? [True, True] Translation: X:45.52, Y:-1.93, Z:-2.60 [[ 9.96761932e-01 7.67996387e-02 2.38215466e-02 4.55158844e+01] [-7.67780168e-02 9.97046546e-01 -1.82230724e-03 -1.92820911e+00] [-2.38911433e-02 -1.25646204e-05 9.99714566e-01 -2.59605227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206547615 meters 0.07557985599795154 Centerline is valid? [True, True] Translation: X:45.58, Y:-1.92, Z:-2.59 [[ 9.96522168e-01 7.88161724e-02 2.70477281e-02 4.55783641e+01] [-7.87888512e-02 9.96889165e-01 -2.07601455e-03 -1.92056048e+00] [-2.71272106e-02 -6.22648997e-05 9.99631988e-01 -2.59290130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26654761499999 meters 0.07579529331071475 Centerline is valid? [True, True] Translation: X:45.64, Y:-1.92, Z:-2.60 [[ 9.97254093e-01 7.02043994e-02 2.35715275e-02 4.56395579e+01] [-7.01812301e-02 9.97532616e-01 -1.80977521e-03 -1.91887449e+00] [-2.36404217e-02 1.50526942e-04 9.99720515e-01 -2.60116439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326547614999996 meters 0.07500487970003816 Centerline is valid? [True, True] Translation: X:45.70, Y:-1.91, Z:-2.60 [[ 9.97262717e-01 6.99371236e-02 2.39973362e-02 4.57023104e+01] [-6.99131791e-02 9.97551390e-01 -1.83636921e-03 -1.91333512e+00] [-2.40670064e-02 1.53612485e-04 9.99710336e-01 -2.60061011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386547615 meters 0.07373337789287215 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.90, Z:-2.60 [[ 9.97015188e-01 7.20106468e-02 2.78420726e-02 4.57649193e+01] [-7.19787899e-02 9.97403854e-01 -2.14602974e-03 -1.89977344e+00] [-2.79243275e-02 1.35585554e-04 9.99610031e-01 -2.59996996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446547615 meters 0.07470289636199044 Centerline is valid? [True, True] Translation: X:45.83, Y:-1.89, Z:-2.61 [[ 9.97007444e-01 7.34912082e-02 2.39832854e-02 4.58274505e+01] [-7.34680134e-02 9.97295862e-01 -1.84801886e-03 -1.89070450e+00] [-2.40542444e-02 8.04842286e-05 9.99710652e-01 -2.60811278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506547614999995 meters 0.07489197856946717 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.88, Z:-2.61 [[ 9.96608890e-01 7.92826671e-02 2.20222544e-02 4.58904458e+01] [-7.92646243e-02 9.96852173e-01 -1.69236877e-03 -1.87500773e+00] [-2.20871077e-02 -5.89559641e-05 9.99756048e-01 -2.60922135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566547615 meters 0.07363165381946145 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.87, Z:-2.60 [[ 9.95891770e-01 8.43849520e-02 3.28445177e-02 4.59528080e+01] [-8.43469250e-02 9.96433201e-01 -2.54408984e-03 -1.86911971e+00] [-3.29420508e-02 -2.36695935e-04 9.99457235e-01 -2.60114858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626547615 meters 0.07524335949581204 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.86, Z:-2.62 [[ 9.96013553e-01 8.58538678e-02 2.42098052e-02 4.60133801e+01] [-8.58336499e-02 9.96307718e-01 -1.87495855e-03 -1.86210782e+00] [-2.42813882e-02 -2.10531822e-04 9.99705141e-01 -2.61540345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.686547614999995 meters 0.07486804286117345 Centerline is valid? [True, True] Translation: X:46.08, Y:-1.87, Z:-2.61 [[ 9.96094730e-01 8.43677536e-02 2.60263677e-02 4.60753742e+01] [-8.43440472e-02 9.96434667e-01 -2.00925237e-03 -1.86726980e+00] [-2.61030912e-02 -1.93763492e-04 9.99659237e-01 -2.61343573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.746547615 meters 0.07572228695959282 Centerline is valid? [True, True] Translation: X:46.14, Y:-1.85, Z:-2.62 [[ 9.95875372e-01 8.76192266e-02 2.35608578e-02 4.61379525e+01] [-8.76005848e-02 9.96154009e-01 -1.82416286e-03 -1.85255124e+00] [-2.36300747e-02 -2.47306054e-04 9.99720740e-01 -2.62107019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.806547615 meters 0.0762021955077903 Centerline is valid? [True, True] Translation: X:46.20, Y:-1.85, Z:-2.62 [[ 9.95214773e-01 9.46992486e-02 2.40750651e-02 4.61986268e+01] [-9.46816190e-02 9.95505841e-01 -1.87368779e-03 -1.85180919e+00] [-2.41443048e-02 -4.14744378e-04 9.99708398e-01 -2.62499969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.866547614999995 meters 0.07766180997878155 Centerline is valid? [True, True] Translation: X:46.26, Y:-1.84, Z:-2.63 [[ 9.94450689e-01 1.02088977e-01 2.54100023e-02 4.62619955e+01] [-1.02071610e-01 9.94775077e-01 -1.98294273e-03 -1.83841623e+00] [-2.54796736e-02 -6.21701095e-04 9.99675147e-01 -2.62982486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926547615 meters 0.07820894281108823 Centerline is valid? [True, True] Translation: X:46.32, Y:-1.84, Z:-2.63 [[ 9.94162266e-01 1.04645457e-01 2.62814841e-02 4.63241760e+01] [-1.04627857e-01 9.94509336e-01 -2.04767991e-03 -1.84428792e+00] [-2.63514617e-02 -7.14049267e-04 9.99652485e-01 -2.63146918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.986547615 meters 0.08222951916335736 Centerline is valid? [True, True] Translation: X:46.39, Y:-1.82, Z:-2.64 [[ 9.92890427e-01 1.16615156e-01 2.38643112e-02 4.63855670e+01] [-1.16603798e-01 9.93176747e-01 -1.87170412e-03 -1.82373222e+00] [-2.39197480e-02 -9.24272217e-04 9.99713455e-01 -2.64211115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.046547614999994 meters 0.08192390227410193 Centerline is valid? [True, True] Translation: X:46.45, Y:-1.85, Z:-2.64 [[ 9.92213089e-01 1.22515252e-01 2.24320957e-02 4.64453834e+01] [-1.22506718e-01 9.92466125e-01 -1.75946426e-03 -1.84633892e+00] [-2.24786563e-02 -1.00231894e-03 9.99746821e-01 -2.63556784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.106547615 meters 0.0827648050847075 Centerline is valid? [True, True] Translation: X:46.50, Y:-1.84, Z:-2.65 [[ 9.92996237e-01 1.15662267e-01 2.40979949e-02 4.65048629e+01] [-1.15650375e-01 9.93288183e-01 -1.89123686e-03 -1.84006294e+00] [-2.41549983e-02 -9.08951076e-04 9.99707812e-01 -2.65010914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.166547615 meters 0.07945456375754505 Centerline is valid? [True, True] Translation: X:46.56, Y:-1.88, Z:-2.64 [[ 9.93593083e-01 1.10581317e-01 2.33357437e-02 4.65640136e+01] [-1.10568843e-01 9.93866786e-01 -1.82812751e-03 -1.88014371e+00] [-2.33947773e-02 -7.63791329e-04 9.99726013e-01 -2.64193215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226547614999994 meters 0.0811399497848276 Centerline is valid? [True, True] Translation: X:46.62, Y:-1.87, Z:-2.65 [[ 9.93184986e-01 1.14462334e-01 2.19535165e-02 4.66246180e+01] [-1.14452206e-01 9.93427264e-01 -1.72137489e-03 -1.86600998e+00] [-2.20062544e-02 -8.02984699e-04 9.99757511e-01 -2.65410911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.286547614999996 meters 0.0813456322389772 Centerline is valid? [True, True] Translation: X:46.69, Y:-1.88, Z:-2.65 [[ 9.92754386e-01 1.17413380e-01 2.55504788e-02 4.66862171e+01] [-1.17400703e-01 9.93082611e-01 -2.00088771e-03 -1.88045969e+00] [-2.56086672e-02 -1.01325413e-03 9.99671531e-01 -2.64785683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346547615 meters 0.08077637958804508 Centerline is valid? [True, True] Translation: X:46.75, Y:-1.88, Z:-2.66 [[ 9.92993393e-01 1.15612566e-01 2.44511099e-02 4.67478121e+01] [-1.15600272e-01 9.93293959e-01 -1.92044154e-03 -1.88415703e+00] [-2.45091669e-02 -9.19569199e-04 9.99699182e-01 -2.65852537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406547614999994 meters 0.08017497592894404 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.91, Z:-2.66 [[ 9.93250482e-01 1.13827943e-01 2.22863248e-02 4.68092545e+01] [-1.13817216e-01 9.93500160e-01 -1.75327302e-03 -1.90641327e+00] [-2.23410387e-02 -7.95128181e-04 9.99750092e-01 -2.66078046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.466547614999996 meters 0.0801935696585953 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.91, Z:-2.67 [[ 9.93765892e-01 1.09234921e-01 2.22953869e-02 4.68694397e+01] [-1.09222680e-01 9.94015731e-01 -1.76967228e-03 -1.91418199e+00] [-2.23552753e-02 -6.76521955e-04 9.99749861e-01 -2.66838506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.526547615 meters 0.08004103982198675 Centerline is valid? [True, True] Translation: X:46.93, Y:-1.92, Z:-2.67 [[ 9.93422591e-01 1.11107317e-01 2.76897147e-02 4.69301534e+01] [-1.11089119e-01 9.93808015e-01 -2.19942030e-03 -1.92494857e+00] [-2.77626321e-02 -8.91072205e-04 9.99614147e-01 -2.66632329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58654761499999 meters 0.07962290410088062 Centerline is valid? [True, True] Translation: X:46.99, Y:-1.93, Z:-2.67 [[ 9.93469576e-01 1.11588707e-01 2.37941746e-02 4.69909081e+01] [-1.11575395e-01 9.93754173e-01 -1.89048975e-03 -1.92973680e+00] [-2.38565176e-02 -7.76700380e-04 9.99715091e-01 -2.67469989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.646547614999996 meters 0.08134421880206925 Centerline is valid? [True, True] Translation: X:47.05, Y:-1.93, Z:-2.67 [[ 9.92689907e-01 1.17771180e-01 2.63950232e-02 4.70516025e+01] [-1.17756933e-01 9.93040230e-01 -2.09892391e-03 -1.93286387e+00] [-2.64585127e-02 -1.02461640e-03 9.99649387e-01 -2.67365687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.706547615 meters 0.08191999523451604 Centerline is valid? [True, True] Translation: X:47.11, Y:-1.94, Z:-2.68 [[ 9.92999871e-01 1.16559353e-01 1.91095257e-02 4.71116475e+01] [-1.16551659e-01 9.93183468e-01 -1.51966108e-03 -1.94476531e+00] [-1.91563957e-02 -7.18223674e-04 9.99816241e-01 -2.68240371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76654761499999 meters 0.0825108661165608 Centerline is valid? [True, True] Translation: X:47.17, Y:-1.95, Z:-2.69 [[ 9.92648986e-01 1.19152796e-01 2.12273701e-02 4.71741582e+01] [-1.19144090e-01 9.92875555e-01 -1.67887663e-03 -1.95467468e+00] [-2.12761797e-02 -8.62580510e-04 9.99773264e-01 -2.68509265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.826547614999996 meters 0.08326503616286131 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.97, Z:-2.68 [[ 9.92231161e-01 1.23063246e-01 1.82417185e-02 4.72341958e+01] [-1.23057225e-01 9.92398508e-01 -1.45646855e-03 -1.96689860e+00] [-1.82822920e-02 -7.99621782e-04 9.99832545e-01 -2.68430081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886547615 meters 0.08318389486926532 Centerline is valid? [True, True] Translation: X:47.30, Y:-1.98, Z:-2.69 [[ 9.92336278e-01 1.21984623e-01 1.97094758e-02 4.72953631e+01] [-1.21977423e-01 9.92531631e-01 -1.57157771e-03 -1.97627354e+00] [-1.97539865e-02 -8.44577495e-04 9.99804514e-01 -2.68884671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946547615 meters 0.08061982349435579 Centerline is valid? [True, True] Translation: X:47.35, Y:-2.00, Z:-2.69 [[ 9.93235020e-01 1.14338947e-01 2.02681907e-02 4.73545441e+01] [-1.14329659e-01 9.93441545e-01 -1.62022237e-03 -1.99955696e+00] [-2.03205172e-02 -7.07993740e-04 9.99793266e-01 -2.68888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.006547614999995 meters 0.07956882813339562 Centerline is valid? [True, True] Translation: X:47.41, Y:-2.02, Z:-2.69 [[ 9.94084507e-01 1.06928537e-01 1.90336697e-02 4.74127274e+01] [-1.06918974e-01 9.94266572e-01 -1.52228236e-03 -2.01712784e+00] [-1.90873170e-02 -5.21783125e-04 9.99817684e-01 -2.69438784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.066547615 meters 0.07903703757182996 Centerline is valid? [True, True] Translation: X:47.47, Y:-2.03, Z:-2.70 [[ 9.94290810e-01 1.04998722e-01 1.90014166e-02 4.74739104e+01] [-1.04989020e-01 9.94472234e-01 -1.51020814e-03 -2.02582979e+00] [-1.90549511e-02 -4.93354041e-04 9.99818316e-01 -2.69705235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126547615 meters 0.07837738594053653 Centerline is valid? [True, True] Translation: X:47.53, Y:-2.04, Z:-2.70 [[ 9.94575597e-01 1.02264451e-01 1.90095995e-02 4.75339286e+01] [-1.02254133e-01 9.94757153e-01 -1.51651222e-03 -2.03877582e+00] [-1.90650203e-02 -4.35524072e-04 9.99818151e-01 -2.69975119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.186547614999995 meters 0.07782038951222903 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.05, Z:-2.70 [[ 9.94506268e-01 1.02876045e-01 1.93339656e-02 4.75962865e+01] [-1.02865443e-01 9.94694081e-01 -1.54469468e-03 -2.04871585e+00] [-1.93902932e-02 -4.52588384e-04 9.99811888e-01 -2.70148295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246547615 meters 0.07937230698126875 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.05, Z:-2.70 [[ 9.93740936e-01 1.09310292e-01 2.30263161e-02 4.76571623e+01] [-1.09296701e-01 9.94007446e-01 -1.85172728e-03 -2.04967977e+00] [-2.30907425e-02 -6.76563173e-04 9.99733144e-01 -2.70416620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306547615 meters 0.07989658763506925 Centerline is valid? [True, True] Translation: X:47.72, Y:-2.06, Z:-2.71 [[ 9.93005282e-01 1.16340224e-01 2.01360968e-02 4.77177046e+01] [-1.16331059e-01 9.93209156e-01 -1.62987113e-03 -2.05863243e+00] [-2.01889753e-02 -7.23982823e-04 9.99795920e-01 -2.70530205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.366547614999995 meters 0.08332723590270084 Centerline is valid? [True, True] Translation: X:47.78, Y:-2.06, Z:-2.71 [[ 9.91863310e-01 1.25209389e-01 2.30170057e-02 4.77776566e+01] [-1.25199748e-01 9.92129802e-01 -1.86517486e-03 -2.05750081e+00] [-2.30693947e-02 -1.03172479e-03 9.99733334e-01 -2.71101210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.426547615 meters 0.08158241858645345 Centerline is valid? [True, True] Translation: X:47.84, Y:-2.08, Z:-2.71 [[ 9.92375029e-01 1.21610371e-01 2.00678870e-02 4.78389718e+01] [-1.21602377e-01 9.92577568e-01 -1.62268166e-03 -2.07571057e+00] [-2.01162694e-02 -8.29994006e-04 9.99797303e-01 -2.71182771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486547615 meters 0.08061213291635602 Centerline is valid? [True, True] Translation: X:47.90, Y:-2.09, Z:-2.72 [[ 9.93301131e-01 1.13697040e-01 2.06360361e-02 4.78973897e+01] [-1.13686769e-01 9.93515232e-01 -1.67400747e-03 -2.09393278e+00] [-2.06925459e-02 -6.83250742e-04 9.99785653e-01 -2.71925687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.546547614999994 meters 0.0823120730602459 Centerline is valid? [True, True] Translation: X:47.96, Y:-2.10, Z:-2.73 [[ 9.92665847e-01 1.20115679e-01 1.36652442e-02 4.79571670e+01] [-1.20111791e-01 9.92759755e-01 -1.10785554e-03 -2.10201644e+00] [-1.36993753e-02 -5.41626600e-04 9.99906012e-01 -2.72614843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.606547615 meters 0.08636895354720903 Centerline is valid? [True, True] Translation: X:48.02, Y:-2.10, Z:-2.73 [[ 9.91679656e-01 1.27736200e-01 1.59663241e-02 4.80169488e+01] [-1.27731861e-01 9.91807892e-01 -1.29543352e-03 -2.09894089e+00] [-1.60010000e-02 -7.54753214e-04 9.99871691e-01 -2.73274730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666547615 meters 0.08603462498808169 Centerline is valid? [True, True] Translation: X:48.08, Y:-2.11, Z:-2.73 [[ 9.91334352e-01 1.30399795e-01 1.58775163e-02 4.80779027e+01] [-1.30395994e-01 9.91461169e-01 -1.27886671e-03 -2.11323761e+00] [-1.59087048e-02 -8.02580012e-04 9.99873126e-01 -2.73226120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726547614999994 meters 0.08373013905634034 Centerline is valid? [True, True] Translation: X:48.14, Y:-2.14, Z:-2.73 [[ 9.91427619e-01 1.29478598e-01 1.75091016e-02 4.81376256e+01] [-1.29473610e-01 9.91581847e-01 -1.42291978e-03 -2.13664862e+00] [-1.75459450e-02 -8.56244632e-04 9.99845691e-01 -2.73406571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.786547614999996 meters 0.08534354299614458 Centerline is valid? [True, True] Translation: X:48.20, Y:-2.15, Z:-2.74 [[ 9.91501872e-01 1.28400542e-01 2.09126313e-02 4.81958665e+01] [-1.28393123e-01 9.91721890e-01 -1.70262478e-03 -2.15243704e+00] [-2.09581322e-02 -9.96882377e-04 9.99779857e-01 -2.73595128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846547615 meters 0.08350943597239732 Centerline is valid? [True, True] Translation: X:48.26, Y:-2.17, Z:-2.73 [[ 9.91315239e-01 1.29929422e-01 2.03086596e-02 4.82572147e+01] [-1.29922818e-01 9.91522738e-01 -1.64986855e-03 -2.17000152e+00] [-2.03508642e-02 -1.00301846e-03 9.99792397e-01 -2.73401564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906547614999994 meters 0.0863566146216293 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.18, Z:-2.75 [[ 9.91035910e-01 1.32284939e-01 1.86686852e-02 4.83158187e+01] [-1.32279760e-01 9.91211260e-01 -1.51742400e-03 -2.17549419e+00] [-1.87053433e-02 -9.65667530e-04 9.99824573e-01 -2.74782602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.966547614999996 meters 0.08349867896459726 Centerline is valid? [True, True] Translation: X:48.37, Y:-2.21, Z:-2.75 [[ 9.91645434e-01 1.27284082e-01 2.09307152e-02 4.83742592e+01] [-1.27276371e-01 9.91865826e-01 -1.70554732e-03 -2.20703259e+00] [-2.09775502e-02 -9.72687267e-04 9.99779474e-01 -2.74705525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026547615 meters 0.08878706091498863 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.21, Z:-2.76 [[ 9.90799193e-01 1.33896576e-01 1.97146075e-02 4.84332813e+01] [-1.33891079e-01 9.90994755e-01 -1.60449905e-03 -2.20905883e+00] [-1.97519096e-02 -1.04987370e-03 9.99804361e-01 -2.75749172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08654761499999 meters 0.084479719948873 Centerline is valid? [True, True] Translation: X:48.49, Y:-2.24, Z:-2.76 [[ 9.91707661e-01 1.27533205e-01 1.58491959e-02 4.84926841e+01] [-1.27528805e-01 9.91834026e-01 -1.29214351e-03 -2.23580089e+00] [-1.58845630e-02 -7.39800398e-04 9.99873559e-01 -2.76172682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146547614999996 meters 0.08173533207348235 Centerline is valid? [True, True] Translation: X:48.55, Y:-2.25, Z:-2.77 [[ 9.92851458e-01 1.18391937e-01 1.51437027e-02 4.85509020e+01] [-1.18386828e-01 9.92966782e-01 -1.23651259e-03 -2.25490302e+00] [-1.51835868e-02 -5.65141606e-04 9.99884563e-01 -2.76682095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206547615 meters 0.0808512963883057 Centerline is valid? [True, True] Translation: X:48.61, Y:-2.27, Z:-2.77 [[ 9.93308967e-01 1.14352810e-01 1.61471636e-02 4.86094439e+01] [-1.14346470e-01 9.93440057e-01 -1.31841866e-03 -2.27363259e+00] [-1.61920040e-02 -5.36774076e-04 9.99868757e-01 -2.76942127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26654761499999 meters 0.07869599512980309 Centerline is valid? [True, True] Translation: X:48.67, Y:-2.29, Z:-2.77 [[ 9.94009196e-01 1.07432619e-01 2.00985205e-02 4.86695170e+01] [-1.07421389e-01 9.94212228e-01 -1.64069798e-03 -2.28618034e+00] [-2.01584593e-02 -5.28142107e-04 9.99796658e-01 -2.77198033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326547614999996 meters 0.07791625700380297 Centerline is valid? [True, True] Translation: X:48.73, Y:-2.30, Z:-2.78 [[ 9.94489175e-01 1.03407892e-01 1.72652400e-02 4.87308811e+01] [-1.03399169e-01 9.94638956e-01 -1.39951188e-03 -2.30479565e+00] [-1.73174009e-02 -3.93412060e-04 9.99849965e-01 -2.77546884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386547615 meters 0.07742444518127291 Centerline is valid? [True, True] Translation: X:48.79, Y:-2.31, Z:-2.78 [[ 9.94373891e-01 1.03881408e-01 2.07175582e-02 4.87918895e+01] [-1.03868597e-01 9.94589582e-01 -1.69637093e-03 -2.31035000e+00] [-2.07816889e-02 -4.65076733e-04 9.99783929e-01 -2.77520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44654761499999 meters 0.07806035239232567 Centerline is valid? [True, True] Translation: X:48.85, Y:-2.31, Z:-2.78 [[ 9.94485623e-01 1.03112667e-01 1.91343495e-02 4.88534104e+01] [-1.03101735e-01 9.94669593e-01 -1.55960232e-03 -2.31169935e+00] [-1.91931704e-02 -4.21782538e-04 9.99815705e-01 -2.78391733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506547614999995 meters 0.07842889277891932 Centerline is valid? [True, True] Translation: X:48.92, Y:-2.31, Z:-2.78 [[ 9.94054260e-01 1.06858666e-01 2.09130209e-02 4.89152226e+01] [-1.06846304e-01 9.94274077e-01 -1.71080891e-03 -2.31431524e+00] [-2.09760893e-02 -5.33842108e-04 9.99779835e-01 -2.78440893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566547615 meters 0.07770601716093098 Centerline is valid? [True, True] Translation: X:48.98, Y:-2.32, Z:-2.79 [[ 9.93992603e-01 1.07176951e-01 2.21767063e-02 4.89769694e+01] [-1.07162991e-01 9.94239800e-01 -1.82035454e-03 -2.32137187e+00] [-2.22440641e-02 -5.67103239e-04 9.99752409e-01 -2.78549175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626547615 meters 0.07817576316996126 Centerline is valid? [True, True] Translation: X:49.04, Y:-2.32, Z:-2.79 [[ 9.93814381e-01 1.08264204e-01 2.47353766e-02 4.90395797e+01] [-1.08246867e-01 9.94121946e-01 -2.04275443e-03 -2.32142401e+00] [-2.48111379e-02 -6.47408286e-04 9.99691947e-01 -2.79094248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686547614999995 meters 0.07899612892818826 Centerline is valid? [True, True] Translation: X:49.10, Y:-2.32, Z:-2.79 [[ 9.93340990e-01 1.12411182e-01 2.52468748e-02 4.91011081e+01] [-1.12394509e-01 9.93661479e-01 -2.08299198e-03 -2.32364962e+00] [-2.53209985e-02 -7.68488771e-04 9.99679077e-01 -2.79397654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746547615 meters 0.07995253215665453 Centerline is valid? [True, True] Translation: X:49.16, Y:-2.32, Z:-2.80 [[ 9.92922011e-01 1.15696850e-01 2.68350170e-02 4.91632835e+01] [-1.15679046e-01 9.93284163e-01 -2.22014833e-03 -2.32042158e+00] [-2.69116616e-02 -8.99815025e-04 9.99637411e-01 -2.79715160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806547615 meters 0.0798685667058026 Centerline is valid? [True, True] Translation: X:49.22, Y:-2.33, Z:-2.80 [[ 9.93076996e-01 1.15166339e-01 2.31256301e-02 4.92248943e+01] [-1.15152755e-01 9.93345935e-01 -1.92264605e-03 -2.32879126e+00] [-2.31931748e-02 -7.53644463e-04 9.99730718e-01 -2.80098260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.866547614999995 meters 0.07948960157955899 Centerline is valid? [True, True] Translation: X:49.29, Y:-2.33, Z:-2.80 [[ 9.92972499e-01 1.14910133e-01 2.83068533e-02 4.92856709e+01] [-1.14889548e-01 9.93375474e-01 -2.35793182e-03 -2.33061185e+00] [-2.83902841e-02 -9.10800145e-04 9.99596500e-01 -2.80406151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926547615 meters 0.08031254688806365 Centerline is valid? [True, True] Translation: X:49.35, Y:-2.33, Z:-2.81 [[ 9.92816916e-01 1.16438730e-01 2.75062316e-02 4.93460901e+01] [-1.16419893e-01 9.93197443e-01 -2.29073326e-03 -2.33365050e+00] [-2.75858489e-02 -9.27993812e-04 9.99619007e-01 -2.80734295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986547615 meters 0.07872766356442162 Centerline is valid? [True, True] Translation: X:49.41, Y:-2.35, Z:-2.81 [[ 9.93026276e-01 1.14774573e-01 2.69371991e-02 4.94075297e+01] [-1.14756040e-01 9.93391183e-01 -2.23802543e-03 -2.34545952e+00] [-2.70160445e-02 -8.68788246e-04 9.99634623e-01 -2.81052046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046547614999994 meters 0.07834763279727601 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.35, Z:-2.81 [[ 9.93032974e-01 1.13369432e-01 3.21385241e-02 4.94674665e+01] [-1.13341789e-01 9.93552425e-01 -2.68652007e-03 -2.34862548e+00] [-3.22358778e-02 -9.74834794e-04 9.99479814e-01 -2.81191389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106547615 meters 0.078690966203761 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.35, Z:-2.82 [[ 9.92725136e-01 1.16403984e-01 3.07720146e-02 4.95290308e+01] [-1.16380279e-01 9.93201412e-01 -2.56639221e-03 -2.34933158e+00] [-3.08615466e-02 -1.03353358e-03 9.99523135e-01 -2.81570876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166547615 meters 0.07899939699061582 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.35, Z:-2.82 [[ 9.92702876e-01 1.16456429e-01 3.12873897e-02 4.95900356e+01] [-1.16431714e-01 9.93195252e-01 -2.61686470e-03 -2.35285973e+00] [-3.13792376e-02 -1.04507529e-03 9.99507004e-01 -2.81979659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.226547614999994 meters 0.07771028510148643 Centerline is valid? [True, True] Translation: X:49.65, Y:-2.36, Z:-2.82 [[ 9.93030867e-01 1.12442563e-01 3.53039297e-02 4.96494526e+01] [-1.12408046e-01 9.93657701e-01 -2.96736466e-03 -2.36218070e+00] [-3.54136797e-02 -1.02176105e-03 9.99372217e-01 -2.82124697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.286547614999996 meters 0.0783618446857259 Centerline is valid? [True, True] Translation: X:49.71, Y:-2.36, Z:-2.83 [[ 9.92919533e-01 1.13995189e-01 3.34050645e-02 4.97117840e+01] [-1.13965208e-01 9.93480778e-01 -2.80639002e-03 -2.36299322e+00] [-3.35072044e-02 -1.02049565e-03 9.99437955e-01 -2.82682685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346547615 meters 0.07873794062937838 Centerline is valid? [True, True] Translation: X:49.77, Y:-2.37, Z:-2.82 [[ 9.92440352e-01 1.17598466e-01 3.51105173e-02 4.97732832e+01] [-1.17567619e-01 9.93060501e-01 -2.94904886e-03 -2.36965325e+00] [-3.52136715e-02 -1.20110484e-03 9.99379085e-01 -2.82402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406547614999994 meters 0.07796247469738136 Centerline is valid? [True, True] Translation: X:49.83, Y:-2.37, Z:-2.83 [[ 9.92638182e-01 1.14985753e-01 3.80488575e-02 4.98340843e+01] [-1.14947116e-01 9.93366430e-01 -3.20878573e-03 -2.37107755e+00] [-3.81654224e-02 -1.18844321e-03 9.99270728e-01 -2.83486742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466547614999996 meters 0.07950589851887807 Centerline is valid? [True, True] Translation: X:49.89, Y:-2.37, Z:-2.83 [[ 9.91861681e-01 1.20909128e-01 3.98922045e-02 4.98945179e+01] [-1.20871354e-01 9.92662472e-01 -3.36631431e-03 -2.37081828e+00] [-4.00065125e-02 -1.48290660e-03 9.99198319e-01 -2.83028433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526547615 meters 0.07976401882747741 Centerline is valid? [True, True] Translation: X:49.96, Y:-2.38, Z:-2.84 [[ 9.91771358e-01 1.23518710e-01 3.36556385e-02 4.99550399e+01] [-1.23493335e-01 9.92341339e-01 -2.83963872e-03 -2.37563865e+00] [-3.37486299e-02 -1.33997469e-03 9.99429454e-01 -2.83746403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58654761499999 meters 0.07945795174243545 Centerline is valid? [True, True] Translation: X:50.02, Y:-2.38, Z:-2.84 [[ 9.92013278e-01 1.20997679e-01 3.56260856e-02 5.00156872e+01] [-1.20967611e-01 9.92651903e-01 -3.00621909e-03 -2.37829449e+00] [-3.57280472e-02 -1.32739323e-03 9.99360668e-01 -2.84159243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646547614999996 meters 0.08291448331291798 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.38, Z:-2.84 [[ 9.91359902e-01 1.26964321e-01 3.29485365e-02 5.00763983e+01] [-1.26941866e-01 9.91906260e-01 -2.78098319e-03 -2.37836822e+00] [-3.30349452e-02 -1.42559347e-03 9.99453181e-01 -2.84138123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706547615 meters 0.07996587683275908 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.39, Z:-2.84 [[ 9.91639966e-01 1.25006532e-01 3.19928826e-02 5.01372612e+01] [-1.24984455e-01 9.92155035e-01 -2.69683660e-03 -2.39205636e+00] [-3.20790218e-02 -1.32432204e-03 9.99484458e-01 -2.84413746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76654761499999 meters 0.0804689376535047 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.40, Z:-2.86 [[ 9.92300530e-01 1.20157933e-01 3.00288043e-02 5.01969956e+01] [-1.20135880e-01 9.92754198e-01 -2.54404824e-03 -2.39529645e+00] [-3.01169092e-02 -1.08307642e-03 9.99545796e-01 -2.85772896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826547614999996 meters 0.08251320639871668 Centerline is valid? [True, True] Translation: X:50.26, Y:-2.40, Z:-2.86 [[ 9.92102185e-01 1.21917732e-01 2.94842667e-02 5.02578311e+01] [-1.21897391e-01 9.92539576e-01 -2.49304888e-03 -2.40154406e+00] [-2.95682484e-02 -1.12069595e-03 9.99562136e-01 -2.86051856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886547615 meters 0.07984355748107513 Centerline is valid? [True, True] Translation: X:50.32, Y:-2.41, Z:-2.86 [[ 9.92337478e-01 1.19778051e-01 3.03240378e-02 5.03186016e+01] [-1.19755181e-01 9.92800112e-01 -2.57577690e-03 -2.41098081e+00] [-3.04142297e-02 -1.07542070e-03 9.99536802e-01 -2.86290996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94654761499999 meters 0.07987317643592333 Centerline is valid? [True, True] Translation: X:50.38, Y:-2.41, Z:-2.87 [[ 9.92334076e-01 1.19706147e-01 3.07167591e-02 5.03808817e+01] [-1.19682774e-01 9.92808767e-01 -2.60500239e-03 -2.41295691e+00] [-3.08077025e-02 -1.09123430e-03 9.99524734e-01 -2.86676192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006547614999995 meters 0.08082212508740567 Centerline is valid? [True, True] Translation: X:50.44, Y:-2.41, Z:-2.87 [[ 9.92075746e-01 1.22122516e-01 2.95263533e-02 5.04424563e+01] [-1.22101634e-01 9.92514413e-01 -2.51597288e-03 -2.41443874e+00] [-2.96125881e-02 -1.10918030e-03 9.99560836e-01 -2.86980669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066547615 meters 0.08740020674770191 Centerline is valid? [True, True] Translation: X:50.51, Y:-2.40, Z:-2.88 [[ 9.91220362e-01 1.27422285e-01 3.52952457e-02 5.05053013e+01] [-1.27395880e-01 9.91847397e-01 -3.00524003e-03 -2.39615978e+00] [-3.53904321e-02 -1.51761378e-03 9.99372410e-01 -2.87728394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126547615 meters 0.08443973689759048 Centerline is valid? [True, True] Translation: X:50.57, Y:-2.41, Z:-2.87 [[ 9.91007286e-01 1.28897737e-01 3.59156200e-02 5.05664552e+01] [-1.28871081e-01 9.91656616e-01 -3.06589852e-03 -2.41068243e+00] [-3.60111496e-02 -1.59015699e-03 9.99350123e-01 -2.87250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186547614999995 meters 0.08459783031314626 Centerline is valid? [True, True] Translation: X:50.63, Y:-2.42, Z:-2.89 [[ 9.91566668e-01 1.26297987e-01 2.90579069e-02 5.06264800e+01] [-1.26279286e-01 9.91991616e-01 -2.48515607e-03 -2.41931989e+00] [-2.91390702e-02 -1.20521382e-03 9.99574641e-01 -2.88637992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246547615 meters 0.0841569840441329 Centerline is valid? [True, True] Translation: X:50.69, Y:-2.42, Z:-2.88 [[ 9.91459227e-01 1.25903514e-01 3.40133294e-02 5.06864430e+01] [-1.25877198e-01 9.92041526e-01 -2.92254145e-03 -2.42466829e+00] [-3.41105934e-02 -1.38392191e-03 9.99417106e-01 -2.88383392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306547615 meters 0.08189342948887833 Centerline is valid? [True, True] Translation: X:50.75, Y:-2.44, Z:-2.88 [[ 9.91486174e-01 1.26357590e-01 3.14472085e-02 5.07475819e+01] [-1.26335489e-01 9.91983907e-01 -2.69673897e-03 -2.43888450e+00] [-3.15358782e-02 -1.29911906e-03 9.99501776e-01 -2.88451101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366547614999995 meters 0.08389135279232658 Centerline is valid? [True, True] Translation: X:50.81, Y:-2.44, Z:-2.89 [[ 9.91612500e-01 1.24517815e-01 3.46404844e-02 5.08080751e+01] [-1.24489410e-01 9.92216449e-01 -2.98405123e-03 -2.44039823e+00] [-3.47424260e-02 -1.35335096e-03 9.99395383e-01 -2.88914024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426547615 meters 0.08028073174017247 Centerline is valid? [True, True] Translation: X:50.87, Y:-2.45, Z:-2.88 [[ 9.91402332e-01 1.25796437e-01 3.60093388e-02 5.08702826e+01] [-1.25766728e-01 9.92055005e-01 -3.09799398e-03 -2.45458704e+00] [-3.61129614e-02 -1.45741828e-03 9.99346652e-01 -2.88421276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486547615 meters 0.07990896874903132 Centerline is valid? [True, True] Translation: X:50.93, Y:-2.46, Z:-2.89 [[ 9.92075464e-01 1.21912089e-01 3.03927138e-02 5.09323159e+01] [-1.21888773e-01 9.92540293e-01 -2.62561359e-03 -2.45792230e+00] [-3.04860871e-02 -1.09972378e-03 9.99534586e-01 -2.89482585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.546547614999994 meters 0.07897822955140844 Centerline is valid? [True, True] Translation: X:50.99, Y:-2.47, Z:-2.89 [[ 9.92086365e-01 1.21139320e-01 3.30137641e-02 5.09936905e+01] [-1.21111233e-01 9.92634832e-01 -2.85657229e-03 -2.46591052e+00] [-3.31166554e-02 -1.16437124e-03 9.99450815e-01 -2.89011479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606547615 meters 0.07827256915695478 Centerline is valid? [True, True] Translation: X:51.05, Y:-2.47, Z:-2.90 [[ 9.93074326e-01 1.14031073e-01 2.82895151e-02 5.10536219e+01] [-1.14007545e-01 9.93476867e-01 -2.44852290e-03 -2.47028254e+00] [-2.83841865e-02 -7.93652932e-04 9.99596773e-01 -2.90390485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666547615 meters 0.07481553426669804 Centerline is valid? [True, True] Translation: X:51.11, Y:-2.49, Z:-2.90 [[ 9.94265076e-01 1.01640057e-01 3.32604406e-02 5.11136948e+01] [-1.01600529e-01 9.94821106e-01 -2.88078922e-03 -2.48856366e+00] [-3.33809918e-02 -5.15010243e-04 9.99442567e-01 -2.89799233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726547614999994 meters 0.07377710202516238 Centerline is valid? [True, True] Translation: X:51.18, Y:-2.49, Z:-2.89 [[ 9.94441911e-01 9.93822918e-02 3.47626939e-02 5.11761911e+01] [-9.93378908e-02 9.95049217e-01 -3.00637608e-03 -2.49459903e+00] [-3.48893719e-02 -4.63586305e-04 9.99391073e-01 -2.89241527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786547614999996 meters 0.0755338909018212 Centerline is valid? [True, True] Translation: X:51.24, Y:-2.49, Z:-2.91 [[ 9.94590625e-01 9.97435451e-02 2.89950611e-02 5.12365003e+01] [-9.97124917e-02 9.95013103e-01 -2.51852928e-03 -2.48557511e+00] [-2.91016728e-02 -3.86264186e-04 9.99576382e-01 -2.91144591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846547615 meters 0.07395062187648511 Centerline is valid? [True, True] Translation: X:51.30, Y:-2.49, Z:-2.90 [[ 9.94337145e-01 1.00109085e-01 3.56625006e-02 5.12978088e+01] [-1.00062313e-01 9.94976348e-01 -3.09844037e-03 -2.49289012e+00] [-3.57935266e-02 -4.87577935e-04 9.99359087e-01 -2.90026981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.906547614999994 meters 0.07692340182297032 Centerline is valid? [True, True] Translation: X:51.36, Y:-2.47, Z:-2.91 [[ 9.93241813e-01 1.11784375e-01 3.12242522e-02 5.13592624e+01] [-1.11754255e-01 9.93732169e-01 -2.71359257e-03 -2.47214886e+00] [-3.13318811e-02 -7.94189436e-04 9.99508721e-01 -2.91285578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966547614999996 meters 0.07818437213057948 Centerline is valid? [True, True] Translation: X:51.42, Y:-2.48, Z:-2.92 [[ 9.92934225e-01 1.15403979e-01 2.76323371e-02 5.14197677e+01] [-1.15381792e-01 9.93318315e-01 -2.40138353e-03 -2.47563114e+00] [-2.77248357e-02 -8.03852670e-04 9.99615270e-01 -2.91883060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026547615 meters 0.0774293562396646 Centerline is valid? [True, True] Translation: X:51.48, Y:-2.47, Z:-2.92 [[ 9.92535839e-01 1.16897023e-01 3.47519029e-02 5.14822212e+01] [-1.16862841e-01 9.93143471e-01 -3.02019641e-03 -2.47432847e+00] [-3.48666775e-02 -1.06355293e-03 9.99391407e-01 -2.91716839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08654761499999 meters 0.07710137990925642 Centerline is valid? [True, True] Translation: X:51.54, Y:-2.49, Z:-2.92 [[ 9.92889293e-01 1.15351934e-01 2.94071959e-02 5.15432953e+01] [-1.15326763e-01 9.93324319e-01 -2.55630330e-03 -2.48651585e+00] [-2.95057574e-02 -8.53310530e-04 9.99564246e-01 -2.92284047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146547614999996 meters 0.07643344807000883 Centerline is valid? [True, True] Translation: X:51.60, Y:-2.49, Z:-2.93 [[ 9.93262390e-01 1.12007734e-01 2.97336871e-02 5.16046668e+01] [-1.11980426e-01 9.93707044e-01 -2.58726536e-03 -2.49211021e+00] [-2.98363681e-02 -7.59757575e-04 9.99554508e-01 -2.92800286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206547615 meters 0.07548533571637706 Centerline is valid? [True, True] Translation: X:51.67, Y:-2.50, Z:-2.93 [[ 9.93501900e-01 1.09455922e-01 3.11989679e-02 5.16656398e+01] [-1.09424530e-01 9.93991394e-01 -2.71694041e-03 -2.50126494e+00] [-3.13088908e-02 -7.14646935e-04 9.99509501e-01 -2.92848698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26654761499999 meters 0.0774529043985043 Centerline is valid? [True, True] Translation: X:51.73, Y:-2.49, Z:-2.93 [[ 9.92811670e-01 1.15977207e-01 2.95681526e-02 5.17274428e+01] [-1.15951858e-01 9.93251493e-01 -2.57630183e-03 -2.48979812e+00] [-2.96674040e-02 -8.70699706e-04 9.99559446e-01 -2.93295043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326547614999996 meters 0.07706092345438526 Centerline is valid? [True, True] Translation: X:51.79, Y:-2.50, Z:-2.93 [[ 9.92629217e-01 1.17037187e-01 3.14568766e-02 5.17887215e+01] [-1.17009186e-01 9.93127064e-01 -2.73585029e-03 -2.49867971e+00] [-3.15608717e-02 -9.65058600e-04 9.99501366e-01 -2.93139622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386547615 meters 0.07598268091489511 Centerline is valid? [True, True] Translation: X:51.85, Y:-2.50, Z:-2.94 [[ 9.93124428e-01 1.12294943e-01 3.30713766e-02 5.18497610e+01] [-1.12260896e-01 9.93674563e-01 -2.89041313e-03 -2.49578072e+00] [-3.31867645e-02 -8.42082482e-04 9.99448813e-01 -2.93739778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44654761499999 meters 0.07576540929848014 Centerline is valid? [True, True] Translation: X:51.91, Y:-2.51, Z:-2.94 [[ 9.93503471e-01 1.09973677e-01 2.92684638e-02 5.19102328e+01] [-1.09946167e-01 9.93934266e-01 -2.55247820e-03 -2.50690074e+00] [-2.93716345e-02 -6.82059476e-04 9.99568328e-01 -2.94055132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.506547614999995 meters 0.07495465801030893 Centerline is valid? [True, True] Translation: X:51.97, Y:-2.51, Z:-2.94 [[ 9.93469717e-01 1.08499991e-01 3.52940840e-02 5.19713196e+01] [-1.08458537e-01 9.94096163e-01 -3.09267360e-03 -2.50887134e+00] [-3.54212686e-02 -7.55467139e-04 9.99372184e-01 -2.94123569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.566547615 meters 0.07635846530155634 Centerline is valid? [True, True] Translation: X:52.03, Y:-2.51, Z:-2.95 [[ 9.93301669e-01 1.12058240e-01 2.81912300e-02 5.20326037e+01] [-1.12033224e-01 9.93701391e-01 -2.47029150e-03 -2.50762831e+00] [-2.82904810e-02 -7.04609710e-04 9.99599496e-01 -2.95022531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626547615 meters 0.07672818667509443 Centerline is valid? [True, True] Translation: X:52.09, Y:-2.51, Z:-2.95 [[ 9.92989094e-01 1.15271142e-01 2.61767789e-02 5.20938842e+01] [-1.15250680e-01 9.93333790e-01 -2.29411568e-03 -2.51254198e+00] [-2.62667243e-02 -7.38859713e-04 9.99654697e-01 -2.95315760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686547614999995 meters 0.07697518016357548 Centerline is valid? [True, True] Translation: X:52.16, Y:-2.51, Z:-2.96 [[ 9.92422150e-01 1.18254395e-01 3.33792584e-02 5.21559028e+01] [-1.18222749e-01 9.92982786e-01 -2.92708625e-03 -2.50770882e+00] [-3.34911698e-02 -1.04128247e-03 9.99438471e-01 -2.95526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746547615 meters 0.07761544286893633 Centerline is valid? [True, True] Translation: X:52.22, Y:-2.51, Z:-2.96 [[ 9.91957668e-01 1.22211342e-01 3.29298079e-02 5.22171061e+01] [-1.22182680e-01 9.92503424e-01 -2.88883639e-03 -2.51391929e+00] [-3.30359957e-02 -1.15784877e-03 9.99453492e-01 -2.95640570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806547615 meters 0.0798765823605085 Centerline is valid? [True, True] Translation: X:52.28, Y:-2.51, Z:-2.96 [[ 9.90939209e-01 1.30151410e-01 3.31676769e-02 5.22789029e+01] [-1.30126720e-01 9.91493097e-01 -2.91115804e-03 -2.51132429e+00] [-3.32644140e-02 -1.43122035e-03 9.99445561e-01 -2.95960950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.866547614999995 meters 0.08113180686722048 Centerline is valid? [True, True] Translation: X:52.34, Y:-2.52, Z:-2.96 [[ 9.90233482e-01 1.34305860e-01 3.74110556e-02 5.23408577e+01] [-1.34277399e-01 9.90938342e-01 -3.28377340e-03 -2.51644743e+00] [-3.75130794e-02 -1.77175688e-03 9.99294566e-01 -2.96375536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.926547615 meters 0.08247399972597648 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.52, Z:-2.97 [[ 9.90080135e-01 1.36800549e-01 3.20458526e-02 5.24004499e+01] [-1.36780871e-01 9.90597327e-01 -2.81581549e-03 -2.52440103e+00] [-3.21297411e-02 -1.59537665e-03 9.99482433e-01 -2.97359348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.986547615 meters 0.0842548876778917 Centerline is valid? [True, True] Translation: X:52.46, Y:-2.53, Z:-2.98 [[ 9.89490240e-01 1.41048725e-01 3.18484157e-02 5.24608633e+01] [-1.41031463e-01 9.90001157e-01 -2.79903175e-03 -2.53225228e+00] [-3.19247683e-02 -1.72201406e-03 9.99488791e-01 -2.97781306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.046547614999994 meters 0.08390384243979557 Centerline is valid? [True, True] Translation: X:52.52, Y:-2.54, Z:-2.98 [[ 9.89529145e-01 1.39203762e-01 3.81363770e-02 5.25205326e+01] [-1.39177609e-01 9.90261759e-01 -3.35274195e-03 -2.54082466e+00] [-3.82317101e-02 -1.99009389e-03 9.99266919e-01 -2.97854346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106547615 meters 0.08079511080693405 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.57, Z:-2.98 [[ 9.90401727e-01 1.33987597e-01 3.39373503e-02 5.25799861e+01] [-1.33963861e-01 9.90981729e-01 -2.98261419e-03 -2.56549092e+00] [-3.40309274e-02 -1.59239223e-03 9.99419512e-01 -2.98292804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166547615 meters 0.08244032873609393 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.58, Z:-2.99 [[ 9.90026990e-01 1.36168651e-01 3.61200519e-02 5.26404817e+01] [-1.36143270e-01 9.90684078e-01 -3.17280642e-03 -2.57648012e+00] [-3.62155971e-02 -1.77633799e-03 9.99342421e-01 -2.98631216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.226547614999994 meters 0.08500217387131172 Centerline is valid? [True, True] Translation: X:52.70, Y:-2.58, Z:-3.00 [[ 9.89329269e-01 1.41948587e-01 3.28359105e-02 5.27008277e+01] [-1.41930408e-01 9.89872403e-01 -2.89568161e-03 -2.58146314e+00] [-3.29143995e-02 -1.79563161e-03 9.99456561e-01 -2.99781598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286547614999996 meters 0.08436532573250764 Centerline is valid? [True, True] Translation: X:52.76, Y:-2.59, Z:-3.00 [[ 9.89195210e-01 1.43840874e-01 2.83309001e-02 5.27606501e+01] [-1.43828086e-01 9.89599533e-01 -2.49932136e-03 -2.59464819e+00] [-2.83957501e-02 -1.60246243e-03 9.99595475e-01 -3.00245745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346547615 meters 0.08323718456376657 Centerline is valid? [True, True] Translation: X:52.82, Y:-2.61, Z:-3.01 [[ 9.89856204e-01 1.38704519e-01 3.07530662e-02 5.28196252e+01] [-1.38686949e-01 9.90332552e-01 -2.71398608e-03 -2.60557119e+00] [-3.08322047e-02 -1.57859296e-03 9.99523328e-01 -3.00724722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406547614999994 meters 0.08158741544417371 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.62, Z:-3.01 [[ 9.90254197e-01 1.35566148e-01 3.19130920e-02 5.28800487e+01] [-1.35545624e-01 9.90767105e-01 -2.81568213e-03 -2.61672608e+00] [-3.20001530e-02 -1.53743892e-03 9.99486681e-01 -3.00773576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466547614999996 meters 0.08178373902908673 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.62, Z:-3.01 [[ 9.90571027e-01 1.33519490e-01 3.06852820e-02 5.29411430e+01] [-1.33499578e-01 9.91045176e-01 -2.70592677e-03 -2.62075421e+00] [-3.07717946e-02 -1.41605954e-03 9.99525433e-01 -3.01297786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526547615 meters 0.08168508556866423 Centerline is valid? [True, True] Translation: X:53.00, Y:-2.63, Z:-3.02 [[ 9.90707137e-01 1.32986818e-01 2.85284902e-02 5.30022417e+01] [-1.32969368e-01 9.91116953e-01 -2.51636233e-03 -2.63228677e+00] [-2.86097133e-02 -1.30043718e-03 9.99589812e-01 -3.01526626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58654761499999 meters 0.07960573817748749 Centerline is valid? [True, True] Translation: X:53.06, Y:-2.64, Z:-3.02 [[ 9.91464404e-01 1.26644848e-01 3.09744603e-02 5.30613559e+01] [-1.26620735e-01 9.91947400e-01 -2.74667525e-03 -2.63993490e+00] [-3.10728876e-02 -1.19877818e-03 9.99516402e-01 -3.02113286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.646547614999996 meters 0.0759335718644551 Centerline is valid? [True, True] Translation: X:53.12, Y:-2.66, Z:-3.01 [[ 9.92481251e-01 1.18419220e-01 3.09492298e-02 5.31209823e+01] [-1.18391160e-01 9.92963244e-01 -2.74403321e-03 -2.66062271e+00] [-3.10563939e-02 -9.40713720e-04 9.99517191e-01 -3.01420785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.706547615 meters 0.07286251272130302 Centerline is valid? [True, True] Translation: X:53.18, Y:-2.68, Z:-3.02 [[ 9.94575395e-01 9.93543669e-02 3.07976315e-02 5.31793904e+01] [-9.93174037e-02 9.95052055e-01 -2.73141174e-03 -2.68006417e+00] [-3.09166242e-02 -3.42145889e-04 9.99521908e-01 -3.02224196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76654761499999 meters 0.07280950865239712 Centerline is valid? [True, True] Translation: X:53.24, Y:-2.71, Z:-3.02 [[ 9.96816853e-01 7.29558160e-02 3.21498208e-02 5.32387410e+01] [-7.29019485e-02 9.97335052e-01 -2.84610084e-03 -2.71376618e+00] [-3.22717828e-02 4.93256708e-04 9.99479009e-01 -3.01701267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.826547614999996 meters 0.07546769630425355 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.73, Z:-3.02 [[ 9.97585868e-01 6.06616133e-02 3.38024389e-02 5.32967637e+01] [-6.05944992e-02 9.98157935e-01 -3.00731674e-03 -2.73122059e+00] [-3.39226013e-02 9.51814824e-04 9.99424010e-01 -3.02323654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886547615 meters 0.07393489179682164 Centerline is valid? [True, True] Translation: X:53.36, Y:-2.72, Z:-3.03 [[ 9.97209379e-01 6.59871727e-02 3.49162806e-02 5.33596074e+01] [-6.59188380e-02 9.97820154e-01 -3.10592378e-03 -2.71582365e+00] [-3.50451196e-02 7.95615680e-04 9.99385414e-01 -3.02513846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94654761499999 meters 0.07323843130990489 Centerline is valid? [True, True] Translation: X:53.42, Y:-2.70, Z:-3.03 [[ 9.96946457e-01 7.15612624e-02 3.12529472e-02 5.34228348e+01] [-7.15094172e-02 9.97436065e-01 -2.77490261e-03 -2.70446501e+00] [-3.13713922e-02 5.31549283e-04 9.99507655e-01 -3.03068015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006547614999995 meters 0.07148056698801615 Centerline is valid? [True, True] Translation: X:53.48, Y:-2.69, Z:-3.03 [[ 9.96085881e-01 7.86521853e-02 4.03330017e-02 5.34840068e+01] [-7.85709170e-02 9.96902032e-01 -3.59859793e-03 -2.68859835e+00] [-4.04910889e-02 4.15511666e-04 9.99179813e-01 -3.02872744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066547615 meters 0.07230747346042084 Centerline is valid? [True, True] Translation: X:53.55, Y:-2.68, Z:-3.04 [[ 9.96316856e-01 7.88586355e-02 3.36754857e-02 5.35452605e+01] [-7.88021434e-02 9.96885751e-01 -3.00355947e-03 -2.68324716e+00] [-3.38074685e-02 3.38796469e-04 9.99428307e-01 -3.04256071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126547615 meters 0.07226183807416135 Centerline is valid? [True, True] Translation: X:53.61, Y:-2.67, Z:-3.05 [[ 9.95933671e-01 8.37831457e-02 3.31135600e-02 5.36078368e+01] [-8.37312802e-02 9.96483997e-01 -2.95234492e-03 -2.67141006e+00] [-3.32444894e-02 1.67698940e-04 9.99447235e-01 -3.04608356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186547614999995 meters 0.07133424385051147 Centerline is valid? [True, True] Translation: X:53.67, Y:-2.65, Z:-3.04 [[ 9.94943460e-01 9.37591780e-02 3.60101213e-02 5.36727690e+01] [-9.37042778e-02 9.95594890e-01 -3.21299193e-03 -2.64920443e+00] [-3.61527403e-02 -1.77557106e-04 9.99346260e-01 -3.03929859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246547615 meters 0.07193057185821307 Centerline is valid? [True, True] Translation: X:53.73, Y:-2.65, Z:-3.05 [[ 9.95387341e-01 9.17550594e-02 2.80187674e-02 5.37339640e+01] [-9.17207516e-02 9.95781605e-01 -2.50993417e-03 -2.64694609e+00] [-2.81308723e-02 -7.15457098e-05 9.99604246e-01 -3.04845193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306547615 meters 0.07177088968368844 Centerline is valid? [True, True] Translation: X:53.80, Y:-2.64, Z:-3.06 [[ 9.95268058e-01 9.28161167e-02 2.87517209e-02 5.37955449e+01] [-9.27805804e-02 9.95683261e-01 -2.57047660e-03 -2.63759937e+00] [-2.88661889e-02 -1.09288101e-04 9.99583279e-01 -3.05654871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.366547614999995 meters 0.07094335270374184 Centerline is valid? [True, True] Translation: X:53.86, Y:-2.63, Z:-3.05 [[ 9.94552109e-01 9.88200976e-02 3.31766660e-02 5.38586796e+01] [-9.87758265e-02 9.95105264e-01 -2.97476337e-03 -2.63087715e+00] [-3.33082414e-02 -3.18495416e-04 9.99445076e-01 -3.04795105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426547615 meters 0.07176513776733896 Centerline is valid? [True, True] Translation: X:53.92, Y:-2.61, Z:-3.05 [[ 9.93809282e-01 1.05697169e-01 3.42230893e-02 5.39220550e+01] [-1.05653818e-01 9.94398209e-01 -3.07775620e-03 -2.61079568e+00] [-3.43566888e-02 -5.57097385e-04 9.99409479e-01 -3.05308207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486547615 meters 0.07522838348813078 Centerline is valid? [True, True] Translation: X:53.98, Y:-2.60, Z:-3.06 [[ 9.92942596e-01 1.14368565e-01 3.13820393e-02 5.39825502e+01] [-1.14336054e-01 9.93438087e-01 -2.83443107e-03 -2.60028494e+00] [-3.15002829e-02 -7.73671199e-04 9.99503444e-01 -3.05643274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.546547614999994 meters 0.07657564993070562 Centerline is valid? [True, True] Translation: X:54.04, Y:-2.60, Z:-3.06 [[ 9.92503361e-01 1.18610155e-01 2.94738953e-02 5.40441874e+01] [-1.18583376e-01 9.92940533e-01 -2.66103274e-03 -2.59998344e+00] [-2.95814509e-02 -8.54030083e-04 9.99562008e-01 -3.06047849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.606547615 meters 0.08839972828279795 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.56, Z:-3.08 [[ 9.89731014e-01 1.40454356e-01 2.65536198e-02 5.41066189e+01] [-1.40440429e-01 9.90086226e-01 -2.39796624e-03 -2.56449438e+00] [-2.66271780e-02 -1.35586020e-03 9.99644514e-01 -3.07727554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666547615 meters 0.08486163114452519 Centerline is valid? [True, True] Translation: X:54.17, Y:-2.58, Z:-3.07 [[ 9.88820283e-01 1.47348765e-01 2.28645880e-02 5.41668308e+01] [-1.47340260e-01 9.89083708e-01 -2.06544622e-03 -2.58361830e+00] [-2.29193324e-02 -1.32651922e-03 9.99736438e-01 -3.07237756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.726547614999994 meters 0.08633748787609916 Centerline is valid? [True, True] Translation: X:54.23, Y:-2.59, Z:-3.07 [[ 9.88523542e-01 1.48778543e-01 2.61945009e-02 5.42273415e+01] [-1.48768013e-01 9.88869305e-01 -2.36124930e-03 -2.58993030e+00] [-2.62542411e-02 -1.56275332e-03 9.99654076e-01 -3.07102310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786547614999996 meters 0.08736155009261395 Centerline is valid? [True, True] Translation: X:54.29, Y:-2.60, Z:-3.07 [[ 9.88450271e-01 1.48944323e-01 2.79580264e-02 5.42882144e+01] [-1.48932193e-01 9.88844181e-01 -2.52735222e-03 -2.59947286e+00] [-2.80225664e-02 -1.66568821e-03 9.99605903e-01 -3.07386278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846547615 meters 0.08914639982853065 Centerline is valid? [True, True] Translation: X:54.35, Y:-2.61, Z:-3.08 [[ 9.88625109e-01 1.48594642e-01 2.32384594e-02 5.43470979e+01] [-1.48585906e-01 9.88897249e-01 -2.11180192e-03 -2.61369765e+00] [-2.32942510e-02 -1.36512713e-03 9.99727720e-01 -3.08142686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906547614999994 meters 0.09152862616104666 Centerline is valid? [True, True] Translation: X:54.41, Y:-2.63, Z:-3.09 [[ 9.88296989e-01 1.51642768e-01 1.65387881e-02 5.44069972e+01] [-1.51638776e-01 9.88434836e-01 -1.50245516e-03 -2.62827452e+00] [-1.65753508e-02 -1.02304967e-03 9.99862096e-01 -3.09043682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966547614999996 meters 0.09039981671230186 Centerline is valid? [True, True] Translation: X:54.47, Y:-2.65, Z:-3.09 [[ 9.87563080e-01 1.55621202e-01 2.23875872e-02 5.44671968e+01] [-1.55615044e-01 9.87815695e-01 -2.02758525e-03 -2.65002782e+00] [-2.24303452e-02 -1.48147704e-03 9.99747310e-01 -3.08759781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026547615 meters 0.09206734148162278 Centerline is valid? [True, True] Translation: X:54.53, Y:-2.67, Z:-3.09 [[ 9.87477064e-01 1.56339069e-01 2.11457965e-02 5.45263389e+01] [-1.56333548e-01 9.87702445e-01 -1.92411459e-03 -2.66733302e+00] [-2.11865691e-02 -1.40577837e-03 9.99774551e-01 -3.09429430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08654761499999 meters 0.09235241333788612 Centerline is valid? [True, True] Translation: X:54.59, Y:-2.69, Z:-3.09 [[ 9.86985837e-01 1.58873845e-01 2.48607990e-02 5.45864053e+01] [-1.58867005e-01 9.87297400e-01 -2.26258498e-03 -2.69223245e+00] [-2.49044678e-02 -1.71642135e-03 9.99688362e-01 -3.08844604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146547614999996 meters 0.09246407885753742 Centerline is valid? [True, True] Translation: X:54.65, Y:-2.71, Z:-3.10 [[ 9.87017509e-01 1.58645160e-01 2.50629270e-02 5.46468483e+01] [-1.58637977e-01 9.87334169e-01 -2.28730394e-03 -2.70573752e+00] [-2.51083539e-02 -1.71832300e-03 9.99683259e-01 -3.09884813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206547615 meters 0.0893882014138584 Centerline is valid? [True, True] Translation: X:54.71, Y:-2.73, Z:-3.10 [[ 9.87750572e-01 1.54444809e-01 2.22622450e-02 5.47060080e+01] [-1.54437834e-01 9.88000396e-01 -2.04262729e-03 -2.73138204e+00] [-2.23105801e-02 -1.42052663e-03 9.99750079e-01 -3.10255537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26654761499999 meters 0.09177574620667207 Centerline is valid? [True, True] Translation: X:54.77, Y:-2.74, Z:-3.10 [[ 9.87619283e-01 1.54703532e-01 2.59801841e-02 5.47654870e+01] [-1.54694068e-01 9.87959540e-01 -2.38586118e-03 -2.74446128e+00] [-2.60364719e-02 -1.66265787e-03 9.99659611e-01 -3.10293337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326547614999996 meters 0.09107861963642197 Centerline is valid? [True, True] Translation: X:54.83, Y:-2.76, Z:-3.12 [[ 9.88011046e-01 1.52658190e-01 2.30141063e-02 5.48261819e+01] [-1.52650378e-01 9.88278010e-01 -2.10622857e-03 -2.75857895e+00] [-2.30658683e-02 -1.43213493e-03 9.99732922e-01 -3.11569629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386547615 meters 0.08619783571426658 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.79, Z:-3.12 [[ 9.89461319e-01 1.42949630e-01 2.30586393e-02 5.48852379e+01] [-1.42938855e-01 9.89729243e-01 -2.12334852e-03 -2.78653327e+00] [-2.31253415e-02 -1.19500427e-03 9.99731859e-01 -3.11751724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44654761499999 meters 0.08789938115339554 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.79, Z:-3.11 [[ 9.88972308e-01 1.45184552e-01 2.92441471e-02 5.49469126e+01] [-1.45168343e-01 9.89403319e-01 -2.68795786e-03 -2.79033833e+00] [-2.93245062e-02 -1.58700849e-03 9.99568684e-01 -3.11421841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506547614999995 meters 0.08189418916385034 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.81, Z:-3.12 [[ 9.90189918e-01 1.36405518e-01 3.02896117e-02 5.50056306e+01] [-1.36383605e-01 9.90652151e-01 -2.79794238e-03 -2.81424998e+00] [-3.03881237e-02 -1.36051211e-03 9.99537248e-01 -3.11660516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566547615 meters 0.08266940144087455 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.82, Z:-3.12 [[ 9.90278840e-01 1.36382496e-01 2.73428998e-02 5.50670269e+01] [-1.36364670e-01 9.90655492e-01 -2.52429648e-03 -2.82429437e+00] [-2.74316638e-02 -1.22884812e-03 9.99622926e-01 -3.12249807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62654761499999 meters 0.08447674594152164 Centerline is valid? [True, True] Translation: X:55.13, Y:-2.83, Z:-3.13 [[ 9.89920226e-01 1.39774243e-01 2.28277604e-02 5.51281082e+01] [-1.39762662e-01 9.90182785e-01 -2.10988827e-03 -2.82513427e+00] [-2.28985633e-02 -1.10184747e-03 9.99737186e-01 -3.13119475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686547614999995 meters 0.08675011451834035 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.82, Z:-3.14 [[ 9.89932505e-01 1.39055035e-01 2.64070432e-02 5.51890125e+01] [-1.39039250e-01 9.90283860e-01 -2.44192005e-03 -2.81884976e+00] [-2.64900300e-02 -1.25427944e-03 9.99648291e-01 -3.13734144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746547615 meters 0.08605737439035048 Centerline is valid? [True, True] Translation: X:55.25, Y:-2.83, Z:-3.13 [[ 9.89952121e-01 1.38084238e-01 3.04555580e-02 5.52489418e+01] [-1.38062766e-01 9.90419476e-01 -2.81687905e-03 -2.83266023e+00] [-3.05527444e-02 -1.41620321e-03 9.99532153e-01 -3.12972742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806547615 meters 0.08789254430881538 Centerline is valid? [True, True] Translation: X:55.31, Y:-2.83, Z:-3.14 [[ 9.89875762e-01 1.38769055e-01 2.98182064e-02 5.53099657e+01] [-1.38748923e-01 9.90323763e-01 -2.75325513e-03 -2.82681577e+00] [-2.99117450e-02 -1.41186352e-03 9.99551547e-01 -3.13955232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.866547614999995 meters 0.0837405650576719 Centerline is valid? [True, True] Translation: X:55.37, Y:-2.85, Z:-3.14 [[ 9.90378626e-01 1.36602587e-01 2.21339258e-02 5.53692719e+01] [-1.36590777e-01 9.90625434e-01 -2.05164183e-03 -2.84626649e+00] [-2.22066894e-02 -9.91387898e-04 9.99752910e-01 -3.14386877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926547615 meters 0.08413343153224426 Centerline is valid? [True, True] Translation: X:55.43, Y:-2.84, Z:-3.14 [[ 9.89589231e-01 1.41392707e-01 2.68562098e-02 5.54316915e+01] [-1.41377233e-01 9.89952680e-01 -2.48365932e-03 -2.84074009e+00] [-2.69375482e-02 -1.33905413e-03 9.99636222e-01 -3.14374301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986547615 meters 0.08356234584524314 Centerline is valid? [True, True] Translation: X:55.49, Y:-2.85, Z:-3.15 [[ 9.89407583e-01 1.42789071e-01 2.61517913e-02 5.54938990e+01] [-1.42774605e-01 9.89752247e-01 -2.42914225e-03 -2.84607403e+00] [-2.62306492e-02 -1.33039992e-03 9.99655032e-01 -3.14576232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.046547614999994 meters 0.08344556431561741 Centerline is valid? [True, True] Translation: X:55.56, Y:-2.85, Z:-3.15 [[ 9.89251923e-01 1.43429305e-01 2.84370912e-02 5.55558853e+01] [-1.43412537e-01 9.89659477e-01 -2.63892173e-03 -2.84936778e+00] [-2.85215355e-02 -1.46767700e-03 9.99592101e-01 -3.14940881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106547615 meters 0.08349027672930145 Centerline is valid? [True, True] Translation: X:55.62, Y:-2.86, Z:-3.15 [[ 9.89085770e-01 1.44814095e-01 2.71701611e-02 5.56171251e+01] [-1.44799127e-01 9.89457843e-01 -2.52799178e-03 -2.85601255e+00] [-2.72498178e-02 -1.43381489e-03 9.99627626e-01 -3.14790398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166547615 meters 0.08235461467315877 Centerline is valid? [True, True] Translation: X:55.68, Y:-2.86, Z:-3.16 [[ 9.90024087e-01 1.38666929e-01 2.49757686e-02 5.56770246e+01] [-1.38652042e-01 9.90338406e-01 -2.33524580e-03 -2.86166979e+00] [-2.50582842e-02 -1.15099172e-03 9.99685329e-01 -3.15819700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.226547614999994 meters 0.08030904171409578 Centerline is valid? [True, True] Translation: X:55.74, Y:-2.88, Z:-3.16 [[ 9.90834173e-01 1.32385504e-01 2.68648633e-02 5.57367121e+01] [-1.32365955e-01 9.91197731e-01 -2.51256253e-03 -2.87634568e+00] [-2.69610183e-02 -1.06646047e-03 9.99635917e-01 -3.15671014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286547614999996 meters 0.07687652048844194 Centerline is valid? [True, True] Translation: X:55.80, Y:-2.89, Z:-3.16 [[ 9.91821344e-01 1.24260561e-01 2.91502074e-02 5.57964454e+01] [-1.24234014e-01 9.92249199e-01 -2.72707809e-03 -2.88918613e+00] [-2.92631381e-02 -9.16673016e-04 9.99571322e-01 -3.15791690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346547615 meters 0.0757733274534704 Centerline is valid? [True, True] Translation: X:55.86, Y:-2.90, Z:-3.17 [[ 9.92954003e-01 1.15917439e-01 2.46068224e-02 5.58567374e+01] [-1.15895964e-01 9.93258691e-01 -2.30189878e-03 -2.90155511e+00] [-2.47077704e-02 -5.66151795e-04 9.99694556e-01 -3.16533456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.406547614999994 meters 0.07463510231024684 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.91, Z:-3.17 [[ 9.93633453e-01 1.09801137e-01 2.52244334e-02 5.59174801e+01] [-1.09776589e-01 9.93953485e-01 -2.36006955e-03 -2.91361575e+00] [-2.53310518e-02 -4.24008206e-04 9.99679028e-01 -3.16502761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466547614999996 meters 0.07379351824788158 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.92, Z:-3.16 [[ 9.93456135e-01 1.10307259e-01 2.96178239e-02 5.59794388e+01] [-1.10273581e-01 9.93897403e-01 -2.77307750e-03 -2.91832316e+00] [-2.97429688e-02 -5.11132650e-04 9.99557449e-01 -3.16265482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526547615 meters 0.07416142468551377 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.92, Z:-3.17 [[ 9.93276504e-01 1.11882980e-01 2.97318782e-02 5.60409474e+01] [-1.11849836e-01 9.93721229e-01 -2.78079732e-03 -2.91999850e+00] [-2.98563225e-02 -5.63405068e-04 9.99554042e-01 -3.16740077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58654761499999 meters 0.0777595995021043 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.91, Z:-3.18 [[ 9.92466007e-01 1.19704949e-01 2.61141655e-02 5.61011849e+01] [-1.19681799e-01 9.92809271e-01 -2.45329850e-03 -2.91402844e+00] [-2.62200575e-02 -6.90574927e-04 9.99655957e-01 -3.17867131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.646547614999996 meters 0.08353653598066554 Centerline is valid? [True, True] Translation: X:56.16, Y:-2.90, Z:-3.18 [[ 9.90543552e-01 1.33839421e-01 3.01741721e-02 5.61625503e+01] [-1.33815097e-01 9.91002267e-01 -2.83317508e-03 -2.90067936e+00] [-3.02818635e-02 -1.23137645e-03 9.99540641e-01 -3.17869938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706547615 meters 0.08759323177836696 Centerline is valid? [True, True] Translation: X:56.22, Y:-2.90, Z:-3.19 [[ 9.89744462e-01 1.40146579e-01 2.76556661e-02 5.62232511e+01] [-1.40128530e-01 9.90129910e-01 -2.59923818e-03 -2.90179805e+00] [-2.77469765e-02 -1.30276624e-03 9.99614130e-01 -3.18762979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76654761499999 meters 0.08523046442952882 Centerline is valid? [True, True] Translation: X:56.28, Y:-2.92, Z:-3.18 [[ 9.88708127e-01 1.45874770e-01 3.43043814e-02 5.62846383e+01] [-1.45850402e-01 9.89301399e-01 -3.22513390e-03 -2.91850160e+00] [-3.44078382e-02 -1.81459171e-03 9.99406228e-01 -3.18328377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.826547614999996 meters 0.08314720316980098 Centerline is valid? [True, True] Translation: X:56.34, Y:-2.93, Z:-3.19 [[ 9.89516765e-01 1.41449700e-01 2.91299634e-02 5.63444657e+01] [-1.41430144e-01 9.89944443e-01 -2.74100733e-03 -2.93212185e+00] [-2.92247601e-02 -1.40758223e-03 9.99571874e-01 -3.19164433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886547615 meters 0.08581028060149047 Centerline is valid? [True, True] Translation: X:56.40, Y:-2.94, Z:-3.20 [[ 9.89576421e-01 1.42170552e-01 2.29356050e-02 5.64036056e+01] [-1.42158584e-01 9.89841539e-01 -2.15975127e-03 -2.94135239e+00] [-2.30096676e-02 -1.12325419e-03 9.99734612e-01 -3.20263031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94654761499999 meters 0.0838510631965207 Centerline is valid? [True, True] Translation: X:56.46, Y:-2.95, Z:-3.20 [[ 9.89669498e-01 1.41103814e-01 2.53771310e-02 5.64639984e+01] [-1.41088841e-01 9.89994057e-01 -2.38855388e-03 -2.95222684e+00] [-2.54602429e-02 -1.21655109e-03 9.99675095e-01 -3.20254494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006547614999995 meters 0.0817830329505596 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.96, Z:-3.20 [[ 9.90047621e-01 1.38155447e-01 2.68100674e-02 5.65242739e+01] [-1.38137612e-01 9.90409826e-01 -2.52509910e-03 -2.96120261e+00] [-2.69018104e-02 -1.20351035e-03 9.99637356e-01 -3.20496140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066547615 meters 0.0820595029361308 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.98, Z:-3.20 [[ 9.90272991e-01 1.35865618e-01 2.99989455e-02 5.65837852e+01] [-1.35842218e-01 9.90726453e-01 -2.82618448e-03 -2.97736850e+00] [-3.01047302e-02 -1.27642913e-03 9.99545935e-01 -3.20193407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12654761499999 meters 0.08113596593445126 Centerline is valid? [True, True] Translation: X:56.64, Y:-2.98, Z:-3.22 [[ 9.90649762e-01 1.33944904e-01 2.59193260e-02 5.66448026e+01] [-1.33926964e-01 9.90988214e-01 -2.43471225e-03 -2.98176043e+00] [-2.60118639e-02 -1.05934952e-03 9.99661073e-01 -3.21558567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186547614999995 meters 0.08236024280965679 Centerline is valid? [True, True] Translation: X:56.71, Y:-2.99, Z:-3.21 [[ 9.90454501e-01 1.34387021e-01 3.06595842e-02 5.67058242e+01] [-1.34361651e-01 9.90928132e-01 -2.89560390e-03 -2.98874634e+00] [-3.07705761e-02 -1.25150842e-03 9.99525690e-01 -3.20859000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.246547615 meters 0.08084005063804858 Centerline is valid? [True, True] Translation: X:56.77, Y:-2.99, Z:-3.21 [[ 9.89973773e-01 1.37469781e-01 3.24651911e-02 5.67679430e+01] [-1.37442974e-01 9.90504934e-01 -3.06656801e-03 -2.99112985e+00] [-3.25784925e-02 -1.42629053e-03 9.99468162e-01 -3.21155686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306547615 meters 0.08087860289712227 Centerline is valid? [True, True] Translation: X:56.83, Y:-3.00, Z:-3.21 [[ 9.89661790e-01 1.38730055e-01 3.63801171e-02 5.68296336e+01] [-1.38697260e-01 9.90328867e-01 -3.43592006e-03 -2.99788114e+00] [-3.65049455e-02 -1.64542377e-03 9.99332118e-01 -3.20719094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.366547614999995 meters 0.08434117413218913 Centerline is valid? [True, True] Translation: X:56.89, Y:-2.99, Z:-3.23 [[ 9.89900871e-01 1.39306390e-01 2.62677484e-02 5.68897121e+01] [-1.39289275e-01 9.90248606e-01 -2.48913880e-03 -2.99324217e+00] [-2.63583542e-02 -1.19481496e-03 9.99651844e-01 -3.22849101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.426547615 meters 0.0825418500173672 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.01, Z:-3.23 [[ 9.89979832e-01 1.38512927e-01 2.74609148e-02 5.69510170e+01] [-1.38494020e-01 9.90359861e-01 -2.59845933e-03 -3.00544911e+00] [-2.75561079e-02 -1.23075016e-03 9.99619501e-01 -3.22558393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486547615 meters 0.08322955836810027 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.01, Z:-3.22 [[ 9.89444408e-01 1.41083702e-01 3.30930933e-02 5.70130802e+01] [-1.41057318e-01 9.89996444e-01 -3.14233167e-03 -3.00503365e+00] [-3.32053765e-02 -1.55886047e-03 9.99447334e-01 -3.22249053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.546547614999994 meters 0.0847877024160327 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.01, Z:-3.24 [[ 9.89769772e-01 1.40337116e-01 2.57156155e-02 5.70725668e+01] [-1.40320689e-01 9.90103073e-01 -2.45116302e-03 -3.00721756e+00] [-2.58050991e-02 -1.18234583e-03 9.99666294e-01 -3.23784148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.606547615 meters 0.08245919188336283 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.02, Z:-3.23 [[ 9.90016765e-01 1.37606733e-01 3.05154390e-02 5.71325617e+01] [-1.37582239e-01 9.90486070e-01 -2.91093397e-03 -3.02113025e+00] [-3.06256813e-02 -1.31650900e-03 9.99530057e-01 -3.23119725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666547615 meters 0.08024942212060397 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.03, Z:-3.23 [[ 9.90572035e-01 1.32961749e-01 3.29881410e-02 5.71914435e+01] [-1.32930516e-01 9.91120360e-01 -3.14793578e-03 -3.03042040e+00] [-3.31137733e-02 -1.26687345e-03 9.99450786e-01 -3.23361654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.726547614999994 meters 0.08056028496999831 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.04, Z:-3.25 [[ 9.91304154e-01 1.29482282e-01 2.34608798e-02 5.72503095e+01] [-1.29465538e-01 9.91581397e-01 -2.23761646e-03 -3.03709856e+00] [-2.35531037e-02 -8.19216934e-04 9.99722252e-01 -3.25166240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786547614999996 meters 0.0771824589855642 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.06, Z:-3.24 [[ 9.91973055e-01 1.23708052e-01 2.61873134e-02 5.73107163e+01] [-1.23685140e-01 9.92318366e-01 -2.49915811e-03 -3.05709483e+00] [-2.62953180e-02 -7.59884020e-04 9.99653930e-01 -3.24423903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846547615 meters 0.07531920730081418 Centerline is valid? [True, True] Translation: X:57.37, Y:-3.06, Z:-3.25 [[ 9.92657158e-01 1.17769654e-01 2.76057195e-02 5.73709930e+01] [-1.17741859e-01 9.93040738e-01 -2.63588748e-03 -3.06482262e+00] [-2.77240316e-02 -6.33816156e-04 9.99615414e-01 -3.24630119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.906547614999994 meters 0.07372919337501906 Centerline is valid? [True, True] Translation: X:57.43, Y:-3.08, Z:-3.24 [[ 9.92899021e-01 1.14393774e-01 3.26435035e-02 5.74304866e+01] [-1.14353028e-01 9.93435282e-01 -3.11857554e-03 -3.07782549e+00] [-3.27859537e-02 -6.36452873e-04 9.99462193e-01 -3.24054970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.966547614999996 meters 0.07416550381775161 Centerline is valid? [True, True] Translation: X:57.49, Y:-3.07, Z:-3.24 [[ 9.92658494e-01 1.16348318e-01 3.30481936e-02 5.74931676e+01] [-1.16307824e-01 9.93208214e-01 -3.15164952e-03 -3.07488318e+00] [-3.31904265e-02 -7.15251818e-04 9.99448790e-01 -3.24496516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026547615 meters 0.07531946671178116 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.07, Z:-3.25 [[ 9.92280308e-01 1.18744902e-01 3.57692349e-02 5.75545141e+01] [-1.18698587e-01 9.92924432e-01 -3.42314342e-03 -3.07129217e+00] [-3.59226280e-02 -8.49039843e-04 9.99354213e-01 -3.24737951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08654761499999 meters 0.07520089596237904 Centerline is valid? [True, True] Translation: X:57.62, Y:-3.07, Z:-3.25 [[ 9.91545742e-01 1.25078475e-01 3.45313959e-02 5.76157127e+01] [-1.25038907e-01 9.92146313e-01 -3.31154970e-03 -3.07412643e+00] [-3.46744007e-02 -1.03421499e-03 9.99398127e-01 -3.24512852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146547614999996 meters 0.08217347549923625 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.05, Z:-3.27 [[ 9.90782794e-01 1.32207229e-01 2.95076958e-02 5.76769851e+01] [-1.32181475e-01 9.91221492e-01 -2.83029819e-03 -3.05434364e+00] [-2.96228481e-02 -1.09615999e-03 9.99560546e-01 -3.26789131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206547615 meters 0.07837875299313576 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.07, Z:-3.26 [[ 9.90327726e-01 1.33889520e-01 3.63949432e-02 5.77385405e+01] [-1.33851483e-01 9.90995255e-01 -3.49072265e-03 -3.06883150e+00] [-3.65345872e-02 -1.41455769e-03 9.99331388e-01 -3.25548600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26654761499999 meters 0.08124702596810136 Centerline is valid? [True, True] Translation: X:57.80, Y:-3.06, Z:-3.27 [[ 9.89954501e-01 1.38224875e-01 2.97316427e-02 5.77992833e+01] [-1.38201379e-01 9.90400038e-01 -2.85367256e-03 -3.06367898e+00] [-2.98406686e-02 -1.28394804e-03 9.99553843e-01 -3.26979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326547614999996 meters 0.08070498470570613 Centerline is valid? [True, True] Translation: X:57.86, Y:-3.07, Z:-3.27 [[ 9.89554302e-01 1.40718320e-01 3.13151461e-02 5.78611778e+01] [-1.40693671e-01 9.90048630e-01 -3.00020693e-03 -3.07000631e+00] [-3.14257016e-02 -1.43697520e-03 9.99505058e-01 -3.27102738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.386547615 meters 0.0830741133392349 Centerline is valid? [True, True] Translation: X:57.92, Y:-3.08, Z:-3.27 [[ 9.88782439e-01 1.45672006e-01 3.29993285e-02 5.79216784e+01] [-1.45646934e-01 9.89331536e-01 -3.17519575e-03 -3.07506511e+00] [-3.31098135e-02 -1.66667322e-03 9.99450330e-01 -3.26848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44654761499999 meters 0.08620930204676476 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.08, Z:-3.28 [[ 9.87980590e-01 1.51561065e-01 3.03907602e-02 5.79822938e+01] [-1.51542528e-01 9.88446409e-01 -2.92569522e-03 -3.07530615e+00] [-3.04830593e-02 -1.71496254e-03 9.99533812e-01 -3.27778480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506547614999995 meters 0.08616738609186168 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.09, Z:-3.28 [[ 9.88188638e-01 1.50322628e-01 2.97711879e-02 5.80435556e+01] [-1.50304443e-01 9.88635621e-01 -2.86054391e-03 -3.08687923e+00] [-2.98628613e-02 -1.64798483e-03 9.99552647e-01 -3.28045615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566547615 meters 0.08429992311853504 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.10, Z:-3.28 [[ 9.88424245e-01 1.49011102e-01 2.85167249e-02 5.81043172e+01] [-1.48993701e-01 9.88834332e-01 -2.74599315e-03 -3.09985785e+00] [-2.86075001e-02 -1.53460618e-03 9.99589544e-01 -3.28270174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62654761499999 meters 0.08052131245144457 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.11, Z:-3.28 [[ 9.89056649e-01 1.43145733e-01 3.57245535e-02 5.81648407e+01] [-1.43114016e-01 9.89700172e-01 -3.45664164e-03 -3.11443431e+00] [-3.58514003e-02 -1.69386993e-03 9.99355696e-01 -3.28023348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686547614999995 meters 0.08237109492586621 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.12, Z:-3.29 [[ 9.88895431e-01 1.45187823e-01 3.17225947e-02 5.82240451e+01] [-1.45163876e-01 9.89402866e-01 -3.06891311e-03 -3.11783693e+00] [-3.18319949e-02 -1.57014065e-03 9.99492000e-01 -3.28888234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746547615 meters 0.08344663882418099 Centerline is valid? [True, True] Translation: X:58.29, Y:-3.12, Z:-3.30 [[ 9.88860156e-01 1.46508773e-01 2.62825197e-02 5.82851617e+01] [-1.46492720e-01 9.89208473e-01 -2.54565169e-03 -3.11608182e+00] [-2.63718515e-02 -1.33290427e-03 9.99651314e-01 -3.29802145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806547615 meters 0.07810070638554652 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.14, Z:-3.29 [[ 9.90167242e-01 1.37345689e-01 2.65517449e-02 5.83449158e+01] [-1.37326022e-01 9.90522565e-01 -2.57143616e-03 -3.13565637e+00] [-2.66532782e-02 -1.10009365e-03 9.99644133e-01 -3.29399401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.866547614999995 meters 0.0774424672582517 Centerline is valid? [True, True] Translation: X:58.41, Y:-3.14, Z:-3.30 [[ 9.90441471e-01 1.35531443e-01 2.56304724e-02 5.84066034e+01] [-1.35512648e-01 9.90772521e-01 -2.47688579e-03 -3.13921634e+00] [-2.57296636e-02 -1.02004276e-03 9.99668417e-01 -3.30015337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926547615 meters 0.07704058475343666 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.14, Z:-3.30 [[ 9.90201270e-01 1.36332046e-01 3.02492557e-02 5.84684430e+01] [-1.36305773e-01 9.90662456e-01 -2.93856265e-03 -3.14296098e+00] [-3.03674222e-02 -1.21337971e-03 9.99538067e-01 -3.29822570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986547615 meters 0.07917737717753168 Centerline is valid? [True, True] Translation: X:58.53, Y:-3.14, Z:-3.30 [[ 9.89540935e-01 1.40706952e-01 3.17850950e-02 5.85295437e+01] [-1.40680107e-01 9.90050280e-01 -3.09051788e-03 -3.13685832e+00] [-3.19036995e-02 -1.41333663e-03 9.99489948e-01 -3.30143396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.046547614999994 meters 0.07888698007068658 Centerline is valid? [True, True] Translation: X:58.59, Y:-3.14, Z:-3.31 [[ 9.89971989e-01 1.38122325e-01 2.96257312e-02 5.85916188e+01] [-1.38098014e-01 9.90414395e-01 -2.87497316e-03 -3.13792461e+00] [-2.97388486e-02 -1.24511174e-03 9.99556927e-01 -3.30902880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106547615 meters 0.08051948519718506 Centerline is valid? [True, True] Translation: X:58.65, Y:-3.14, Z:-3.31 [[ 9.89637092e-01 1.41010295e-01 2.71020851e-02 5.86511420e+01] [-1.40990687e-01 9.90007395e-01 -2.64263379e-03 -3.14163894e+00] [-2.72039032e-02 -1.20589318e-03 9.99629178e-01 -3.31047676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166547615 meters 0.08184450523490885 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.14, Z:-3.31 [[ 9.89145812e-01 1.43763035e-01 3.03768548e-02 5.87122923e+01] [-1.43739871e-01 9.89611090e-01 -2.95628378e-03 -3.14196155e+00] [-3.04862768e-02 -1.44216947e-03 9.99534145e-01 -3.31256884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.226547614999994 meters 0.08399054186008395 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.14, Z:-3.32 [[ 9.88334720e-01 1.49749857e-01 2.77391720e-02 5.87731205e+01] [-1.49732611e-01 9.88722814e-01 -2.70959838e-03 -3.14284146e+00] [-2.78321142e-02 -1.47546850e-03 9.99611523e-01 -3.31751805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.286547614999996 meters 0.0836328336757115 Centerline is valid? [True, True] Translation: X:58.83, Y:-3.15, Z:-3.32 [[ 9.87858739e-01 1.52142901e-01 3.14268783e-02 5.88346752e+01] [-1.52122082e-01 9.88356955e-01 -3.06634667e-03 -3.15213314e+00] [-3.15274966e-02 -1.75160481e-03 9.99501350e-01 -3.31650982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346547615 meters 0.08632465670197784 Centerline is valid? [True, True] Translation: X:58.90, Y:-3.15, Z:-3.32 [[ 9.87267271e-01 1.56327926e-01 2.94094474e-02 5.88958409e+01] [-1.56311187e-01 9.87703655e-01 -2.88155342e-03 -3.15194302e+00] [-2.94982860e-02 -1.75216225e-03 9.99563295e-01 -3.32492017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.406547614999994 meters 0.08348142935974978 Centerline is valid? [True, True] Translation: X:58.96, Y:-3.17, Z:-3.33 [[ 9.87901233e-01 1.52499229e-01 2.81982060e-02 5.89551058e+01] [-1.52482260e-01 9.88302343e-01 -2.76376637e-03 -3.17146728e+00] [-2.82898253e-02 -1.56939796e-03 9.99598531e-01 -3.32896524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.466547614999996 meters 0.08330447913925101 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.18, Z:-3.34 [[ 9.88342386e-01 1.49742256e-01 2.75060970e-02 5.90145591e+01] [-1.49725011e-01 9.88723999e-01 -2.69711239e-03 -3.18304612e+00] [-2.75998099e-02 -1.45268020e-03 9.99617997e-01 -3.33513912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.526547615 meters 0.08559063620713978 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.19, Z:-3.34 [[ 9.88282041e-01 1.49924144e-01 2.86593706e-02 5.90748290e+01] [-1.49905617e-01 9.88696329e-01 -2.80610559e-03 -3.18745681e+00] [-2.87561175e-02 -1.52297688e-03 9.99585297e-01 -3.34381472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58654761499999 meters 0.08524575475361168 Centerline is valid? [True, True] Translation: X:59.14, Y:-3.20, Z:-3.34 [[ 9.88521846e-01 1.48286955e-01 2.89056798e-02 5.91351611e+01] [-1.48267068e-01 9.88943274e-01 -2.84202724e-03 -3.20224839e+00] [-2.90075132e-02 -1.47635438e-03 9.99578103e-01 -3.34220899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.646547614999996 meters 0.07841354323790868 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.23, Z:-3.35 [[ 9.90214667e-01 1.36155490e-01 3.06038651e-02 5.91935401e+01] [-1.36127378e-01 9.90686770e-01 -3.00997225e-03 -3.22789544e+00] [-3.07286685e-02 -1.18550524e-03 9.99527060e-01 -3.34505135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706547615 meters 0.07965281639296963 Centerline is valid? [True, True] Translation: X:59.26, Y:-3.23, Z:-3.35 [[ 9.89939385e-01 1.38248101e-01 3.01243516e-02 5.92551234e+01] [-1.38221940e-01 9.90396859e-01 -2.95915927e-03 -3.23013235e+00] [-3.02441614e-02 -1.23445801e-03 9.99541778e-01 -3.34932612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76654761499999 meters 0.08091423241397472 Centerline is valid? [True, True] Translation: X:59.32, Y:-3.23, Z:-3.35 [[ 9.89154497e-01 1.43779793e-01 3.00125280e-02 5.93162881e+01] [-1.43755999e-01 9.89608735e-01 -2.96030198e-03 -3.22958887e+00] [-3.01262915e-02 -1.38628492e-03 9.99545139e-01 -3.35262183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.826547614999996 meters 0.08523070846642893 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.22, Z:-3.36 [[ 9.88617276e-01 1.45656347e-01 3.76843472e-02 5.93780109e+01] [-1.45620219e-01 9.89333584e-01 -3.71643236e-03 -3.21913258e+00] [-3.78237122e-02 -1.81347366e-03 9.99282782e-01 -3.35617873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886547615 meters 0.08201320449924474 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.23, Z:-3.35 [[ 9.88219949e-01 1.48053108e-01 3.87505962e-02 5.94395041e+01] [-1.48016554e-01 9.88977481e-01 -3.82648117e-03 -3.23446927e+00] [-3.88899895e-02 -1.95432469e-03 9.99241587e-01 -3.35211518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94654761499999 meters 0.08764885550846578 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.22, Z:-3.37 [[ 9.88617565e-01 1.46765336e-01 3.30945226e-02 5.95010821e+01] [-1.46738012e-01 9.89170000e-01 -3.26613640e-03 -3.22236355e+00] [-3.32154645e-02 -1.62726462e-03 9.99446890e-01 -3.36995017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.006547614999995 meters 0.08801583691655074 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.23, Z:-3.38 [[ 9.88843911e-01 1.45742485e-01 3.07708902e-02 5.95626004e+01] [-1.45718127e-01 9.89321463e-01 -3.04462117e-03 -3.22872864e+00] [-3.08860328e-02 -1.47322138e-03 9.99521827e-01 -3.37808729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.066547615 meters 0.07927041115414984 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.26, Z:-3.37 [[ 9.89502566e-01 1.39783191e-01 3.66787556e-02 5.96218706e+01] [-1.39744130e-01 9.90180961e-01 -3.63913919e-03 -3.25523863e+00] [-3.68272959e-02 -1.52470323e-03 9.99320482e-01 -3.36842459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12654761499999 meters 0.07880483950784505 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.27, Z:-3.37 [[ 9.89998333e-01 1.36326375e-01 3.63100545e-02 5.96810360e+01] [-1.36285756e-01 9.90663016e-01 -3.60304089e-03 -3.26639397e+00] [-3.64622176e-02 -1.38153874e-03 9.99334077e-01 -3.37291354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.186547614999995 meters 0.07975960896322065 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.27, Z:-3.38 [[ 9.89764194e-01 1.38528303e-01 3.43037677e-02 5.97412072e+01] [-1.38493351e-01 9.90357512e-01 -3.40447322e-03 -3.27035944e+00] [-3.44446099e-02 -1.38121803e-03 9.99405654e-01 -3.38089920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246547615 meters 0.08093348997730866 Centerline is valid? [True, True] Translation: X:59.80, Y:-3.28, Z:-3.39 [[ 9.89354651e-01 1.41973421e-01 3.19518683e-02 5.98014071e+01] [-1.41944873e-01 9.89869484e-01 -3.17153953e-03 -3.27677875e+00] [-3.20784537e-02 -1.39762649e-03 9.99484377e-01 -3.38534259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306547615 meters 0.07894173147503676 Centerline is valid? [True, True] Translation: X:59.86, Y:-3.29, Z:-3.39 [[ 9.89918463e-01 1.36657130e-01 3.72325931e-02 5.98616637e+01] [-1.36614586e-01 9.90617379e-01 -3.69641195e-03 -3.29028306e+00] [-3.73883948e-02 -1.42736887e-03 9.99299790e-01 -3.38680638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.366547614999995 meters 0.0774570523759441 Centerline is valid? [True, True] Translation: X:59.92, Y:-3.31, Z:-3.39 [[ 9.90912710e-01 1.30040538e-01 3.43723700e-02 5.99197734e+01] [-1.30000270e-01 9.91508083e-01 -3.41332322e-03 -3.31040533e+00] [-3.45243531e-02 -1.08611203e-03 9.99403267e-01 -3.39170774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426547615 meters 0.07647842441865894 Centerline is valid? [True, True] Translation: X:59.98, Y:-3.32, Z:-3.39 [[ 9.91036573e-01 1.27516367e-01 3.98256990e-02 5.99807571e+01] [-1.27460248e-01 9.91835793e-01 -3.95548148e-03 -3.32027323e+00] [-4.00049423e-02 -1.15616664e-03 9.99198813e-01 -3.39053211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486547615 meters 0.07660695927082167 Centerline is valid? [True, True] Translation: X:60.04, Y:-3.33, Z:-3.40 [[ 9.91407147e-01 1.26009132e-01 3.51221680e-02 6.00415480e+01] [-1.25964679e-01 9.92028608e-01 -3.48444609e-03 -3.32774838e+00] [-3.52812675e-02 -9.69647856e-04 9.99376952e-01 -3.40091313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.546547614999994 meters 0.07643681716167734 Centerline is valid? [True, True] Translation: X:60.10, Y:-3.34, Z:-3.41 [[ 9.91866835e-01 1.22887565e-01 3.31485622e-02 6.01028669e+01] [-1.22845979e-01 9.92420275e-01 -3.29602254e-03 -3.33728522e+00] [-3.33023454e-02 -8.02952112e-04 9.99445001e-01 -3.40733174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.606547615 meters 0.07555718220400356 Centerline is valid? [True, True] Translation: X:60.16, Y:-3.35, Z:-3.41 [[ 9.92242839e-01 1.18810907e-01 3.65802821e-02 6.01632607e+01] [-1.18756966e-01 9.92916637e-01 -3.65161946e-03 -3.34800410e+00] [-3.67550229e-02 -7.20870058e-04 9.99324046e-01 -3.40783148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666547615 meters 0.07695892612149395 Centerline is valid? [True, True] Translation: X:60.22, Y:-3.35, Z:-3.42 [[ 9.92148606e-01 1.20590095e-01 3.31537850e-02 6.02235402e+01] [-1.20546737e-01 9.92702132e-01 -3.31084725e-03 -3.34771533e+00] [-3.33110884e-02 -7.11728130e-04 9.99444778e-01 -3.41670392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.726547614999994 meters 0.07580625421798573 Centerline is valid? [True, True] Translation: X:60.29, Y:-3.36, Z:-3.41 [[ 9.92072330e-01 1.20432133e-01 3.58969946e-02 6.02852560e+01] [-1.20381324e-01 9.92721265e-01 -3.58132749e-03 -3.35729046e+00] [-3.60670168e-02 -7.68391837e-04 9.99349078e-01 -3.41459867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.786547614999996 meters 0.07604981822681425 Centerline is valid? [True, True] Translation: X:60.35, Y:-3.36, Z:-3.42 [[ 9.91991338e-01 1.21502814e-01 3.45000353e-02 6.03474358e+01] [-1.21456249e-01 9.92590790e-01 -3.45005547e-03 -3.36097863e+00] [-3.46636087e-02 -7.67819723e-04 9.99398742e-01 -3.41923990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846547615 meters 0.0765410885577388 Centerline is valid? [True, True] Translation: X:60.41, Y:-3.37, Z:-3.42 [[ 9.91306115e-01 1.26876076e-01 3.48517978e-02 6.04089509e+01] [-1.26831552e-01 9.91918115e-01 -3.49437333e-03 -3.36544321e+00] [-3.50134820e-02 -9.56313949e-04 9.99386383e-01 -3.42110934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.906547614999994 meters 0.0787877463623379 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.36, Z:-3.43 [[ 9.90601081e-01 1.32454860e-01 3.41351505e-02 6.04706662e+01] [-1.32415050e-01 9.91188408e-01 -3.43429474e-03 -3.36106804e+00] [-3.42892545e-02 -1.11799156e-03 9.99411325e-01 -3.43016670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.966547614999996 meters 0.07941807286888011 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.37, Z:-3.42 [[ 9.89905365e-01 1.36387405e-01 3.85466545e-02 6.05316942e+01] [-1.36339684e-01 9.90654564e-01 -3.87633805e-03 -3.37030010e+00] [-3.87151029e-02 -1.41823089e-03 9.99249283e-01 -3.42470226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.026547615 meters 0.07822081465407978 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.38, Z:-3.43 [[ 9.90799198e-01 1.30586318e-01 3.55550721e-02 6.05913061e+01] [-1.30541592e-01 9.91436347e-01 -3.58648161e-03 -3.38370743e+00] [-3.57189362e-02 -1.08793260e-03 9.99361283e-01 -3.43434847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08654761499999 meters 0.07687583331057582 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.40, Z:-3.44 [[ 9.91728503e-01 1.23885897e-01 3.35687375e-02 6.06512876e+01] [-1.23842169e-01 9.92296149e-01 -3.38676712e-03 -3.40159722e+00] [-3.37297016e-02 -7.98471766e-04 9.99430673e-01 -3.44082138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.146547614999996 meters 0.076303571246447 Centerline is valid? [True, True] Translation: X:60.71, Y:-3.42, Z:-3.44 [[ 9.92063710e-01 1.21631657e-01 3.18643228e-02 6.07109338e+01] [-1.21591113e-01 9.92575070e-01 -3.21425992e-03 -3.41668070e+00] [-3.20186882e-02 -6.85667844e-04 9.99487035e-01 -3.44402319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.206547615 meters 0.0759743112924456 Centerline is valid? [True, True] Translation: X:60.77, Y:-3.42, Z:-3.45 [[ 9.92308938e-01 1.19268331e-01 3.31366233e-02 6.07722973e+01] [-1.19223090e-01 9.92861857e-01 -3.34489608e-03 -3.42249945e+00] [-3.32990295e-02 -6.31480363e-04 9.99445234e-01 -3.44919107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26654761499999 meters 0.07556257245157479 Centerline is valid? [True, True] Translation: X:60.83, Y:-3.43, Z:-3.45 [[ 9.92282471e-01 1.19547860e-01 3.29212307e-02 6.08343195e+01] [-1.19503120e-01 9.92828239e-01 -3.33037583e-03 -3.43206706e+00] [-3.30832668e-02 -6.29516228e-04 9.99452401e-01 -3.45273207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.326547614999996 meters 0.07467321790714428 Centerline is valid? [True, True] Translation: X:60.90, Y:-3.45, Z:-3.45 [[ 9.92692315e-01 1.15938111e-01 3.34712170e-02 6.08952600e+01] [-1.15889466e-01 9.93256310e-01 -3.39629664e-03 -3.44859153e+00] [-3.36392577e-02 -5.07483890e-04 9.99433911e-01 -3.45040888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.386547615 meters 0.07500187929376542 Centerline is valid? [True, True] Translation: X:60.96, Y:-3.45, Z:-3.46 [[ 9.93147056e-01 1.11397691e-01 3.53479772e-02 6.09559981e+01] [-1.11340081e-01 9.93775842e-01 -3.60022020e-03 -3.44896937e+00] [-3.55290221e-02 -3.60098575e-04 9.99368580e-01 -3.46171698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44654761499999 meters 0.0743231638230805 Centerline is valid? [True, True] Translation: X:61.02, Y:-3.46, Z:-3.46 [[ 9.92808493e-01 1.14232236e-01 3.58091208e-02 6.10174479e+01] [-1.14175057e-01 9.93453962e-01 -3.64435097e-03 -3.46166298e+00] [-3.59910153e-02 -4.70365803e-04 9.99352003e-01 -3.45867569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.506547614999995 meters 0.07511834582373819 Centerline is valid? [True, True] Translation: X:61.08, Y:-3.46, Z:-3.47 [[ 9.92664937e-01 1.16202262e-01 3.33670135e-02 6.10800155e+01] [-1.16153371e-01 9.93225448e-01 -3.40649882e-03 -3.45888699e+00] [-3.35368098e-02 -4.94179152e-04 9.99437361e-01 -3.46636046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.566547615 meters 0.07595547855418884 Centerline is valid? [True, True] Translation: X:61.14, Y:-3.47, Z:-3.47 [[ 9.92711787e-01 1.17128758e-01 2.83577522e-02 6.11407637e+01] [-1.17093758e-01 9.93116638e-01 -2.89743669e-03 -3.46627504e+00] [-2.85019287e-02 -4.44196217e-04 9.99593639e-01 -3.47460614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62654761499999 meters 0.07562864979273747 Centerline is valid? [True, True] Translation: X:61.20, Y:-3.47, Z:-3.47 [[ 9.92431968e-01 1.18380112e-01 3.26333980e-02 6.12027208e+01] [-1.18334421e-01 9.92968199e-01 -3.33475744e-03 -3.46908818e+00] [-3.27986954e-02 -5.52134360e-04 9.99461826e-01 -3.47350284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.686547614999995 meters 0.07614876061624197 Centerline is valid? [True, True] Translation: X:61.26, Y:-3.47, Z:-3.48 [[ 9.92368066e-01 1.20124504e-01 2.78518275e-02 6.12630157e+01] [-1.20091824e-01 9.92758700e-01 -2.84916863e-03 -3.47419195e+00] [-2.79923990e-02 -5.17352813e-04 9.99608002e-01 -3.47907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.746547615 meters 0.07591682093942262 Centerline is valid? [True, True] Translation: X:61.32, Y:-3.48, Z:-3.49 [[ 9.92518517e-01 1.18056775e-01 3.11382679e-02 6.13230526e+01] [-1.18014903e-01 9.93006714e-01 -3.18559326e-03 -3.48014526e+00] [-3.12965900e-02 -5.13019362e-04 9.99510010e-01 -3.48587247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806547615 meters 0.07428847106059862 Centerline is valid? [True, True] Translation: X:61.38, Y:-3.50, Z:-3.48 [[ 9.93131099e-01 1.11942160e-01 3.40525103e-02 6.13831284e+01] [-1.11888438e-01 9.93714663e-01 -3.48515484e-03 -3.49628525e+00] [-3.42286145e-02 -3.48866529e-04 9.99413968e-01 -3.48300056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.866547614999995 meters 0.07344722235760737 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.52, Z:-3.48 [[ 9.94409453e-01 1.00307852e-01 3.29874891e-02 6.14438188e+01] [-1.00251148e-01 9.94956448e-01 -3.37262929e-03 -3.51740469e+00] [-3.31594161e-02 4.67407862e-05 9.99450074e-01 -3.48374318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926547615 meters 0.07536654822027458 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.54, Z:-3.49 [[ 9.96139822e-01 7.94571738e-02 3.73096858e-02 6.15031749e+01] [-7.93694430e-02 9.96837916e-01 -3.82905153e-03 -3.53819534e+00] [-3.74959551e-02 8.53021723e-04 9.99296415e-01 -3.48549014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986547615 meters 0.07717010498415268 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.55, Z:-3.48 [[ 9.96799775e-01 6.90076300e-02 4.03504129e-02 6.15639070e+01] [-6.88964259e-02 9.97615221e-01 -4.14172195e-03 -3.54626051e+00] [-4.05399965e-02 1.34846827e-03 9.99177007e-01 -3.48352469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.046547615 meters 0.07549419274799421 Centerline is valid? [True, True] Translation: X:61.63, Y:-3.53, Z:-3.49 [[ 9.96276993e-01 7.70658951e-02 3.86393661e-02 6.16271323e+01] [-7.69699332e-02 9.97025522e-01 -3.96721378e-03 -3.52571059e+00] [-3.88301711e-02 9.78374383e-04 9.99245346e-01 -3.48568062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.106547615 meters 0.07442740081383385 Centerline is valid? [True, True] Translation: X:61.69, Y:-3.48, Z:-3.50 [[ 9.95048291e-01 9.36194373e-02 3.33811395e-02 6.16920279e+01] [-9.35571071e-02 9.95608014e-01 -3.42776067e-03 -3.48447996e+00] [-3.35554350e-02 2.87744557e-04 9.99436816e-01 -3.49777410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.166547615 meters 0.07432409887570024 Centerline is valid? [True, True] Translation: X:61.75, Y:-3.48, Z:-3.50 [[ 9.94674866e-01 9.76458596e-02 3.29726621e-02 6.17545493e+01] [-9.75874097e-02 9.95221214e-01 -3.38120323e-03 -3.48399546e+00] [-3.31452533e-02 1.45481191e-04 9.99450535e-01 -3.50110549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.226547615 meters 0.07380189985808494 Centerline is valid? [True, True] Translation: X:61.82, Y:-3.46, Z:-3.49 [[ 9.92370402e-01 1.16886288e-01 3.92247561e-02 6.18212252e+01] [-1.16817980e-01 9.93145137e-01 -4.03681777e-03 -3.45544255e+00] [-3.94277244e-02 -5.76138294e-04 9.99222259e-01 -3.48890292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28654761499999 meters 0.07616927619291593 Centerline is valid? [True, True] Translation: X:61.88, Y:-3.44, Z:-3.50 [[ 9.91203277e-01 1.27584839e-01 3.51876744e-02 6.18836888e+01] [-1.27536464e-01 9.91827258e-01 -3.62513193e-03 -3.43554974e+00] [-3.53626065e-02 -8.94468930e-04 9.99374147e-01 -3.50235700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34654761499999 meters 0.07807807520312919 Centerline is valid? [True, True] Translation: X:61.95, Y:-3.43, Z:-3.50 [[ 9.90103862e-01 1.36569190e-01 3.22985869e-02 6.19457880e+01] [-1.36533170e-01 9.90629908e-01 -3.32847769e-03 -3.42844265e+00] [-3.24505137e-02 -1.11428985e-03 9.99472722e-01 -3.50428124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.406547615 meters 0.08102354379969331 Centerline is valid? [True, True] Translation: X:62.01, Y:-3.42, Z:-3.51 [[ 9.88905676e-01 1.45807827e-01 2.83838071e-02 6.20075939e+01] [-1.45783792e-01 9.89312149e-01 -2.92544102e-03 -3.42372401e+00] [-2.85069974e-02 -1.24491381e-03 9.99592818e-01 -3.50919803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.466547615 meters 0.08226669171502816 Centerline is valid? [True, True] Translation: X:62.07, Y:-3.42, Z:-3.52 [[ 9.88813263e-01 1.46519290e-01 2.79361686e-02 6.20684260e+01] [-1.46496338e-01 9.89207027e-01 -2.87760586e-03 -3.42076419e+00] [-2.80562790e-02 -1.24713156e-03 9.99605567e-01 -3.51950079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526547615 meters 0.08172154473839625 Centerline is valid? [True, True] Translation: X:62.13, Y:-3.44, Z:-3.52 [[ 9.88727369e-01 1.47668300e-01 2.47439583e-02 6.21287397e+01] [-1.47650527e-01 9.89036299e-01 -2.55385660e-03 -3.43540514e+00] [-2.48497966e-02 -1.12839056e-03 9.99690559e-01 -3.51829483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586547615 meters 0.08682293507891828 Centerline is valid? [True, True] Translation: X:62.19, Y:-3.43, Z:-3.52 [[ 9.87076047e-01 1.57540891e-01 2.93555085e-02 6.21894193e+01] [-1.57520217e-01 9.87511114e-01 -3.03002717e-03 -3.42636417e+00] [-2.94662441e-02 -1.63321883e-03 9.99564442e-01 -3.52123062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646547615 meters 0.09111127627218835 Centerline is valid? [True, True] Translation: X:62.25, Y:-3.43, Z:-3.54 [[ 9.86293636e-01 1.63037038e-01 2.53729640e-02 6.22499866e+01] [-1.63023325e-01 9.86618731e-01 -2.62199422e-03 -3.42916975e+00] [-2.54609237e-02 -1.55032874e-03 9.99674616e-01 -3.53601012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70654761499999 meters 0.09295554429843132 Centerline is valid? [True, True] Translation: X:62.31, Y:-3.44, Z:-3.53 [[ 9.85837455e-01 1.64959366e-01 3.02145497e-02 6.23101156e+01] [-1.64940932e-01 9.86298516e-01 -3.11869231e-03 -3.44401804e+00] [-3.03150230e-02 -1.90909228e-03 9.99538571e-01 -3.53105652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.766547615 meters 0.09472557400285178 Centerline is valid? [True, True] Translation: X:62.37, Y:-3.45, Z:-3.53 [[ 9.85259751e-01 1.67247603e-01 3.59369102e-02 6.23725968e+01] [-1.67222708e-01 9.85912135e-01 -3.71869521e-03 -3.45318729e+00] [-3.60525787e-02 -2.34558671e-03 9.99347142e-01 -3.53306594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826547615 meters 0.08886094642155834 Centerline is valid? [True, True] Translation: X:62.43, Y:-3.48, Z:-3.54 [[ 9.85989502e-01 1.63319492e-01 3.39329474e-02 6.24305681e+01] [-1.63294502e-01 9.86571071e-01 -3.52520338e-03 -3.48045427e+00] [-3.40529987e-02 -2.06525023e-03 9.99417895e-01 -3.53838790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886547615 meters 0.08741215918836648 Centerline is valid? [True, True] Translation: X:62.49, Y:-3.50, Z:-3.53 [[ 9.86198537e-01 1.61795340e-01 3.51384853e-02 6.24898444e+01] [-1.61767591e-01 9.86822133e-01 -3.65015922e-03 -3.50441198e+00] [-3.52660137e-02 -2.08448644e-03 9.99375787e-01 -3.53434030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946547615 meters 0.09052161172286283 Centerline is valid? [True, True] Translation: X:62.55, Y:-3.50, Z:-3.55 [[ 9.85648818e-01 1.64951960e-01 3.58783853e-02 6.25500429e+01] [-1.64925051e-01 9.86299054e-01 -3.72871940e-03 -3.50490892e+00] [-3.60018771e-02 -2.24203666e-03 9.99349207e-01 -3.54561266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006547615 meters 0.08933992104009066 Centerline is valid? [True, True] Translation: X:62.61, Y:-3.53, Z:-3.55 [[ 9.86407675e-01 1.61089781e-01 3.24033989e-02 6.26084027e+01] [-1.61065745e-01 9.86937933e-01 -3.36781047e-03 -3.53324409e+00] [-3.25226633e-02 -1.89704349e-03 9.99469198e-01 -3.55051666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06654761499999 meters 0.09811117618805192 Centerline is valid? [True, True] Translation: X:62.67, Y:-3.52, Z:-3.57 [[ 9.85831072e-01 1.64433237e-01 3.31482765e-02 6.26691540e+01] [-1.64409925e-01 9.86386080e-01 -3.44642144e-03 -3.52487039e+00] [-3.32637048e-02 -2.05231632e-03 9.99444503e-01 -3.56515970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12654761499999 meters 0.0876218215473427 Centerline is valid? [True, True] Translation: X:62.73, Y:-3.56, Z:-3.56 [[ 9.86999426e-01 1.56926481e-01 3.47305694e-02 6.27266202e+01] [-1.56896245e-01 9.87608489e-01 -3.61123067e-03 -3.56168084e+00] [-3.48669029e-02 -1.88481335e-03 9.99390187e-01 -3.56120371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186547615 meters 0.0828320992076304 Centerline is valid? [True, True] Translation: X:62.79, Y:-3.58, Z:-3.56 [[ 9.87173729e-01 1.55548239e-01 3.59551645e-02 6.27865702e+01] [-1.55514896e-01 9.87826470e-01 -3.73932618e-03 -3.58280199e+00] [-3.60991089e-02 -1.90019911e-03 9.99346408e-01 -3.55913562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246547615 meters 0.08235943891824328 Centerline is valid? [True, True] Translation: X:62.85, Y:-3.59, Z:-3.56 [[ 9.88323600e-01 1.47813671e-01 3.69808098e-02 6.28458353e+01] [-1.47772877e-01 9.89013833e-01 -3.84912493e-03 -3.59281462e+00] [-3.71434857e-02 -1.66057965e-03 9.99308563e-01 -3.56397704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.306547615 meters 0.08452271352977599 Centerline is valid? [True, True] Translation: X:62.91, Y:-3.60, Z:-3.57 [[ 9.88104352e-01 1.49894335e-01 3.43726347e-02 6.29051058e+01] [-1.49860400e-01 9.88700699e-01 -3.57611574e-03 -3.59829764e+00] [-3.45202875e-02 -1.61752127e-03 9.99402688e-01 -3.56813520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.366547615 meters 0.08239502750879316 Centerline is valid? [True, True] Translation: X:62.97, Y:-3.61, Z:-3.57 [[ 9.88260363e-01 1.48772303e-01 3.47599995e-02 6.29663381e+01] [-1.48736932e-01 9.88870190e-01 -3.61570902e-03 -3.61209429e+00] [-3.49110447e-02 -1.59683377e-03 9.99389148e-01 -3.56998745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42654761499999 meters 0.07984463090263144 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.63, Z:-3.58 [[ 9.89391673e-01 1.41153954e-01 3.43464363e-02 6.30264032e+01] [-1.41114381e-01 9.89986805e-01 -3.58577188e-03 -3.62587336e+00] [-3.45086646e-02 -1.29904325e-03 9.99403554e-01 -3.57576904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48654761499999 meters 0.08072595673606346 Centerline is valid? [True, True] Translation: X:63.09, Y:-3.63, Z:-3.58 [[ 9.89481828e-01 1.40992724e-01 3.23537349e-02 6.30869705e+01] [-1.40957653e-01 9.90009878e-01 -3.37372907e-03 -3.62929531e+00] [-3.25061884e-02 -1.22226293e-03 9.99470787e-01 -3.58043720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546547615 meters 0.07879345030552676 Centerline is valid? [True, True] Translation: X:63.15, Y:-3.64, Z:-3.58 [[ 9.89448987e-01 1.39301478e-01 3.98221153e-02 6.31475513e+01] [-1.39246388e-01 9.90248997e-01 -4.16733235e-03 -3.63807705e+00] [-4.00143253e-02 -1.42172294e-03 9.99198095e-01 -3.57615579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.606547615 meters 0.08046935435620624 Centerline is valid? [True, True] Translation: X:63.21, Y:-3.64, Z:-3.59 [[ 9.89201355e-01 1.42597123e-01 3.38635424e-02 6.32078132e+01] [-1.42559173e-01 9.89779933e-01 -3.54491501e-03 -3.64237818e+00] [-3.40229494e-02 -1.32092388e-03 9.99420179e-01 -3.58705364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666547615 meters 0.08191760777844734 Centerline is valid? [True, True] Translation: X:63.27, Y:-3.64, Z:-3.58 [[ 9.88234126e-01 1.48591692e-01 3.62466673e-02 6.32696583e+01] [-1.48552215e-01 9.88897284e-01 -3.79489386e-03 -3.64338833e+00] [-3.64081206e-02 -1.63427909e-03 9.99335668e-01 -3.58373872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.726547615 meters 0.08230508404944788 Centerline is valid? [True, True] Translation: X:63.33, Y:-3.65, Z:-3.60 [[ 9.89016652e-01 1.45508003e-01 2.59515453e-02 6.33289779e+01] [-1.45486684e-01 9.89356477e-01 -2.71785737e-03 -3.65017741e+00] [-2.60707994e-02 -1.08759806e-03 9.99659507e-01 -3.60163793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78654761499999 meters 0.08004058108428991 Centerline is valid? [True, True] Translation: X:63.39, Y:-3.66, Z:-3.60 [[ 9.89063401e-01 1.44402960e-01 3.00228746e-02 6.33896415e+01] [-1.44373912e-01 9.89518209e-01 -3.14445556e-03 -3.66391655e+00] [-3.01622498e-02 -1.22445396e-03 9.99544266e-01 -3.59948402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84654761499999 meters 0.08065030959761307 Centerline is valid? [True, True] Translation: X:63.45, Y:-3.66, Z:-3.60 [[ 9.88717484e-01 1.46309079e-01 3.21152678e-02 6.34512479e+01] [-1.46276872e-01 9.89237974e-01 -3.36277945e-03 -3.66177313e+00] [-3.22616476e-02 -1.37288207e-03 9.99478515e-01 -3.60449246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.906547615 meters 0.08242446767212953 Centerline is valid? [True, True] Translation: X:63.51, Y:-3.67, Z:-3.60 [[ 9.88215438e-01 1.48779017e-01 3.59868292e-02 6.35126484e+01] [-1.48740070e-01 9.88869133e-01 -3.77206641e-03 -3.66637252e+00] [-3.61474690e-02 -1.62506923e-03 9.99345145e-01 -3.60161051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.966547615 meters 0.08135755988877395 Centerline is valid? [True, True] Translation: X:63.57, Y:-3.68, Z:-3.61 [[ 9.88561593e-01 1.47133358e-01 3.31323325e-02 6.35735321e+01] [-1.47099219e-01 9.89115624e-01 -3.47893467e-03 -3.67500098e+00] [-3.32835750e-02 -1.43459903e-03 9.99444919e-01 -3.61070055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.026547615 meters 0.08152699086821229 Centerline is valid? [True, True] Translation: X:63.63, Y:-3.68, Z:-3.62 [[ 9.88984468e-01 1.44935395e-01 3.00575061e-02 6.36347153e+01] [-1.44906106e-01 9.89440358e-01 -3.16195994e-03 -3.67927847e+00] [-3.01983895e-02 -1.22838690e-03 9.99543170e-01 -3.61867494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.086547615 meters 0.08278513776627276 Centerline is valid? [True, True] Translation: X:63.70, Y:-3.68, Z:-3.62 [[ 9.88640628e-01 1.47657508e-01 2.80529680e-02 6.36953789e+01] [-1.47632760e-01 9.89037810e-01 -2.96274459e-03 -3.68218886e+00] [-2.81829176e-02 -1.21244743e-03 9.99602047e-01 -3.62095639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.146547615 meters 0.08458751714926763 Centerline is valid? [True, True] Translation: X:63.76, Y:-3.69, Z:-3.63 [[ 9.88563785e-01 1.48668524e-01 2.52846298e-02 6.37550383e+01] [-1.48648728e-01 9.88886455e-01 -2.67120370e-03 -3.68714315e+00] [-2.54007518e-02 -1.11787282e-03 9.99676724e-01 -3.62502516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20654761499999 meters 0.08065579465168263 Centerline is valid? [True, True] Translation: X:63.82, Y:-3.70, Z:-3.62 [[ 9.88689802e-01 1.46491402e-01 3.21363347e-02 6.38157701e+01] [-1.46458295e-01 9.89211022e-01 -3.39449751e-03 -3.69726999e+00] [-3.22868812e-02 -1.35052772e-03 9.99477730e-01 -3.62466691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.266547615 meters 0.08135318294670306 Centerline is valid? [True, True] Translation: X:63.88, Y:-3.71, Z:-3.63 [[ 9.88806212e-01 1.45512509e-01 3.29906753e-02 6.38762185e+01] [-1.45477202e-01 9.89355481e-01 -3.48089461e-03 -3.70622542e+00] [-3.31460191e-02 -1.35746093e-03 9.99449598e-01 -3.62504004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.326547615 meters 0.08188794591860211 Centerline is valid? [True, True] Translation: X:63.94, Y:-3.71, Z:-3.64 [[ 9.88982095e-01 1.45223397e-01 2.87155040e-02 6.39371112e+01] [-1.45196303e-01 9.89398204e-01 -3.03754131e-03 -3.70879591e+00] [-2.88521901e-02 -1.16531103e-03 9.99583010e-01 -3.63889935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.386547615 meters 0.08005212899464346 Centerline is valid? [True, True] Translation: X:64.00, Y:-3.73, Z:-3.64 [[ 9.89066708e-01 1.44705124e-01 2.84160843e-02 6.39979132e+01] [-1.44678396e-01 9.89474169e-01 -3.00524255e-03 -3.72578079e+00] [-2.85518554e-02 -1.13880814e-03 9.99591664e-01 -3.63888481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446547615 meters 0.0814407834912477 Centerline is valid? [True, True] Translation: X:64.06, Y:-3.72, Z:-3.64 [[ 9.88666387e-01 1.46624205e-01 3.22508597e-02 6.40590999e+01] [-1.46590454e-01 9.89191353e-01 -3.42134244e-03 -3.72325991e+00] [-3.24039231e-02 -1.34510189e-03 9.99473950e-01 -3.64356163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506547615 meters 0.0802249483699785 Centerline is valid? [True, True] Translation: X:64.12, Y:-3.74, Z:-3.64 [[ 9.88652086e-01 1.46327438e-01 3.39901964e-02 6.41206213e+01] [-1.46289373e-01 9.89235226e-01 -3.61758133e-03 -3.73847394e+00] [-3.41536511e-02 -1.39587519e-03 9.99415619e-01 -3.64041081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56654761499999 meters 0.07916918596055564 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.75, Z:-3.65 [[ 9.89254835e-01 1.41573212e-01 3.64951575e-02 6.41803128e+01] [-1.41525908e-01 9.89926911e-01 -3.88940487e-03 -3.74606525e+00] [-3.66781740e-02 -1.31739771e-03 9.99326261e-01 -3.64567066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62654761499999 meters 0.07832135526278936 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.76, Z:-3.65 [[ 9.89353348e-01 1.41085576e-01 3.57045304e-02 6.42408688e+01] [-1.41040139e-01 9.89996582e-01 -3.80078418e-03 -3.75771324e+00] [-3.58835989e-02 -1.27545336e-03 9.99355162e-01 -3.65141983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686547615 meters 0.07926476382247107 Centerline is valid? [True, True] Translation: X:64.30, Y:-3.77, Z:-3.65 [[ 9.89365477e-01 1.41346166e-01 3.43105688e-02 6.43012070e+01] [-1.41304087e-01 9.89959472e-01 -3.66038952e-03 -3.76595312e+00] [-3.44834546e-02 -1.22676058e-03 9.99404516e-01 -3.65211303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.746547615 meters 0.07886035793625304 Centerline is valid? [True, True] Translation: X:64.36, Y:-3.77, Z:-3.66 [[ 9.89838960e-01 1.38885785e-01 3.04888831e-02 6.43628569e+01] [-1.38851277e-01 9.90307891e-01 -3.25642201e-03 -3.77031922e+00] [-3.06456522e-02 -1.01008699e-03 9.99529801e-01 -3.66461257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806547615 meters 0.08004547015973268 Centerline is valid? [True, True] Translation: X:64.42, Y:-3.78, Z:-3.67 [[ 9.89712742e-01 1.40674876e-01 2.60627604e-02 6.44220766e+01] [-1.40649993e-01 9.90055438e-01 -2.79465761e-03 -3.77506658e+00] [-2.61967158e-02 -8.99818813e-04 9.99656402e-01 -3.66913141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.866547615 meters 0.07935463136967498 Centerline is valid? [True, True] Translation: X:64.48, Y:-3.78, Z:-3.66 [[ 9.89575981e-01 1.40473961e-01 3.17244958e-02 6.44828566e+01] [-1.40436848e-01 9.90083779e-01 -3.40615078e-03 -3.78277359e+00] [-3.18883842e-02 -1.08464319e-03 9.99490848e-01 -3.66496963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92654761499999 meters 0.07868611240659681 Centerline is valid? [True, True] Translation: X:64.54, Y:-3.79, Z:-3.67 [[ 9.89767768e-01 1.38367153e-01 3.48467563e-02 6.45438956e+01] [-1.38321076e-01 9.90380373e-01 -3.74121553e-03 -3.79114459e+00] [-3.50292048e-02 -1.11710629e-03 9.99385665e-01 -3.66597611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98654761499999 meters 0.07668555602829634 Centerline is valid? [True, True] Translation: X:64.60, Y:-3.80, Z:-3.67 [[ 9.90613200e-01 1.31944706e-01 3.57222982e-02 6.46041892e+01] [-1.31892024e-01 9.91256660e-01 -3.83761929e-03 -3.80284833e+00] [-3.59163196e-02 -9.09889880e-04 9.99354387e-01 -3.66506574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046547615 meters 0.07836352280642411 Centerline is valid? [True, True] Translation: X:64.67, Y:-3.80, Z:-3.68 [[ 9.90334863e-01 1.35152638e-01 3.11548259e-02 6.46652692e+01] [-1.35114145e-01 9.90824386e-01 -3.34722052e-03 -3.79956542e+00] [-3.13213469e-02 -8.94588482e-04 9.99508966e-01 -3.67847648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.106547615 meters 0.07912109696316474 Centerline is valid? [True, True] Translation: X:64.73, Y:-3.81, Z:-3.68 [[ 9.89303976e-01 1.41825219e-01 3.41064647e-02 6.47263482e+01] [-1.41782995e-01 9.89890976e-01 -3.66568790e-03 -3.80609943e+00] [-3.42815687e-02 -1.20923711e-03 9.99411483e-01 -3.67549973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.166547615 meters 0.08073877934878296 Centerline is valid? [True, True] Translation: X:64.79, Y:-3.80, Z:-3.68 [[ 9.88432539e-01 1.46729838e-01 3.83597601e-02 6.47894432e+01] [-1.46680072e-01 9.89175389e-01 -4.12380717e-03 -3.80240769e+00] [-3.85496162e-02 -1.55050720e-03 9.99255484e-01 -3.67920893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.226547615 meters 0.08124224592153664 Centerline is valid? [True, True] Translation: X:64.85, Y:-3.81, Z:-3.68 [[ 9.88648319e-01 1.45505759e-01 3.74509819e-02 6.48498573e+01] [-1.45457459e-01 9.89356316e-01 -4.02576414e-03 -3.81001602e+00] [-3.76381373e-02 -1.46745971e-03 9.99290357e-01 -3.68470749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28654761499999 meters 0.08211090442055899 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.81, Z:-3.69 [[ 9.88135736e-01 1.48055820e-01 4.08318634e-02 6.49122880e+01] [-1.48000177e-01 9.88977551e-01 -4.39897231e-03 -3.80907032e+00] [-4.10330897e-02 -1.69634128e-03 9.99156348e-01 -3.68757467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34654761499999 meters 0.08216695917526379 Centerline is valid? [True, True] Translation: X:64.97, Y:-3.82, Z:-3.69 [[ 9.88301021e-01 1.46836718e-01 4.12319172e-02 6.49734716e+01] [-1.46778516e-01 9.89159365e-01 -4.45184392e-03 -3.81740138e+00] [-4.14386311e-02 -1.65219771e-03 9.99139685e-01 -3.69108303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.406547615 meters 0.08280565214530884 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.82, Z:-3.69 [[ 9.88046720e-01 1.48266793e-01 4.21975980e-02 6.50351621e+01] [-1.48206710e-01 9.88945864e-01 -4.56608764e-03 -3.82068325e+00] [-4.24081392e-02 -1.74245925e-03 9.99098851e-01 -3.69484332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.466547615 meters 0.08162022452301093 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.84, Z:-3.69 [[ 9.87520791e-01 1.51752521e-01 4.21172130e-02 6.50952942e+01] [-1.51695283e-01 9.88416741e-01 -4.57025933e-03 -3.83569438e+00] [-4.23229068e-02 -1.87575643e-03 9.99102224e-01 -3.69059294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.526547615 meters 0.08238361792548211 Centerline is valid? [True, True] Translation: X:65.15, Y:-3.84, Z:-3.71 [[ 9.88213610e-01 1.48065113e-01 3.88662308e-02 6.51549357e+01] [-1.48013509e-01 9.88976345e-01 -4.21780457e-03 -3.84022181e+00] [-3.90622926e-02 -1.58463534e-03 9.99235521e-01 -3.70685361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586547615 meters 0.08123375013378684 Centerline is valid? [True, True] Translation: X:65.22, Y:-3.85, Z:-3.71 [[ 9.88174680e-01 1.47148172e-01 4.31070332e-02 6.52157343e+01] [-1.47083749e-01 9.89112972e-01 -4.67972789e-03 -3.85170709e+00] [-4.33263392e-02 -1.71595545e-03 9.99059500e-01 -3.70581576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646547615 meters 0.08188931000077815 Centerline is valid? [True, True] Translation: X:65.28, Y:-3.86, Z:-3.71 [[ 9.87867858e-01 1.50326874e-01 3.89733943e-02 6.52765442e+01] [-1.50276635e-01 9.88634929e-01 -4.23213271e-03 -3.85898037e+00] [-3.91666622e-02 -1.67600267e-03 9.99231286e-01 -3.71066514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70654761499999 meters 0.08434795410814061 Centerline is valid? [True, True] Translation: X:65.34, Y:-3.85, Z:-3.72 [[ 9.87914883e-01 1.50594108e-01 3.66824057e-02 6.53380601e+01] [-1.50549880e-01 9.88594400e-01 -3.98078897e-03 -3.85486746e+00] [-3.68635042e-02 -1.58985108e-03 9.99319045e-01 -3.72425441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766547615 meters 0.08287765056942563 Centerline is valid? [True, True] Translation: X:65.40, Y:-3.87, Z:-3.73 [[ 9.88190325e-01 1.48487904e-01 3.78315159e-02 6.53980750e+01] [-1.48438845e-01 9.88913015e-01 -4.11801483e-03 -3.86740311e+00] [-3.80235539e-02 -1.54628410e-03 9.99275647e-01 -3.72604633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.826547615 meters 0.0818856186360012 Centerline is valid? [True, True] Translation: X:65.46, Y:-3.88, Z:-3.73 [[ 9.88804024e-01 1.44864110e-01 3.57909388e-02 6.54588689e+01] [-1.44817818e-01 9.89450665e-01 -3.89620896e-03 -3.87738967e+00] [-3.59777890e-02 -1.33057857e-03 9.99351704e-01 -3.73238336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886547615 meters 0.08083374450874445 Centerline is valid? [True, True] Translation: X:65.52, Y:-3.89, Z:-3.73 [[ 9.89020303e-01 1.42530204e-01 3.90382075e-02 6.55199989e+01] [-1.42473186e-01 9.89789525e-01 -4.25297845e-03 -3.88833755e+00] [-3.92457867e-02 -1.35561577e-03 9.99228668e-01 -3.73323827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946547615 meters 0.08059308487354909 Centerline is valid? [True, True] Translation: X:65.58, Y:-3.90, Z:-3.74 [[ 9.88946588e-01 1.42608945e-01 4.05873845e-02 6.55817002e+01] [-1.42547351e-01 9.89778104e-01 -4.42244232e-03 -3.89551370e+00] [-4.08031843e-02 -1.41206488e-03 9.99166206e-01 -3.73548575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006547615 meters 0.08033354309857327 Centerline is valid? [True, True] Translation: X:65.64, Y:-3.90, Z:-3.74 [[ 9.88917776e-01 1.42783280e-01 4.06763829e-02 6.56442899e+01] [-1.42721195e-01 9.89752968e-01 -4.44112779e-03 -3.90256203e+00] [-4.08936895e-02 -1.41347174e-03 9.99162503e-01 -3.73970403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06654761499999 meters 0.08041583038846851 Centerline is valid? [True, True] Translation: X:65.71, Y:-3.91, Z:-3.74 [[ 9.88322566e-01 1.46096225e-01 4.32943132e-02 6.57058241e+01] [-1.46028457e-01 9.89269030e-01 -4.74085202e-03 -3.90773812e+00] [-4.35223438e-02 -1.63671071e-03 9.99051113e-01 -3.73889848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12654761499999 meters 0.08235140925870338 Centerline is valid? [True, True] Translation: X:65.77, Y:-3.90, Z:-3.74 [[ 9.87914879e-01 1.48854467e-01 4.32034620e-02 6.57671000e+01] [-1.48789171e-01 9.88857576e-01 -4.74109935e-03 -3.90449864e+00] [-4.34278045e-02 -1.74440470e-03 9.99055045e-01 -3.74456490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.186547615 meters 0.0840384728771958 Centerline is valid? [True, True] Translation: X:65.83, Y:-3.91, Z:-3.74 [[ 9.87275296e-01 1.53292315e-01 4.22960513e-02 6.58270087e+01] [-1.53233259e-01 9.88179087e-01 -4.65406166e-03 -3.90889924e+00] [-4.25095052e-02 -1.88632168e-03 9.99094282e-01 -3.74385584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246547615 meters 0.08289419982808872 Centerline is valid? [True, True] Translation: X:65.89, Y:-3.91, Z:-3.75 [[ 9.87474206e-01 1.51594252e-01 4.37478673e-02 6.58879231e+01] [-1.51529430e-01 9.88441027e-01 -4.81336612e-03 -3.91371241e+00] [-4.39718655e-02 -1.87601450e-03 9.99031008e-01 -3.75296262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306547615 meters 0.08474843585922354 Centerline is valid? [True, True] Translation: X:65.95, Y:-3.92, Z:-3.75 [[ 9.87335187e-01 1.53443737e-01 4.03019662e-02 6.59486290e+01] [-1.53390333e-01 9.88155736e-01 -4.43244509e-03 -3.92195913e+00] [-4.05047500e-02 -1.80562300e-03 9.99177714e-01 -3.75109205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366547615 meters 0.08618444238857395 Centerline is valid? [True, True] Translation: X:66.01, Y:-3.92, Z:-3.77 [[ 9.87313011e-01 1.54642840e-01 3.60362332e-02 6.60103928e+01] [-1.54600690e-01 9.87969061e-01 -3.97012983e-03 -3.91556292e+00] [-3.62166356e-02 -1.65146568e-03 9.99342598e-01 -3.76741969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42654761499999 meters 0.08548526304805061 Centerline is valid? [True, True] Translation: X:66.07, Y:-3.93, Z:-3.77 [[ 9.87276418e-01 1.54752444e-01 3.65644118e-02 6.60718642e+01] [-1.54708825e-01 9.87951864e-01 -4.03647440e-03 -3.92870595e+00] [-3.67485331e-02 -1.67172119e-03 9.99323146e-01 -3.76582934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48654761499999 meters 0.08575565198864801 Centerline is valid? [True, True] Translation: X:66.13, Y:-3.93, Z:-3.78 [[ 9.87325829e-01 1.55277604e-01 3.28111682e-02 6.61333345e+01] [-1.55242410e-01 9.87869726e-01 -3.63301966e-03 -3.93187633e+00] [-3.29772863e-02 -1.50671068e-03 9.99454966e-01 -3.77631245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.546547615 meters 0.08404684166105768 Centerline is valid? [True, True] Translation: X:66.19, Y:-3.94, Z:-3.78 [[ 9.87487094e-01 1.53178518e-01 3.74910709e-02 6.61935980e+01] [-1.53130907e-01 9.88197176e-01 -4.15522825e-03 -3.94439853e+00] [-3.76850621e-02 -1.63780743e-03 9.99288324e-01 -3.77669745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.606547615 meters 0.08428374663282316 Centerline is valid? [True, True] Translation: X:66.25, Y:-3.95, Z:-3.77 [[ 9.86801474e-01 1.56907504e-01 4.00360580e-02 6.62549905e+01] [-1.56856354e-01 9.87611469e-01 -4.43522638e-03 -3.95229201e+00] [-4.02359903e-02 -1.90322214e-03 9.99188392e-01 -3.77050097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.666547615 meters 0.08495416966949751 Centerline is valid? [True, True] Translation: X:66.31, Y:-3.96, Z:-3.79 [[ 9.87246937e-01 1.56256110e-01 3.04551049e-02 6.63146362e+01] [-1.56226015e-01 9.87715550e-01 -3.37990687e-03 -3.95700169e+00] [-3.06091118e-02 -1.42107696e-03 9.99530421e-01 -3.79004139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.726547615 meters 0.08360569449261572 Centerline is valid? [True, True] Translation: X:66.37, Y:-3.97, Z:-3.79 [[ 9.87308505e-01 1.54390001e-01 3.72242241e-02 6.63746631e+01] [-1.54343380e-01 9.88008593e-01 -4.14022267e-03 -3.96889419e+00] [-3.74170623e-02 -1.65763551e-03 9.99298362e-01 -3.78694974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78654761499999 meters 0.08349439660110734 Centerline is valid? [True, True] Translation: X:66.44, Y:-3.98, Z:-3.78 [[ 9.86638402e-01 1.58460653e-01 3.78798818e-02 6.64353760e+01] [-1.58415332e-01 9.87363573e-01 -4.21403332e-03 -3.98222811e+00] [-3.80689739e-02 -1.84302693e-03 9.99273414e-01 -3.78089023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84654761499999 meters 0.08528953750572299 Centerline is valid? [True, True] Translation: X:66.50, Y:-3.99, Z:-3.80 [[ 9.86754076e-01 1.58660232e-01 3.38130908e-02 6.64965517e+01] [-1.58624229e-01 9.87331861e-01 -3.76180043e-03 -3.98597137e+00] [-3.39815900e-02 -1.65160355e-03 9.99421094e-01 -3.79599060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.906547615 meters 0.08371275372026467 Centerline is valid? [True, True] Translation: X:66.56, Y:-4.01, Z:-3.80 [[ 9.87242278e-01 1.55642139e-01 3.35888343e-02 6.65565658e+01] [-1.55604775e-01 9.87812315e-01 -3.73960824e-03 -4.00611033e+00] [-3.37615048e-02 -1.53468365e-03 9.99428740e-01 -3.79533557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.966547615 meters 0.08326841638574511 Centerline is valid? [True, True] Translation: X:66.62, Y:-4.02, Z:-3.79 [[ 9.87533608e-01 1.53152141e-01 3.63565045e-02 6.66157786e+01] [-1.53106631e-01 9.88201378e-01 -4.04916380e-03 -4.01749649e+00] [-3.65476859e-02 -1.56773658e-03 9.99330680e-01 -3.79406399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026547615 meters 0.08352380829846627 Centerline is valid? [True, True] Translation: X:66.67, Y:-4.02, Z:-3.81 [[ 9.88424517e-01 1.48394935e-01 3.15581720e-02 6.66749214e+01] [-1.48358156e-01 9.88927444e-01 -3.51686341e-03 -4.02362301e+00] [-3.17306271e-02 -1.20575819e-03 9.99495730e-01 -3.80734175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086547615 meters 0.08265936051757783 Centerline is valid? [True, True] Translation: X:66.74, Y:-4.04, Z:-3.81 [[ 9.88545481e-01 1.47764450e-01 3.07164508e-02 6.67354338e+01] [-1.47729322e-01 9.89021908e-01 -3.42240850e-03 -4.03912455e+00] [-3.08849531e-02 -1.15451400e-03 9.99522279e-01 -3.80953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.146547615 meters 0.0822707595272013 Centerline is valid? [True, True] Translation: X:66.80, Y:-4.05, Z:-3.81 [[ 9.88319219e-01 1.48865333e-01 3.26225978e-02 6.67964964e+01] [-1.48826016e-01 9.88856683e-01 -3.64370743e-03 -4.05034498e+00] [-3.28014956e-02 -1.25394519e-03 9.99461100e-01 -3.81049417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20654761499999 meters 0.08061185435973471 Centerline is valid? [True, True] Translation: X:66.86, Y:-4.07, Z:-3.81 [[ 9.88939952e-01 1.44528482e-01 3.33059967e-02 6.68566978e+01] [-1.44484611e-01 9.89500006e-01 -3.73296757e-03 -4.06606986e+00] [-3.34958041e-02 -1.12052321e-03 9.99438230e-01 -3.81304871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.266547615 meters 0.07997197007184532 Centerline is valid? [True, True] Translation: X:66.92, Y:-4.08, Z:-3.82 [[ 9.89749474e-01 1.39402986e-01 3.10287925e-02 6.69161532e+01] [-1.39362327e-01 9.90235342e-01 -3.47978895e-03 -4.07821985e+00] [-3.12109000e-02 -8.80125435e-04 9.99512434e-01 -3.82373853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.326547615 meters 0.07934596520377475 Centerline is valid? [True, True] Translation: X:66.98, Y:-4.09, Z:-3.82 [[ 9.89792962e-01 1.39179606e-01 3.06419714e-02 6.69771915e+01] [-1.39140015e-01 9.90266775e-01 -3.43098056e-03 -4.09399875e+00] [-3.08212487e-02 -8.67563947e-04 9.99524536e-01 -3.82490513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.386547615 meters 0.07891536163176854 Centerline is valid? [True, True] Translation: X:67.04, Y:-4.10, Z:-3.83 [[ 9.89907400e-01 1.37833918e-01 3.29416135e-02 6.70382288e+01] [-1.37786865e-01 9.90454972e-01 -3.70509038e-03 -4.09658855e+00] [-3.31378720e-02 -8.71225275e-04 9.99450410e-01 -3.83120317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.446547615 meters 0.08147746379368663 Centerline is valid? [True, True] Translation: X:67.10, Y:-4.09, Z:-3.84 [[ 9.89287119e-01 1.42545781e-01 3.14912233e-02 6.70992501e+01] [-1.42505135e-01 9.89787722e-01 -3.54286578e-03 -4.09094593e+00] [-3.16746467e-02 -9.82749564e-04 9.99497749e-01 -3.83677498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.506547615 meters 0.08090639437242757 Centerline is valid? [True, True] Translation: X:67.16, Y:-4.10, Z:-3.84 [[ 9.89205057e-01 1.43125445e-01 3.14398227e-02 6.71614560e+01] [-1.43085338e-01 9.89704047e-01 -3.53347304e-03 -4.09635020e+00] [-3.16218496e-02 -1.00324826e-03 9.99499401e-01 -3.83626761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56654761499999 meters 0.08028105167441842 Centerline is valid? [True, True] Translation: X:67.22, Y:-4.10, Z:-3.83 [[ 9.89173237e-01 1.41945263e-01 3.72538438e-02 6.72226740e+01] [-1.41887554e-01 9.89873864e-01 -4.20185536e-03 -4.10426289e+00] [-3.74730397e-02 -1.12949388e-03 9.99297001e-01 -3.83028628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62654761499999 meters 0.07993070280473585 Centerline is valid? [True, True] Translation: X:67.28, Y:-4.12, Z:-3.83 [[ 9.89228406e-01 1.42173056e-01 3.48422695e-02 6.72840078e+01] [-1.42122818e-01 9.89841241e-01 -3.92700578e-03 -4.11522811e+00] [-3.50466297e-02 -1.06717586e-03 9.99385108e-01 -3.83178281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.686547615 meters 0.08178497807648263 Centerline is valid? [True, True] Translation: X:67.35, Y:-4.11, Z:-3.84 [[ 9.89215503e-01 1.42584786e-01 3.35002531e-02 6.73451479e+01] [-1.42538299e-01 9.89782054e-01 -3.78407695e-03 -4.11258971e+00] [-3.36975011e-02 -1.03180149e-03 9.99431545e-01 -3.84480772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746547615 meters 0.08099163710544222 Centerline is valid? [True, True] Translation: X:67.41, Y:-4.12, Z:-3.84 [[ 9.89061372e-01 1.43541585e-01 3.39619637e-02 6.74080321e+01] [-1.43494136e-01 9.89643705e-01 -3.84307979e-03 -4.12030961e+00] [-3.41618854e-02 -1.07230088e-03 9.99415737e-01 -3.84427320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806547615 meters 0.0799406646230451 Centerline is valid? [True, True] Translation: X:67.47, Y:-4.13, Z:-3.85 [[ 9.89675988e-01 1.39549867e-01 3.26691581e-02 6.74689363e+01] [-1.39503363e-01 9.90214648e-01 -3.70975518e-03 -4.13228258e+00] [-3.28671748e-02 -8.86001789e-04 9.99459336e-01 -3.84673697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.866547615 meters 0.07931513701319808 Centerline is valid? [True, True] Translation: X:67.53, Y:-4.14, Z:-3.85 [[ 9.89859048e-01 1.37463054e-01 3.58186255e-02 6.75300477e+01] [-1.37405658e-01 9.90506493e-01 -4.07091455e-03 -4.13515857e+00] [-3.60381814e-02 -8.92050189e-04 9.99350016e-01 -3.85156344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92654761499999 meters 0.08369142083958722 Centerline is valid? [True, True] Translation: X:67.59, Y:-4.12, Z:-3.85 [[ 9.87828684e-01 1.51621930e-01 3.47171603e-02 6.75932708e+01] [-1.51576683e-01 9.88437621e-01 -3.94688791e-03 -4.12189983e+00] [-3.49141821e-02 -1.36346291e-03 9.99389384e-01 -3.85436775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98654761499999 meters 0.08543755628488528 Centerline is valid? [True, True] Translation: X:67.65, Y:-4.12, Z:-3.86 [[ 9.87709847e-01 1.52932339e-01 3.22638679e-02 6.76546163e+01] [-1.52894074e-01 9.88235789e-01 -3.66443098e-03 -4.11864727e+00] [-3.24447189e-02 -1.31355963e-03 9.99472668e-01 -3.86070047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.046547615 meters 0.08445979819602321 Centerline is valid? [True, True] Translation: X:67.72, Y:-4.12, Z:-3.87 [[ 9.87894848e-01 1.51504332e-01 3.33197627e-02 6.77160522e+01] [-1.51462314e-01 9.88455743e-01 -3.79615715e-03 -4.12288295e+00] [-3.35102450e-02 -1.29648427e-03 9.99437533e-01 -3.86517327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.106547615 meters 0.08436829192574584 Centerline is valid? [True, True] Translation: X:67.78, Y:-4.12, Z:-3.86 [[ 9.87313630e-01 1.55536689e-01 3.19395334e-02 6.77779246e+01] [-1.55500123e-01 9.87829163e-01 -3.64083087e-03 -4.12382271e+00] [-3.21170853e-02 -1.37195942e-03 9.99483172e-01 -3.86386542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.166547615 meters 0.08431809230178683 Centerline is valid? [True, True] Translation: X:67.84, Y:-4.12, Z:-3.87 [[ 9.87884646e-01 1.51651134e-01 3.29523798e-02 6.78383028e+01] [-1.51609992e-01 9.88433248e-01 -3.75814645e-03 -4.12357989e+00] [-3.31411549e-02 -1.28329485e-03 9.99449857e-01 -3.86918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.226547615 meters 0.08286125680774187 Centerline is valid? [True, True] Translation: X:67.90, Y:-4.13, Z:-3.87 [[ 9.87844934e-01 1.51925021e-01 3.28812063e-02 6.79002987e+01] [-1.51884408e-01 9.88391172e-01 -3.74398115e-03 -4.13402449e+00] [-3.30682985e-02 -1.29566974e-03 9.99452254e-01 -3.86847563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28654761499999 meters 0.08477449054727879 Centerline is valid? [True, True] Translation: X:67.96, Y:-4.13, Z:-3.88 [[ 9.87598417e-01 1.54732930e-01 2.65911041e-02 6.79611926e+01] [-1.54707066e-01 9.87955710e-01 -3.03966705e-03 -4.13074503e+00] [-2.67411697e-02 -1.11186134e-03 9.99641773e-01 -3.87993196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34654761499999 meters 0.08531162332096232 Centerline is valid? [True, True] Translation: X:68.02, Y:-4.14, Z:-3.87 [[ 9.86855954e-01 1.58098183e-01 3.34707530e-02 6.80240223e+01] [-1.58059177e-01 9.87422233e-01 -3.82487936e-03 -4.13708665e+00] [-3.36544722e-02 -1.51575470e-03 9.99432378e-01 -3.87118503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.406547615 meters 0.08909941754065762 Centerline is valid? [True, True] Translation: X:68.09, Y:-4.13, Z:-3.88 [[ 9.86961328e-01 1.57675948e-01 3.23362502e-02 6.80862485e+01] [-1.57639282e-01 9.87489845e-01 -3.69623825e-03 -4.13111214e+00] [-3.25145266e-02 -1.44941905e-03 9.99470212e-01 -3.88328032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.466547615 meters 0.0919917977365881 Centerline is valid? [True, True] Translation: X:68.15, Y:-4.13, Z:-3.90 [[ 9.86978062e-01 1.58845613e-01 2.53451499e-02 6.81456638e+01] [-1.58823189e-01 9.87302759e-01 -2.90817320e-03 -4.13311637e+00] [-2.54852870e-02 -1.15509440e-03 9.99674530e-01 -3.89995311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526547615 meters 0.08693284280313945 Centerline is valid? [True, True] Translation: X:68.21, Y:-4.16, Z:-3.88 [[ 9.86403241e-01 1.61088595e-01 3.25439826e-02 6.82062211e+01] [-1.61052882e-01 9.86938718e-01 -3.73301078e-03 -4.15799408e+00] [-3.27202619e-02 -1.55904825e-03 9.99463333e-01 -3.88205251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.586547615 meters 0.0897946394900831 Centerline is valid? [True, True] Translation: X:68.27, Y:-4.16, Z:-3.90 [[ 9.85846723e-01 1.65027344e-01 2.95332860e-02 6.82669701e+01] [-1.64999610e-01 9.86287804e-01 -3.39050950e-03 -4.15696461e+00] [-2.96878466e-02 -1.53045798e-03 9.99558047e-01 -3.89619612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64654761499999 meters 0.09037122655554268 Centerline is valid? [True, True] Translation: X:68.33, Y:-4.17, Z:-3.90 [[ 9.85405157e-01 1.68575857e-01 2.36401570e-02 6.83266230e+01] [-1.68559107e-01 9.85687812e-01 -2.71380545e-03 -4.17427330e+00] [-2.37592968e-02 -1.31056587e-03 9.99716849e-01 -3.90270478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70654761499999 meters 0.09125483173550895 Centerline is valid? [True, True] Translation: X:68.39, Y:-4.18, Z:-3.90 [[ 9.84679938e-01 1.72306033e-01 2.67591094e-02 6.83878793e+01] [-1.72286059e-01 9.85042184e-01 -3.06756451e-03 -4.18052778e+00] [-2.68874115e-02 -1.58965227e-03 9.99637204e-01 -3.90242919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766547615 meters 0.08978558787610276 Centerline is valid? [True, True] Translation: X:68.45, Y:-4.19, Z:-3.91 [[ 9.84822781e-01 1.71495441e-01 2.67096278e-02 6.84484651e+01] [-1.71475100e-01 9.85183679e-01 -3.06724390e-03 -4.19288762e+00] [-2.68399077e-02 -1.55934443e-03 9.99638529e-01 -3.90561296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.826547615 meters 0.08811703153803033 Centerline is valid? [True, True] Translation: X:68.51, Y:-4.21, Z:-3.90 [[ 9.85500572e-01 1.67230093e-01 2.86830690e-02 6.85074174e+01] [-1.67204399e-01 9.85916700e-01 -3.30894079e-03 -4.20952124e+00] [-2.88324712e-02 -1.53497226e-03 9.99583079e-01 -3.90303726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886547615 meters 0.0867079816457194 Centerline is valid? [True, True] Translation: X:68.57, Y:-4.22, Z:-3.91 [[ 9.86823474e-01 1.59882359e-01 2.48407306e-02 6.85662694e+01] [-1.59860760e-01 9.87135414e-01 -2.86574955e-03 -4.21809537e+00] [-2.49793477e-02 -1.14306916e-03 9.99687314e-01 -3.91499694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946547615 meters 0.08182818965969084 Centerline is valid? [True, True] Translation: X:68.62, Y:-4.25, Z:-3.91 [[ 9.89145166e-01 1.44514514e-01 2.65969130e-02 6.86244932e+01] [-1.44484195e-01 9.89502351e-01 -3.06830512e-03 -4.24733381e+00] [-2.67611225e-02 -8.07834396e-04 9.99641531e-01 -3.91284666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006547615 meters 0.0774962091875901 Centerline is valid? [True, True] Translation: X:68.68, Y:-4.28, Z:-3.91 [[ 9.91400604e-01 1.27162535e-01 3.08955110e-02 6.86813245e+01] [-1.27113139e-01 9.91881816e-01 -3.56567975e-03 -4.27839052e+00] [-3.10981164e-02 -3.92208310e-04 9.99516260e-01 -3.90729450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06654761499999 meters 0.07805228697018692 Centerline is valid? [True, True] Translation: X:68.74, Y:-4.29, Z:-3.92 [[ 9.93086244e-01 1.14528023e-01 2.57496380e-02 6.87415561e+01] [-1.14489664e-01 9.93420018e-01 -2.96391164e-03 -4.29308421e+00] [-2.59196568e-02 -4.64753508e-06 9.99664029e-01 -3.91675761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12654761499999 meters 0.077674199832499 Centerline is valid? [True, True] Translation: X:68.80, Y:-4.32, Z:-3.91 [[ 9.94270994e-01 1.02443958e-01 3.05028950e-02 6.88019197e+01] [-1.02384124e-01 9.94738706e-01 -3.52114472e-03 -4.31729066e+00] [-3.07031303e-02 3.77959871e-04 9.99528476e-01 -3.90785600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.186547615 meters 0.07840211734676428 Centerline is valid? [True, True] Translation: X:68.86, Y:-4.31, Z:-3.92 [[ 9.94408665e-01 1.01832224e-01 2.79572169e-02 6.88647175e+01] [-1.01781426e-01 9.94801517e-01 -3.23777791e-03 -4.30934780e+00] [-2.81415919e-02 3.74149009e-04 9.99603877e-01 -3.92127004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246547615 meters 0.07798518018838649 Centerline is valid? [True, True] Translation: X:68.93, Y:-4.31, Z:-3.92 [[ 9.94065780e-01 1.05240741e-01 2.75247490e-02 6.89264636e+01] [-1.05192877e-01 9.94446737e-01 -3.18520466e-03 -4.30586354e+00] [-2.77071102e-02 2.70895406e-04 9.99616048e-01 -3.92495904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.306547615 meters 0.0780261358416643 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.30, Z:-3.93 [[ 9.93999666e-01 1.06059516e-01 2.67589807e-02 6.89894748e+01] [-1.06014437e-01 9.94359753e-01 -3.10171251e-03 -4.29706999e+00] [-2.69370196e-02 2.46262912e-04 9.99637102e-01 -3.92755884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.366547615 meters 0.07836794320989379 Centerline is valid? [True, True] Translation: X:69.05, Y:-4.30, Z:-3.93 [[ 9.94468092e-01 1.01774995e-01 2.59819950e-02 6.90520689e+01] [-1.01730755e-01 9.94807378e-01 -3.02232441e-03 -4.29703543e+00] [-2.61546774e-02 3.62437218e-04 9.99657842e-01 -3.93060934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42654761499999 meters 0.07787235603741705 Centerline is valid? [True, True] Translation: X:69.11, Y:-4.28, Z:-3.93 [[ 9.93835771e-01 1.06829572e-01 2.96294126e-02 6.91140695e+01] [-1.06774153e-01 9.94277311e-01 -3.45086665e-03 -4.27992343e+00] [-2.98285073e-02 2.65939280e-04 9.99554996e-01 -3.93296574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48654761499999 meters 0.0776904767323999 Centerline is valid? [True, True] Translation: X:69.18, Y:-4.26, Z:-3.94 [[ 9.92700456e-01 1.17092507e-01 2.88989383e-02 6.91793293e+01] [-1.17044308e-01 9.93121011e-01 -3.35965934e-03 -4.25525916e+00] [-2.90935338e-02 -4.73208965e-05 9.99576692e-01 -3.93519144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.546547615 meters 0.07803311687867806 Centerline is valid? [True, True] Translation: X:69.24, Y:-4.24, Z:-3.94 [[ 9.91880470e-01 1.24279524e-01 2.69765234e-02 6.92416987e+01] [-1.24240024e-01 9.92247220e-01 -3.14193067e-03 -4.24436815e+00] [-2.71578580e-02 -2.35144253e-04 9.99631130e-01 -3.93899155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.606547615 meters 0.07943038612650627 Centerline is valid? [True, True] Translation: X:69.30, Y:-4.23, Z:-3.95 [[ 9.90842790e-01 1.32230370e-01 2.73074136e-02 6.93043419e+01] [-1.32192613e-01 9.91218911e-01 -3.19127344e-03 -4.22536359e+00] [-2.74896081e-02 -4.47788086e-04 9.99621989e-01 -3.94998860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666547615 meters 0.08188329503933739 Centerline is valid? [True, True] Translation: X:69.37, Y:-4.21, Z:-3.95 [[ 9.88578324e-01 1.47283004e-01 3.19470444e-02 6.93678309e+01] [-1.47239106e-01 9.89093875e-01 -3.73519951e-03 -4.20564854e+00] [-3.21487574e-02 -1.01131701e-03 9.99482583e-01 -3.94608944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.726547615 meters 0.08322510417953101 Centerline is valid? [True, True] Translation: X:69.43, Y:-4.21, Z:-3.95 [[ 9.86862895e-01 1.59442668e-01 2.60703467e-02 6.94288020e+01] [-1.59417667e-01 9.87206522e-01 -3.04797480e-03 -4.21102818e+00] [-2.62227936e-02 -1.14814062e-03 9.99655464e-01 -3.94600681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78654761499999 meters 0.08453960297183997 Centerline is valid? [True, True] Translation: X:69.49, Y:-4.21, Z:-3.95 [[ 9.86158207e-01 1.63044993e-01 3.01383520e-02 6.94897128e+01] [-1.63013366e-01 9.86617581e-01 -3.52003116e-03 -4.21002496e+00] [-3.03089514e-02 -1.44164658e-03 9.99539539e-01 -3.95033086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84654761499999 meters 0.08737677904383252 Centerline is valid? [True, True] Translation: X:69.55, Y:-4.21, Z:-3.96 [[ 9.85231343e-01 1.68463442e-01 3.06475060e-02 6.95508636e+01] [-1.68433010e-01 9.85706564e-01 -3.59050331e-03 -4.21295466e+00] [-3.08143163e-02 -1.62457529e-03 9.99523806e-01 -3.95718906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906547615 meters 0.08827445853843202 Centerline is valid? [True, True] Translation: X:69.61, Y:-4.22, Z:-3.95 [[ 9.84457370e-01 1.72402485e-01 3.34823953e-02 6.96115054e+01] [-1.72368423e-01 9.85024740e-01 -3.92290818e-03 -4.22451773e+00] [-3.36573068e-02 -1.90937180e-03 9.99431608e-01 -3.95490847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.966547615 meters 0.09260694839107089 Centerline is valid? [True, True] Translation: X:69.67, Y:-4.23, Z:-3.96 [[ 9.83450550e-01 1.77744126e-01 3.51004346e-02 6.96717697e+01] [-1.77710043e-01 9.84074296e-01 -4.11350077e-03 -4.22768949e+00] [-3.52725860e-02 -2.19227514e-03 9.99375324e-01 -3.96000670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026547615 meters 0.09192176632161528 Centerline is valid? [True, True] Translation: X:69.73, Y:-4.24, Z:-3.97 [[ 9.84190504e-01 1.73779568e-01 3.42010878e-02 6.97297299e+01] [-1.73744729e-01 9.84782556e-01 -4.01084046e-03 -4.24377299e+00] [-3.43776367e-02 -1.99482763e-03 9.99406924e-01 -3.96804264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086547615 meters 0.08743917014408804 Centerline is valid? [True, True] Translation: X:69.79, Y:-4.27, Z:-3.97 [[ 9.85743390e-01 1.65040088e-01 3.27374134e-02 6.97875410e+01] [-1.65003366e-01 9.86285533e-01 -3.83883631e-03 -4.27462292e+00] [-3.29219991e-02 -1.61767590e-03 9.99456615e-01 -3.96988210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14654761499999 meters 0.08513244731586182 Centerline is valid? [True, True] Translation: X:69.85, Y:-4.29, Z:-3.97 [[ 9.85577273e-01 1.66052791e-01 3.26176393e-02 6.98472926e+01] [-1.66017041e-01 9.86115484e-01 -3.82021456e-03 -4.29410513e+00] [-3.27991165e-02 -1.64996731e-03 9.99460602e-01 -3.97285082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20654761499999 meters 0.09178580730180423 Centerline is valid? [True, True] Translation: X:69.91, Y:-4.30, Z:-3.98 [[ 9.84982922e-01 1.70027961e-01 2.99855949e-02 6.99074533e+01] [-1.69999227e-01 9.85437896e-01 -3.52371194e-03 -4.29525154e+00] [-3.01480711e-02 -1.62673188e-03 9.99544120e-01 -3.98158489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266547615 meters 0.0876530184075993 Centerline is valid? [True, True] Translation: X:69.97, Y:-4.32, Z:-3.98 [[ 9.85081490e-01 1.69526131e-01 2.95863025e-02 6.99668218e+01] [-1.69498033e-01 9.85524405e-01 -3.47339033e-03 -4.32119684e+00] [-2.97468536e-02 -1.59324755e-03 9.99556195e-01 -3.98223636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.326547615 meters 0.08639707039650932 Centerline is valid? [True, True] Translation: X:70.03, Y:-4.34, Z:-3.98 [[ 9.84847446e-01 1.69843699e-01 3.50517498e-02 7.00270267e+01] [-1.69803922e-01 9.85469212e-01 -4.13039090e-03 -4.34213578e+00] [-3.52439411e-02 -1.88411965e-03 9.99376963e-01 -3.97853569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386547615 meters 0.08581767033901652 Centerline is valid? [True, True] Translation: X:70.09, Y:-4.35, Z:-3.98 [[ 9.85154609e-01 1.67217866e-01 3.88404584e-02 7.00855995e+01] [-1.67166916e-01 9.85917977e-01 -4.57879749e-03 -4.35406176e+00] [-3.90591629e-02 -1.98201617e-03 9.99234934e-01 -3.98109617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446547615 meters 0.08278390783768357 Centerline is valid? [True, True] Translation: X:70.14, Y:-4.38, Z:-3.99 [[ 9.86270152e-01 1.61320972e-01 3.53090835e-02 7.01433882e+01] [-1.61274952e-01 9.86900720e-01 -4.16638859e-03 -4.37956792e+00] [-3.55186858e-02 -1.58528606e-03 9.99367755e-01 -3.98806683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.506547615 meters 0.08154601208027168 Centerline is valid? [True, True] Translation: X:70.20, Y:-4.40, Z:-3.99 [[ 9.86527174e-01 1.58850759e-01 3.91225142e-02 7.02031013e+01] [-1.58792313e-01 9.87301214e-01 -4.61666976e-03 -4.39601142e+00] [-3.93590672e-02 -1.65788433e-03 9.99223756e-01 -3.98823326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56654761499999 meters 0.08593884351773132 Centerline is valid? [True, True] Translation: X:70.26, Y:-4.40, Z:-4.01 [[ 9.86235579e-01 1.61830465e-01 3.39158340e-02 7.02623085e+01] [-1.61788247e-01 9.86817376e-01 -4.00372882e-03 -4.39712282e+00] [-3.41166596e-02 -1.53856352e-03 9.99416673e-01 -4.00633346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62654761499999 meters 0.08411974888955616 Centerline is valid? [True, True] Translation: X:70.32, Y:-4.42, Z:-4.00 [[ 9.85713274e-01 1.64365405e-01 3.67879879e-02 7.03223386e+01] [-1.64317586e-01 9.86397938e-01 -4.34031755e-03 -4.41719633e+00] [-3.70009935e-02 -1.76660473e-03 9.99313667e-01 -4.00071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.686547615 meters 0.08487098808583625 Centerline is valid? [True, True] Translation: X:70.38, Y:-4.43, Z:-4.01 [[ 9.85913304e-01 1.63060069e-01 3.72339895e-02 7.03826616e+01] [-1.63010053e-01 9.86614616e-01 -4.39565540e-03 -4.42531800e+00] [-3.74523541e-02 -1.73577944e-03 9.99296907e-01 -4.01206397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746547615 meters 0.08244834089653466 Centerline is valid? [True, True] Translation: X:70.44, Y:-4.45, Z:-4.01 [[ 9.86698901e-01 1.57641094e-01 3.96807797e-02 7.04420954e+01] [-1.57579345e-01 9.87495150e-01 -4.69872811e-03 -4.44766273e+00] [-3.99252902e-02 -1.61664142e-03 9.99201360e-01 -4.01008416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.806547615 meters 0.08002942076788812 Centerline is valid? [True, True] Translation: X:70.50, Y:-4.47, Z:-4.01 [[ 9.87753256e-01 1.49912656e-01 4.32400496e-02 7.05004408e+01] [-1.49831867e-01 9.88698225e-01 -5.12169238e-03 -4.46910179e+00] [-4.35191668e-02 -1.41976905e-03 9.99051583e-01 -4.00658800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.866547615 meters 0.07867123476356377 Centerline is valid? [True, True] Translation: X:70.56, Y:-4.49, Z:-4.02 [[ 9.89043992e-01 1.43202573e-01 3.58469586e-02 7.05606279e+01] [-1.43142695e-01 9.89692959e-01 -4.24456632e-03 -4.48560368e+00] [-3.60853153e-02 -9.33167459e-04 9.99348277e-01 -4.02183684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92654761499999 meters 0.07779391754555068 Centerline is valid? [True, True] Translation: X:70.62, Y:-4.50, Z:-4.03 [[ 9.89336382e-01 1.41143369e-01 3.59454198e-02 7.06216565e+01] [-1.41081804e-01 9.89988792e-01 -4.25620556e-03 -4.49929273e+00] [-3.61862980e-02 -8.60425687e-04 9.99344691e-01 -4.02522564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98654761499999 meters 0.07761202875598633 Centerline is valid? [True, True] Translation: X:70.68, Y:-4.51, Z:-4.03 [[ 9.89044487e-01 1.43084122e-01 3.63034046e-02 7.06827304e+01] [-1.43022297e-01 9.89710092e-01 -4.30772388e-03 -4.51100004e+00] [-3.65462128e-02 -9.31665747e-04 9.99331530e-01 -4.02526141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.046547615 meters 0.07865347845578184 Centerline is valid? [True, True] Translation: X:70.74, Y:-4.51, Z:-4.03 [[ 9.88467600e-01 1.46001690e-01 4.01909182e-02 7.07446744e+01] [-1.45927886e-01 9.89283683e-01 -4.77975434e-03 -4.50933782e+00] [-4.04580718e-02 -1.14034341e-03 9.99180586e-01 -4.03339576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.106547615 meters 0.0779909541185899 Centerline is valid? [True, True] Translation: X:70.81, Y:-4.52, Z:-4.03 [[ 9.88346958e-01 1.46942514e-01 3.97264233e-02 7.08060662e+01] [-1.46870756e-01 9.89144359e-01 -4.73472025e-03 -4.52041042e+00] [-3.99908992e-02 -1.15510348e-03 9.99199376e-01 -4.03463602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166547615 meters 0.0756704348717806 Centerline is valid? [True, True] Translation: X:70.86, Y:-4.54, Z:-4.04 [[ 9.89406261e-01 1.39234908e-01 4.10961278e-02 7.08646639e+01] [-1.39150905e-01 9.90259008e-01 -4.91155820e-03 -4.53852544e+00] [-4.13796711e-02 -8.59036938e-04 9.99143125e-01 -4.03615167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226547615 meters 0.07459049169803855 Centerline is valid? [True, True] Translation: X:70.93, Y:-4.55, Z:-4.04 [[ 9.90154137e-01 1.33699677e-01 4.14630081e-02 7.09254464e+01] [-1.33609317e-01 9.91021693e-01 -4.95529913e-03 -4.54779757e+00] [-4.17532623e-02 -6.33334262e-04 9.99127752e-01 -4.04057344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28654761499999 meters 0.07401509931222092 Centerline is valid? [True, True] Translation: X:70.99, Y:-4.56, Z:-4.04 [[ 9.90997315e-01 1.28925042e-01 3.60923027e-02 7.09866041e+01] [-1.28853497e-01 9.91654270e-01 -4.31114654e-03 -4.56076402e+00] [-3.63469008e-02 -3.78284755e-04 9.99339162e-01 -4.04496838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34654761499999 meters 0.07438931017169782 Centerline is valid? [True, True] Translation: X:71.05, Y:-4.57, Z:-4.05 [[ 9.91297631e-01 1.27067365e-01 3.43932014e-02 7.10478783e+01] [-1.27001023e-01 9.91894048e-01 -4.11563444e-03 -4.56976217e+00] [-3.46373746e-02 -2.88153079e-04 9.99399905e-01 -4.05161394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406547615 meters 0.07424960421620427 Centerline is valid? [True, True] Translation: X:71.11, Y:-4.58, Z:-4.05 [[ 9.90712612e-01 1.30274102e-01 3.89509814e-02 7.11099166e+01] [-1.30191052e-01 9.91477918e-01 -4.67199868e-03 -4.57596211e+00] [-3.92276784e-02 -4.42461220e-04 9.99230200e-01 -4.05007429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.466547615 meters 0.07760520738525908 Centerline is valid? [True, True] Translation: X:71.17, Y:-4.56, Z:-4.06 [[ 9.89198604e-01 1.42179630e-01 3.56521338e-02 7.11716238e+01] [-1.42117329e-01 9.89840529e-01 -4.28856777e-03 -4.56077380e+00] [-3.58996739e-02 -8.24540768e-04 9.99355059e-01 -4.06234412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.526547615 meters 0.07881706065979163 Centerline is valid? [True, True] Translation: X:71.23, Y:-4.56, Z:-4.06 [[ 9.87881924e-01 1.50800773e-01 3.67210039e-02 7.12326689e+01] [-1.50740620e-01 9.88563480e-01 -4.41716163e-03 -4.56390897e+00] [-3.69671548e-02 -1.17171279e-03 9.99315794e-01 -4.05903498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.586547615 meters 0.07727968409587531 Centerline is valid? [True, True] Translation: X:71.29, Y:-4.57, Z:-4.06 [[ 9.88638825e-01 1.45170814e-01 3.89706095e-02 7.12931798e+01] [-1.45098671e-01 9.89406082e-01 -4.68830474e-03 -4.57142046e+00] [-3.92383631e-02 -1.01954358e-03 9.99229359e-01 -4.06350758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64654761499999 meters 0.077032702689247 Centerline is valid? [True, True] Translation: X:71.35, Y:-4.58, Z:-4.07 [[ 9.88864655e-01 1.45212910e-01 3.25561908e-02 7.13532121e+01] [-1.45162572e-01 9.89400063e-01 -3.91710293e-03 -4.58221428e+00] [-3.27799111e-02 -8.52455752e-04 9.99462231e-01 -4.06949492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70654761499999 meters 0.07878572686975083 Centerline is valid? [True, True] Translation: X:71.41, Y:-4.58, Z:-4.07 [[ 9.88040659e-01 1.50695223e-01 3.26589474e-02 7.14134499e+01] [-1.50647553e-01 9.88579725e-01 -3.92952669e-03 -4.58297753e+00] [-3.28781341e-02 -1.03745838e-03 9.99458830e-01 -4.07477268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.766547615 meters 0.08065399610763031 Centerline is valid? [True, True] Translation: X:71.48, Y:-4.58, Z:-4.08 [[ 9.87064528e-01 1.57041936e-01 3.22714886e-02 7.14750951e+01] [-1.56998635e-01 9.87591170e-01 -3.88720180e-03 -4.58115435e+00] [-3.24814909e-02 -1.22966065e-03 9.99471581e-01 -4.08201527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.826547615 meters 0.08046151235041614 Centerline is valid? [True, True] Translation: X:71.54, Y:-4.59, Z:-4.08 [[ 9.86841170e-01 1.58382983e-01 3.25474529e-02 7.15357999e+01] [-1.58339813e-01 9.87376913e-01 -3.91597155e-03 -4.59201356e+00] [-3.27568269e-02 -1.28911566e-03 9.99462520e-01 -4.08176842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.886547615 meters 0.0807112099672122 Centerline is valid? [True, True] Translation: X:71.60, Y:-4.60, Z:-4.09 [[ 9.86508796e-01 1.60464831e-01 3.24258084e-02 7.15969847e+01] [-1.60422735e-01 9.87040646e-01 -3.91268842e-03 -4.60120308e+00] [-3.26334397e-02 -1.34193530e-03 9.99466487e-01 -4.08588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.946547615 meters 0.07832364491153485 Centerline is valid? [True, True] Translation: X:71.66, Y:-4.62, Z:-4.09 [[ 9.87262201e-01 1.55023849e-01 3.57903999e-02 7.16574076e+01] [-1.54968864e-01 9.87909900e-01 -4.32218865e-03 -4.61535271e+00] [-3.60277327e-02 -1.27926414e-03 9.99349972e-01 -4.08539669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.006547615 meters 0.08010084466631316 Centerline is valid? [True, True] Translation: X:71.72, Y:-4.61, Z:-4.10 [[ 9.87166410e-01 1.56770013e-01 3.04243660e-02 7.17189151e+01] [-1.56731075e-01 9.87634478e-01 -3.67525113e-03 -4.61430743e+00] [-3.06243220e-02 -1.14035913e-03 9.99530315e-01 -4.09716903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06654761499999 meters 0.08047991006121746 Centerline is valid? [True, True] Translation: X:71.78, Y:-4.62, Z:-4.10 [[ 9.86743105e-01 1.59157635e-01 3.17315572e-02 7.17806675e+01] [-1.59116637e-01 9.87252365e-01 -3.82920758e-03 -4.62091506e+00] [-3.19365025e-02 -1.27057450e-03 9.99489092e-01 -4.09703195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12654761499999 meters 0.08060082140139287 Centerline is valid? [True, True] Translation: X:71.84, Y:-4.63, Z:-4.10 [[ 9.86264109e-01 1.61811710e-01 3.31674252e-02 7.18429674e+01] [-1.61768133e-01 9.86820644e-01 -4.01094123e-03 -4.62561323e+00] [-3.33793172e-02 -1.40958508e-03 9.99441761e-01 -4.09760064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.186547615 meters 0.08144909364209837 Centerline is valid? [True, True] Translation: X:71.90, Y:-4.63, Z:-4.11 [[ 9.87120238e-01 1.57462190e-01 2.82718144e-02 7.19028961e+01] [-1.57428511e-01 9.87524440e-01 -3.42714276e-03 -4.63347856e+00] [-2.84587531e-02 -1.06778767e-03 9.99594397e-01 -4.10853622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246547615 meters 0.08242842576190453 Centerline is valid? [True, True] Translation: X:71.96, Y:-4.64, Z:-4.12 [[ 9.86956504e-01 1.58757097e-01 2.67028883e-02 7.19649975e+01] [-1.58727373e-01 9.87317126e-01 -3.24260704e-03 -4.63661592e+00] [-2.68790058e-02 -1.03816722e-03 9.99638155e-01 -4.11710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306547615 meters 0.07995589326384708 Centerline is valid? [True, True] Translation: X:72.03, Y:-4.65, Z:-4.11 [[ 9.86811074e-01 1.58640337e-01 3.22047869e-02 7.20262180e+01] [-1.58596931e-01 9.87335654e-01 -3.91411730e-03 -4.64511730e+00] [-3.24178712e-02 -1.24508607e-03 9.99473627e-01 -4.11328746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366547615 meters 0.0824502876821544 Centerline is valid? [True, True] Translation: X:72.09, Y:-4.64, Z:-4.12 [[ 9.85782838e-01 1.65129650e-01 3.10547088e-02 7.20873300e+01] [-1.65092439e-01 9.86270869e-01 -3.77626249e-03 -4.64363316e+00] [-3.12519276e-02 -1.40432286e-03 9.99510553e-01 -4.12013173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42654761499999 meters 0.08283626080101882 Centerline is valid? [True, True] Translation: X:72.15, Y:-4.65, Z:-4.12 [[ 9.84747433e-01 1.70680828e-01 3.37719986e-02 7.21481039e+01] [-1.70640003e-01 9.85324874e-01 -4.10873992e-03 -4.64708751e+00] [-3.39776734e-02 -1.71678284e-03 9.99421118e-01 -4.12030104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48654761499999 meters 0.08434442307912439 Centerline is valid? [True, True] Translation: X:72.21, Y:-4.65, Z:-4.13 [[ 9.84806621e-01 1.70532456e-01 3.27810983e-02 7.22103553e+01] [-1.70494082e-01 9.85350650e-01 -3.98297200e-03 -4.64793728e+00] [-3.29801026e-02 -1.66652606e-03 9.99454619e-01 -4.12716259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.546547615 meters 0.0810628877677891 Centerline is valid? [True, True] Translation: X:72.27, Y:-4.66, Z:-4.13 [[ 9.85920661e-01 1.63906491e-01 3.30924877e-02 7.22704592e+01] [-1.63863175e-01 9.86474823e-01 -4.03525937e-03 -4.66321595e+00] [-3.33063111e-02 -1.44419452e-03 9.99444147e-01 -4.12683743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.606547615 meters 0.07851383959902207 Centerline is valid? [True, True] Translation: X:72.33, Y:-4.67, Z:-4.13 [[ 9.87066969e-01 1.56563684e-01 3.44472217e-02 7.23311076e+01] [-1.56512261e-01 9.87667081e-01 -4.20103906e-03 -4.67427587e+00] [-3.46801171e-02 -1.24470565e-03 9.99397689e-01 -4.12914693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666547615 meters 0.07638171734113364 Centerline is valid? [True, True] Translation: X:72.39, Y:-4.68, Z:-4.13 [[ 9.87955564e-01 1.50165828e-01 3.73366809e-02 7.23908512e+01] [-1.50100758e-01 9.88660208e-01 -4.55583558e-03 -4.68479699e+00] [-3.75974216e-02 -1.10330100e-03 9.99292358e-01 -4.12884391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726547615 meters 0.07680915726791034 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.69, Z:-4.14 [[ 9.88040505e-01 1.50419285e-01 3.39116401e-02 7.24525308e+01] [-1.50365796e-01 9.88621775e-01 -4.13676476e-03 -4.68786467e+00] [-3.41480351e-02 -1.01185961e-03 9.99416274e-01 -4.13533462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78654761499999 meters 0.07606599703232894 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.70, Z:-4.13 [[ 9.87583620e-01 1.52363365e-01 3.82622231e-02 7.25149209e+01] [-1.52296623e-01 9.88323797e-01 -4.67012992e-03 -4.69599208e+00] [-3.85270223e-02 -1.21506356e-03 9.99256820e-01 -4.13197556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84654761499999 meters 0.07803209609816379 Centerline is valid? [True, True] Translation: X:72.58, Y:-4.69, Z:-4.14 [[ 9.86343111e-01 1.60622735e-01 3.64362956e-02 7.25770779e+01] [-1.60567685e-01 9.87014795e-01 -4.45120393e-03 -4.69091487e+00] [-3.66781274e-02 -1.46007732e-03 9.99326064e-01 -4.13770858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.906547615 meters 0.08295148152941363 Centerline is valid? [True, True] Translation: X:72.64, Y:-4.68, Z:-4.14 [[ 9.84576329e-01 1.70768238e-01 3.80481522e-02 7.26383019e+01] [-1.70715661e-01 9.85309360e-01 -4.65054778e-03 -4.68351150e+00] [-3.82833663e-02 -1.91659618e-03 9.99265085e-01 -4.14078901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.966547615 meters 0.08370106442462596 Centerline is valid? [True, True] Translation: X:72.70, Y:-4.69, Z:-4.15 [[ 9.84110466e-01 1.74115591e-01 3.47901137e-02 7.26992426e+01] [-1.74073749e-01 9.84723441e-01 -4.25138599e-03 -4.68824749e+00] [-3.49988731e-02 -1.87221207e-03 9.99385598e-01 -4.15060017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026547615 meters 0.08594523878753853 Centerline is valid? [True, True] Translation: X:72.76, Y:-4.70, Z:-4.15 [[ 9.83509020e-01 1.78188416e-01 3.09660602e-02 7.27588591e+01] [-1.78157238e-01 9.83994751e-01 -3.78530324e-03 -4.70132149e+00] [-3.11449379e-02 -1.79394787e-03 9.99513269e-01 -4.15331194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086547615 meters 0.08720197779926021 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.71, Z:-4.17 [[ 9.83465924e-01 1.78630406e-01 2.97649721e-02 7.28202851e+01] [-1.78601952e-01 9.83914702e-01 -3.63341226e-03 -4.70652215e+00] [-2.99352315e-02 -1.74274496e-03 9.99550321e-01 -4.16785686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14654761499999 meters 0.08607743343441529 Centerline is valid? [True, True] Translation: X:72.88, Y:-4.73, Z:-4.17 [[ 9.83885517e-01 1.76078017e-01 3.10776686e-02 7.28795199e+01] [-1.76045295e-01 9.84374703e-01 -3.80753131e-03 -4.72834248e+00] [-3.12624934e-02 -1.72490244e-03 9.99509720e-01 -4.16804124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20654761499999 meters 0.0826747118889988 Centerline is valid? [True, True] Translation: X:72.94, Y:-4.75, Z:-4.17 [[ 9.85284820e-01 1.68625943e-01 2.79126355e-02 7.29390708e+01] [-1.68596542e-01 9.85679211e-01 -3.42040980e-03 -4.74792945e+00] [-2.80896744e-02 -1.33589599e-03 9.99604515e-01 -4.17149708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266547615 meters 0.08089898748331532 Centerline is valid? [True, True] Translation: X:73.00, Y:-4.76, Z:-4.18 [[ 9.87090247e-01 1.58344051e-01 2.40832930e-02 7.29973358e+01] [-1.58319059e-01 9.87383591e-01 -2.95303879e-03 -4.76250932e+00] [-2.42470445e-02 -8.97928489e-04 9.99705594e-01 -4.18377514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.326547615 meters 0.07857096249508158 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.78, Z:-4.17 [[ 9.87076196e-01 1.56599856e-01 3.40156996e-02 7.30579322e+01] [-1.56548960e-01 9.87661392e-01 -4.17103081e-03 -4.77840934e+00] [-3.42491760e-02 -1.20799716e-03 9.99412595e-01 -4.17120140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386547615 meters 0.07870637288343532 Centerline is valid? [True, True] Translation: X:73.12, Y:-4.78, Z:-4.18 [[ 9.86813348e-01 1.58302714e-01 3.37589394e-02 7.31197271e+01] [-1.58253722e-01 9.87389821e-01 -4.13530405e-03 -4.78222657e+00] [-3.39878630e-02 -1.26170457e-03 9.99421449e-01 -4.17821787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446547615 meters 0.07675251444573906 Centerline is valid? [True, True] Translation: X:73.18, Y:-4.80, Z:-4.18 [[ 9.87282069e-01 1.54906913e-01 3.57486286e-02 7.31797570e+01] [-1.54849255e-01 9.87928343e-01 -4.39281162e-03 -4.79982402e+00] [-3.59975603e-02 -1.19870435e-03 9.99351159e-01 -4.17585624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506547615 meters 0.07373717493473436 Centerline is valid? [True, True] Translation: X:73.24, Y:-4.82, Z:-4.18 [[ 9.88599679e-01 1.46239098e-01 3.58441174e-02 7.32394558e+01] [-1.46175377e-01 9.89248879e-01 -4.40610079e-03 -4.81618846e+00] [-3.61030972e-02 -8.83657560e-04 9.99347680e-01 -4.17927220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56654761499999 meters 0.07254113955537916 Centerline is valid? [True, True] Translation: X:73.30, Y:-4.83, Z:-4.18 [[ 9.89382843e-01 1.40561351e-01 3.69336818e-02 7.32990976e+01] [-1.40489670e-01 9.90071726e-01 -4.54193481e-03 -4.82939647e+00] [-3.72054146e-02 -6.95088408e-04 9.99307397e-01 -4.18350878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62654761499999 meters 0.07073709735124213 Centerline is valid? [True, True] Translation: X:73.36, Y:-4.84, Z:-4.18 [[ 9.90152915e-01 1.33270879e-01 4.28494733e-02 7.33592002e+01] [-1.33167470e-01 9.91079531e-01 -5.27150759e-03 -4.83994987e+00] [-4.31697744e-02 -4.86557354e-04 9.99067632e-01 -4.18019356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.686547615 meters 0.0711043018768565 Centerline is valid? [True, True] Translation: X:73.42, Y:-4.85, Z:-4.18 [[ 9.90458559e-01 1.31995310e-01 3.96116197e-02 7.34195695e+01] [-1.31906047e-01 9.91250259e-01 -4.87009058e-03 -4.84768060e+00] [-3.99078574e-02 -4.01389279e-04 9.99203284e-01 -4.18403152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.746547615 meters 0.0715206327680243 Centerline is valid? [True, True] Translation: X:73.48, Y:-4.85, Z:-4.19 [[ 9.90049549e-01 1.35008012e-01 3.96828342e-02 7.34817809e+01] [-1.34920504e-01 9.90844373e-01 -4.88737867e-03 -4.84662802e+00] [-3.99793483e-02 -5.15280935e-04 9.99200373e-01 -4.18747491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.806547615 meters 0.07441344609456403 Centerline is valid? [True, True] Translation: X:73.54, Y:-4.83, Z:-4.19 [[ 9.87957277e-01 1.49528108e-01 3.97713968e-02 7.35441148e+01] [-1.49451382e-01 9.88756874e-01 -4.91218466e-03 -4.83308241e+00] [-4.00587516e-02 -1.09086161e-03 9.99196731e-01 -4.19313511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.866547615 meters 0.07770801498700491 Centerline is valid? [True, True] Translation: X:73.61, Y:-4.83, Z:-4.19 [[ 9.85786501e-01 1.62839895e-01 4.13296918e-02 7.36057492e+01] [-1.62768700e-01 9.86651050e-01 -5.10446728e-03 -4.82934844e+00] [-4.16091948e-02 -1.69526526e-03 9.99132524e-01 -4.19184529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92654761499999 meters 0.08302986420007571 Centerline is valid? [True, True] Translation: X:73.67, Y:-4.82, Z:-4.21 [[ 9.84685651e-01 1.71159070e-01 3.31472689e-02 7.36658932e+01] [-1.71117956e-01 9.85242042e-01 -4.09432712e-03 -4.82219382e+00] [-3.33588642e-02 -1.64046775e-03 9.99442092e-01 -4.21000869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98654761499999 meters 0.08656445893673007 Centerline is valid? [True, True] Translation: X:73.73, Y:-4.82, Z:-4.22 [[ 9.83972136e-01 1.75169157e-01 3.33856686e-02 7.37257223e+01] [-1.75129625e-01 9.84536733e-01 -4.12747697e-03 -4.82180930e+00] [-3.35924237e-02 -1.78549729e-03 9.99434020e-01 -4.21850343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.046547615 meters 0.08604692915832204 Centerline is valid? [True, True] Translation: X:73.79, Y:-4.84, Z:-4.21 [[ 9.83487643e-01 1.77294715e-01 3.63130946e-02 7.37867653e+01] [-1.77249570e-01 9.84155719e-01 -4.48451553e-03 -4.83971810e+00] [-3.65328206e-02 -2.02601478e-03 9.99330400e-01 -4.21383087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.106547615 meters 0.0877564527938207 Centerline is valid? [True, True] Translation: X:73.85, Y:-4.85, Z:-4.23 [[ 9.83810610e-01 1.76851543e-01 2.89864567e-02 7.38464956e+01] [-1.76822301e-01 9.84236247e-01 -3.58936256e-03 -4.84790510e+00] [-2.91643057e-02 -1.59419900e-03 9.99573360e-01 -4.23055169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.166547615 meters 0.08303933233182269 Centerline is valid? [True, True] Translation: X:73.91, Y:-4.88, Z:-4.22 [[ 9.84287854e-01 1.73487378e-01 3.28565052e-02 7.39056837e+01] [-1.73447869e-01 9.84834639e-01 -4.07068557e-03 -4.87530152e+00] [-3.30644370e-02 -1.69216445e-03 9.99451790e-01 -4.22032331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.226547615 meters 0.08280772970969881 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.88, Z:-4.23 [[ 9.84995146e-01 1.70179296e-01 2.86979136e-02 7.39661010e+01] [-1.70147873e-01 9.85412142e-01 -3.55133216e-03 -4.88201644e+00] [-2.88836358e-02 -1.38484401e-03 9.99581821e-01 -4.23231293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28654761499999 meters 0.08197245877217432 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.90, Z:-4.24 [[ 9.85504283e-01 1.67853402e-01 2.46281100e-02 7.40275065e+01] [-1.67829475e-01 9.85811323e-01 -3.05009485e-03 -4.89824856e+00] [-2.47906385e-02 -1.12744122e-03 9.99692029e-01 -4.23928706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34654761499999 meters 0.08074406154952676 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.91, Z:-4.23 [[ 9.85518423e-01 1.65844972e-01 3.53395353e-02 7.40865110e+01] [-1.65793613e-01 9.86150660e-01 -4.39926396e-03 -4.91298616e+00] [-3.55797018e-02 -1.52351357e-03 9.99365681e-01 -4.22940954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.406547615 meters 0.08009379575369341 Centerline is valid? [True, True] Translation: X:74.15, Y:-4.92, Z:-4.24 [[ 9.86065421e-01 1.62980160e-01 3.33534540e-02 7.41477469e+01] [-1.62932955e-01 9.86628429e-01 -4.14671392e-03 -4.91708863e+00] [-3.35832980e-02 -1.34544560e-03 9.99435016e-01 -4.23953326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.466547615 meters 0.08052506642377089 Centerline is valid? [True, True] Translation: X:74.21, Y:-4.93, Z:-4.24 [[ 9.86671726e-01 1.60033141e-01 2.94669175e-02 7.42073789e+01] [-1.59994732e-01 9.87111039e-01 -3.67198474e-03 -4.93473726e+00] [-2.96747588e-02 -1.09150803e-03 9.99559011e-01 -4.24076139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526547615 meters 0.07712597166391211 Centerline is valid? [True, True] Translation: X:74.27, Y:-4.95, Z:-4.24 [[ 9.87397255e-01 1.54449780e-01 3.45242712e-02 7.42671116e+01] [-1.54393351e-01 9.88000057e-01 -4.31061598e-03 -4.95379844e+00] [-3.47757556e-02 -1.07402753e-03 9.99394563e-01 -4.23828319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586547615 meters 0.07753410145136533 Centerline is valid? [True, True] Translation: X:74.33, Y:-4.96, Z:-4.25 [[ 9.88320094e-01 1.49389757e-01 3.01013536e-02 7.43273263e+01] [-1.49344658e-01 9.88778076e-01 -3.75362422e-03 -4.96182120e+00] [-3.03243115e-02 -7.85694129e-04 9.99539804e-01 -4.25210341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64654761499999 meters 0.07638759522275959 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.97, Z:-4.25 [[ 9.88097438e-01 1.50552140e-01 3.15833132e-02 7.43883710e+01] [-1.50502848e-01 9.88601701e-01 -3.94583236e-03 -4.97264141e+00] [-3.18173707e-02 -8.54511750e-04 9.99493334e-01 -4.25028631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70654761499999 meters 0.07692622131589164 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.97, Z:-4.26 [[ 9.88080797e-01 1.50711009e-01 3.13453284e-02 7.44500124e+01] [-1.50662301e-01 9.88577502e-01 -3.92359208e-03 -4.97438796e+00] [-3.15786149e-02 -8.45733307e-04 9.99500913e-01 -4.25917498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.766547615 meters 0.0766733028022022 Centerline is valid? [True, True] Translation: X:74.51, Y:-4.98, Z:-4.26 [[ 9.87518851e-01 1.53716712e-01 3.43175056e-02 7.45128791e+01] [-1.53659782e-01 9.88114432e-01 -4.30596856e-03 -4.97978120e+00] [-3.45715219e-02 -1.02099528e-03 9.99401705e-01 -4.25801173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.826547615 meters 0.07761656010163027 Centerline is valid? [True, True] Translation: X:74.57, Y:-4.98, Z:-4.27 [[ 9.87582814e-01 1.54048684e-01 3.08089083e-02 7.45749554e+01] [-1.54002573e-01 9.88062835e-01 -3.87824050e-03 -4.98208804e+00] [-3.10385751e-02 -9.14567491e-04 9.99517769e-01 -4.26729040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.886547615 meters 0.07683026152552577 Centerline is valid? [True, True] Translation: X:74.64, Y:-5.00, Z:-4.26 [[ 9.87799323e-01 1.52767563e-01 3.02418354e-02 7.46353953e+01] [-1.52722610e-01 9.88261772e-01 -3.80439404e-03 -4.99802515e+00] [-3.04680378e-02 -8.60634169e-04 9.99535371e-01 -4.26271671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946547615 meters 0.07841631521227374 Centerline is valid? [True, True] Translation: X:74.70, Y:-4.99, Z:-4.27 [[ 9.87498489e-01 1.54743157e-01 3.00214930e-02 7.46977053e+01] [-1.54699540e-01 9.87954317e-01 -3.78421088e-03 -4.99261387e+00] [-3.02454443e-02 -9.07408639e-04 9.99542090e-01 -4.27207862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006547615 meters 0.0804412730710668 Centerline is valid? [True, True] Translation: X:74.76, Y:-4.99, Z:-4.28 [[ 9.86516012e-01 1.61135104e-01 2.86641902e-02 7.47587012e+01] [-1.61097718e-01 9.86931807e-01 -3.62405464e-03 -4.99460624e+00] [-2.88735634e-02 -1.04254771e-03 9.99582528e-01 -4.27506686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06654761499999 meters 0.08069040064313408 Centerline is valid? [True, True] Translation: X:74.82, Y:-5.00, Z:-4.27 [[ 9.86145286e-01 1.63305864e-01 2.91319422e-02 7.48198458e+01] [-1.63268322e-01 9.86574843e-01 -3.67881249e-03 -5.00480148e+00] [-2.93416130e-02 -1.12847973e-03 9.99568805e-01 -4.27238388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12654761499999 meters 0.08091838977304688 Centerline is valid? [True, True] Translation: X:74.88, Y:-5.01, Z:-4.28 [[ 9.86489469e-01 1.61107410e-01 2.97141448e-02 7.48812054e+01] [-1.61067001e-01 9.86936296e-01 -3.76423596e-03 -5.00717418e+00] [-2.99324143e-02 -1.07258904e-03 9.99551349e-01 -4.28121050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.186547615 meters 0.08011312898697057 Centerline is valid? [True, True] Translation: X:74.94, Y:-5.02, Z:-4.27 [[ 9.86618479e-01 1.59378165e-01 3.43886089e-02 7.49403984e+01] [-1.59322838e-01 9.87216904e-01 -4.36082131e-03 -5.02268792e+00] [-3.46440357e-02 -1.17642389e-03 9.99399023e-01 -4.27389239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.246547615 meters 0.08114139032743 Centerline is valid? [True, True] Translation: X:75.00, Y:-5.02, Z:-4.28 [[ 9.86008122e-01 1.63499557e-01 3.24942907e-02 7.50019434e+01] [-1.63452389e-01 9.86542618e-01 -4.12068263e-03 -5.02310929e+00] [-3.27307324e-02 -1.24824289e-03 9.99463427e-01 -4.28169252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306547615 meters 0.08254028771393718 Centerline is valid? [True, True] Translation: X:75.06, Y:-5.03, Z:-4.29 [[ 9.86166399e-01 1.63160744e-01 2.92302200e-02 7.50622713e+01] [-1.63122568e-01 9.86598866e-01 -3.70196940e-03 -5.03089877e+00] [-2.94425180e-02 -1.11735072e-03 9.99565851e-01 -4.29200154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366547615 meters 0.07998287195643258 Centerline is valid? [True, True] Translation: X:75.12, Y:-5.05, Z:-4.30 [[ 9.87423242e-01 1.55351963e-01 2.93446499e-02 7.51207964e+01] [-1.55309639e-01 9.87858797e-01 -3.72999941e-03 -5.04967797e+00] [-2.95678333e-02 -8.74418886e-04 9.99562394e-01 -4.29517855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42654761499999 meters 0.07768151159104293 Centerline is valid? [True, True] Translation: X:75.18, Y:-5.06, Z:-4.29 [[ 9.88029110e-01 1.50296466e-01 3.47771616e-02 7.51807019e+01] [-1.50233886e-01 9.88640601e-01 -4.42059723e-03 -5.06450071e+00] [-3.50465140e-02 -8.57029377e-04 9.99385315e-01 -4.29029979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48654761499999 meters 0.07688274910714678 Centerline is valid? [True, True] Translation: X:75.24, Y:-5.08, Z:-4.30 [[ 9.88606098e-01 1.47297668e-01 3.10061257e-02 7.52415640e+01] [-1.47246611e-01 9.89091979e-01 -3.93612751e-03 -5.07971392e+00] [-3.12476927e-02 -6.74267276e-04 9.99511444e-01 -4.29501666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.546547615 meters 0.07638802333889559 Centerline is valid? [True, True] Translation: X:75.30, Y:-5.09, Z:-4.31 [[ 9.89802660e-01 1.39107279e-01 3.06571176e-02 7.53000976e+01] [-1.39053083e-01 9.90277237e-01 -3.90318067e-03 -5.09304834e+00] [-3.09020065e-02 -3.99588111e-04 9.99522339e-01 -4.30593859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.606547615 meters 0.07590596871093659 Centerline is valid? [True, True] Translation: X:75.36, Y:-5.11, Z:-4.31 [[ 9.91039010e-01 1.29845813e-01 3.13328314e-02 7.53602421e+01] [-1.29784416e-01 9.91534192e-01 -3.99400644e-03 -5.10878427e+00] [-3.15861787e-02 -1.08297054e-04 9.99501026e-01 -4.30797926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666547615 meters 0.07560414388412412 Centerline is valid? [True, True] Translation: X:75.42, Y:-5.12, Z:-4.31 [[ 9.91619411e-01 1.25271978e-01 3.15891748e-02 7.54196664e+01] [-1.25207331e-01 9.92122437e-01 -4.02415874e-03 -5.12322802e+00] [-3.18444434e-02 3.52376425e-05 9.99492836e-01 -4.30810741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726547615 meters 0.07549381302979462 Centerline is valid? [True, True] Translation: X:75.48, Y:-5.13, Z:-4.31 [[ 9.91748776e-01 1.22900387e-01 3.64672616e-02 7.54812904e+01] [-1.22812123e-01 9.92419002e-01 -4.65913690e-03 -5.12836358e+00] [-3.67634131e-02 1.42071480e-04 9.99323987e-01 -4.30675728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78654761499999 meters 0.07598722497253069 Centerline is valid? [True, True] Translation: X:75.54, Y:-5.14, Z:-4.31 [[ 9.92752579e-01 1.13658415e-01 3.90394863e-02 7.55423706e+01] [-1.13550147e-01 9.93519752e-01 -4.98671072e-03 -5.13876014e+00] [-3.93532823e-02 5.17630516e-04 9.99225225e-01 -4.30534627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84654761499999 meters 0.07549398688796595 Centerline is valid? [True, True] Translation: X:75.60, Y:-5.14, Z:-4.30 [[ 9.92891199e-01 1.10754153e-01 4.35956883e-02 7.56046617e+01] [-1.10615796e-01 9.93847574e-01 -5.58071649e-03 -5.14344392e+00] [-4.39455566e-02 7.18672500e-04 9.99033669e-01 -4.30206663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.906547615 meters 0.07579697274323502 Centerline is valid? [True, True] Translation: X:75.67, Y:-5.13, Z:-4.32 [[ 9.92374127e-01 1.17263957e-01 3.79836303e-02 7.56672356e+01] [-1.17163416e-01 9.93100709e-01 -4.86988985e-03 -5.13329809e+00] [-3.82926327e-02 3.82460829e-04 9.99266495e-01 -4.31727916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.966547615 meters 0.07509247902473813 Centerline is valid? [True, True] Translation: X:75.73, Y:-5.12, Z:-4.31 [[ 9.90913960e-01 1.29055883e-01 3.78695610e-02 7.57321280e+01] [-1.28964030e-01 9.91637321e-01 -4.86861841e-03 -5.12176588e+00] [-3.81811939e-02 -5.94292421e-05 9.99270831e-01 -4.31422570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.026547615 meters 0.07549562720591627 Centerline is valid? [True, True] Translation: X:75.80, Y:-5.11, Z:-4.32 [[ 9.90033999e-01 1.35718286e-01 3.75929212e-02 7.57950217e+01] [-1.35632540e-01 9.90747419e-01 -4.83377393e-03 -5.10830745e+00] [-3.79011212e-02 -3.13222852e-04 9.99281445e-01 -4.32160794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.086547615 meters 0.07605154056490335 Centerline is valid? [True, True] Translation: X:75.86, Y:-5.11, Z:-4.33 [[ 9.90983322e-01 1.29990851e-01 3.24720456e-02 7.58568027e+01] [-1.29923501e-01 9.91515191e-01 -4.18454983e-03 -5.11412899e+00] [-3.27404797e-02 -7.20627635e-05 9.99463884e-01 -4.33139810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14654761499999 meters 0.07513452106011159 Centerline is valid? [True, True] Translation: X:75.92, Y:-5.12, Z:-4.33 [[ 9.91366736e-01 1.25999963e-01 3.62767650e-02 7.59185843e+01] [-1.25913253e-01 9.92030244e-01 -4.67417007e-03 -5.12462219e+00] [-3.65765933e-02 6.60912339e-05 9.99330850e-01 -4.32721725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20654761499999 meters 0.07690506301586472 Centerline is valid? [True, True] Translation: X:75.97, Y:-5.18, Z:-4.34 [[ 9.87988111e-01 1.49546317e-01 3.89280244e-02 7.59712606e+01] [-1.49464130e-01 9.88754357e-01 -5.02951165e-03 -5.18023316e+00] [-3.92423986e-02 -8.49245583e-04 9.99229360e-01 -4.34045451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.266547615 meters 0.07555886048429149 Centerline is valid? [True, True] Translation: X:76.09, Y:-4.73, Z:-4.32 [[ 9.94194930e-01 1.04512431e-01 2.55654648e-02 7.60925793e+01] [-1.04461988e-01 9.94523390e-01 -3.30436363e-03 -4.72536818e+00] [-2.57707998e-02 6.14562282e-04 9.99667689e-01 -4.31799433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.326547615 meters 0.07455302877544069 Centerline is valid? [True, True] Translation: X:76.16, Y:-4.70, Z:-4.33 [[ 9.93214962e-01 1.14077904e-01 2.25891608e-02 7.61570592e+01] [-1.14041155e-01 9.93471757e-01 -2.91265773e-03 -4.70053826e+00] [-2.27739632e-02 3.16801243e-04 9.99740589e-01 -4.32776396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.386547615 meters 0.07401990497225912 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.69, Z:-4.33 [[ 9.92923914e-01 1.17317325e-01 1.84050875e-02 7.62203734e+01] [-1.17293453e-01 9.93094460e-01 -2.37494163e-03 -4.69101201e+00] [-1.85566122e-02 1.99340080e-04 9.99827791e-01 -4.33126936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.446547615 meters 0.07482079650740903 Centerline is valid? [True, True] Translation: X:76.28, Y:-4.69, Z:-4.34 [[ 9.93284761e-01 1.14464581e-01 1.68298250e-02 7.62830526e+01] [-1.14444021e-01 9.93427300e-01 -2.18291955e-03 -4.69225819e+00] [-1.69690746e-02 2.42187875e-04 9.99855986e-01 -4.33602534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.506547615 meters 0.07533385280478304 Centerline is valid? [True, True] Translation: X:76.35, Y:-4.70, Z:-4.34 [[ 9.93483735e-01 1.12928530e-01 1.54017703e-02 7.63450456e+01] [-1.12911252e-01 9.93603085e-01 -1.98961053e-03 -4.69556876e+00] [-1.55279303e-02 2.37612538e-04 9.99879406e-01 -4.34062473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56654761499999 meters 0.07375988885662986 Centerline is valid? [True, True] Translation: X:76.41, Y:-4.69, Z:-4.34 [[ 9.92680645e-01 1.19088938e-01 2.00739051e-02 7.64076101e+01] [-1.19060406e-01 9.92883569e-01 -2.61479663e-03 -4.68667407e+00] [-2.02424439e-02 2.05650709e-04 9.99795080e-01 -4.33778357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62654761499999 meters 0.0740148034452149 Centerline is valid? [True, True] Translation: X:76.47, Y:-4.68, Z:-4.34 [[ 9.92149809e-01 1.23847858e-01 1.73339037e-02 7.64695808e+01] [-1.23827387e-01 9.92301214e-01 -2.25347425e-03 -4.67902172e+00] [-1.74795416e-02 8.93720354e-05 9.99847217e-01 -4.34428409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.686547615 meters 0.07450450020333423 Centerline is valid? [True, True] Translation: X:76.53, Y:-4.69, Z:-4.35 [[ 9.93107208e-01 1.15758842e-01 1.83837970e-02 7.65304273e+01] [-1.15734459e-01 9.93277318e-01 -2.38834065e-03 -4.68918708e+00] [-1.85366802e-02 2.44239508e-04 9.99828151e-01 -4.34559284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.746547615 meters 0.07491981402878484 Centerline is valid? [True, True] Translation: X:76.59, Y:-4.69, Z:-4.35 [[ 9.93409905e-01 1.13056975e-01 1.88382735e-02 7.65927712e+01] [-1.13030792e-01 9.93588459e-01 -2.45230058e-03 -4.68974614e+00] [-1.89947408e-02 3.06834725e-04 9.99819537e-01 -4.34768092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.806547615 meters 0.07320174147056961 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.67, Z:-4.34 [[ 9.92713573e-01 1.18051473e-01 2.41580640e-02 7.66558333e+01] [-1.18009359e-01 9.93007434e-01 -3.16653898e-03 -4.67235202e+00] [-2.43629517e-02 2.92588571e-04 9.99703136e-01 -4.34423976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.866547615 meters 0.07816782665906649 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.68, Z:-4.36 [[ 9.94108615e-01 1.07317191e-01 1.52013905e-02 7.67139072e+01] [-1.07299251e-01 9.94224772e-01 -1.99325742e-03 -4.68265769e+00] [-1.53275098e-02 3.50416567e-04 9.99882465e-01 -4.36192317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92654761499999 meters 0.08104819928782238 Centerline is valid? [True, True] Translation: X:76.78, Y:-4.69, Z:-4.36 [[ 9.95350249e-01 9.43752932e-02 1.92661685e-02 7.67757072e+01] [-9.43441025e-02 9.95536449e-01 -2.52351100e-03 -4.68767004e+00] [-1.94183300e-02 6.94127927e-04 9.99811206e-01 -4.35542849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98654761499999 meters 0.07804242394324416 Centerline is valid? [True, True] Translation: X:76.84, Y:-4.67, Z:-4.36 [[ 9.94232297e-01 1.06326849e-01 1.40264400e-02 7.68393985e+01] [-1.06311505e-01 9.94331177e-01 -1.83716608e-03 -4.67095326e+00] [-1.41422667e-02 3.35397902e-04 9.99899937e-01 -4.36343618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.046547615 meters 0.07511748067067801 Centerline is valid? [True, True] Translation: X:76.90, Y:-4.64, Z:-4.37 [[ 9.92354389e-01 1.23043716e-01 9.64416509e-03 7.69033755e+01] [-1.23037216e-01 9.92401249e-01 -1.26664906e-03 -4.63727458e+00] [-9.72673468e-03 7.03735302e-05 9.99952692e-01 -4.36915879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.106547615 meters 0.07500775329012163 Centerline is valid? [True, True] Translation: X:76.96, Y:-4.63, Z:-4.37 [[ 9.92179515e-01 1.24206905e-01 1.23472322e-02 7.69629411e+01] [-1.24196345e-01 9.92256337e-01 -1.62137187e-03 -4.63439050e+00] [-1.24530049e-02 7.52108524e-05 9.99922456e-01 -4.37192581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166547615 meters 0.07514846431046478 Centerline is valid? [True, True] Translation: X:77.02, Y:-4.65, Z:-4.37 [[ 9.93927722e-01 1.09343689e-01 1.23143027e-02 7.70209891e+01] [-1.09332073e-01 9.94003969e-01 -1.61460205e-03 -4.65486203e+00] [-1.24170123e-02 2.58449498e-04 9.99922873e-01 -4.36553183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.226547615 meters 0.08277059246364789 Centerline is valid? [True, True] Translation: X:77.08, Y:-4.68, Z:-4.38 [[ 9.95191359e-01 9.70772126e-02 1.30450631e-02 7.70766340e+01] [-9.70631590e-02 9.95276759e-01 -1.70764760e-03 -4.68048920e+00] [-1.31492218e-02 4.33241105e-04 9.99913451e-01 -4.38154937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28654761499999 meters 0.08904449239110089 Centerline is valid? [True, True] Translation: X:77.14, Y:-4.69, Z:-4.38 [[ 9.96381471e-01 8.30274433e-02 1.81771278e-02 7.71359166e+01] [-8.29978011e-02 9.96546887e-01 -2.38041092e-03 -4.69347027e+00] [-1.83119996e-02 8.63135701e-04 9.99831949e-01 -4.37707502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34654761499999 meters 0.07902742496778244 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.64, Z:-4.38 [[ 9.94457553e-01 1.03493458e-01 1.85278168e-02 7.72023458e+01] [-1.03466141e-01 9.94630009e-01 -2.42952511e-03 -4.64135463e+00] [-1.86797625e-02 4.99057906e-04 9.99825393e-01 -4.38403204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.406547615 meters 0.075468425211635 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.64, Z:-4.37 [[ 9.94760986e-01 1.00686739e-01 1.76850470e-02 7.72643770e+01] [-1.00661396e-01 9.94918038e-01 -2.31964901e-03 -4.63520015e+00] [-1.78287301e-02 5.27294826e-04 9.99840917e-01 -4.37323086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.466547615 meters 0.08363211188354273 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.64, Z:-4.39 [[ 9.95430640e-01 9.38813091e-02 1.74396230e-02 7.73216692e+01] [-9.38556344e-02 9.95583191e-01 -2.28668999e-03 -4.64362551e+00] [-1.75772729e-02 6.39434403e-04 9.99845303e-01 -4.39319410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.526547615 meters 0.07720279350636872 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.62, Z:-4.38 [[ 9.95224988e-01 9.66189934e-02 1.38561414e-02 7.73850136e+01] [-9.66030282e-02 9.95321329e-01 -1.81849959e-03 -4.61679780e+00] [-1.39670147e-02 4.71271013e-04 9.99902345e-01 -4.38437636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.586547615 meters 0.07859961998499748 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.61, Z:-4.38 [[ 9.95759968e-01 8.92724859e-02 2.21925317e-02 7.74439939e+01] [-8.92297963e-02 9.96006819e-01 -2.90843900e-03 -4.61430705e+00] [-2.23635565e-02 9.15872042e-04 9.99749485e-01 -4.38356022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64654761499999 meters 0.079736258420717 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.62, Z:-4.39 [[ 9.95941541e-01 8.75024203e-02 2.10659144e-02 7.75031339e+01] [-8.74636332e-02 9.96163897e-01 -2.75735982e-03 -4.61781033e+00] [-2.12263791e-02 9.03667772e-04 9.99774287e-01 -4.38778479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70654761499999 meters 0.07898925626390144 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.61, Z:-4.40 [[ 9.95713150e-01 9.02978653e-02 2.00403992e-02 7.75632205e+01] [-9.02633357e-02 9.95914480e-01 -2.62275879e-03 -4.60684096e+00] [-2.01953533e-02 8.02602133e-04 9.99795731e-01 -4.39508106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.766547615 meters 0.08079663525768264 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.61, Z:-4.40 [[ 9.96033546e-01 8.80313615e-02 1.29481818e-02 7.76239443e+01] [-8.80167928e-02 9.96117554e-01 -1.69184423e-03 -4.60629280e+00] [-1.30468465e-02 5.45476171e-04 9.99914737e-01 -4.40233328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.826547615 meters 0.07697118108110725 Centerline is valid? [True, True] Translation: X:77.69, Y:-4.59, Z:-4.40 [[ 9.95608009e-01 9.17461073e-02 1.86371694e-02 7.76874002e+01] [-9.17165939e-02 9.95782176e-01 -2.43400146e-03 -4.59330155e+00] [-1.87818713e-02 7.13973646e-04 9.99823350e-01 -4.39729192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886547615 meters 0.07903257362830184 Centerline is valid? [True, True] Translation: X:77.75, Y:-4.59, Z:-4.40 [[ 9.95824270e-01 8.82353142e-02 2.34211820e-02 7.77466604e+01] [-8.81876177e-02 9.96099171e-01 -3.06360368e-03 -4.58742229e+00] [-2.36001380e-02 9.85352657e-04 9.99720992e-01 -4.39546094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946547615 meters 0.07804265562020563 Centerline is valid? [True, True] Translation: X:77.81, Y:-4.57, Z:-4.41 [[ 9.95860588e-01 8.95763236e-02 1.54198480e-02 7.78091042e+01] [-8.95558608e-02 9.95979765e-01 -2.01386548e-03 -4.56775577e+00] [-1.55382513e-02 6.24591492e-04 9.99879079e-01 -4.40645390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006547615 meters 0.07506352966930803 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.54, Z:-4.42 [[ 9.93980125e-01 1.09216705e-01 8.67305486e-03 7.78716324e+01] [-1.09210972e-01 9.94017947e-01 -1.13326774e-03 -4.54411928e+00] [-8.74494396e-03 1.79252854e-04 9.99961746e-01 -4.41837336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06654761499999 meters 0.07287902317923031 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.53, Z:-4.41 [[ 9.94032280e-01 1.08870471e-01 6.85912151e-03 7.79325940e+01] [-1.08866848e-01 9.94055933e-01 -9.00479645e-04 -4.53224448e+00] [-6.91638608e-03 1.48374896e-04 9.99976071e-01 -4.40852549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12654761499999 meters 0.07430543641843411 Centerline is valid? [True, True] Translation: X:77.99, Y:-4.54, Z:-4.41 [[ 9.94767069e-01 1.01968746e-01 6.39172607e-03 7.79907963e+01] [-1.01965490e-01 9.94787587e-01 -8.33989844e-04 -4.53922518e+00] [-6.44345065e-03 1.77890150e-04 9.99979225e-01 -4.41388577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.186547615 meters 0.07413610111474611 Centerline is valid? [True, True] Translation: X:78.05, Y:-4.54, Z:-4.41 [[ 9.94940502e-01 1.00126562e-01 8.25042010e-03 7.80494389e+01] [-1.00120978e-01 9.94974676e-01 -1.08805283e-03 -4.54140940e+00] [-8.31790206e-03 2.56507693e-04 9.99965373e-01 -4.41405627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.246547615 meters 0.07208497387411711 Centerline is valid? [True, True] Translation: X:78.11, Y:-4.53, Z:-4.42 [[ 9.93752371e-01 1.11008504e-01 1.15471811e-02 7.81113517e+01] [-1.10998519e-01 9.93819434e-01 -1.50403586e-03 -4.52766905e+00] [-1.16427738e-02 2.12919206e-04 9.99932198e-01 -4.41531606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.306547615 meters 0.07414241434490877 Centerline is valid? [True, True] Translation: X:78.18, Y:-4.50, Z:-4.42 [[ 9.89710993e-01 1.43061412e-01 2.36262564e-03 7.81750685e+01] [-1.43061083e-01 9.89713813e-01 -3.08275437e-04 -4.50220136e+00] [-2.38242555e-03 -3.28961938e-05 9.99997161e-01 -4.42343123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.366547615 meters 0.08175072238635614 Centerline is valid? [True, True] Translation: X:78.24, Y:-4.49, Z:-4.44 [[ 9.86578898e-01 1.63223706e-01 -4.48337636e-03 7.82366410e+01] [-1.63222745e-01 9.86589072e-01 5.81719323e-04 -4.48886102e+00] [ 4.51820050e-03 1.57876989e-04 9.99989780e-01 -4.43510592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42654761499999 meters 0.08336339561355982 Centerline is valid? [True, True] Translation: X:78.29, Y:-4.50, Z:-4.44 [[ 9.86497757e-01 1.63760305e-01 -2.17662361e-03 7.82924171e+01] [-1.63760092e-01 9.86500155e-01 2.76855243e-04 -4.50437536e+00] [ 2.19257743e-03 8.33270067e-05 9.99997593e-01 -4.44127694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48654761499999 meters 0.07802413521587816 Centerline is valid? [True, True] Translation: X:78.35, Y:-4.53, Z:-4.43 [[ 9.87249297e-01 1.58825154e-01 1.06487412e-02 7.83494098e+01] [-1.58819445e-01 9.87306673e-01 -1.38506473e-03 -4.53485551e+00] [-1.07335564e-02 -3.23822985e-04 9.99942341e-01 -4.43424920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.546547615 meters 0.0756178818956781 Centerline is valid? [True, True] Translation: X:78.40, Y:-4.57, Z:-4.45 [[ 9.90025793e-01 1.40834277e-01 3.82555790e-03 7.84032247e+01] [-1.40833348e-01 9.90033184e-01 -5.12449708e-04 -4.57294019e+00] [-3.85959975e-03 -3.14276971e-05 9.99992551e-01 -4.44621805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.606547615 meters 0.0736842161005737 Centerline is valid? [True, True] Translation: X:78.46, Y:-4.59, Z:-4.44 [[ 9.91334167e-01 1.31341654e-01 2.43708320e-03 7.84596022e+01] [-1.31341228e-01 9.91337163e-01 -3.34589225e-04 -4.58774338e+00] [-2.45991665e-03 1.16002294e-05 9.99996974e-01 -4.44192020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666547615 meters 0.07452164264645723 Centerline is valid? [True, True] Translation: X:78.52, Y:-4.61, Z:-4.45 [[ 9.92159023e-01 1.24962489e-01 -2.20236267e-03 7.85163591e+01] [-1.24962168e-01 9.92161467e-01 2.83443872e-04 -4.61401662e+00] [ 2.22051923e-03 -6.00938204e-06 9.99997535e-01 -4.45289880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.726547615 meters 0.07329241080166082 Centerline is valid? [True, True] Translation: X:78.58, Y:-4.62, Z:-4.45 [[ 9.92893839e-01 1.18945223e-01 3.72282985e-03 7.85764134e+01] [-1.18944252e-01 9.92900817e-01 -4.81782831e-04 -4.62496303e+00] [-3.75370656e-03 3.55499922e-05 9.99992954e-01 -4.44910852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78654761499999 meters 0.07224147076810918 Centerline is valid? [True, True] Translation: X:78.63, Y:-4.64, Z:-4.45 [[ 9.93139086e-01 1.16444609e-01 1.07428772e-02 7.86347840e+01] [-1.16436389e-01 9.93197179e-01 -1.38962941e-03 -4.63641168e+00] [-1.08316102e-02 1.29233456e-04 9.99941328e-01 -4.44566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84654761499999 meters 0.07384194888692956 Centerline is valid? [True, True] Translation: X:78.70, Y:-4.62, Z:-4.46 [[ 9.91150452e-01 1.32688478e-01 3.81423952e-03 7.86972528e+01] [-1.32687560e-01 9.91157791e-01 -4.93851196e-04 -4.62081836e+00] [-3.84604158e-03 -1.66213009e-05 9.99992604e-01 -4.45641580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.906547615 meters 0.08970748476979387 Centerline is valid? [True, True] Translation: X:78.76, Y:-4.57, Z:-4.47 [[ 9.84945716e-01 1.72507771e-01 -1.10907503e-02 7.87624604e+01] [-1.72502563e-01 9.85008028e-01 1.43169596e-03 -4.56961385e+00] [ 1.11714567e-02 5.03040049e-04 9.99937471e-01 -4.47324479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.966547615 meters 0.08942073226811706 Centerline is valid? [True, True] Translation: X:78.82, Y:-4.57, Z:-4.46 [[ 9.82742149e-01 1.84881754e-01 -6.05026833e-03 7.88241019e+01] [-1.84880442e-01 9.82760710e-01 7.80210816e-04 -4.56734369e+00] [ 6.09021274e-03 3.51830232e-04 9.99981393e-01 -4.46466712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.026547615 meters 0.08401109165780436 Centerline is valid? [True, True] Translation: X:78.88, Y:-4.60, Z:-4.46 [[ 9.84705147e-01 1.74111800e-01 6.39182013e-03 7.88806052e+01] [-1.74110092e-01 9.84725846e-01 -8.27076683e-04 -4.59597936e+00] [-6.43819429e-03 -2.98453721e-04 9.99979230e-01 -4.46398929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.086547615 meters 0.07860916205919175 Centerline is valid? [True, True] Translation: X:78.94, Y:-4.62, Z:-4.46 [[ 9.86503406e-01 1.63368236e-01 1.10385177e-02 7.89379349e+01] [-1.63362494e-01 9.86565083e-01 -1.42594129e-03 -4.62260641e+00] [-1.11231697e-02 -3.96583841e-04 9.99938057e-01 -4.45974135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14654761499999 meters 0.077038367608682 Centerline is valid? [True, True] Translation: X:79.00, Y:-4.64, Z:-4.47 [[ 9.87646827e-01 1.56218615e-01 1.22266193e-02 7.89967709e+01] [-1.56211025e-01 9.87722442e-01 -1.57929137e-03 -4.63561556e+00] [-1.23232210e-02 -3.50150620e-04 9.99924005e-01 -4.46580281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20654761499999 meters 0.07598194412535472 Centerline is valid? [True, True] Translation: X:79.05, Y:-4.65, Z:-4.48 [[ 9.89857735e-01 1.41985398e-01 4.67023827e-03 7.90538602e+01] [-1.41984058e-01 9.89868751e-01 -6.18747298e-04 -4.64629120e+00] [-4.71077600e-03 -5.06275845e-05 9.99988903e-01 -4.47994376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.266547615 meters 0.07404733989843468 Centerline is valid? [True, True] Translation: X:79.12, Y:-4.62, Z:-4.47 [[ 9.90184924e-01 1.39002589e-01 1.45635011e-02 7.91166698e+01] [-1.38990015e-01 9.90292004e-01 -1.87693792e-03 -4.62462933e+00] [-1.46830179e-02 -1.65665600e-04 9.99892185e-01 -4.47449910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.326547615 meters 0.07416988706992529 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.62, Z:-4.48 [[ 9.89841795e-01 1.41424240e-01 1.45741386e-02 7.91761527e+01] [-1.41411758e-01 9.89949063e-01 -1.88865916e-03 -4.61923182e+00] [-1.46947571e-02 -1.91480790e-04 9.99892008e-01 -4.47889605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.386547615 meters 0.07712435401837511 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.57, Z:-4.48 [[ 9.86996678e-01 1.59474700e-01 2.01339729e-02 7.92427906e+01] [-1.59455081e-01 9.87201797e-01 -2.58644364e-03 -4.56505422e+00] [-2.02887665e-02 -6.57652992e-04 9.99793945e-01 -4.48159357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.446547615 meters 0.07841792137117366 Centerline is valid? [True, True] Translation: X:79.31, Y:-4.53, Z:-4.48 [[ 9.85189617e-01 1.68997847e-01 2.90025289e-02 7.93057492e+01] [-1.68961155e-01 9.85615657e-01 -3.72892449e-03 -4.53355662e+00] [-2.92155268e-02 -1.22660310e-03 9.99572383e-01 -4.48257837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.506547615 meters 0.08555963800685605 Centerline is valid? [True, True] Translation: X:79.37, Y:-4.49, Z:-4.49 [[ 9.82607008e-01 1.83988234e-01 2.51356004e-02 7.93697697e+01] [-1.83965722e-01 9.82927369e-01 -3.22506495e-03 -4.49258866e+00] [-2.52998436e-02 -1.45511745e-03 9.99678849e-01 -4.49396016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56654761499999 meters 0.08789471713935741 Centerline is valid? [True, True] Translation: X:79.44, Y:-4.45, Z:-4.49 [[ 9.81074089e-01 1.90786886e-01 3.30756064e-02 7.94362592e+01] [-1.90751811e-01 9.81629132e-01 -4.24200152e-03 -4.45284721e+00] [-3.32772970e-02 -2.14751403e-03 9.99443850e-01 -4.48728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62654761499999 meters 0.10376699672891118 Centerline is valid? [True, False] Translation: X:79.45, Y:-4.42, Z:-4.49 [[ 9.76106408e-01 2.13456739e-01 4.06509610e-02 7.94548523e+01] [-2.13417229e-01 9.76946447e-01 -5.35972483e-03 -4.41682258e+00] [-4.08578813e-02 -3.44395368e-03 9.99159033e-01 -4.49380153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.686547615 meters 0.10784495817557492 Centerline is valid? [False, False] Translation: X:79.49, Y:-4.37, Z:-4.50 [[ 9.68930355e-01 2.43548846e-01 4.31036766e-02 7.94891370e+01] [-2.44150893e-01 9.69693403e-01 9.22199465e-03 -4.36573469e+00] [-3.95513448e-02 -1.94592717e-02 9.99028042e-01 -4.49580719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.746547615 meters 0.12509456293237306 Centerline is valid? [False, False] Translation: X:79.51, Y:-4.31, Z:-4.50 [[ 9.61126850e-01 2.73605788e-01 3.70816783e-02 7.95069898e+01] [-2.74365859e-01 9.61472430e-01 1.71505688e-02 -4.31264116e+00] [-3.09605165e-02 -2.66578186e-02 9.99165055e-01 -4.50122353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.806547615 meters 0.12726903950122903 Centerline is valid? [False, False] Translation: X:79.51, Y:-4.27, Z:-4.50 [[ 9.62367476e-01 2.69379981e-01 3.58227062e-02 7.95103765e+01] [-2.70273873e-01 9.62510114e-01 2.29415542e-02 -4.26656450e+00] [-2.82997216e-02 -3.17601472e-02 9.99094800e-01 -4.49719514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 707.77 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%| | 0/2728 [00:00