+ python -m lidar_slam --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters 0.0634443042115122 Centerline is valid? [0, True] SLAMing on 0.081052754 meters 0.06533632427559422 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.01 [[ 9.99981786e-01 4.59427843e-03 3.91419607e-03 5.96137601e-02] [-4.59409336e-03 9.99989446e-01 -5.62705073e-05 1.84196051e-02] [-3.91441328e-03 3.82873002e-05 9.99992338e-01 9.25430318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.141052754 meters 0.06869561875673505 Centerline is valid? [True, True] Translation: X:0.12, Y:0.06, Z:0.00 [[ 9.99849392e-01 1.20667091e-02 1.24734646e-02 1.20735899e-01] [-1.20653887e-02 9.99927194e-01 -1.81100969e-04 5.63876105e-02] [-1.24747418e-02 3.05764944e-05 9.99922187e-01 1.73225339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20105275400000003 meters 0.07247826828322489 Centerline is valid? [True, True] Translation: X:0.18, Y:0.07, Z:0.00 [[ 9.99730555e-01 1.38759106e-02 1.86084902e-02 1.80546614e-01] [-1.38732820e-02 9.99903725e-01 -2.70344402e-04 7.15493163e-02] [-1.86104499e-02 1.21107263e-05 9.99826811e-01 2.75408493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.261052754 meters 0.07763777028748749 Centerline is valid? [True, True] Translation: X:0.24, Y:0.08, Z:-0.01 [[ 9.99582078e-01 1.68344168e-02 2.35004471e-02 2.41753831e-01] [-1.68310436e-02 9.99858290e-01 -3.41340442e-04 8.25145224e-02] [-2.35028631e-02 -5.43392608e-05 9.99723768e-01 -5.09931406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32105275400000005 meters 0.09120489455281255 Centerline is valid? [True, True] Translation: X:0.30, Y:0.10, Z:-0.00 [[ 9.99017927e-01 2.34034291e-02 3.76226203e-02 3.01661056e-01] [-2.33994299e-02 9.99726046e-01 -5.46686269e-04 9.60964097e-02] [-3.76251078e-02 -3.34198484e-04 9.99291869e-01 -3.29248938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38105275400000005 meters 0.1350315974958089 Centerline is valid? [True, False] Translation: X:0.32, Y:0.10, Z:0.01 [[ 9.99694064e-01 2.16074290e-02 1.20373467e-02 3.22295089e-01] [-2.16152305e-02 9.99766229e-01 5.18375616e-04 9.66866893e-02] [-1.20233319e-02 -7.78407050e-04 9.99927414e-01 9.39714337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44105275400000005 meters 0.14125384142531688 Centerline is valid? [False, False] Translation: X:0.33, Y:0.10, Z:0.01 [[ 0.99992054 0.00701615 0.01047306 0.32648878] [-0.00705155 0.99996954 0.00334699 0.09976162] [-0.01044926 -0.00342057 0.99993955 0.00621846] [ 0. 0. 0. 1. ]] SLAMing on 0.501052754 meters 0.1474146767158812 Centerline is valid? [False, False] Translation: X:0.33, Y:0.10, Z:0.01 [[ 9.99950324e-01 2.25464069e-03 9.70904206e-03 3.28639830e-01] [-2.24583140e-03 9.99997057e-01 -9.18135517e-04 9.90878505e-02] [-9.71108355e-03 8.96285036e-04 9.99952445e-01 5.21869992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.561052754 meters 0.17479399587735453 Centerline is valid? [False, False] Translation: X:0.33, Y:0.10, Z:0.00 [[ 0.99996127 -0.0015711 0.00865982 0.33381718] [ 0.00160349 0.99999174 -0.00373485 0.09934196] [-0.00865388 0.00374859 0.99995553 0.00141026] [ 0. 0. 0. 1. ]] SLAMing on 0.621052754 meters 0.17866797887011013 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:-0.00 [[ 9.99966022e-01 -2.15620060e-03 7.95647777e-03 3.36573659e-01] [ 2.18947191e-03 9.99988886e-01 -4.17532537e-03 9.99307321e-02] [-7.94738650e-03 4.19260399e-03 9.99959630e-01 -4.09380262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.681052754 meters 0.1841343375870628 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:-0.00 [[ 0.99997061 -0.00204684 0.00738876 0.34087069] [ 0.00207321 0.9999915 -0.00356344 0.09657736] [-0.0073814 0.00357865 0.99996635 -0.00437929] [ 0. 0. 0. 1. ]] SLAMing on 0.741052754 meters 0.2038227889063554 Centerline is valid? [False, False] Translation: X:0.35, Y:0.09, Z:-0.01 [[ 0.99997596 -0.00262349 0.00641895 0.34677034] [ 0.00263948 0.99999343 -0.00248378 0.0905477 ] [-0.00641239 0.00250067 0.99997631 -0.00934336] [ 0. 0. 0. 1. ]] SLAMing on 0.801052754 meters 0.2148794414534665 Centerline is valid? [False, False] Translation: X:0.35, Y:0.09, Z:-0.01 [[ 0.99998325 -0.0028347 0.00504684 0.35368869] [ 0.00284003 0.99999542 -0.00104802 0.08583085] [-0.00504384 0.00106233 0.99998672 -0.01477423] [ 0. 0. 0. 1. ]] SLAMing on 0.861052754 meters 0.2210562005779905 Centerline is valid? [False, False] Translation: X:0.37, Y:0.07, Z:-0.02 [[ 0.99993998 -0.00147115 -0.01085693 0.36868097] [ 0.0014432 0.99999563 -0.00258207 0.06604371] [ 0.01086068 0.00256625 0.99993773 -0.01824145] [ 0. 0. 0. 1. ]] SLAMing on 0.921052754 meters 0.22428334673805014 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.02 [[ 9.99945357e-01 -8.50024944e-04 -1.04192358e-02 3.72427529e-01] [ 8.35502228e-04 9.99998674e-01 -1.39811053e-03 5.44896744e-02] [ 1.04204104e-02 1.38932884e-03 9.99944741e-01 -2.43264365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.981052754 meters 0.23067291476501098 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.03 [[ 9.99943575e-01 -2.72096219e-04 -1.06194537e-02 3.74396313e-01] [ 2.70291039e-04 9.99999949e-01 -1.71422855e-04 5.03818974e-02] [ 1.06194998e-02 1.68542840e-04 9.99943597e-01 -2.62388209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.041052754 meters 0.2474008394175533 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.03 [[ 9.99943216e-01 -2.21844699e-03 -1.04231657e-02 3.78226072e-01] [ 2.22380421e-03 9.99997401e-01 5.02410579e-04 3.22865471e-02] [ 1.04220241e-02 -5.25561130e-04 9.99945551e-01 -3.23290494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1010527540000001 meters 0.2776866323931307 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.04 [[ 0.99994901 -0.0082402 -0.00583792 0.39802328] [ 0.00825948 0.99996049 0.00328571 0.00933095] [ 0.00581062 -0.00333376 0.99997756 -0.03753562] [ 0. 0. 0. 1. ]] SLAMing on 1.1610527540000002 meters 0.2677009240020332 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.04 [[ 0.99984858 -0.01527685 -0.00833258 0.4059736 ] [ 0.01531105 0.99987455 0.0040567 -0.00733796] [ 0.00826956 -0.00418367 0.99995705 -0.04025007] [ 0. 0. 0. 1. ]] SLAMing on 1.2210527540000002 meters 0.24744799172534013 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.04 [[ 0.99978151 -0.01890965 -0.00890786 0.41038918] [ 0.01894447 0.99981316 0.00384084 -0.02389537] [ 0.00883357 -0.00400876 0.99995295 -0.04356739] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters 0.24159065251596118 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.04, Z:-0.05 [[ 0.99974745 -0.02039219 -0.00944453 0.41437005] [ 0.02044141 0.99977782 0.00514483 -0.03615475] [ 0.00933752 -0.00533659 0.99994216 -0.04604732] [ 0. 0. 0. 1. ]] SLAMing on 1.3410527540000001 meters 0.21135728674924903 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.05 [[ 0.99973741 -0.02061191 -0.01001304 0.41604509] [ 0.02068322 0.99976108 0.00707021 -0.04690466] [ 0.00986492 -0.00727546 0.99992487 -0.04562849] [ 0. 0. 0. 1. ]] SLAMing on 1.4010527540000002 meters 0.20766099603436589 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.05, Z:-0.05 [[ 0.99970867 -0.01289747 -0.02040176 0.43140037] [ 0.01297606 0.99990887 0.00372424 -0.04776208] [ 0.02035187 -0.00398789 0.99978493 -0.0481608 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4610527540000002 meters 0.18577011500857848 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.05 [[ 9.99881639e-01 -9.49202311e-03 -1.21082764e-02 4.41149049e-01] [ 9.50341435e-03 9.99954451e-01 8.83589816e-04 -5.13080299e-02] [ 1.20993379e-02 -9.98555201e-04 9.99926302e-01 -4.88865515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5210527540000003 meters 0.16979929888195536 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.05 [[ 0.99988124 -0.0093085 -0.01228213 0.4414491 ] [ 0.0093274 0.9999554 0.00148292 -0.05191892] [ 0.01226778 -0.0015973 0.99992347 -0.0485391 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5810527540000001 meters 0.14929593926188578 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.05 [[ 0.99989664 -0.0070663 -0.01252115 0.44351875] [ 0.00711373 0.99996768 0.00374748 -0.04928235] [ 0.01249427 -0.00383616 0.99991458 -0.05028606] [ 0. 0. 0. 1. ]] SLAMing on 1.6410527540000002 meters 0.1353460883324579 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:-0.05 [[ 0.99987924 -0.00861851 -0.01293173 0.44540045] [ 0.00864173 0.99996114 0.00174067 -0.0451415 ] [ 0.01291623 -0.00185221 0.99991487 -0.05175814] [ 0. 0. 0. 1. ]] SLAMing on 1.7010527540000002 meters 0.12447030881822012 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.99792212e-01 -1.29349205e-02 -1.57550414e-02 4.57350254e-01] [ 1.29292932e-02 9.99916308e-01 -4.58987425e-04 -3.65802978e-02] [ 1.57596598e-02 2.55190504e-04 9.99875776e-01 -5.70654909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7610527540000003 meters 0.12055878794613066 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 0.99969454 -0.01800622 -0.01692947 0.46258569] [ 0.01792255 0.99982647 -0.005081 -0.03200155] [ 0.01701802 0.00477603 0.99984378 -0.06022413] [ 0. 0. 0. 1. ]] SLAMing on 1.821052754 meters 0.1170579486206231 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:-0.06 [[ 0.99942102 -0.02797159 -0.01937031 0.47346939] [ 0.02782545 0.99958257 -0.00777329 -0.02782601] [ 0.01957966 0.00722981 0.99978216 -0.05809278] [ 0. 0. 0. 1. ]] SLAMing on 1.8810527540000002 meters 0.11321506948664206 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.06 [[ 0.99953182 -0.02705825 -0.0142828 0.48940012] [ 0.02685045 0.99953363 -0.01454541 -0.02090944] [ 0.01466971 0.0141551 0.99979219 -0.06235725] [ 0. 0. 0. 1. ]] SLAMing on 1.9410527540000002 meters 0.11227226834610882 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.06 [[ 0.99969329 -0.02355839 -0.00763789 0.50079619] [ 0.02341301 0.99955292 -0.01859522 -0.02096904] [ 0.00807255 0.01841069 0.99979792 -0.06395231] [ 0. 0. 0. 1. ]] SLAMing on 2.0010527540000003 meters 0.1082208441319832 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.06 [[ 0.99991249 -0.01051222 -0.00803201 0.50025498] [ 0.01046869 0.9999304 -0.00544163 -0.02075301] [ 0.00808865 0.00535707 0.99995294 -0.06234226] [ 0. 0. 0. 1. ]] SLAMing on 2.061052754 meters 0.10280658606362722 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.06 [[ 9.99962272e-01 -2.66938744e-03 -8.26618979e-03 5.00973229e-01] [ 2.67583366e-03 9.99996124e-01 7.68868807e-04 -1.57291853e-02] [ 8.26410535e-03 -7.90958748e-04 9.99965539e-01 -6.37240983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.121052754 meters 0.10612952731188591 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.07 [[ 9.99957259e-01 -3.28823828e-03 -8.64103502e-03 5.02287258e-01] [ 3.28140143e-03 9.99994292e-01 -8.05266295e-04 -1.21718656e-02] [ 8.64363360e-03 7.76877173e-04 9.99962341e-01 -6.52364219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181052754 meters 0.10134587038021188 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.07 [[ 9.99958270e-01 -1.68958041e-03 -8.97789712e-03 5.04547923e-01] [ 1.69055436e-03 9.99998566e-01 1.00894530e-04 -8.01228279e-03] [ 8.97771377e-03 -1.16067943e-04 9.99959693e-01 -6.76364979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.241052754 meters 0.09782108369775648 Centerline is valid? [False, True] Translation: X:0.50, Y:0.00, Z:-0.07 [[ 9.99960069e-01 -8.65261334e-04 -8.89449025e-03 5.03915270e-01] [ 8.59714619e-04 9.99999434e-01 -6.27416954e-04 1.03749267e-03] [ 8.89502809e-03 6.19745177e-04 9.99960246e-01 -6.72642718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.301052754 meters 0.0905928200230139 Centerline is valid? [True, True] Translation: X:0.57, Y:0.00, Z:-0.06 [[ 9.99947534e-01 -9.86885737e-03 2.74494951e-03 5.65302518e-01] [ 9.86889731e-03 9.99951301e-01 -1.00512626e-06 4.97579390e-03] [-2.74480591e-03 2.80946983e-05 9.99996233e-01 -5.63014493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.361052754 meters 0.08896608158278446 Centerline is valid? [True, True] Translation: X:0.62, Y:0.01, Z:-0.06 [[ 9.99836715e-01 -1.77811737e-02 3.22065112e-03 6.24273434e-01] [ 1.77812764e-02 9.99841901e-01 -3.25234068e-06 1.39163206e-02] [-3.22008410e-03 6.05190971e-05 9.99994814e-01 -6.47065225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.421052754 meters 0.09040441537698243 Centerline is valid? [True, True] Translation: X:0.68, Y:0.02, Z:-0.08 [[ 9.99586196e-01 -2.87114024e-02 -1.75831297e-03 6.82438083e-01] [ 2.87114464e-02 9.99587741e-01 -2.17985088e-07 1.69149268e-02] [ 1.75759435e-03 -5.02658136e-05 9.99998454e-01 -7.75220285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4810527540000002 meters 0.08926678583839727 Centerline is valid? [True, True] Translation: X:0.74, Y:0.02, Z:-0.08 [[ 9.99254394e-01 -3.85812130e-02 -1.46519356e-03 7.42298400e-01] [ 3.85812536e-02 9.99255466e-01 -5.89015864e-07 2.27670799e-02] [ 1.46412540e-03 -5.59404277e-05 9.99998927e-01 -8.48085376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.541052754 meters 0.08515504041969511 Centerline is valid? [True, True] Translation: X:0.80, Y:0.04, Z:-0.09 [[ 9.99226242e-01 -3.89528364e-02 5.44007545e-03 8.03078957e-01] [ 3.89534152e-02 9.99241028e-01 -4.30072530e-07 3.86550958e-02] [-5.43592983e-03 2.12339257e-04 9.99985203e-01 -8.63223207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601052754 meters 0.0795266368669418 Centerline is valid? [True, True] Translation: X:0.86, Y:0.06, Z:-0.09 [[ 9.99197669e-01 -3.77050865e-02 1.35034822e-02 8.62329955e-01] [ 3.77085492e-02 9.99288780e-01 -1.81772949e-06 5.56599501e-02] [-1.34938097e-02 5.11012992e-04 9.99908824e-01 -8.93856726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.661052754 meters 0.0766444096273329 Centerline is valid? [True, True] Translation: X:0.92, Y:0.08, Z:-0.10 [[ 9.99298831e-01 -3.49753202e-02 1.33631327e-02 9.20357915e-01] [ 3.49784897e-02 9.99388065e-01 -3.45950300e-06 7.73728260e-02] [-1.33548344e-02 4.70879278e-04 9.99910709e-01 -1.00533426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.721052754 meters 0.07203017585404865 Centerline is valid? [True, True] Translation: X:0.98, Y:0.09, Z:-0.09 [[ 9.98867592e-01 -4.33033994e-02 1.97065709e-02 9.81900939e-01] [ 4.33117830e-02 9.99061604e-01 1.38029796e-06 9.13651722e-02] [-1.96881381e-02 8.52147987e-04 9.99805807e-01 -9.20598653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.781052754 meters 0.07055293053958954 Centerline is valid? [True, True] Translation: X:1.04, Y:0.09, Z:-0.09 [[ 9.97823548e-01 -5.72015600e-02 3.28046930e-02 1.04161015e+00] [ 5.72323098e-02 9.98360888e-01 1.63969150e-06 8.80744391e-02] [-3.27510162e-02 1.87585223e-03 9.99461781e-01 -9.01853957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.841052754 meters 0.057913564136943055 Centerline is valid? [True, True] Translation: X:1.10, Y:0.11, Z:-0.07 [[ 9.97435529e-01 -5.65569288e-02 4.38597740e-02 1.10399476e+00] [ 5.66112003e-02 9.98396300e-01 4.69586458e-06 1.10141597e-01] [-4.37897016e-02 2.47827063e-03 9.99037697e-01 -7.26206074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.901052754 meters 0.05986191508672886 Centerline is valid? [True, True] Translation: X:1.16, Y:0.11, Z:-0.08 [[ 9.97210386e-01 -5.67347565e-02 4.85037534e-02 1.16310136e+00] [ 5.68014247e-02 9.98385496e-01 3.86339209e-06 1.06669154e-01] [-4.84256630e-02 2.75122968e-03 9.98823000e-01 -8.34962681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9610527540000002 meters 0.05814648748699896 Centerline is valid? [True, True] Translation: X:1.22, Y:0.11, Z:-0.09 [[ 9.97064785e-01 -5.60010414e-02 5.22082088e-02 1.22260642e+00] [ 5.60772531e-02 9.98426433e-01 5.08930961e-06 1.09199990e-01] [-5.21263407e-02 2.92261857e-03 9.98636222e-01 -8.95053712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0210527540000003 meters 0.05097486717099193 Centerline is valid? [True, True] Translation: X:1.29, Y:0.11, Z:-0.08 [[ 9.96141759e-01 -5.91928222e-02 6.47904725e-02 1.28515646e+00] [ 5.93168958e-02 9.98239203e-01 8.62274437e-06 1.12979158e-01] [-6.46769000e-02 3.83458023e-03 9.97898890e-01 -7.95590592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081052754 meters 0.0450246748113902 Centerline is valid? [True, True] Translation: X:1.35, Y:0.12, Z:-0.07 [[ 9.95195153e-01 -6.49382823e-02 7.32777364e-02 1.34836554e+00] [ 6.51126011e-02 9.97877923e-01 1.00056043e-05 1.17950718e-01] [-7.31228852e-02 4.76134649e-03 9.97311573e-01 -7.45637089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141052754 meters 0.04474519651085929 Centerline is valid? [True, True] Translation: X:1.41, Y:0.11, Z:-0.08 [[ 9.94650719e-01 -6.81755064e-02 7.76018539e-02 1.41009142e+00] [ 6.83812308e-02 9.97659264e-01 6.25186685e-06 1.12360920e-01] [-7.74206347e-02 5.30029186e-03 9.96984429e-01 -7.69270601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.201052754 meters 0.04601706655440245 Centerline is valid? [True, True] Translation: X:1.47, Y:0.10, Z:-0.08 [[ 9.94256109e-01 -7.05086999e-02 8.05190212e-02 1.47213160e+00] [ 7.07386317e-02 9.97494885e-01 -3.09491878e-06 1.04177932e-01] [-8.03170936e-02 5.69888252e-03 9.96753072e-01 -8.03917625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.261052754 meters 0.047908757135859056 Centerline is valid? [True, True] Translation: X:1.53, Y:0.10, Z:-0.09 [[ 9.93971471e-01 -7.16003676e-02 8.30307295e-02 1.53325790e+00] [ 7.18492027e-02 9.97415506e-01 -8.92182509e-06 9.58382862e-02] [-8.28154983e-02 5.97455975e-03 9.96546987e-01 -8.53505536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.321052754 meters 0.049523125435388206 Centerline is valid? [True, True] Translation: X:1.59, Y:0.09, Z:-0.09 [[ 9.93574548e-01 -7.49422433e-02 8.48131965e-02 1.59389663e+00] [ 7.52144298e-02 9.97167383e-01 -1.39418623e-05 8.74754991e-02] [-8.45719084e-02 6.39302850e-03 9.96396869e-01 -9.07097193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.381052754 meters 0.056864249364908116 Centerline is valid? [True, True] Translation: X:1.65, Y:0.06, Z:-0.09 [[ 9.92333777e-01 -8.63928555e-02 8.83739210e-02 1.65371110e+00] [ 8.67335017e-02 9.96231549e-01 -1.46534515e-05 6.32031298e-02] [-8.80396223e-02 7.67952074e-03 9.96087371e-01 -9.16737996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.441052754 meters 0.06677815732083751 Centerline is valid? [True, True] Translation: X:1.71, Y:0.05, Z:-0.09 [[ 9.90760582e-01 -1.01197322e-01 9.02915909e-02 1.71283285e+00] [ 1.01613842e-01 9.94823918e-01 -1.63100583e-05 4.67916250e-02] [-8.98225836e-02 9.19103478e-03 9.95915372e-01 -9.49187388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5010527540000003 meters 0.07572625548411237 Centerline is valid? [True, True] Translation: X:1.77, Y:0.03, Z:-0.10 [[ 9.89253403e-01 -1.13697099e-01 9.19275512e-02 1.77231493e+00] [ 1.14182564e-01 9.93459784e-01 -2.17020052e-05 3.16761044e-02] [-9.13238577e-02 1.05179923e-02 9.95765698e-01 -9.95441539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5610527540000003 meters 0.0942828361856588 Centerline is valid? [True, True] Translation: X:1.83, Y:0.01, Z:-0.11 [[ 9.88885360e-01 -1.19984239e-01 8.78039164e-02 1.83040477e+00] [ 1.20451365e-01 9.92719229e-01 -2.19760115e-05 8.90817968e-03] [-8.71619994e-02 1.05978333e-02 9.96137778e-01 -1.10114625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.621052754 meters 0.10048192462232962 Centerline is valid? [True, False] Translation: X:1.84, Y:0.01, Z:-0.11 [[ 0.9904814 -0.11670474 0.07298356 1.83594635] [ 0.11747442 0.99305574 -0.00632906 0.00898708] [-0.07173811 0.01484252 0.99731306 -0.10882417] [ 0. 0. 0. 1. ]] SLAMing on 3.681052754 meters 0.1149685572778414 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.11 [[ 0.98981165 -0.12134517 0.07448654 1.83371152] [ 0.1225256 0.99239906 -0.01147091 0.0119966 ] [-0.07252843 0.02048055 0.99715604 -0.10809175] [ 0. 0. 0. 1. ]] SLAMing on 3.741052754 meters 0.09279724332090886 Centerline is valid? [False, True] Translation: X:1.83, Y:0.01, Z:-0.11 [[ 0.98941745 -0.1238539 0.07558646 1.83125232] [ 0.12521904 0.99203619 -0.01357862 0.01129658] [-0.07330274 0.02289979 0.99704679 -0.1063075 ] [ 0. 0. 0. 1. ]] SLAMing on 3.801052754 meters 0.10032321323043324 Centerline is valid? [True, False] Translation: X:1.82, Y:0.01, Z:-0.11 [[ 0.99071372 -0.11301573 0.0755895 1.82304231] [ 0.11447644 0.99330868 -0.015265 0.01213135] [-0.07335852 0.02377646 0.99702217 -0.10511444] [ 0. 0. 0. 1. ]] SLAMing on 3.861052754 meters 0.09244078807154005 Centerline is valid? [False, True] Translation: X:1.82, Y:0.02, Z:-0.10 [[ 0.99185668 -0.1032164 0.07461027 1.82154887] [ 0.10400377 0.9945541 -0.00673551 0.02065031] [-0.07350873 0.01444041 0.99719002 -0.10349687] [ 0. 0. 0. 1. ]] SLAMing on 3.921052754 meters 0.0868965805973058 Centerline is valid? [True, True] Translation: X:1.88, Y:0.03, Z:-0.11 [[ 0.99335013 -0.08922582 0.07276174 1.88168826] [ 0.08966518 0.99596806 -0.00278789 0.0277566 ] [-0.07221962 0.00929354 0.99734545 -0.10809318] [ 0. 0. 0. 1. ]] SLAMing on 3.9810527540000002 meters 0.08319248429520096 Centerline is valid? [True, True] Translation: X:1.94, Y:0.03, Z:-0.11 [[ 0.99383719 -0.08207519 0.07450705 1.94241707] [ 0.08251616 0.99658564 -0.00285441 0.03277162] [-0.07401838 0.00898485 0.9972164 -0.11123029] [ 0. 0. 0. 1. ]] SLAMing on 4.041052754000001 meters 0.0836040790541381 Centerline is valid? [True, True] Translation: X:2.00, Y:0.02, Z:-0.12 [[ 0.99400002 -0.07872203 0.07593941 2.00202675] [ 0.07917048 0.99685685 -0.00290844 0.02425689] [-0.07547176 0.00890315 0.99710819 -0.11511289] [ 0. 0. 0. 1. ]] SLAMing on 4.101052754 meters 0.08935888698727654 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.12 [[ 0.99378707 -0.08239781 0.0748188 2.06005504] [ 0.08284339 0.99655846 -0.00286627 0.00843802] [-0.07432513 0.00904671 0.99719303 -0.12426297] [ 0. 0. 0. 1. ]] SLAMing on 4.161052754000001 meters 0.09294957894017124 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.01, Z:-0.13 [[ 0.99373693 -0.08330074 0.07448418 2.11817292] [ 0.08374496 0.99648313 -0.00285537 -0.00773837] [-0.07398438 0.00907517 0.99721811 -0.12843654] [ 0. 0. 0. 1. ]] SLAMing on 4.2210527540000005 meters 0.09606153487399102 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.02, Z:-0.13 [[ 0.99349879 -0.08441338 0.07638416 2.17766205] [ 0.0848837 0.99638657 -0.00292583 -0.01910688] [-0.07586118 0.00939058 0.99707417 -0.13142946] [ 0. 0. 0. 1. ]] SLAMing on 4.281052754000001 meters 0.0462189862894276 Centerline is valid? [True, True] Translation: X:2.24, Y:0.04, Z:-0.12 [[ 0.99285216 -0.08342778 0.08534862 2.24130174] [ 0.08401167 0.99645942 -0.00326629 0.03770294] [-0.08477394 0.01041322 0.9963458 -0.12201988] [ 0. 0. 0. 1. ]] SLAMing on 4.341052754000001 meters 0.07168971524486421 Centerline is valid? [True, True] Translation: X:2.30, Y:0.00, Z:-0.13 [[ 9.92095297e-01 -8.96597616e-02 8.77954910e-02 2.29982942e+00] [ 9.03017395e-02 9.95908784e-01 -3.35993275e-03 1.21049512e-03] [-8.71350499e-02 1.12614590e-02 9.96132854e-01 -1.25858330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401052754000001 meters 0.11976066492200897 Centerline is valid? [True, False] Translation: X:2.30, Y:0.00, Z:-0.13 [[ 9.92024928e-01 -9.04112353e-02 8.78199882e-02 2.30004079e+00] [ 9.11038388e-02 9.95833752e-01 -3.90252192e-03 1.45503062e-03] [-8.71012765e-02 1.18721371e-02 9.96128717e-01 -1.26333924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461052754000001 meters 0.07481984621377022 Centerline is valid? [False, True] Translation: X:2.30, Y:0.01, Z:-0.13 [[ 0.99361731 -0.08009463 0.07943225 2.30203106] [ 0.08126571 0.99662477 -0.01161654 0.0052175 ] [-0.07823372 0.01799751 0.99677258 -0.12538666] [ 0. 0. 0. 1. ]] SLAMing on 4.521052754 meters 0.0687740711061665 Centerline is valid? [True, True] Translation: X:2.36, Y:0.02, Z:-0.13 [[ 0.99472314 -0.06562641 0.07886092 2.36227108] [ 0.06617596 0.99779839 -0.00437277 0.01563971] [-0.07840033 0.00956839 0.99687604 -0.12679547] [ 0. 0. 0. 1. ]] SLAMing on 4.581052754000001 meters 0.05125951747546004 Centerline is valid? [True, True] Translation: X:2.42, Y:0.04, Z:-0.13 [[ 0.99605849 -0.04285445 0.07765933 2.42359559] [ 0.04331899 0.99905201 -0.0043063 0.03870565] [-0.07740117 0.00765345 0.99697065 -0.13165803] [ 0. 0. 0. 1. ]] SLAMing on 4.641052754 meters 0.03764046086192542 Centerline is valid? [True, True] Translation: X:2.49, Y:0.05, Z:-0.13 [[ 0.99653567 -0.02818679 0.0782442 2.48506866] [ 0.02861363 0.99958113 -0.00433921 0.05259262] [-0.07808912 0.00656303 0.99692478 -0.13497112] [ 0. 0. 0. 1. ]] SLAMing on 4.701052754000001 meters 0.037559877035340056 Centerline is valid? [True, True] Translation: X:2.54, Y:0.05, Z:-0.14 [[ 0.99696991 -0.01942444 0.07532384 2.54424751] [ 0.01979512 0.99979533 -0.00417767 0.04909124] [-0.07522727 0.00565606 0.99715037 -0.14157046] [ 0. 0. 0. 1. ]] SLAMing on 4.7610527540000005 meters 0.029005963231909498 Centerline is valid? [True, True] Translation: X:2.60, Y:0.05, Z:-0.15 [[ 0.99740823 -0.00788095 0.0715172 2.60442253] [ 0.0081855 0.99995863 -0.00396624 0.05127719] [-0.07148298 0.00454136 0.99743148 -0.15042288] [ 0. 0. 0. 1. ]] SLAMing on 4.821052754000001 meters 0.033452961094828496 Centerline is valid? [True, True] Translation: X:2.66, Y:0.04, Z:-0.16 [[ 0.99740569 -0.00481372 0.07182421 2.66332775] [ 0.00511303 0.99997899 -0.00398391 0.03881282] [-0.07180352 0.00434082 0.99740935 -0.15624518] [ 0. 0. 0. 1. ]] SLAMing on 4.881052754000001 meters 0.0308520477030858 Centerline is valid? [True, True] Translation: X:2.72, Y:0.03, Z:-0.16 [[ 9.97261988e-01 2.66676818e-03 7.39013955e-02 2.72403026e+00] [-2.37030438e-03 9.99988790e-01 -4.09902729e-03 3.32307598e-02] [-7.39114982e-02 3.91263531e-03 9.97257129e-01 -1.61236670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754000001 meters 0.030880780768020755 Centerline is valid? [True, True] Translation: X:2.78, Y:0.02, Z:-0.17 [[ 0.99749835 0.00681005 0.07036096 2.78274905] [-0.00655157 0.99997092 -0.00390376 0.01719024] [-0.0703855 0.00343302 0.99751396 -0.1695252 ] [ 0. 0. 0. 1. ]] SLAMing on 5.001052754000001 meters 0.030094703045723013 Centerline is valid? [True, True] Translation: X:2.84, Y:0.01, Z:-0.17 [[ 0.99737084 0.01016801 0.07174969 2.84260688] [-0.00990787 0.99994299 -0.00398067 0.00545326] [-0.07178608 0.00325931 0.99741473 -0.17481859] [ 0. 0. 0. 1. ]] SLAMing on 5.061052754 meters 0.026805660756867588 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.01, Z:-0.17 [[ 0.99687837 0.01086796 0.07820104 2.9041859 ] [-0.01056088 0.99993482 -0.00433933 -0.01473282] [-0.0782431 0.00349991 0.99692817 -0.17098751] [ 0. 0. 0. 1. ]] SLAMing on 5.121052754000001 meters 0.02363618203000811 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.02, Z:-0.17 [[ 0.99684413 0.01112485 0.07860038 2.96695589] [-0.010814 0.99993194 -0.00437938 -0.01921341] [-0.07864375 0.00351557 0.99689658 -0.174264 ] [ 0. 0. 0. 1. ]] SLAMing on 5.181052754 meters 0.025305065443659024 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.03, Z:-0.18 [[ 0.99690566 0.00870316 0.07812401 3.02591813] [-0.00838693 0.99995526 -0.00437505 -0.0349591 ] [-0.07815859 0.0037063 0.99693405 -0.17698754] [ 0. 0. 0. 1. ]] SLAMing on 5.241052754000001 meters 0.028564425219605265 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.05, Z:-0.18 [[ 9.96691865e-01 -8.75359383e-04 8.12684422e-02 3.08639351e+00] [ 1.24934730e-03 9.99988863e-01 -4.55114739e-03 -4.91563839e-02] [-8.12635533e-02 4.63762409e-03 9.96681859e-01 -1.75631478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3010527540000005 meters 0.035534291323529116 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.06, Z:-0.18 [[ 0.99687705 -0.01529758 0.07747343 3.14502371] [ 0.01568067 0.99986764 -0.00433893 -0.06470427] [-0.0773968 0.00554022 0.99698498 -0.18139869] [ 0. 0. 0. 1. ]] SLAMing on 5.361052754000001 meters 0.03623432309580548 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.07, Z:-0.18 [[ 0.99664778 -0.01599079 0.08023404 3.20671003] [ 0.01640421 0.99985533 -0.00449613 -0.06861907] [-0.08015054 0.00579723 0.99676591 -0.181305 ] [ 0. 0. 0. 1. ]] SLAMing on 5.421052754000001 meters 0.03653453089259074 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:-0.18 [[ 0.99668249 -0.01135904 0.08059153 3.26696935] [ 0.01176252 0.99992054 -0.00453339 -0.06751585] [-0.08053363 0.00546631 0.9967369 -0.18204334] [ 0. 0. 0. 1. ]] SLAMing on 5.481052754000001 meters 0.030825267878984274 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.19 [[ 0.99679808 -0.00739496 0.07961725 3.32856004] [ 0.00777612 0.99995974 -0.00447849 -0.05677257] [-0.07958093 0.00508326 0.99681545 -0.18689696] [ 0. 0. 0. 1. ]] SLAMing on 5.541052754000001 meters 0.028053995807933718 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.19 [[ 0.99703593 -0.00401645 0.07683238 3.38987997] [ 0.00436148 0.99998114 -0.00432333 -0.05337147] [-0.07681357 0.00464562 0.99703465 -0.19232849] [ 0. 0. 0. 1. ]] SLAMing on 5.601052754 meters 0.028654633927752967 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.06, Z:-0.20 [[ 9.97157375e-01 -2.35851270e-03 7.53100681e-02 3.45058791e+00] [ 2.68537590e-03 9.99987409e-01 -4.23926560e-03 -5.99173464e-02] [-7.52991215e-02 4.42945080e-03 9.97151153e-01 -1.98956498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754000001 meters 0.029601423934714658 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:-0.21 [[ 9.97270417e-01 -1.23109069e-03 7.38254687e-02 3.51234128e+00] [ 1.54216004e-03 9.99990172e-01 -4.15672262e-03 -6.65755593e-02] [-7.38196258e-02 4.25922719e-03 9.97262514e-01 -2.06944167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters 0.031613902764168665 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.08, Z:-0.21 [[ 9.97368717e-01 -3.37880740e-03 7.24170298e-02 3.57191738e+00] [ 3.68505839e-03 9.99984822e-01 -4.09580226e-03 -8.13608435e-02] [-7.24020917e-02 4.35188603e-03 9.97366030e-01 -2.11728129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754000001 meters 0.03281212683169005 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.09, Z:-0.21 [[ 0.99735783 -0.00472446 0.07249161 3.63355004] [ 0.00503494 0.99997892 -0.0041008 -0.08716403] [-0.07247071 0.00445496 0.99736059 -0.21453015] [ 0. 0. 0. 1. ]] SLAMing on 5.841052754000001 meters 0.03714684492022241 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.10, Z:-0.22 [[ 0.99716244 -0.01189105 0.07433481 3.69246196] [ 0.01223777 0.99991625 -0.00421056 -0.09826288] [-0.07427852 0.0051083 0.99722445 -0.21853023] [ 0. 0. 0. 1. ]] SLAMing on 5.901052754000001 meters 0.040092178763492255 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.10, Z:-0.22 [[ 0.99681451 -0.01817154 0.07765707 3.7526025 ] [ 0.0185689 0.99981791 -0.0043977 -0.1020114 ] [-0.07756302 0.0058257 0.99697043 -0.22128759] [ 0. 0. 0. 1. ]] SLAMing on 5.961052754000001 meters 0.042210389690751374 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.11, Z:-0.23 [[ 0.99711185 -0.01648074 0.07413733 3.81186595] [ 0.01683816 0.99984941 -0.00419854 -0.10585058] [-0.07405697 0.00543475 0.9972392 -0.23184082] [ 0. 0. 0. 1. ]] SLAMing on 6.021052754000001 meters 0.036170384302856066 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.11, Z:-0.24 [[ 0.99733497 -0.00980377 0.07229695 3.8722505 ] [ 0.01012626 0.99994034 -0.00409549 -0.10862115] [-0.07225249 0.00481667 0.99737474 -0.23894592] [ 0. 0. 0. 1. ]] SLAMing on 6.081052754000001 meters 0.036946079442966726 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.12, Z:-0.25 [[ 9.97567577e-01 8.74632495e-04 6.97005263e-02 3.93047961e+00] [-6.00824012e-04 9.99992021e-01 -3.94922358e-03 -1.23114481e-01] [-6.97034243e-02 3.89773965e-03 9.97560144e-01 -2.48490817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters 0.028477830882221715 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.13, Z:-0.25 [[ 9.97387385e-01 1.31371673e-02 7.10339326e-02 3.99105255e+00] [-1.28838498e-02 9.99908906e-01 -4.02316662e-03 -1.26516377e-01] [-7.10803149e-02 3.09746511e-03 9.97465786e-01 -2.54187211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754000001 meters 0.023628230012094353 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.14, Z:-0.26 [[ 9.97028887e-01 2.54920840e-02 7.26880536e-02 4.05129733e+00] [-2.52594689e-02 9.99672448e-01 -4.11778516e-03 -1.41037435e-01] [-7.27692153e-02 2.26948912e-03 9.97346224e-01 -2.56207730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters 0.01993606930514391 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.15, Z:-0.26 [[ 9.96880843e-01 3.04465891e-02 7.28120156e-02 4.11205184e+00] [-3.02263715e-02 9.99534568e-01 -4.12469836e-03 -1.53284451e-01] [-7.29037096e-02 1.91098974e-03 9.97337153e-01 -2.61233620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754000001 meters 0.020298357425255396 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.17, Z:-0.27 [[ 9.96629370e-01 3.14747154e-02 7.57577806e-02 4.17225426e+00] [-3.12390078e-02 9.99502717e-01 -4.29462067e-03 -1.68681151e-01] [-7.58552795e-02 1.91354720e-03 9.97117002e-01 -2.65567067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754000001 meters 0.01960450530098514 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.18, Z:-0.27 [[ 9.96403842e-01 3.32605285e-02 7.79302355e-02 4.23406620e+00] [-3.30152100e-02 9.99445011e-01 -4.43457082e-03 -1.82810596e-01] [-7.80344812e-02 1.84574031e-03 9.96948952e-01 -2.67216858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754000001 meters 0.021271989384971542 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.20, Z:-0.28 [[ 9.96865773e-01 2.97661305e-02 7.32980772e-02 4.29336255e+00] [-2.95384947e-02 9.99554870e-01 -4.18791851e-03 -2.04257522e-01] [-7.33901082e-02 2.00967776e-03 9.97301285e-01 -2.77911479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754000001 meters 0.02741577792011235 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.24, Z:-0.28 [[ 9.96963866e-01 1.69230456e-02 7.60043498e-02 4.35127809e+00] [-1.66409277e-02 9.99852095e-01 -4.34368597e-03 -2.36499123e-01] [-7.60666168e-02 3.06571507e-03 9.97098025e-01 -2.80892460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754000001 meters 0.03199537664604271 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.26, Z:-0.28 [[ 9.97105506e-01 7.79573503e-03 7.56296057e-02 4.41045545e+00] [-7.49000009e-03 9.99962595e-01 -4.32533135e-03 -2.61370827e-01] [-7.56604959e-02 3.74634595e-03 9.97126599e-01 -2.84018769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754000001 meters 0.024557101071560738 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.28, Z:-0.28 [[ 9.96886217e-01 -9.61268756e-04 7.88476181e-02 4.47054879e+00] [ 1.32103124e-03 9.99988954e-01 -4.51072215e-03 -2.83600415e-01] [-7.88424111e-02 4.60083691e-03 9.96876475e-01 -2.76885060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters 0.02245578847231689 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.29, Z:-0.28 [[ 9.96781600e-01 7.44359814e-03 7.98187581e-02 4.53068459e+00] [-7.10167396e-03 9.99964355e-01 -4.56678214e-03 -2.89644061e-01] [-7.98499062e-02 3.98523761e-03 9.96798932e-01 -2.81892250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754000001 meters 0.030250968261496588 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.31, Z:-0.29 [[ 9.96776325e-01 9.42631197e-03 7.96749814e-02 4.58967058e+00] [-9.09183181e-03 9.99948272e-01 -4.55979613e-03 -3.05676203e-01] [-7.97138421e-02 3.82070530e-03 9.96810466e-01 -2.88611049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8010527540000005 meters 0.02330114547732145 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.30, Z:-0.29 [[ 9.96723893e-01 9.06991711e-03 8.03692640e-02 4.65139477e+00] [-8.72830827e-03 9.99951323e-01 -4.60079146e-03 -3.04198082e-01] [-8.04070807e-02 3.88423106e-03 9.96754541e-01 -2.92634187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754000001 meters 0.022162612478036584 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.31, Z:-0.30 [[ 9.97051893e-01 7.39632634e-03 7.63728872e-02 4.71329085e+00] [-7.08165462e-03 9.99965288e-01 -4.39020260e-03 -3.07061509e-01] [-7.64027075e-02 3.83641340e-03 9.97069661e-01 -3.00902569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754000001 meters 0.025252507722246686 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.31, Z:-0.31 [[ 9.97159518e-01 -3.20795187e-04 7.53179403e-02 4.77221411e+00] [ 6.49161758e-04 9.99990392e-01 -4.33529806e-03 -3.12415729e-01] [-7.53158259e-02 4.37187725e-03 9.97150146e-01 -3.09938281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754000001 meters 0.026862591971432433 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.32, Z:-0.31 [[ 9.96976818e-01 -1.02075688e-02 7.70261630e-02 4.83287304e+00] [ 1.05803190e-02 9.99934202e-01 -4.43272219e-03 -3.23841895e-01] [-7.69758475e-02 5.23428264e-03 9.97019218e-01 -3.09979031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754000001 meters 0.025163354435118915 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.32, Z:-0.31 [[ 9.96870602e-01 -3.34902446e-03 7.89796603e-02 4.89440594e+00] [ 3.71963773e-03 9.99982750e-01 -4.54586436e-03 -3.16343707e-01] [-7.89630736e-02 4.82541426e-03 9.96865863e-01 -3.14135798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754000001 meters 0.02250493510602293 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.31, Z:-0.32 [[ 9.96819372e-01 7.71321244e-03 7.93198912e-02 4.95556543e+00] [-7.37414513e-03 9.99962383e-01 -4.56671789e-03 -3.12622480e-01] [-7.93521315e-02 3.96727647e-03 9.96838753e-01 -3.16446216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754000001 meters 0.021607975074717876 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.31, Z:-0.32 [[ 9.96548543e-01 1.30831792e-02 8.19745820e-02 5.01646814e+00] [-1.27390233e-02 9.99907715e-01 -4.71996030e-03 -3.12809482e-01] [-8.20287691e-02 3.65939345e-03 9.96623244e-01 -3.19398330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2210527540000005 meters 0.021154911643230072 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.32, Z:-0.33 [[ 9.96442353e-01 1.66740305e-02 8.26112173e-02 5.07763471e+00] [-1.63367305e-02 9.99855229e-01 -4.75730033e-03 -3.16478446e-01] [-8.26785810e-02 3.39077834e-03 9.96570497e-01 -3.26043307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754000001 meters 0.020062462535299263 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.33, Z:-0.33 [[ 9.96859902e-01 1.55048561e-02 7.76526528e-02 5.13887585e+00] [-1.52031644e-02 9.99874412e-01 -4.47484906e-03 -3.30461171e-01] [-7.77122825e-02 3.28023156e-03 9.96970431e-01 -3.33925694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754000001 meters 0.018914208671165087 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.35, Z:-0.34 [[ 9.97034120e-01 1.71549607e-02 7.50244646e-02 5.19999836e+00] [-1.68767080e-02 9.99848153e-01 -4.34127710e-03 -3.45584444e-01] [-7.50875468e-02 3.06223541e-03 9.97172243e-01 -3.40571957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754000001 meters 0.02138032407111258 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.36, Z:-0.35 [[ 9.97193554e-01 2.38898057e-02 7.09527579e-02 5.25798982e+00] [-2.36566122e-02 9.99711632e-01 -4.12521627e-03 -3.64763755e-01] [-7.10308480e-02 2.43513720e-03 9.97471147e-01 -3.49279593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754000001 meters 0.020628891950465494 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.38, Z:-0.35 [[ 9.97182168e-01 2.81644625e-02 6.95304757e-02 5.31747637e+00] [-2.79510222e-02 9.99601126e-01 -4.04092507e-03 -3.81250577e-01] [-6.96165523e-02 2.08609055e-03 9.97571643e-01 -3.49951721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754000001 meters 0.01692597753263385 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.39, Z:-0.35 [[ 9.96818209e-01 2.53150628e-02 7.55817857e-02 5.38024818e+00] [-2.50545839e-02 9.99676434e-01 -4.39267606e-03 -3.86179946e-01] [-7.56685308e-02 2.48502929e-03 9.97129930e-01 -3.46715391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754000001 meters 0.018749885879594957 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.40, Z:-0.35 [[ 9.96906942e-01 1.80870357e-02 7.64814292e-02 5.43985250e+00] [-1.77974882e-02 9.99831639e-01 -4.46580220e-03 -4.02280966e-01] [-7.65493259e-02 3.09081187e-03 9.97061005e-01 -3.47631051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754000001 meters 0.020040443825444544 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.42, Z:-0.35 [[ 9.97075163e-01 1.72602784e-02 7.44526830e-02 5.50058940e+00] [-1.69836918e-02 9.99846319e-01 -4.34649841e-03 -4.16393328e-01] [-7.45162628e-02 3.06930419e-03 9.97215075e-01 -3.49944853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754000001 meters 0.018757765411690015 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.42, Z:-0.36 [[ 9.97291861e-01 2.37482211e-02 6.96057847e-02 5.56123962e+00] [-2.35211121e-02 9.99715012e-01 -4.08068880e-03 -4.21126818e-01] [-6.96828570e-02 2.43243227e-03 9.97566230e-01 -3.56085876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7610527540000005 meters 0.01908849903173402 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.43, Z:-0.36 [[ 9.97646947e-01 2.78355368e-02 6.26558223e-02 5.62150047e+00] [-2.76598136e-02 9.99610656e-01 -3.67037874e-03 -4.34318938e-01] [-6.27335946e-02 1.92869378e-03 9.98028445e-01 -3.63045383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821052754000001 meters 0.019146329088601942 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.45, Z:-0.37 [[ 9.97941367e-01 2.68192983e-02 5.82559221e-02 5.68191380e+00] [-2.66647444e-02 9.99638552e-01 -3.42888720e-03 -4.47288809e-01] [-5.83268259e-02 1.86844910e-03 9.98295793e-01 -3.67674624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881052754000001 meters 0.022477753671204297 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.47, Z:-0.37 [[ 9.98174127e-01 2.24655031e-02 5.60688219e-02 5.74000011e+00] [-2.23153415e-02 9.99745526e-01 -3.30289977e-03 -4.68391523e-01] [-5.61287551e-02 2.04567419e-03 9.98421443e-01 -3.74830508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941052754000001 meters 0.022578186813909513 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.49, Z:-0.37 [[ 9.98318340e-01 1.42792236e-02 5.61835939e-02 5.79981369e+00] [-1.41155077e-02 9.99894894e-01 -3.30973019e-03 -4.89989336e-01] [-5.62249490e-02 2.51110439e-03 9.98414969e-01 -3.68699835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters 0.024793560722422614 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.51, Z:-0.37 [[ 9.98473264e-01 9.15669696e-03 5.44728968e-02 5.85991987e+00] [-8.99523041e-03 9.99954394e-01 -3.20861028e-03 -5.10028648e-01] [-5.44997928e-02 2.71371532e-03 9.98510094e-01 -3.68489474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061052754 meters 0.024520647804077367 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.52, Z:-0.37 [[ 9.98654176e-01 1.06761511e-02 5.07529021e-02 5.92140137e+00] [-1.05383242e-02 9.99940022e-01 -2.98247678e-03 -5.19597025e-01] [-5.07816994e-02 2.44361236e-03 9.98706788e-01 -3.73920217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121052754 meters 0.02744065456305357 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.53, Z:-0.38 [[ 9.98707625e-01 9.65266264e-03 4.98989647e-02 5.98154734e+00] [-9.51754181e-03 9.99950371e-01 -2.94479090e-03 -5.34571291e-01] [-4.99249133e-02 2.46606964e-03 9.98749929e-01 -3.79089456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters 0.027706458372202068 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.54, Z:-0.39 [[ 9.98839991e-01 1.43419677e-02 4.59671737e-02 6.04125161e+00] [-1.42316659e-02 9.99895009e-01 -2.72596541e-03 -5.42334771e-01] [-4.60014433e-02 2.06861381e-03 9.98939231e-01 -3.85308116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052754 meters 0.02570200064906833 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.55, Z:-0.39 [[ 9.99030004e-01 2.07900502e-02 3.88178308e-02 6.10236399e+00] [-2.07163904e-02 9.99782750e-01 -2.29889106e-03 -5.48363510e-01] [-3.88571917e-02 1.49249581e-03 9.99243660e-01 -3.93638472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301052754 meters 0.02430437399805196 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.56, Z:-0.40 [[ 9.98939598e-01 2.66241935e-02 3.75610438e-02 6.16255345e+00] [-2.65586869e-02 9.99644742e-01 -2.24197893e-03 -5.58233592e-01] [-3.76073909e-02 1.24202953e-03 9.99291820e-01 -3.97444947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361052754 meters 0.022478509932709563 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.57, Z:-0.40 [[ 9.98868175e-01 2.99250582e-02 3.69710800e-02 6.22432110e+00] [-2.98641897e-02 9.99551550e-01 -2.19765556e-03 -5.66706736e-01] [-3.70202653e-02 1.09105686e-03 9.99313919e-01 -3.99963878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters 0.021180168173143697 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.57, Z:-0.40 [[ 9.98552430e-01 3.64699722e-02 3.95346026e-02 6.28393002e+00] [-3.64046483e-02 9.99334318e-01 -2.37120961e-03 -5.71138484e-01] [-3.95947631e-02 9.28533814e-04 9.99215388e-01 -3.99540376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052754 meters 0.01982316859919439 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.57, Z:-0.40 [[ 9.98385628e-01 4.09832647e-02 3.93256906e-02 6.34528868e+00] [-4.09222309e-02 9.99159557e-01 -2.35605296e-03 -5.71095786e-01] [-3.93891983e-02 7.42954420e-04 9.99223668e-01 -4.03190590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052754 meters 0.020564761833836664 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.57, Z:-0.41 [[ 9.98396374e-01 3.86961815e-02 4.13193220e-02 6.40688628e+00] [-3.86271059e-02 9.99250644e-01 -2.46910934e-03 -5.73231225e-01] [-4.13839043e-02 8.69103990e-04 9.99142941e-01 -4.11274919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters 0.02211591598125424 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.58, Z:-0.42 [[ 9.98406771e-01 3.54649188e-02 4.38880250e-02 6.46786996e+00] [-3.53833281e-02 9.99370341e-01 -2.63474093e-03 -5.79042174e-01] [-4.39538314e-02 1.07763880e-03 9.99032982e-01 -4.16487849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters 0.021749428073764433 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.58, Z:-0.42 [[ 9.98539794e-01 3.26514245e-02 4.30367833e-02 6.52986122e+00] [-3.25697293e-02 9.99466088e-01 -2.59826007e-03 -5.82865313e-01] [-4.30986423e-02 1.19276969e-03 9.99070110e-01 -4.18013601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052754 meters 0.026151958021125993 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.59, Z:-0.43 [[ 9.98933595e-01 2.23900020e-02 4.03777344e-02 6.58852082e+00] [-2.23095821e-02 9.99748130e-01 -2.44123421e-03 -5.91828599e-01] [-4.04222237e-02 1.53782048e-03 9.99181505e-01 -4.29090254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781052754000001 meters 0.027236413686158294 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.60, Z:-0.43 [[ 9.99011773e-01 1.46604795e-02 4.19588886e-02 6.64880165e+00] [-1.45667013e-02 9.99890674e-01 -2.53988287e-03 -5.97769571e-01] [-4.19915373e-02 1.92617029e-03 9.99116110e-01 -4.32353087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters 0.02737621247631343 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.60, Z:-0.44 [[ 9.99162350e-01 1.01759936e-02 3.96364432e-02 6.70951594e+00] [-1.00887930e-02 9.99946228e-01 -2.39941521e-03 -6.00021342e-01] [-3.96587283e-02 1.99752147e-03 9.99211287e-01 -4.35797455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901052754 meters 0.027291545558616914 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.60, Z:-0.44 [[ 9.99258757e-01 8.60899804e-03 3.75209571e-02 6.77031552e+00] [-8.52977244e-03 9.99961042e-01 -2.27107337e-03 -6.01112469e-01] [-3.75390470e-02 1.94934473e-03 9.99293260e-01 -4.41241631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961052754 meters 0.026379820321707326 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.60, Z:-0.45 [[ 9.99060380e-01 1.15631512e-02 4.17690053e-02 6.83112438e+00] [-1.14674697e-02 9.99931047e-01 -2.52960830e-03 -5.98654199e-01] [-4.17953755e-02 2.04824663e-03 9.99124092e-01 -4.47417305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters 0.022644802596375736 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.60, Z:-0.44 [[ 9.98677477e-01 1.88968657e-02 4.78142836e-02 6.89256490e+00] [-1.87798268e-02 9.99819450e-01 -2.89586629e-03 -5.95893714e-01] [-4.78603735e-02 1.99409248e-03 9.98852045e-01 -4.43348589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters 0.02123092333689704 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.59, Z:-0.45 [[ 9.98328845e-01 2.57312807e-02 5.17437707e-02 6.95308081e+00] [-2.56033408e-02 9.99667268e-01 -3.13400880e-03 -5.93734007e-01] [-5.18071959e-02 1.80395799e-03 9.98655476e-01 -4.47093927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052754 meters 0.023335608755631815 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.60, Z:-0.46 [[ 9.98240960e-01 2.45959773e-02 5.39446271e-02 7.01269679e+00] [-2.44555411e-02 9.99695597e-01 -3.26200062e-03 -5.99662897e-01] [-5.40084383e-02 1.93701758e-03 9.98538600e-01 -4.59504875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201052754000001 meters 0.02162555842853604 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.60, Z:-0.46 [[ 9.97965295e-01 2.65945837e-02 5.79482287e-02 7.07334310e+00] [-2.64347552e-02 9.99644333e-01 -3.52308668e-03 -5.98622738e-01] [-5.80213135e-02 1.98407100e-03 9.98313373e-01 -4.64503295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261052754 meters 0.01984359110381465 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.60, Z:-0.47 [[ 9.97783307e-01 2.79184591e-02 6.04072248e-02 7.13462639e+00] [-2.77471209e-02 9.99608225e-01 -3.67352338e-03 -6.02050762e-01] [-6.04861179e-02 1.98925374e-03 9.98167056e-01 -4.66966614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321052754 meters 0.019540259553492017 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.61, Z:-0.47 [[ 9.97755389e-01 2.94311515e-02 6.01497315e-02 7.19606489e+00] [-2.92641554e-02 9.99565028e-01 -3.65556181e-03 -6.06361521e-01] [-6.02311555e-02 1.88712541e-03 9.98182672e-01 -4.73969223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052754 meters 0.01941395044840436 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.61, Z:-0.48 [[ 9.97418892e-01 3.44101197e-02 6.30198209e-02 7.25553210e+00] [-3.42353671e-02 9.99406378e-01 -3.85102911e-03 -6.10230814e-01] [-6.31149253e-02 1.68358248e-03 9.98004846e-01 -4.82680640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters 0.020335526487862323 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.62, Z:-0.49 [[ 9.97331490e-01 3.19561970e-02 6.56406908e-02 7.31591847e+00] [-3.17614970e-02 9.99487441e-01 -4.00782575e-03 -6.19849620e-01] [-6.57351210e-02 1.91228423e-03 9.97835276e-01 -4.88255702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters 0.022174194976014024 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.63, Z:-0.49 [[ 9.96858463e-01 1.93851182e-02 7.67946678e-02 7.37617920e+00] [-1.90796523e-02 9.99806875e-01 -4.70946229e-03 -6.31440385e-01] [-7.68711304e-02 3.22945179e-03 9.97035807e-01 -4.87388525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052754 meters 0.023406869130562592 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.64, Z:-0.49 [[ 9.96743823e-01 1.55080863e-02 7.91280586e-02 7.43683911e+00] [-1.51712919e-02 9.99873119e-01 -4.85576365e-03 -6.35376550e-01] [-7.91933223e-02 3.63947755e-03 9.96852633e-01 -4.93261583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621052754 meters 0.022827442515841186 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.63, Z:-0.50 [[ 9.96709282e-01 1.54610449e-02 7.95711226e-02 7.49889324e+00] [-1.51200620e-02 9.99873747e-01 -4.88602810e-03 -6.33425419e-01] [-7.96366196e-02 3.66682925e-03 9.96817217e-01 -5.00482408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters 0.021975887496950435 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.63, Z:-0.51 [[ 9.96736255e-01 2.03786056e-02 7.81124236e-02 7.55954174e+00] [-2.00635923e-02 9.99787109e-01 -4.81558966e-03 -6.30605178e-01] [-7.81939291e-02 3.23265698e-03 9.96932926e-01 -5.09659837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741052754 meters 0.017353707875416416 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.62, Z:-0.52 [[ 9.96532726e-01 3.81234748e-02 7.39535410e-02 7.62053215e+00] [-3.78898161e-02 9.99271517e-01 -4.56044127e-03 -6.17507345e-01] [-7.40735270e-02 1.74254291e-03 9.97251260e-01 -5.20340366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801052754 meters 0.016863526833890773 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.62, Z:-0.52 [[ 9.96227562e-01 4.11704709e-02 7.63913427e-02 7.68164124e+00] [-4.09300790e-02 9.99150909e-01 -4.71049014e-03 -6.19435476e-01] [-7.65204126e-02 1.56601642e-03 9.97066785e-01 -5.23322272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754000001 meters 0.019036177445512347 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.63, Z:-0.53 [[ 9.95982469e-01 3.30742422e-02 8.32166847e-02 7.74240662e+00] [-3.27590489e-02 9.99450007e-01 -5.15056819e-03 -6.28356507e-01] [-8.33412672e-02 2.40377618e-03 9.96518166e-01 -5.25877077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters 0.022542428435625185 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.64, Z:-0.53 [[ 9.96210225e-01 2.11230762e-02 8.43741908e-02 7.80286765e+00] [-2.07561576e-02 9.99770921e-01 -5.22364547e-03 -6.43784335e-01] [-8.44652019e-02 3.45256502e-03 9.96420448e-01 -5.28040766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052754 meters 0.02224627885851319 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.65, Z:-0.53 [[ 9.96278618e-01 1.48222446e-02 8.49071022e-02 7.86274236e+00] [-1.44276982e-02 9.99882088e-01 -5.25856602e-03 -6.49889978e-01] [-8.49750343e-02 4.01398284e-03 9.96374995e-01 -5.33181753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052754 meters 0.026086226209716425 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.66, Z:-0.54 [[ 9.96338255e-01 1.49696131e-02 8.41783356e-02 7.92333427e+00] [-1.45822133e-02 9.99880074e-01 -5.21512910e-03 -6.61121170e-01] [-8.42463088e-02 3.96852619e-03 9.96437058e-01 -5.40448138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters 0.020627466981686552 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.66, Z:-0.54 [[ 9.96026077e-01 1.93779549e-02 8.69284070e-02 7.98473599e+00] [-1.89795859e-02 9.99805251e-01 -5.40696123e-03 -6.58235390e-01] [-8.70162536e-02 3.73560922e-03 9.96199888e-01 -5.44240109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052754 meters 0.01820040417186876 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.66, Z:-0.55 [[ 9.95851871e-01 3.13261856e-02 8.54266995e-02 8.04442909e+00] [-3.09851581e-02 9.99505711e-01 -5.31536104e-03 -6.57577121e-01] [-8.55509840e-02 2.64635245e-03 9.96330280e-01 -5.49791639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052754 meters 0.01574673855841503 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.66, Z:-0.56 [[ 9.95539762e-01 4.18932561e-02 8.45312855e-02 8.10347590e+00] [-4.15972598e-02 9.99120610e-01 -5.26065059e-03 -6.55533377e-01] [-8.46773353e-02 1.72091699e-03 9.96406939e-01 -5.59635366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754000001 meters 0.014330703086094956 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.66, Z:-0.57 [[ 9.95226689e-01 4.61030752e-02 8.60136228e-02 8.16531982e+00] [-4.58122414e-02 9.98935725e-01 -5.35314633e-03 -6.55933262e-01] [-8.61688771e-02 1.38711725e-03 9.96279579e-01 -5.68365943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters 0.015987932286369105 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.67, Z:-0.57 [[ 9.95173865e-01 4.02171730e-02 8.95072999e-02 8.22533403e+00] [-3.98765801e-02 9.99188971e-01 -5.59088930e-03 -6.70254943e-01] [-8.96595567e-02 1.99466191e-03 9.95970474e-01 -5.67744557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052754 meters 0.01693346575453949 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.68, Z:-0.58 [[ 9.95434672e-01 3.23065535e-02 8.98114706e-02 8.28598524e+00] [-3.19313646e-02 9.99474311e-01 -5.61156529e-03 -6.78055247e-01] [-8.99455480e-02 2.71814385e-03 9.95942975e-01 -5.75114218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461052754 meters 0.017683362012838492 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.69, Z:-0.58 [[ 9.95657344e-01 2.93790412e-02 8.83364334e-02 8.34753391e+00] [-2.90043333e-02 9.99564029e-01 -5.52269770e-03 -6.86437656e-01] [-8.84601729e-02 2.93657517e-03 9.96075386e-01 -5.83186503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters 0.01770234636242546 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.69, Z:-0.59 [[ 9.95648190e-01 3.10525970e-02 8.78659078e-02 8.40938822e+00] [-3.06877374e-02 9.99513885e-01 -5.50056014e-03 -6.92165483e-01] [-8.79940015e-02 2.78021685e-03 9.96117125e-01 -5.87738498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052754 meters 0.01716091934513122 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.69, Z:-0.59 [[ 9.95611824e-01 3.44084317e-02 8.70238756e-02 8.47088876e+00] [-3.40616069e-02 9.99404779e-01 -5.46760925e-03 -6.93908714e-01] [-8.71602090e-02 2.47944338e-03 9.96191222e-01 -5.94313443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052754 meters 0.01747775359350752 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.70, Z:-0.60 [[ 9.95791206e-01 3.44475716e-02 8.49307845e-02 8.53303952e+00] [-3.41168362e-02 9.99403569e-01 -5.34294496e-03 -6.98937305e-01] [-8.50641806e-02 2.42288794e-03 9.96372528e-01 -6.03227659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754000001 meters 0.018511093908093457 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.70, Z:-0.61 [[ 9.95686724e-01 3.26762678e-02 8.68343800e-02 8.59494414e+00] [-3.23217061e-02 9.99462459e-01 -5.48641299e-03 -7.04651152e-01] [-8.69669784e-02 2.65611327e-03 9.96207654e-01 -6.08520047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters 0.018882354031193677 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.71, Z:-0.61 [[ 9.95614742e-01 2.66447048e-02 8.96735517e-02 8.65571739e+00] [-2.62403778e-02 9.99639497e-01 -5.68497998e-03 -7.12458540e-01] [-8.97926988e-02 3.30698200e-03 9.95954986e-01 -6.08709528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052754 meters 0.021842781246832317 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.72, Z:-0.61 [[ 9.95637891e-01 1.95320251e-02 9.12342536e-02 8.71503933e+00] [-1.90835665e-02 9.99801154e-01 -5.78532014e-03 -7.20294256e-01] [-9.13291110e-02 4.01900900e-03 9.95812654e-01 -6.14034192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052754 meters 0.02407892005768894 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.72, Z:-0.62 [[ 9.95643603e-01 1.25742438e-02 9.23888761e-02 8.77506288e+00] [-1.20842059e-02 9.99909803e-01 -5.86160763e-03 -7.24177395e-01] [-9.24542481e-02 4.71962594e-03 9.95705748e-01 -6.21727230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754000001 meters 0.023680354946788513 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.73, Z:-0.63 [[ 9.95678652e-01 9.30099237e-03 9.23986694e-02 8.83562198e+00] [-8.79652126e-03 9.99944107e-01 -5.86549663e-03 -7.25297013e-01] [-9.24480599e-02 5.02736291e-03 9.95704817e-01 -6.25676641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters 0.023630675672167454 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.72, Z:-0.63 [[ 9.95852888e-01 1.43903088e-02 8.98328738e-02 8.89539726e+00] [-1.39340569e-02 9.99886647e-01 -5.70400073e-03 -7.23083942e-01] [-8.99047733e-02 4.42860922e-03 9.95940520e-01 -6.34828070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052754 meters 0.02081744010085794 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.72, Z:-0.64 [[ 9.95668783e-01 2.76865748e-02 8.87531901e-02 8.95489801e+00] [-2.72938638e-02 9.99611567e-01 -5.63554113e-03 -7.17452283e-01] [-8.88747443e-02 3.18871489e-03 9.96037706e-01 -6.40886215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052754 meters 0.015690171277207975 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.71, Z:-0.64 [[ 9.94953413e-01 4.04925426e-02 9.18044668e-02 9.01582418e+00] [-4.01267060e-02 9.99177603e-01 -5.82802311e-03 -7.09527076e-01] [-9.19649585e-02 2.11480064e-03 9.95759998e-01 -6.43747910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters 0.014476926491878902 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.71, Z:-0.65 [[ 9.94295085e-01 4.74426848e-02 9.55325941e-02 9.07678108e+00] [-4.70782825e-02 9.98872784e-01 -6.06601156e-03 -7.11346889e-01] [-9.57126961e-02 1.53389503e-03 9.95407819e-01 -6.45420420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241052754 meters 0.014296626761483735 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.72, Z:-0.65 [[ 9.94435410e-01 4.80136332e-02 9.37704989e-02 9.13858102e+00] [-4.76647703e-02 9.98845620e-01 -5.95786361e-03 -7.18001140e-01] [-9.39483109e-02 1.45516125e-03 9.95576013e-01 -6.54234005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052754 meters 0.014563604535067524 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.73, Z:-0.66 [[ 9.94570736e-01 4.82434651e-02 9.22042231e-02 9.19880203e+00] [-4.79063281e-02 9.98834599e-01 -5.86751892e-03 -7.26514947e-01] [-9.23798377e-02 1.41849685e-03 9.95722830e-01 -6.61157334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754000001 meters 0.014907576483722264 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.74, Z:-0.67 [[ 9.94815375e-01 4.56182757e-02 9.08919299e-02 9.25969958e+00] [-4.52779595e-02 9.98957568e-01 -5.80372190e-03 -7.35666641e-01] [-9.10619370e-02 1.65823065e-03 9.95843850e-01 -6.68467177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters 0.017608314504707602 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.75, Z:-0.67 [[ 9.95219043e-01 3.72101984e-02 9.03020358e-02 9.32006065e+00] [-3.68380293e-02 9.99304504e-01 -5.78514763e-03 -7.51415642e-01] [-9.04544976e-02 2.43094005e-03 9.95897622e-01 -6.73284966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481052754 meters 0.01913545914613551 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.76, Z:-0.68 [[ 9.95460067e-01 2.85569463e-02 9.07951266e-02 9.38040619e+00] [-2.81445386e-02 9.99586924e-01 -5.81953904e-03 -7.64935761e-01] [-9.09238096e-02 3.23773178e-03 9.95852588e-01 -6.76759934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052754 meters 0.019142389336575114 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.77, Z:-0.68 [[ 9.95309785e-01 2.98863087e-02 9.20067396e-02 9.44202172e+00] [-2.94681103e-02 9.99548304e-01 -5.90077057e-03 -7.68538057e-01] [-9.21415328e-02 3.16182994e-03 9.95740900e-01 -6.80740633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters 0.017750026280985504 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.77, Z:-0.69 [[ 9.95214302e-01 3.54955919e-02 9.10415037e-02 9.50286796e+00] [-3.51078000e-02 9.99366363e-01 -5.85794280e-03 -7.67442939e-01] [-9.11917476e-02 2.63364156e-03 9.95829870e-01 -6.86207059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052754 meters 0.015182760254532548 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.76, Z:-0.70 [[ 9.95275164e-01 4.40362462e-02 8.65341320e-02 9.56371537e+00] [-4.37180540e-02 9.99028383e-01 -5.56966918e-03 -7.63657381e-01] [-8.66953213e-02 1.76024956e-03 9.96233317e-01 -6.95205257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052754 meters 0.013420221224684836 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.76, Z:-0.71 [[ 9.95525066e-01 5.25875483e-02 7.85136451e-02 9.62249769e+00] [-5.23521739e-02 9.98615892e-01 -5.05466409e-03 -7.56318915e-01] [-7.86707861e-02 9.21684805e-04 9.96900225e-01 -7.11253507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754000001 meters 0.013164341117300783 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.76, Z:-0.71 [[ 9.95376650e-01 5.25621600e-02 8.03899496e-02 9.68488631e+00] [-5.23154163e-02 9.98617208e-01 -5.17395094e-03 -7.61103223e-01] [-8.05507411e-02 9.44396279e-04 9.96750062e-01 -7.13370840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters 0.016084982945184328 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.78, Z:-0.71 [[ 9.95632105e-01 4.12262054e-02 8.37682008e-02 9.74556025e+00] [-4.09162562e-02 9.99147910e-01 -5.41421047e-03 -7.76693968e-01] [-8.39200302e-02 1.96308060e-03 9.96470559e-01 -7.10948821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052754 meters 0.017405978006297423 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.78, Z:-0.72 [[ 9.95855199e-01 3.61472644e-02 8.34613616e-02 9.80593950e+00] [-3.58215685e-02 9.99343628e-01 -5.39702609e-03 -7.82049350e-01] [-8.36016677e-02 2.38493961e-03 9.96496399e-01 -7.16279048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052754 meters 0.020016756234532557 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.79, Z:-0.72 [[ 9.95696055e-01 3.01779007e-02 8.76279706e-02 9.86529349e+00] [-2.97955913e-02 9.99539943e-01 -5.66787593e-03 -7.87520839e-01] [-8.77587013e-02 3.03255450e-03 9.96137146e-01 -7.18811567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021052754000001 meters 0.02079181149027951 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.79, Z:-0.72 [[ 9.95972852e-01 2.82381592e-02 8.50922125e-02 9.92712048e+00] [-2.78705881e-02 9.99596382e-01 -5.50476593e-03 -7.91683589e-01] [-8.52133122e-02 3.11102742e-03 9.96357874e-01 -7.22704995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052754 meters 0.021322704975221828 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.79, Z:-0.73 [[ 9.96359311e-01 3.03841273e-02 7.96550520e-02 9.98791649e+00] [-3.00676160e-02 9.99534495e-01 -5.17022117e-03 -7.93123566e-01] [-7.97750649e-02 2.75636049e-03 9.96809080e-01 -7.31069880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052754 meters 0.017823940581061206 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.79, Z:-0.74 [[ 9.96474218e-01 3.69820451e-02 7.53091094e-02 1.00482764e+01] [-3.67167833e-02 9.99313678e-01 -4.90426115e-03 -7.86827865e-01] [-7.54387926e-02 2.12186155e-03 9.97148177e-01 -7.41502222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754000001 meters 0.015620814480783177 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.79, Z:-0.74 [[ 9.96138954e-01 4.76326851e-02 7.37449147e-02 1.01082235e+01] [-4.74074661e-02 9.98864089e-01 -4.80243311e-03 -7.86019931e-01] [-7.38898998e-02 1.28783116e-03 9.97265574e-01 -7.44614183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters 0.014384702253790758 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.79, Z:-0.75 [[ 9.96185196e-01 5.26024245e-02 6.96278667e-02 1.01701860e+01] [-5.24140250e-02 9.98615160e-01 -4.53127102e-03 -7.88854582e-01] [-6.97697991e-02 8.64508355e-04 9.97562744e-01 -7.49010112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052754 meters 0.015426045864379557 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.80, Z:-0.75 [[ 9.96332156e-01 4.71441342e-02 7.14119418e-02 1.02320205e+01] [-4.69306889e-02 9.98887256e-01 -4.66477190e-03 -7.99954898e-01] [-7.15523952e-02 1.29625062e-03 9.97436000e-01 -7.50602129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052754 meters 0.017248814386804392 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.81, Z:-0.75 [[ 9.96437025e-01 4.06601332e-02 7.38918669e-02 1.02921682e+01] [-4.04123151e-02 9.99171335e-01 -4.84644034e-03 -8.11869275e-01] [-7.40276923e-02 1.84303119e-03 9.97254483e-01 -7.51829293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754000001 meters 0.022626901736144768 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.82, Z:-0.76 [[ 9.96750460e-01 3.93196929e-02 7.03027952e-02 1.03532727e+01] [-3.90921516e-02 9.99224975e-01 -4.61004628e-03 -8.17015686e-01] [-7.04295744e-02 1.84677822e-03 9.97515045e-01 -7.58398926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501052754 meters 0.02428414137022548 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.82, Z:-0.77 [[ 9.96866097e-01 4.31074633e-02 6.63304706e-02 1.04153008e+01] [-4.29124543e-02 9.99069311e-01 -4.36259352e-03 -8.16475799e-01] [-6.64567979e-02 1.50251829e-03 9.97788172e-01 -7.68421618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561052754 meters 0.02528100774297286 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.82, Z:-0.77 [[ 9.97156535e-01 4.00722376e-02 6.38205275e-02 1.04759291e+01] [-3.98844194e-02 9.99195411e-01 -4.21473288e-03 -8.23905735e-01] [-6.39380720e-02 1.65730375e-03 9.97952492e-01 -7.74971014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052754 meters 0.027539614783035626 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.83, Z:-0.78 [[ 9.97409057e-01 3.58248552e-02 6.23839222e-02 1.05368808e+01] [-3.56369927e-02 9.99356300e-01 -4.12182253e-03 -8.28150055e-01] [-6.24914294e-02 1.88796774e-03 9.98043715e-01 -7.81359590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters 0.02736108065010482 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.83, Z:-0.78 [[ 9.97771456e-01 3.13519046e-02 5.88997366e-02 1.05978294e+01] [-3.11765609e-02 9.99506308e-01 -3.89379953e-03 -8.32389230e-01] [-5.89927363e-02 2.04883080e-03 9.98256309e-01 -7.83979989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052754 meters 0.029668702143760762 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.84, Z:-0.79 [[ 9.97957344e-01 2.52431241e-02 5.86849628e-02 1.06585094e+01] [-2.50584738e-02 9.99678456e-01 -3.88036903e-03 -8.36731997e-01] [-5.87640457e-02 2.40188716e-03 9.98269011e-01 -7.89602940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052754 meters 0.03262886298335588 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.84, Z:-0.79 [[ 9.98103209e-01 1.88089933e-02 5.86191611e-02 1.07177765e+01] [-1.86136832e-02 9.99819237e-01 -3.87614661e-03 -8.44766016e-01] [-5.86814713e-02 2.77767588e-03 9.98272893e-01 -7.92549999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754000001 meters 0.029762829128699198 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.84, Z:-0.79 [[ 9.97982909e-01 1.94438665e-02 6.04321822e-02 1.07804488e+01] [-1.92374161e-02 9.99806957e-01 -3.99622332e-03 -8.44789162e-01] [-6.04982182e-02 2.82560354e-03 9.98164306e-01 -7.94375516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters 0.027894629154373313 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.84, Z:-0.80 [[ 9.97666519e-01 2.42793573e-02 6.38124579e-02 1.08412129e+01] [-2.40585306e-02 9.99701616e-01 -4.22679719e-03 -8.43789987e-01] [-6.38960413e-02 2.68170007e-03 9.97952957e-01 -7.97155683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052754 meters 0.02854003820033739 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.85, Z:-0.81 [[ 9.97410758e-01 3.23637284e-02 6.42212547e-02 1.09002290e+01] [-3.21567414e-02 9.99473784e-01 -4.25432788e-03 -8.45194902e-01] [-6.43251463e-02 2.17816611e-03 9.97926616e-01 -8.08203356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052754 meters 0.023343898751004212 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.84, Z:-0.81 [[ 9.97291587e-01 4.46996092e-02 5.84075005e-02 1.09614170e+01] [-4.45496502e-02 9.98999684e-01 -3.86772495e-03 -8.38134963e-01] [-5.85219604e-02 1.25521583e-03 9.98285332e-01 -8.13631698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754000001 meters 0.022744443001479337 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.84, Z:-0.82 [[ 9.97116933e-01 4.98033156e-02 5.72490393e-02 1.10228479e+01] [-4.96679086e-02 9.98758610e-01 -3.78657004e-03 -8.43027723e-01] [-5.73665546e-02 9.32213048e-04 9.98352748e-01 -8.19945490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052754 meters 0.023247034147755162 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.85, Z:-0.82 [[ 9.97098575e-01 4.50700420e-02 6.13443025e-02 1.10855917e+01] [-4.49046843e-02 9.98982976e-01 -4.07222664e-03 -8.54419194e-01] [-6.14654493e-02 1.30576484e-03 9.98108358e-01 -8.22486533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052754 meters 0.022104999673630138 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.86, Z:-0.82 [[ 9.96602545e-01 4.50241178e-02 6.89651753e-02 1.11469784e+01] [-4.48132983e-02 9.98984781e-01 -4.60176149e-03 -8.59658115e-01] [-6.91023507e-02 1.49557024e-03 9.97608454e-01 -8.17993965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754000001 meters 0.021838025957209992 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.87, Z:-0.82 [[ 9.96635276e-01 3.99592771e-02 7.15638320e-02 1.12085533e+01] [-3.97190455e-02 9.99199467e-01 -4.77736395e-03 -8.67089506e-01] [-7.16974428e-02 1.91884234e-03 9.97424581e-01 -8.22789165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters 0.0228957411617523 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.87, Z:-0.83 [[ 9.96604333e-01 3.96871747e-02 7.21438192e-02 1.12699277e+01] [-3.94420162e-02 9.99210235e-01 -4.82018923e-03 -8.70183804e-01] [-7.22781423e-02 1.95832378e-03 9.97382592e-01 -8.30987854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401052754 meters 0.02226256903841888 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.87, Z:-0.84 [[ 9.96510844e-01 4.14782922e-02 7.24271236e-02 1.13322306e+01] [-4.12350715e-02 9.99137698e-01 -4.85079885e-03 -8.70008684e-01] [-7.25658723e-02 1.84733603e-03 9.97361911e-01 -8.35972926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461052754 meters 0.02360374139849663 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.88, Z:-0.84 [[ 9.96729437e-01 3.65222056e-02 7.20871506e-02 1.13911218e+01] [-3.62669891e-02 9.99330384e-01 -4.84655183e-03 -8.78738350e-01] [-7.22158866e-02 2.21631697e-03 9.97386562e-01 -8.41709730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754000001 meters 0.02497456503021714 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.89, Z:-0.85 [[ 9.97072126e-01 2.99908063e-02 7.03400823e-02 1.14509701e+01] [-2.97311838e-02 9.99546714e-01 -4.73524220e-03 -8.85546109e-01] [-7.04502119e-02 2.63008409e-03 9.97511830e-01 -8.49954732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052754 meters 0.024370295912796595 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.89, Z:-0.85 [[ 9.96791576e-01 3.37704563e-02 7.25679674e-02 1.15104910e+01] [-3.35040191e-02 9.99426639e-01 -4.88603562e-03 -8.91020615e-01] [-7.26913635e-02 2.43904058e-03 9.97351501e-01 -8.53561674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641052754 meters 0.023161136119980188 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.89, Z:-0.86 [[ 9.96417752e-01 4.15384072e-02 7.36629038e-02 1.15713139e+01] [-4.12850291e-02 9.99135100e-01 -4.95968310e-03 -8.90293810e-01] [-7.38052101e-02 1.90074116e-03 9.97270865e-01 -8.60334757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701052754000001 meters 0.02050928327206819 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.89, Z:-0.87 [[ 9.95900090e-01 4.39445034e-02 7.90689018e-02 1.16334566e+01] [-4.36600070e-02 9.99032261e-01 -5.32411097e-03 -8.92144890e-01] [-7.92263491e-02 1.85013378e-03 9.96854936e-01 -8.65059362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters 0.02061894366407537 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.90, Z:-0.86 [[ 9.95273171e-01 4.78014660e-02 8.45359973e-02 1.16947492e+01] [-4.74882158e-02 9.98855457e-01 -5.71363740e-03 -8.99102174e-01] [-8.47123624e-02 1.67216633e-03 9.96404044e-01 -8.64558614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052754 meters 0.019587916132049712 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.90, Z:-0.87 [[ 9.94789821e-01 5.31575138e-02 8.69913315e-02 1.17564965e+01] [-5.28450574e-02 9.98585339e-01 -5.89241194e-03 -9.02488263e-01] [-8.71814942e-02 1.26464951e-03 9.96191642e-01 -8.66924653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052754 meters 0.019122799082431263 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.90, Z:-0.88 [[ 9.94489081e-01 5.84617347e-02 8.70269683e-02 1.18182981e+01] [-5.81675588e-02 9.98289314e-01 -5.91452111e-03 -9.03565910e-01] [-8.72238656e-02 8.19780361e-04 9.96188398e-01 -8.79069840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754000001 meters 0.018003737720918067 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.91, Z:-0.89 [[ 9.94170176e-01 6.30646117e-02 8.74557944e-02 1.18796252e+01] [-6.27845405e-02 9.98009355e-01 -5.95220515e-03 -9.08003601e-01] [-8.76570745e-02 4.26632976e-04 9.96150619e-01 -8.87312705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052754 meters 0.016920196967415087 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.92, Z:-0.89 [[ 9.93966730e-01 6.48262678e-02 8.84742590e-02 1.19407576e+01] [-6.45446380e-02 9.97896521e-01 -6.04338857e-03 -9.16773680e-01] [-8.86799256e-02 2.96388156e-04 9.96060130e-01 -8.88532718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052754 meters 0.01722095898866654 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.92, Z:-0.90 [[ 9.93754351e-01 6.78830442e-02 8.85673860e-02 1.20029647e+01] [-6.76108825e-02 9.97693285e-01 -6.07276203e-03 -9.19496714e-01] [-8.87753238e-02 4.67145579e-05 9.96051675e-01 -8.95365353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052754 meters 0.01608804221269305 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.92, Z:-0.90 [[ 9.93903582e-01 6.55148775e-02 8.86762133e-02 1.20639611e+01] [-6.52305097e-02 9.97851553e-01 -6.10406184e-03 -9.21949587e-01] [-8.88856040e-02 2.82454340e-04 9.96041801e-01 -9.04080111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181052754000001 meters 0.017716516132980763 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.93, Z:-0.91 [[ 9.94302872e-01 5.60238902e-02 9.06814389e-02 1.21249545e+01] [-5.56855813e-02 9.98428739e-01 -6.25848733e-03 -9.31581958e-01] [-9.08895796e-02 1.17318328e-03 9.95860285e-01 -9.07861824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241052754 meters 0.01958707857790153 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.94, Z:-0.91 [[ 9.94892225e-01 4.38961791e-02 9.08987640e-02 1.21846865e+01] [-4.35040304e-02 9.99033438e-01 -6.29193526e-03 -9.39165432e-01] [-9.10870967e-02 2.30533487e-03 9.95840261e-01 -9.14111106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301052754 meters 0.0224690676179961 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.95, Z:-0.91 [[ 9.95164750e-01 3.38611283e-02 9.21983940e-02 1.22441357e+01] [-3.34144739e-02 9.99421189e-01 -6.38430298e-03 -9.52047785e-01] [-9.23612083e-02 3.27267245e-03 9.95720190e-01 -9.12719105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754000001 meters 0.023023774068808733 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.96, Z:-0.92 [[ 9.95190223e-01 3.09024937e-02 9.29594293e-02 1.23049746e+01] [-3.04352216e-02 9.99515992e-01 -6.44046149e-03 -9.57723832e-01] [-9.31134625e-02 3.58024347e-03 9.95649067e-01 -9.16166561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421052754 meters 0.024880316684288004 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.96, Z:-0.93 [[ 9.95382079e-01 2.57455962e-02 9.24752958e-02 1.23656153e+01] [-2.52607578e-02 9.99660347e-01 -6.40977644e-03 -9.56859532e-01] [-9.26089097e-02 4.04418055e-03 9.95694348e-01 -9.28521388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052754 meters 0.021177785874650763 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.95, Z:-0.94 [[ 9.95637417e-01 3.10624120e-02 8.79844314e-02 1.24267368e+01] [-3.06442471e-02 9.99511742e-01 -6.09979027e-03 -9.51721306e-01] [-8.81309465e-02 3.37696277e-03 9.96103174e-01 -9.35259582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052754 meters 0.019259090847388017 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.95, Z:-0.94 [[ 9.95431414e-01 3.60111505e-02 8.84279195e-02 1.24879144e+01] [-3.56081322e-02 9.99347021e-01 -6.13135114e-03 -9.49162505e-01] [-8.85909749e-02 2.95458649e-03 9.96063708e-01 -9.38664329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601052754000001 meters 0.0180014370947024 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.95, Z:-0.94 [[ 9.95323481e-01 3.77601689e-02 8.89119639e-02 1.25508885e+01] [-3.73594497e-02 9.99282860e-01 -6.16735999e-03 -9.45494560e-01] [-8.90810822e-02 2.81681617e-03 9.96020395e-01 -9.42153010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052754 meters 0.01787799251176031 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.94, Z:-0.95 [[ 9.95435259e-01 3.44410773e-02 8.90081915e-02 1.26126458e+01] [-3.40251227e-02 9.99401829e-01 -6.18672095e-03 -9.43767783e-01] [-8.91680267e-02 3.12996553e-03 9.96011680e-01 -9.47910618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052754 meters 0.018584810264226113 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.95, Z:-0.95 [[ 9.95534372e-01 3.45740689e-02 8.78404693e-02 1.26739015e+01] [-3.41676900e-02 9.99397338e-01 -6.12613554e-03 -9.48651342e-01] [-8.79993366e-02 3.09747257e-03 9.96115717e-01 -9.50329616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754000001 meters 0.018057641759852423 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.95, Z:-0.96 [[ 9.95371638e-01 3.81614245e-02 8.81986900e-02 1.27354200e+01] [-3.77637808e-02 9.99267625e-01 -6.17333096e-03 -9.48531665e-01] [-8.83696786e-02 2.81404255e-03 9.96083772e-01 -9.56053216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841052754 meters 0.01728082699908688 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.95, Z:-0.96 [[ 9.95302297e-01 4.32321438e-02 8.66274700e-02 1.27957773e+01] [-4.28672098e-02 9.99062343e-01 -6.06937329e-03 -9.47656874e-01] [-8.68086351e-02 2.32738325e-03 9.96222287e-01 -9.64356518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052754 meters 0.017691113293058797 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.95, Z:-0.97 [[ 9.95699707e-01 4.25785642e-02 8.22748978e-02 1.28582501e+01] [-4.22472166e-02 9.99090556e-01 -5.76482257e-03 -9.53747635e-01] [-8.24455313e-02 2.26414672e-03 9.96593000e-01 -9.71998508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052754 meters 0.01923895586200026 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.96, Z:-0.98 [[ 9.95907425e-01 3.78085968e-02 8.20908695e-02 1.29191230e+01] [-3.74607237e-02 9.99281418e-01 -5.77427577e-03 -9.63692753e-01] [-8.22501977e-02 2.67546073e-03 9.96608121e-01 -9.76239832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754000001 meters 0.020951520692036214 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.98, Z:-0.98 [[ 9.96136800e-01 3.40998781e-02 8.09238717e-02 1.29798395e+01] [-3.37494263e-02 9.99414101e-01 -5.69490127e-03 -9.75136417e-01] [-8.10706539e-02 2.94176649e-03 9.96704016e-01 -9.81297426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052754 meters 0.02268197233196881 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.99, Z:-0.99 [[ 9.96650966e-01 2.95080351e-02 7.62635481e-02 1.30398637e+01] [-2.91832930e-02 9.99559656e-01 -5.36933087e-03 -9.88854240e-01] [-7.63884043e-02 3.12572733e-03 9.97073238e-01 -9.89928508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052754 meters 0.024168788371721824 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.00, Z:-1.00 [[ 9.96759182e-01 2.76750462e-02 7.55329338e-02 1.31003143e+01] [-2.73511502e-02 9.99611734e-01 -5.31941183e-03 -9.99216846e-01] [-7.56508219e-02 3.23625997e-03 9.97129119e-01 -9.95481847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201052754000001 meters 0.0246436814847421 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.01, Z:-1.00 [[ 9.96698636e-01 2.88345217e-02 7.58972960e-02 1.31609129e+01] [-2.85095833e-02 9.99579140e-01 -5.36150481e-03 -1.00850202e+00] [-7.60199503e-02 3.18000425e-03 9.97101226e-01 -9.98736294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754000001 meters 0.02170695643944817 Centerline is valid? [True, True] Translation: X:13.22, Y:-1.01, Z:-1.00 [[ 9.96438217e-01 3.30737872e-02 7.75693494e-02 1.32220449e+01] [-3.27457845e-02 9.99448596e-01 -5.49700403e-03 -1.01292155e+00] [-7.77083841e-02 2.93735569e-03 9.96971805e-01 -9.96945019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052754 meters 0.01721240951865483 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.00, Z:-1.01 [[ 9.96066330e-01 4.73590372e-02 7.48931733e-02 1.32833555e+01] [-4.70934991e-02 9.98876380e-01 -5.30855845e-03 -1.00297519e+00] [-7.50604300e-02 1.76069475e-03 9.97177432e-01 -1.00794516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052754 meters 0.014984304257864562 Centerline is valid? [True, True] Translation: X:13.34, Y:-1.00, Z:-1.02 [[ 9.95578788e-01 6.00947908e-02 7.21906773e-02 1.33433541e+01] [-5.98814208e-02 9.98192376e-01 -5.11824624e-03 -9.99407024e-01] [-7.23677636e-02 7.72737068e-04 9.97377717e-01 -1.01688587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754000001 meters 0.014893006552484794 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.01, Z:-1.02 [[ 9.95332951e-01 6.04481160e-02 7.52219467e-02 1.34049571e+01] [-6.02175264e-02 9.98171038e-01 -5.33182682e-03 -1.00722464e+00] [-7.54066675e-02 7.77263370e-04 9.97152561e-01 -1.01850082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052754 meters 0.016621344114479276 Centerline is valid? [True, True] Translation: X:13.47, Y:-1.02, Z:-1.02 [[ 9.95712211e-01 5.06079752e-02 7.74340123e-02 1.34655442e+01] [-5.03323702e-02 9.98717335e-01 -5.50799945e-03 -1.02317158e+00] [-7.76134390e-02 1.58694494e-03 9.96982264e-01 -1.02062975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052754 meters 0.01812758980596638 Centerline is valid? [True, True] Translation: X:13.53, Y:-1.03, Z:-1.02 [[ 9.95948639e-01 4.56861787e-02 7.74537339e-02 1.35262650e+01] [-4.53953711e-02 9.98953892e-01 -5.51203832e-03 -1.03312034e+00] [-7.76245329e-02 1.97366607e-03 9.96980710e-01 -1.02329568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052754 meters 0.019242409351482068 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.04, Z:-1.03 [[ 9.96293612e-01 4.07428639e-02 7.57565642e-02 1.35864938e+01] [-4.04502321e-02 9.99166996e-01 -5.39381686e-03 -1.03761448e+00] [-7.59132182e-02 2.30945468e-03 9.97111754e-01 -1.03170448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754000001 meters 0.01938557415352383 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.04, Z:-1.04 [[ 9.96497603e-01 3.85093199e-02 7.42264044e-02 1.36480401e+01] [-3.82221684e-02 9.99255286e-01 -5.28575128e-03 -1.04205871e+00] [-7.43746777e-02 2.43014435e-03 9.97227407e-01 -1.03633574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052754 meters 0.02005466135236431 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.04, Z:-1.04 [[ 9.96541771e-01 3.82625341e-02 7.37595867e-02 1.37099496e+01] [-3.79780334e-02 9.99264750e-01 -5.25633242e-03 -1.04462485e+00] [-7.39064756e-02 2.43691077e-03 9.97262199e-01 -1.04147310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052754 meters 0.017192335195107555 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.04, Z:-1.05 [[ 9.96201329e-01 4.66476959e-02 7.35316565e-02 1.37704862e+01] [-4.63863376e-02 9.98909731e-01 -5.25904366e-03 -1.04088786e+00] [-7.36968095e-02 1.82820205e-03 9.97279017e-01 -1.04761465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754000001 meters 0.014735419980555938 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.04, Z:-1.05 [[ 9.95366066e-01 5.90727213e-02 7.58736326e-02 1.38304398e+01] [-5.88303383e-02 9.98253241e-01 -5.42761826e-03 -1.03922504e+00] [-7.60617238e-02 9.38795565e-04 9.97102669e-01 -1.04930260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052754000002 meters 0.013536106633383534 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.04, Z:-1.05 [[ 9.94754341e-01 6.79246315e-02 7.64855894e-02 1.38932539e+01] [-6.77045045e-02 9.97690420e-01 -5.47036974e-03 -1.03874525e+00] [-7.66805127e-02 2.63255118e-04 9.97055680e-01 -1.05282616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052754 meters 0.013739927741163387 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.05, Z:-1.06 [[ 9.95056591e-01 6.58622501e-02 7.43272796e-02 1.39541353e+01] [-6.56479998e-02 9.97828637e-01 -5.32461824e-03 -1.04883946e+00] [-7.45165795e-02 4.18859242e-04 9.97219687e-01 -1.06000063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters 0.01605376419104738 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.06, Z:-1.07 [[ 9.95761189e-01 5.39234292e-02 7.45111951e-02 1.40140997e+01] [-5.36732971e-02 9.98544181e-01 -5.35678272e-03 -1.06480507e+00] [-7.46915764e-02 1.33481481e-03 9.97205790e-01 -1.06523943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052754 meters 0.017540339945615786 Centerline is valid? [True, True] Translation: X:14.07, Y:-1.08, Z:-1.06 [[ 9.96037667e-01 4.60009452e-02 7.61109668e-02 1.40743417e+01] [-4.57166361e-02 9.98939447e-01 -5.47446982e-03 -1.07552963e+00] [-7.62820779e-02 1.97324078e-03 9.97084325e-01 -1.06465505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters 0.01995034651933575 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.08, Z:-1.07 [[ 9.96122645e-01 3.93888384e-02 7.86650908e-02 1.41339700e+01] [-3.90644066e-02 9.99220668e-01 -5.65945397e-03 -1.08307590e+00] [-7.88267039e-02 2.56450516e-03 9.96885036e-01 -1.06836409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754000002 meters 0.021230085467750213 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.09, Z:-1.08 [[ 9.96397942e-01 3.90998636e-02 7.52485286e-02 1.41944616e+01] [-3.88019634e-02 9.99232235e-01 -5.41735027e-03 -1.08657267e+00] [-7.54025731e-02 2.47804601e-03 9.97150095e-01 -1.07954971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052754 meters 0.01989431758841346 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.09, Z:-1.09 [[ 9.96230598e-01 4.31658732e-02 7.52416248e-02 1.42563303e+01] [-4.28783126e-02 9.99065525e-01 -5.43381027e-03 -1.08521723e+00] [-7.54058686e-02 2.18709415e-03 9.97150526e-01 -1.08603759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters 0.017623794836872143 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.08, Z:-1.09 [[ 9.95860294e-01 4.74952110e-02 7.75014774e-02 1.43180025e+01] [-4.72028481e-02 9.98869621e-01 -5.60094166e-03 -1.08258832e+00] [-7.76798893e-02 1.91946494e-03 9.96976504e-01 -1.08660787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754000002 meters 0.015603282178323264 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.08, Z:-1.09 [[ 9.95624247e-01 5.13159312e-02 7.80963085e-02 1.43795344e+01] [-5.10305752e-02 9.98681129e-01 -5.64654196e-03 -1.08248841e+00] [-7.82830671e-02 1.63653454e-03 9.96929829e-01 -1.09029107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052754 meters 0.014929777916797107 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.08, Z:-1.09 [[ 9.95291209e-01 5.47680572e-02 7.99741777e-02 1.44410944e+01] [-5.44796879e-02 9.98498121e-01 -5.78496481e-03 -1.08452458e+00] [-8.01708975e-02 1.40075639e-03 9.96780149e-01 -1.09469106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters 0.015668410532508944 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.09, Z:-1.10 [[ 9.95112548e-01 5.66199467e-02 8.09023966e-02 1.45018418e+01] [-5.63293383e-02 9.98394976e-01 -5.87175379e-03 -1.09065530e+00] [-8.11050047e-02 1.28587740e-03 9.96704733e-01 -1.10049132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052754 meters 0.014131370692282583 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.10, Z:-1.10 [[ 9.95165623e-01 5.80356631e-02 7.92290684e-02 1.45632996e+01] [-5.77601000e-02 9.98313833e-01 -5.76732000e-03 -1.09527113e+00] [-7.94301852e-02 1.16315968e-03 9.96839753e-01 -1.10435477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters 0.013792099340840627 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.10, Z:-1.11 [[ 9.95252815e-01 6.02827684e-02 7.64056400e-02 1.46246215e+01] [-6.00317699e-02 9.98180872e-01 -5.57967056e-03 -1.09968565e+00] [-7.66030064e-02 9.66417028e-04 9.97061204e-01 -1.11276187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters 0.013690583852891644 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.11, Z:-1.12 [[ 9.95307280e-01 6.20803839e-02 7.42256377e-02 1.46867136e+01] [-6.18472186e-02 9.98070814e-01 -5.43791120e-03 -1.10535989e+00] [-7.44200303e-02 8.21743357e-04 9.97226646e-01 -1.11978788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052754 meters 0.01405298748672654 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.11, Z:-1.13 [[ 9.95560910e-01 6.21311482e-02 7.06979159e-02 1.47474192e+01] [-6.19184335e-02 9.98067675e-01 -5.19843673e-03 -1.11341412e+00] [-7.08842894e-02 7.97856196e-04 9.97484226e-01 -1.12856628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters 0.015539857242379126 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.13, Z:-1.13 [[ 9.95965501e-01 5.52967221e-02 7.06752685e-02 1.48078070e+01] [-5.50657441e-02 9.98469118e-01 -5.21381746e-03 -1.12634825e+00] [-7.08553800e-02 1.30099607e-03 9.97485751e-01 -1.13048731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754000002 meters 0.016451100036247345 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.13, Z:-1.14 [[ 9.96113410e-01 5.13992524e-02 7.15275509e-02 1.48699888e+01] [-5.11513793e-02 9.98676879e-01 -5.29404501e-03 -1.12968498e+00] [-7.17050213e-02 1.61473634e-03 9.97424575e-01 -1.13517020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052754 meters 0.017962164784764863 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.14, Z:-1.14 [[ 9.96470305e-01 4.56032184e-02 7.04789201e-02 1.49305173e+01] [-4.53477330e-02 9.98957616e-01 -5.22160418e-03 -1.13532911e+00] [-7.06435759e-02 2.00711426e-03 9.97499602e-01 -1.14218258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters 0.01785187921497575 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.14, Z:-1.14 [[ 9.96570515e-01 4.01434674e-02 7.23582069e-02 1.49917470e+01] [-3.98597055e-02 9.99190899e-01 -5.36193652e-03 -1.13902174e+00] [-7.25149086e-02 2.45937103e-03 9.97364296e-01 -1.14342363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754000002 meters 0.020310618328865302 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.14, Z:-1.14 [[ 9.96776534e-01 3.00475369e-02 7.43887557e-02 1.50530471e+01] [-2.97193418e-02 9.99543068e-01 -5.51514403e-03 -1.13989356e+00] [-7.45204815e-02 3.28658130e-03 9.97214067e-01 -1.14450311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052754 meters 0.020315097206245507 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.14, Z:-1.15 [[ 9.96714022e-01 2.95357466e-02 7.54241152e-02 1.51147396e+01] [-2.91967938e-02 9.99558036e-01 -5.59289275e-03 -1.14007636e+00] [-7.55559707e-02 3.37237229e-03 9.97135860e-01 -1.14851756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters 0.01793394660492933 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.13, Z:-1.15 [[ 9.96349139e-01 4.07894413e-02 7.49974331e-02 1.51763657e+01] [-4.04846219e-02 9.99164576e-01 -5.58081299e-03 -1.13054900e+00] [-7.51624167e-02 2.52419549e-03 9.97168110e-01 -1.15273439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754000002 meters 0.01563028927666703 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.12, Z:-1.16 [[ 9.95983225e-01 5.21949395e-02 7.27537188e-02 1.52365658e+01] [-5.19383871e-02 9.98635610e-01 -5.41502141e-03 -1.12486489e+00] [-7.29370911e-02 1.61455967e-03 9.97335236e-01 -1.16069274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters 0.0129691966446706 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.12, Z:-1.17 [[ 9.95583614e-01 6.26961947e-02 6.98745595e-02 1.52978061e+01] [-6.24853933e-02 9.98032328e-01 -5.20068352e-03 -1.12194715e+00] [-7.00631324e-02 8.11575964e-04 9.97542229e-01 -1.16834627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters 0.0133293073201572 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.13, Z:-1.18 [[ 9.95333556e-01 7.01557127e-02 6.62517001e-02 1.53582861e+01] [-6.99827702e-02 9.97536016e-01 -4.93044937e-03 -1.12704316e+00] [-6.64343561e-02 2.70964201e-04 9.97790761e-01 -1.18040448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052754 meters 0.01236965580333172 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.13, Z:-1.18 [[ 9.95273811e-01 6.97172114e-02 6.75984576e-02 1.54199114e+01] [-6.95350893e-02 9.97566743e-01 -5.04624171e-03 -1.13418365e+00] [-6.77857830e-02 3.21927434e-04 9.97699847e-01 -1.17989146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters 0.013229385639246125 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.15, Z:-1.18 [[ 9.95719527e-01 6.29592178e-02 6.76665400e-02 1.54795311e+01] [-6.27598969e-02 9.98015779e-01 -5.06953695e-03 -1.15320987e+00] [-6.78514487e-02 8.01091866e-04 9.97695113e-01 -1.18265086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754000003 meters 0.014923266192954617 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.17, Z:-1.19 [[ 9.96082562e-01 5.57415766e-02 6.86469619e-02 1.55398753e+01] [-5.55187832e-02 9.98444358e-01 -5.15056861e-03 -1.16782200e+00] [-6.88272726e-02 1.31919578e-03 9.97627719e-01 -1.18678292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052754 meters 0.015507207107407637 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.18, Z:-1.19 [[ 9.96442063e-01 4.86304412e-02 6.88352752e-02 1.55999365e+01] [-4.83882885e-02 9.98815159e-01 -5.18187523e-03 -1.18211696e+00] [-6.90057132e-02 1.83261728e-03 9.97614581e-01 -1.18929018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters 0.014661851379724894 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.18, Z:-1.20 [[ 9.96268549e-01 5.38499840e-02 6.74474379e-02 1.56614048e+01] [-5.36292830e-02 9.98547993e-01 -5.07988838e-03 -1.18260222e+00] [-6.76230557e-02 1.44377528e-03 9.97709897e-01 -1.19584637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754000002 meters 0.014817936765989997 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.18, Z:-1.20 [[ 9.96243414e-01 5.65813886e-02 6.55561267e-02 1.57223276e+01] [-5.63786536e-02 9.98397238e-01 -4.93988460e-03 -1.18357501e+00] [-6.57305614e-02 1.22536134e-03 9.97836656e-01 -1.20437279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052754 meters 0.015195080213141154 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.19, Z:-1.21 [[ 9.96339932e-01 5.60625446e-02 6.45269743e-02 1.57824241e+01] [-5.58640984e-02 9.98426471e-01 -4.87697568e-03 -1.18791643e+00] [-6.46988549e-02 1.25438437e-03 9.97904046e-01 -1.21033550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters 0.014829087603592634 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.19, Z:-1.22 [[ 9.96238192e-01 5.78683030e-02 6.45036702e-02 1.58446269e+01] [-5.76730447e-02 9.98323566e-01 -4.88655636e-03 -1.18857274e+00] [-6.46783107e-02 1.14805102e-03 9.97905506e-01 -1.21692046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754000002 meters 0.013729112191837175 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.19, Z:-1.22 [[ 9.95882799e-01 6.28123421e-02 6.53609926e-02 1.59056964e+01] [-6.26212528e-02 9.98024987e-01 -4.97021889e-03 -1.18914832e+00] [-6.55440950e-02 8.56768256e-04 9.97849306e-01 -1.22214031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052754 meters 0.013096728066595554 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.19, Z:-1.23 [[ 9.95578641e-01 6.51992583e-02 6.76182464e-02 1.59678485e+01] [-6.50002412e-02 9.97872002e-01 -5.14155133e-03 -1.19387816e+00] [-6.78095803e-02 7.23616353e-04 9.97698019e-01 -1.22572262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters 0.012850807025209639 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.20, Z:-1.23 [[ 9.95242667e-01 6.55421131e-02 7.20851260e-02 1.60296602e+01] [-6.53154627e-02 9.97849511e-01 -5.49947263e-03 -1.20004192e+00] [-7.22905547e-02 7.65036449e-04 9.97383322e-01 -1.22763189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052754 meters 0.013437133381796593 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.21, Z:-1.23 [[ 9.95326958e-01 6.26057944e-02 7.35170789e-02 1.60913924e+01] [-6.23607218e-02 9.98037816e-01 -5.62648507e-03 -1.20961076e+00] [-7.37250755e-02 1.01561416e-03 9.97278086e-01 -1.23131075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters 0.013823422665435906 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.22, Z:-1.24 [[ 9.95425808e-01 6.16011303e-02 7.30257565e-02 1.61530270e+01] [-6.13553841e-02 9.98100241e-01 -5.60583341e-03 -1.21518624e+00] [-7.32323508e-02 1.09966791e-03 9.97314300e-01 -1.23804281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters 0.015300589331556822 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.22, Z:-1.25 [[ 9.95732547e-01 5.73540759e-02 7.22994166e-02 1.62138819e+01] [-5.71008049e-02 9.98352898e-01 -5.56682337e-03 -1.22162980e+00] [-7.24996121e-02 1.41471233e-03 9.97367437e-01 -1.24617634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052754 meters 0.017859075320946514 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.23, Z:-1.25 [[ 9.96157399e-01 5.11061339e-02 7.11238258e-02 1.62735633e+01] [-5.08439420e-02 9.98691503e-01 -5.49313275e-03 -1.22935221e+00] [-7.13114933e-02 1.85580916e-03 9.97452368e-01 -1.25397950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321052754 meters 0.020070993235760504 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.24, Z:-1.26 [[ 9.96344942e-01 4.60867740e-02 7.19219484e-02 1.63341921e+01] [-4.58055254e-02 9.98934926e-01 -5.55580926e-03 -1.23507271e+00] [-7.21013956e-02 2.24107982e-03 9.97394790e-01 -1.26001796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754000002 meters 0.01837080462497626 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.23, Z:-1.27 [[ 9.96373761e-01 4.51713150e-02 7.21032631e-02 1.63960980e+01] [-4.48862143e-02 9.98976576e-01 -5.57033705e-03 -1.23095804e+00] [-7.22810903e-02 2.31369516e-03 9.97381617e-01 -1.26926422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052754 meters 0.01668371257278748 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.23, Z:-1.27 [[ 9.96083155e-01 4.66172297e-02 7.51344276e-02 1.64588786e+01] [-4.63102384e-02 9.98910128e-01 -5.82388833e-03 -1.23058633e+00] [-7.53240342e-02 2.32158381e-03 9.97156407e-01 -1.27144180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters 0.017016549530783832 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.23, Z:-1.27 [[ 9.95729039e-01 4.62817900e-02 7.98853990e-02 1.65214053e+01] [-4.59329890e-02 9.98925287e-01 -6.19937221e-03 -1.23478957e+00] [-8.00864631e-02 2.50351978e-03 9.96784777e-01 -1.27245255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754000002 meters 0.016786743153436975 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.23, Z:-1.28 [[ 9.95425089e-01 4.65746283e-02 8.34247944e-02 1.65844469e+01] [-4.61931476e-02 9.98911391e-01 -6.49817210e-03 -1.23290925e+00] [-8.36366274e-02 2.61478970e-03 9.96492889e-01 -1.27962162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052754 meters 0.01613095026415943 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.23, Z:-1.29 [[ 9.95495420e-01 4.95492138e-02 8.08315765e-02 1.66465320e+01] [-4.91991359e-02 9.98769005e-01 -6.31813156e-03 -1.23441824e+00] [-8.10451317e-02 2.31282731e-03 9.96707749e-01 -1.28626946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters 0.015815085009001088 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.24, Z:-1.29 [[ 9.95271492e-01 5.45527514e-02 8.03657537e-02 1.67072143e+01] [-5.42213875e-02 9.98509055e-01 -6.30137754e-03 -1.23551342e+00] [-8.05896903e-02 1.91403876e-03 9.96745523e-01 -1.29223151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754000002 meters 0.014159820234703762 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.23, Z:-1.30 [[ 9.94889332e-01 6.19949829e-02 7.96984208e-02 1.67686344e+01] [-6.16927144e-02 9.98075610e-01 -6.25177862e-03 -1.23238501e+00] [-7.99326289e-02 1.30301595e-03 9.96799417e-01 -1.30248396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052754 meters 0.013054294377800322 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.24, Z:-1.30 [[ 9.94391157e-01 6.81300497e-02 8.08982264e-02 1.68311969e+01] [-6.78385027e-02 9.97676106e-01 -6.35014465e-03 -1.23653032e+00] [-8.11428632e-02 8.26513134e-04 9.96702138e-01 -1.30456394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters 0.01277129238759713 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.24, Z:-1.31 [[ 9.94072231e-01 7.18724028e-02 8.15766989e-02 1.68931638e+01] [-7.15879102e-02 9.97413692e-01 -6.41071684e-03 -1.24123781e+00] [-8.18264701e-02 5.32810189e-04 9.96646449e-01 -1.31083820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052754 meters 0.01267369879646052 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.25, Z:-1.32 [[ 9.93777142e-01 7.45681772e-02 8.27440596e-02 1.69539989e+01] [-7.42830707e-02 9.97215861e-01 -6.52314389e-03 -1.25032704e+00] [-8.30001077e-02 3.36068458e-04 9.96549482e-01 -1.31681812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters 0.012753225124051602 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.26, Z:-1.32 [[ 9.93468776e-01 7.27956614e-02 8.78668503e-02 1.70157848e+01] [-7.24651631e-02 9.97346732e-01 -6.94958536e-03 -1.26226319e+00] [-8.81396156e-02 5.36910423e-04 9.96107986e-01 -1.31864675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754000003 meters 0.013399315802437582 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.28, Z:-1.32 [[ 9.93699414e-01 6.80334467e-02 8.90669680e-02 1.70766648e+01] [-6.76727560e-02 9.97682545e-01 -7.06664069e-03 -1.27709750e+00] [-8.93413272e-02 9.94709526e-04 9.96000571e-01 -1.32210692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052754 meters 0.014353654003456026 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.29, Z:-1.33 [[ 9.93971999e-01 6.43429498e-02 8.87673893e-02 1.71372790e+01] [-6.39680859e-02 9.97926941e-01 -7.06427002e-03 -1.28957720e+00] [-8.90379052e-02 1.34340661e-03 9.96027332e-01 -1.32944964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters 0.014247150295061243 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.29, Z:-1.34 [[ 9.93893696e-01 6.44200492e-02 8.95844711e-02 1.71992213e+01] [-6.40365777e-02 9.97921930e-01 -7.15111628e-03 -1.29429392e+00] [-8.98589835e-02 1.37076645e-03 9.95953555e-01 -1.33521298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754000002 meters 0.014309631332468521 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.30, Z:-1.34 [[ 9.93786592e-01 6.64424731e-02 8.92950633e-02 1.72599480e+01] [-6.60675652e-02 9.97789527e-01 -7.15093759e-03 -1.29796228e+00] [-8.95728049e-02 1.20699848e-03 9.95979546e-01 -1.34057437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052754 meters 0.013809953786555187 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.30, Z:-1.35 [[ 9.93963795e-01 6.87339330e-02 8.55080197e-02 1.73214427e+01] [-6.83971093e-02 9.97634549e-01 -6.86597514e-03 -1.30037479e+00] [-8.57776802e-02 9.76029334e-04 9.96313825e-01 -1.34975944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters 0.014202362911130818 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.31, Z:-1.36 [[ 9.94192375e-01 7.03453555e-02 8.14435560e-02 1.73814121e+01] [-7.00436953e-02 9.97522363e-01 -6.55862231e-03 -1.30630509e+00] [-8.17031370e-02 8.15924678e-04 9.96656376e-01 -1.35916589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754000002 meters 0.013691460565601768 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.31, Z:-1.36 [[ 9.93772141e-01 7.34122122e-02 8.38306592e-02 1.74436804e+01] [-7.31018239e-02 9.97301503e-01 -6.77023788e-03 -1.30719700e+00] [-8.41014605e-02 5.99899706e-04 9.96457016e-01 -1.36424006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052754 meters 0.013653154273099728 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.31, Z:-1.36 [[ 9.93479298e-01 7.41000384e-02 8.66491156e-02 1.75062616e+01] [-7.37691353e-02 9.97250644e-01 -7.01913992e-03 -1.31246600e+00] [-8.69310048e-02 5.81339864e-04 9.96214165e-01 -1.36418141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters 0.01436154007448877 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.32, Z:-1.37 [[ 9.93737809e-01 7.01805843e-02 8.69474147e-02 1.75678809e+01] [-6.98303882e-02 9.97533850e-01 -7.06647216e-03 -1.32035886e+00] [-8.72289184e-02 9.50648843e-04 9.96187840e-01 -1.36889859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052754 meters 0.014883502940733146 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.32, Z:-1.37 [[ 9.93959444e-01 6.77210993e-02 8.63624749e-02 1.76296110e+01] [-6.73645893e-02 9.97703595e-01 -7.03910494e-03 -1.32399115e+00] [-8.66408476e-02 1.17881218e-03 9.96238914e-01 -1.37495060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters 0.015802363790033327 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.33, Z:-1.38 [[ 9.94263381e-01 6.31500649e-02 8.63272763e-02 1.76908582e+01] [-6.27748770e-02 9.98002765e-01 -7.05661024e-03 -1.32815629e+00] [-8.66004859e-02 1.59694501e-03 9.96241841e-01 -1.38112968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701052754000003 meters 0.01766906908151697 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.34, Z:-1.39 [[ 9.94772521e-01 5.91201046e-02 8.32612996e-02 1.77506155e+01] [-5.87555991e-02 9.98249077e-01 -6.82350972e-03 -1.33566263e+00] [-8.35189221e-02 1.89577242e-03 9.96504388e-01 -1.38842617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052754 meters 0.017095241076241104 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.34, Z:-1.39 [[ 9.94982599e-01 5.99150331e-02 8.01237585e-02 1.78126988e+01] [-5.95799164e-02 9.98201925e-01 -6.56885545e-03 -1.33638399e+00] [-8.03732632e-02 1.76213003e-03 9.96763279e-01 -1.39499423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821052754 meters 0.01630612091192888 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.34, Z:-1.40 [[ 9.94786878e-01 6.54599456e-02 7.81924755e-02 1.78745925e+01] [-6.51564408e-02 9.97854350e-01 -6.42925186e-03 -1.33822793e+00] [-7.84455603e-02 1.30099198e-03 9.96917550e-01 -1.39890821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881052754000002 meters 0.014984230796480957 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.34, Z:-1.41 [[ 9.94466341e-01 7.38891997e-02 7.46798728e-02 1.79360716e+01] [-7.36357207e-02 9.97266269e-01 -6.14570976e-03 -1.33676767e+00] [-7.49298196e-02 6.12595243e-04 9.97188622e-01 -1.40836810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941052754 meters 0.015255341173787655 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.35, Z:-1.41 [[ 9.94437029e-01 7.28673367e-02 7.60614678e-02 1.79974045e+01] [-7.26011584e-02 9.97341393e-01 -6.26244683e-03 -1.34734120e+00] [-7.63155781e-02 7.05458348e-04 9.97083464e-01 -1.40994720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001052754 meters 0.016970021480356926 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.36, Z:-1.41 [[ 9.95059360e-01 6.13300973e-02 7.80736187e-02 1.80576137e+01] [-6.10124947e-02 9.98116168e-01 -6.44914139e-03 -1.36306152e+00] [-7.83220676e-02 1.65381226e-03 9.96926737e-01 -1.40955997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754000002 meters 0.018544695854684767 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.37, Z:-1.41 [[ 9.95135362e-01 5.83252842e-02 7.93962970e-02 1.81180761e+01] [-5.79871716e-02 9.98295778e-01 -6.55949947e-03 -1.37288268e+00] [-7.96435728e-02 1.92362318e-03 9.96821549e-01 -1.41246308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121052754 meters 0.01876905702801118 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.38, Z:-1.41 [[ 9.95457194e-01 5.29080809e-02 7.91562396e-02 1.81794956e+01] [-5.25535023e-02 9.98596580e-01 -6.55749558e-03 -1.37793418e+00] [-7.93920946e-02 2.36776853e-03 9.96840654e-01 -1.41317877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181052754 meters 0.020072360380338085 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.38, Z:-1.42 [[ 9.95924170e-01 4.75773842e-02 7.66253182e-02 1.82400231e+01] [-4.72292231e-02 9.98863891e-01 -6.35046323e-03 -1.37975941e+00] [-7.68404019e-02 2.70562557e-03 9.97039735e-01 -1.42272530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241052754000002 meters 0.019611872616858487 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.38, Z:-1.43 [[ 9.96028027e-01 4.66014400e-02 7.58714384e-02 1.83021307e+01] [-4.62572761e-02 9.98909768e-01 -6.28813984e-03 -1.37874842e+00] [-7.60817572e-02 2.75355745e-03 9.97097781e-01 -1.42967988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052754 meters 0.019916719131798693 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.38, Z:-1.44 [[ 9.96158305e-01 4.90845494e-02 7.25212977e-02 1.83630819e+01] [-4.87754698e-02 9.98791579e-01 -6.02781979e-03 -1.37886193e+00] [-7.27295343e-02 2.46740237e-03 9.97348649e-01 -1.43627420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters 0.01876216853059464 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.38, Z:-1.44 [[ 9.95830974e-01 5.61655145e-02 7.18756356e-02 1.84239850e+01] [-5.58790173e-02 9.98419566e-01 -5.99218892e-03 -1.37841913e+00] [-7.20985953e-02 1.95086744e-03 9.97395602e-01 -1.43839578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052754 meters 0.016773142507699394 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.38, Z:-1.44 [[ 9.95336861e-01 6.36728418e-02 7.24589728e-02 1.84850419e+01] [-6.34014217e-02 9.97969816e-01 -6.04206939e-03 -1.37748409e+00] [-7.26965835e-02 1.41989248e-03 9.97353092e-01 -1.44094438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters 0.017013289997125126 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.39, Z:-1.44 [[ 9.95373263e-01 6.37082843e-02 7.19258027e-02 1.85474004e+01] [-6.34410217e-02 9.97967574e-01 -5.99652820e-03 -1.38566993e+00] [-7.21616473e-02 1.40573744e-03 9.97391959e-01 -1.44480913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754000003 meters 0.018257056678927183 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.40, Z:-1.45 [[ 9.95550458e-01 5.97058964e-02 7.29005651e-02 1.86074722e+01] [-5.94190091e-02 9.98214494e-01 -6.09967032e-03 -1.39734573e+00] [-7.31345870e-02 1.74085023e-03 9.97320561e-01 -1.44594081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052754 meters 0.019587245698976866 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.41, Z:-1.45 [[ 9.95832928e-01 5.45111377e-02 7.31116674e-02 1.86678964e+01] [-5.42079022e-02 9.98510873e-01 -6.12692515e-03 -1.40777253e+00] [-7.33367805e-02 2.13816369e-03 9.97304941e-01 -1.44732664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters 0.02121282031948571 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.42, Z:-1.45 [[ 9.95969731e-01 5.37903811e-02 7.17697067e-02 1.87279608e+01] [-5.34963747e-02 9.98549934e-01 -6.01384058e-03 -1.41501046e+00] [-7.19891227e-02 2.15018406e-03 9.97403100e-01 -1.45428306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754000002 meters 0.01989984018627815 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.42, Z:-1.47 [[ 9.96127426e-01 5.79845924e-02 6.60903765e-02 1.87895210e+01] [-5.77437161e-02 9.98316009e-01 -5.55069456e-03 -1.41601814e+00] [-6.63009356e-02 1.71289515e-03 9.97798202e-01 -1.46613821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052754 meters 0.018064849387375 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.42, Z:-1.47 [[ 9.95997340e-01 6.37178041e-02 6.26844499e-02 1.88512311e+01] [-6.35116263e-02 9.97967140e-01 -5.27824523e-03 -1.41857175e+00] [-6.28933394e-02 1.27592685e-03 9.98019439e-01 -1.46853612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters 0.017605446005803996 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.42, Z:-1.47 [[ 9.95766929e-01 6.84847453e-02 6.13030403e-02 1.89122951e+01] [-6.82956727e-02 9.97651694e-01 -5.17673959e-03 -1.42404937e+00] [-6.15136097e-02 9.68093708e-04 9.98105775e-01 -1.47052565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754000002 meters 0.01745267433633753 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.43, Z:-1.48 [[ 9.95530499e-01 7.02637036e-02 6.31033884e-02 1.89725500e+01] [-7.00659854e-02 9.97528047e-01 -5.34344701e-03 -1.42952931e+00] [-6.33228502e-02 8.98163376e-04 9.97992690e-01 -1.47707525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052754 meters 0.01714178062772722 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.44, Z:-1.48 [[ 9.95358064e-01 7.29507987e-02 6.27734519e-02 1.90329181e+01] [-7.27595260e-02 9.97335267e-01 -5.33065173e-03 -1.44111360e+00] [-6.29950527e-02 7.38540580e-04 9.98013566e-01 -1.47806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters 0.015933043098775777 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.45, Z:-1.48 [[ 9.94917937e-01 7.90653853e-02 6.23455091e-02 1.90948709e+01] [-7.88883165e-02 9.96869369e-01 -5.30045470e-03 -1.44851732e+00] [-6.25694108e-02 3.55185207e-04 9.98040552e-01 -1.47885813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052754 meters 0.015955778647504214 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.45, Z:-1.49 [[ 9.94342674e-01 8.79980078e-02 5.94894659e-02 1.91564254e+01] [-8.78519709e-02 9.96120634e-01 -5.07094105e-03 -1.45134872e+00] [-5.97049172e-02 -1.84013737e-04 9.98216053e-01 -1.48740560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052754 meters 0.01681947051541117 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.46, Z:-1.49 [[ 9.94348249e-01 9.13208732e-02 5.41484875e-02 1.92158046e+01] [-9.12038951e-02 9.95821464e-01 -4.63267261e-03 -1.46004967e+00] [-5.43452858e-02 -3.32063087e-04 9.98522148e-01 -1.49451609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754000003 meters 0.016954261206295385 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.47, Z:-1.50 [[ 9.94634582e-01 8.81657476e-02 5.41188496e-02 1.92766016e+01] [-8.80444869e-02 9.96105805e-01 -4.62540494e-03 -1.46935808e+00] [-5.43159025e-02 -1.64278630e-04 9.98523788e-01 -1.49974188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052754 meters 0.017316874352196126 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.48, Z:-1.50 [[ 9.95186631e-01 8.15523287e-02 5.43395459e-02 1.93388085e+01] [-8.14196089e-02 9.96669039e-01 -4.65544445e-03 -1.47929228e+00] [-5.45382054e-02 2.08731503e-04 9.98511663e-01 -1.49689116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters 0.01836892426576509 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.49, Z:-1.50 [[ 9.96065832e-01 7.02114368e-02 5.40667447e-02 1.93994499e+01] [-7.00621825e-02 9.97531772e-01 -4.65337473e-03 -1.49113393e+00] [-5.42600158e-02 8.47033437e-04 9.98526481e-01 -1.49814565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754000002 meters 0.020860574865102167 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.50, Z:-1.51 [[ 9.96735383e-01 6.09059375e-02 5.30004042e-02 1.94581962e+01] [-6.07492203e-02 9.98142624e-01 -4.56439806e-03 -1.49987048e+00] [-5.31799615e-02 1.32976382e-03 9.98584059e-01 -1.50776790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052754 meters 0.019885243257221543 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.50, Z:-1.51 [[ 9.96849170e-01 5.93939678e-02 5.25746077e-02 1.95201823e+01] [-5.92380375e-02 9.98233650e-01 -4.52059877e-03 -1.50376233e+00] [-5.27502388e-02 1.39193855e-03 9.98606767e-01 -1.50975436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters 0.017274771259016754 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.49, Z:-1.51 [[ 9.95780800e-01 7.44297778e-02 5.36731450e-02 1.95804609e+01] [-7.42879434e-02 9.97226059e-01 -4.63558230e-03 -1.49461262e+00] [-5.38692842e-02 6.28756291e-04 9.98547798e-01 -1.51463677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754000002 meters 0.016616322126341246 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.49, Z:-1.52 [[ 9.94634370e-01 8.96078829e-02 5.17000649e-02 1.96437919e+01] [-8.94972260e-02 9.95977103e-01 -4.45613827e-03 -1.48825141e+00] [-5.18913860e-02 -1.94784115e-04 9.98652715e-01 -1.52263405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052754 meters 0.016531193093562782 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.49, Z:-1.53 [[ 9.93930317e-01 9.61803651e-02 5.34028232e-02 1.97062976e+01] [-9.60709441e-02 9.95363775e-01 -4.61824567e-03 -1.48878038e+00] [-5.35994203e-02 -5.40245260e-04 9.98562372e-01 -1.52823095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters 0.016109893203789274 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.50, Z:-1.53 [[ 9.93382716e-01 9.82246595e-02 5.95205478e-02 1.97678021e+01] [-9.80909506e-02 9.95164019e-01 -5.17118816e-03 -1.49757864e+00] [-5.97406457e-02 -7.01458178e-04 9.98213686e-01 -1.52679014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754000002 meters 0.015556817161103123 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.51, Z:-1.54 [[ 9.93903271e-01 9.30828480e-02 5.90920651e-02 1.98290041e+01] [-9.29420358e-02 9.95658290e-01 -5.13293929e-03 -1.50938430e+00] [-5.93132932e-02 -3.90491681e-04 9.98239340e-01 -1.53505581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052754 meters 0.01541474671088139 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.52, Z:-1.54 [[ 9.94716531e-01 8.29521849e-02 6.04810528e-02 1.98889492e+01] [-8.27850171e-02 9.96553501e-01 -5.26884299e-03 -1.52476554e+00] [-6.07096669e-02 2.34080233e-04 9.98155440e-01 -1.54127089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754000003 meters 0.015975832869296786 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.54, Z:-1.54 [[ 9.95309333e-01 7.47524910e-02 6.14117005e-02 1.99499795e+01] [-7.45637175e-02 9.97201830e-01 -5.36309771e-03 -1.53916988e+00] [-6.16407650e-02 7.58856517e-04 9.98098112e-01 -1.54301407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052754 meters 0.016846528081844454 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.54, Z:-1.55 [[ 9.95595746e-01 6.94664280e-02 6.29565340e-02 2.00111464e+01] [-6.92564629e-02 9.97583651e-01 -5.51385085e-03 -1.54400867e+00] [-6.31874366e-02 1.12941959e-03 9.98001038e-01 -1.54815441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters 0.018100898361325286 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.55, Z:-1.56 [[ 9.95543973e-01 7.05254929e-02 6.25967428e-02 2.00716859e+01] [-7.03191297e-02 9.97509403e-01 -5.49639776e-03 -1.54951571e+00] [-6.28284758e-02 1.07015719e-03 9.98023766e-01 -1.55724736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754000003 meters 0.016856728839632556 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.55, Z:-1.57 [[ 9.95389759e-01 7.46632895e-02 6.02048206e-02 2.01338046e+01] [-7.44792182e-02 9.97208488e-01 -5.29882762e-03 -1.54743768e+00] [-6.04323860e-02 7.90390783e-04 9.98171980e-01 -1.56545436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052754 meters 0.016012223502176147 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.55, Z:-1.57 [[ 9.95089986e-01 7.76460083e-02 6.13760329e-02 2.01956195e+01] [-7.74594635e-02 9.96980789e-01 -5.41648172e-03 -1.54706793e+00] [-6.16112939e-02 6.35732130e-04 9.98100017e-01 -1.57000310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters 0.015618478474581952 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.55, Z:-1.57 [[ 9.94786416e-01 7.68401264e-02 6.70490909e-02 2.02572498e+01] [-7.66142641e-02 9.97043130e-01 -5.93730555e-03 -1.55101028e+00] [-6.73070587e-02 7.69434156e-04 9.97732012e-01 -1.57186381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754000002 meters 0.015497268849756106 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.56, Z:-1.57 [[ 9.94646574e-01 7.43597823e-02 7.17552506e-02 2.03193982e+01] [-7.40944427e-02 9.97230972e-01 -6.35625149e-03 -1.56221536e+00] [-7.20292078e-02 1.00555846e-03 9.97402016e-01 -1.56839751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052754 meters 0.015816988010477644 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.57, Z:-1.57 [[ 9.94676313e-01 7.05114712e-02 7.51476170e-02 2.03810367e+01] [-7.02080343e-02 9.97510036e-01 -6.67528121e-03 -1.57099443e+00] [-7.54311861e-02 1.36377763e-03 9.97150077e-01 -1.56988749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters 0.016241759590917608 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.58, Z:-1.58 [[ 9.94781377e-01 6.92338268e-02 7.49445717e-02 2.04422819e+01] [-6.89270645e-02 9.97599370e-01 -6.67509066e-03 -1.57675655e+00] [-7.52267995e-02 1.47454655e-03 9.97165360e-01 -1.57519619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754000002 meters 0.018275334052469772 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.59, Z:-1.58 [[ 9.95403072e-01 6.21067185e-02 7.29073323e-02 2.05022888e+01] [-6.17959912e-02 9.98067557e-01 -6.51212066e-03 -1.58656325e+00] [-7.31708895e-02 1.97680405e-03 9.97317459e-01 -1.58299313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052754 meters 0.018795156457819075 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.59, Z:-1.59 [[ 9.95738447e-01 5.92276799e-02 7.06896589e-02 2.05637597e+01] [-5.89283169e-02 9.98242244e-01 -6.31466329e-03 -1.59191642e+00] [-7.09394067e-02 2.12213039e-03 9.97478369e-01 -1.59038270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters 0.01814314378744815 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.59, Z:-1.60 [[ 9.95774283e-01 6.29789233e-02 6.68373556e-02 2.06261251e+01] [-6.27195159e-02 9.98013310e-01 -5.97454431e-03 -1.59383144e+00] [-6.70808409e-02 1.75729100e-03 9.97745996e-01 -1.59790561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052754 meters 0.01598272960602041 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.59, Z:-1.60 [[ 9.95349749e-01 7.05537013e-02 6.55824039e-02 2.06875377e+01] [-7.03199599e-02 9.97507225e-01 -5.86853057e-03 -1.59436893e+00] [-6.58329683e-02 1.22948842e-03 9.97829900e-01 -1.60203590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052754 meters 0.014779405624900873 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.60, Z:-1.60 [[ 9.94418583e-01 8.19883193e-02 6.64047973e-02 2.07487077e+01] [-8.17739399e-02 9.96633174e-01 -5.94465398e-03 -1.59748895e+00] [-6.66686161e-02 4.81292484e-04 9.97775057e-01 -1.60064161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754000003 meters 0.014651535538778973 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.60, Z:-1.60 [[ 9.93970139e-01 8.68840843e-02 6.68918494e-02 2.08106052e+01] [-8.66777058e-02 9.96218416e-01 -5.98688204e-03 -1.60164765e+00] [-6.71590571e-02 1.52749922e-04 9.97742270e-01 -1.60352911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052754 meters 0.015075641896792051 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.61, Z:-1.61 [[ 9.94290658e-01 8.48949601e-02 6.46446646e-02 2.08714677e+01] [-8.46970567e-02 9.96389864e-01 -5.80071797e-03 -1.60945462e+00] [-6.49037402e-02 2.92386868e-04 9.97891487e-01 -1.61142624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters 0.015762994592884043 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.62, Z:-1.61 [[ 9.94661623e-01 7.99144548e-02 6.52835047e-02 2.09313778e+01] [-7.97008086e-02 9.96801520e-01 -5.87459805e-03 -1.62333708e+00] [-6.55441620e-02 6.40089122e-04 9.97849464e-01 -1.60981999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754000002 meters 0.017252322890709826 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.63, Z:-1.62 [[ 9.95285601e-01 7.23577516e-02 6.45827194e-02 2.09919371e+01] [-7.21318464e-02 9.97378091e-01 -5.82583112e-03 -1.62965474e+00] [-6.48349335e-02 1.13989503e-03 9.97895351e-01 -1.61574122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052754 meters 0.01778142105291572 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.63, Z:-1.63 [[ 9.95547247e-01 7.34395242e-02 5.90958096e-02 2.10529752e+01] [-7.32524533e-02 9.97299195e-01 -5.32863606e-03 -1.63118359e+00] [-5.93275358e-02 9.75995925e-04 9.98238093e-01 -1.62816650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters 0.017469714222242857 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.63, Z:-1.64 [[ 9.95437680e-01 7.79656938e-02 5.50015972e-02 2.11146468e+01] [-7.78100007e-02 9.96955819e-01 -4.96977515e-03 -1.63072366e+00] [-5.52216343e-02 6.67427135e-04 9.98473898e-01 -1.63707174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754000002 meters 0.016618754984202237 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.63, Z:-1.64 [[ 9.94797028e-01 8.33903262e-02 5.85228693e-02 2.11753217e+01] [-8.32223635e-02 9.96516878e-01 -5.30574821e-03 -1.63075840e+00] [-5.87614751e-02 4.07731048e-04 9.98271968e-01 -1.63805207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052754 meters 0.0161553400928358 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.63, Z:-1.64 [[ 9.94254692e-01 8.89771623e-02 5.95035491e-02 2.12365357e+01] [-8.88133100e-02 9.96033663e-01 -5.39797576e-03 -1.63347051e+00] [-5.97478345e-02 8.22555834e-05 9.98213499e-01 -1.64392008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters 0.01589047949033777 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.64, Z:-1.65 [[ 9.93640142e-01 9.35240830e-02 6.27097600e-02 2.12983528e+01] [-9.33501710e-02 9.95617000e-01 -5.70389364e-03 -1.63919671e+00] [-6.29683546e-02 -1.86349134e-04 9.98015507e-01 -1.64840212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754000002 meters 0.015303462222293689 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.65, Z:-1.65 [[ 9.93499641e-01 9.25856202e-02 6.62296427e-02 2.13601115e+01] [-9.23884967e-02 9.95704720e-01 -6.03960146e-03 -1.65121813e+00] [-6.65043481e-02 -1.18515248e-04 9.97786128e-01 -1.64727613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301052754 meters 0.015163083002169843 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.66, Z:-1.65 [[ 9.93383088e-01 9.27557292e-02 6.77230808e-02 2.14216966e+01] [-9.25488783e-02 9.95688888e-01 -6.19225235e-03 -1.66113577e+00] [-6.80054859e-02 -1.16416404e-04 9.97684940e-01 -1.64975617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361052754000003 meters 0.015173166040850578 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.66, Z:-1.66 [[ 9.93503651e-01 9.32421499e-02 6.52410719e-02 2.14832747e+01] [-9.30502919e-02 9.95643453e-01 -5.97984291e-03 -1.66199897e+00] [-6.55144195e-02 -1.29705021e-04 9.97851614e-01 -1.66013199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421052754 meters 0.01562714212858859 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.67, Z:-1.67 [[ 9.94162886e-01 8.73344005e-02 6.33471201e-02 2.15432556e+01] [-8.71404681e-02 9.96179015e-01 -5.82311896e-03 -1.67105395e+00] [-6.36136303e-02 2.69031066e-04 9.97974566e-01 -1.66877043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters 0.016496915729832938 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.68, Z:-1.67 [[ 9.94947500e-01 7.78743842e-02 6.33644409e-02 2.16045173e+01] [-7.76605927e-02 9.96962788e-01 -5.83372390e-03 -1.68195509e+00] [-6.36262873e-02 8.83328977e-04 9.97973404e-01 -1.67393668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754000003 meters 0.016876722448504987 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.69, Z:-1.68 [[ 9.95014758e-01 7.45943638e-02 6.61914794e-02 2.16665473e+01] [-7.43536734e-02 9.97213303e-01 -6.09579263e-03 -1.68843416e+00] [-6.64617356e-02 1.14382399e-03 9.97788319e-01 -1.67863214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052754 meters 0.016121364865519003 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.69, Z:-1.69 [[ 9.94492839e-01 8.12554809e-02 6.61932043e-02 2.17268032e+01] [-8.10280538e-02 9.96693046e-01 -6.11775179e-03 -1.69042196e+00] [-6.64714073e-02 7.20553828e-04 9.97788070e-01 -1.68592325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters 0.014989894119194679 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.69, Z:-1.70 [[ 9.93755182e-01 9.14447306e-02 6.39413729e-02 2.17884945e+01] [-9.12537555e-02 9.95810153e-01 -5.90695366e-03 -1.68858523e+00] [-6.42136280e-02 3.51754058e-05 9.97936175e-01 -1.69501484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721052754000002 meters 0.014768809645953097 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.69, Z:-1.70 [[ 9.93044786e-01 9.63510912e-02 6.76647654e-02 2.18494123e+01] [-9.61473121e-02 9.95347371e-01 -6.26941200e-03 -1.69333803e+00] [-6.79540110e-02 -2.79978421e-04 9.97688415e-01 -1.70228513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052754 meters 0.014203228425043797 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.71, Z:-1.70 [[ 9.93066845e-01 9.24843678e-02 7.25595201e-02 2.19108654e+01] [-9.22389824e-02 9.95714137e-01 -6.73264177e-03 -1.70672939e+00] [-7.28712040e-02 -6.85297020e-06 9.97341360e-01 -1.70177839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters 0.013999818900947775 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.71, Z:-1.71 [[ 9.92852929e-01 9.26919953e-02 7.51748328e-02 2.19729185e+01] [-9.24277956e-02 9.95694830e-01 -6.99346921e-03 -1.71105812e+00] [-7.54994309e-02 -4.75769192e-06 9.97145845e-01 -1.70674297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754000002 meters 0.014060646837724533 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.72, Z:-1.71 [[ 9.93033719e-01 9.09064181e-02 7.49670329e-02 2.20348183e+01] [-9.06373101e-02 9.95859429e-01 -6.99118471e-03 -1.71937534e+00] [-7.52921701e-02 1.47671936e-04 9.97161505e-01 -1.71210341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052754 meters 0.014174779357800059 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.73, Z:-1.72 [[ 9.93356625e-01 8.61614650e-02 7.62811735e-02 2.20958394e+01] [-8.58672855e-02 9.96281042e-01 -7.13409532e-03 -1.72569240e+00] [-7.66121711e-02 5.36643546e-04 9.97060824e-01 -1.71803896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754000003 meters 0.015670781214959708 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.73, Z:-1.72 [[ 9.93788517e-01 7.91757197e-02 7.82022282e-02 2.21560461e+01] [-7.88433687e-02 9.96860044e-01 -7.33325482e-03 -1.73426195e+00] [-7.85372923e-02 1.12197732e-03 9.96910545e-01 -1.72479309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052754 meters 0.016616248348877417 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.74, Z:-1.73 [[ 9.94387565e-01 7.18370131e-02 7.76711889e-02 2.22157947e+01] [-7.14854267e-02 9.97414922e-01 -7.30115453e-03 -1.74408481e+00] [-7.79948959e-02 1.70781919e-03 9.96952296e-01 -1.73101320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052754 meters 0.017460115366279595 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.75, Z:-1.74 [[ 9.94446780e-01 7.05733908e-02 7.80704690e-02 2.22762703e+01] [-7.02142243e-02 9.97504935e-01 -7.33947578e-03 -1.75073067e+00] [-7.83936498e-02 1.81706064e-03 9.96920826e-01 -1.73758709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754000003 meters 0.015149821149908167 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.75, Z:-1.74 [[ 9.94012007e-01 7.37648220e-02 8.06156397e-02 2.23381346e+01] [-7.33908086e-02 9.97274325e-01 -7.59676493e-03 -1.74989125e+00] [-8.09562816e-02 1.63482857e-03 9.96716313e-01 -1.74312167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052754 meters 0.013641339797745665 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.75, Z:-1.75 [[ 9.93446474e-01 8.13868845e-02 8.02513407e-02 2.23992409e+01] [-8.10394609e-02 9.96682054e-01 -7.58218456e-03 -1.75319979e+00] [-8.06021615e-02 1.02896914e-03 9.96745822e-01 -1.74541738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters 0.013521964953675778 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.76, Z:-1.75 [[ 9.93062816e-01 8.17705786e-02 8.44974373e-02 2.24622279e+01] [-8.13863720e-02 9.96650620e-01 -7.98744039e-03 -1.75761383e+00] [-8.48675610e-02 1.05509018e-03 9.96391682e-01 -1.74940886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754000002 meters 0.013849276973047862 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.77, Z:-1.75 [[ 9.93013729e-01 8.06585592e-02 8.61274137e-02 2.25225538e+01] [-8.02530699e-02 9.96741072e-01 -8.16579265e-03 -1.76510411e+00] [-8.65053717e-02 1.19675486e-03 9.96250665e-01 -1.75315497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052754 meters 0.013314320094389544 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.77, Z:-1.76 [[ 9.92777493e-01 8.32179844e-02 8.64153708e-02 2.25841996e+01] [-8.28177489e-02 9.96530870e-01 -8.21258043e-03 -1.76769533e+00] [-8.67990190e-02 9.96538522e-04 9.96225345e-01 -1.75844326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters 0.012311060481870216 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.77, Z:-1.77 [[ 9.92334081e-01 8.95682502e-02 8.51504578e-02 2.26463061e+01] [-8.92012785e-02 9.95980583e-01 -8.11233771e-03 -1.76590038e+00] [-8.55348105e-02 4.54619479e-04 9.96335079e-01 -1.76601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754000002 meters 0.011938045913530444 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.77, Z:-1.78 [[ 9.92149434e-01 9.40729890e-02 8.24000841e-02 2.27075472e+01] [-9.37432986e-02 9.95565300e-01 -7.86944403e-03 -1.76914238e+00] [-8.27749665e-02 8.32087539e-05 9.96568261e-01 -1.77505581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052754 meters 0.011879470658304088 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.77, Z:-1.78 [[ 9.91830416e-01 9.66208645e-02 8.32876660e-02 2.27694359e+01] [-9.62913000e-02 9.95321253e-01 -7.97428848e-03 -1.77471601e+00] [-8.36684667e-02 -1.10735772e-04 9.96493640e-01 -1.78174433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754000003 meters 0.01181561565254162 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.79, Z:-1.78 [[ 9.91704610e-01 9.71544071e-02 8.41604880e-02 2.28313657e+01] [-9.68178648e-02 9.95269312e-01 -8.08071633e-03 -1.78752799e+00] [-8.45474281e-02 -1.34555107e-04 9.96419447e-01 -1.78233425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754000002 meters 0.01186505592451231 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.80, Z:-1.78 [[ 9.91982573e-01 9.42323416e-02 8.42071343e-02 2.28928154e+01] [-9.38829820e-02 9.95550223e-01 -8.10794290e-03 -1.80118899e+00] [-8.45964618e-02 1.37321184e-04 9.96415285e-01 -1.78488769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052754 meters 0.01204784483011862 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.81, Z:-1.79 [[ 9.92228869e-01 9.19872714e-02 8.37867149e-02 2.29533311e+01] [-9.16314774e-02 9.95760121e-01 -8.09029739e-03 -1.81021418e+00] [-8.41756738e-02 3.49926166e-04 9.96450869e-01 -1.79323898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754000003 meters 0.012493751652107072 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.82, Z:-1.80 [[ 9.92545217e-01 8.83436586e-02 8.39606522e-02 2.30146085e+01] [-8.79715512e-02 9.96089822e-01 -8.12853190e-03 -1.82174464e+00] [-8.43504553e-02 6.81786649e-04 9.96435917e-01 -1.79593581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052754 meters 0.012642039733586356 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.82, Z:-1.80 [[ 9.92393446e-01 8.94020284e-02 8.46317074e-02 2.30769190e+01] [-8.90260316e-02 9.95995430e-01 -8.21396017e-03 -1.82346560e+00] [-8.50271385e-02 6.17055182e-04 9.96378445e-01 -1.79974829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters 0.012538760750079436 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.82, Z:-1.81 [[ 9.92466940e-01 9.17808199e-02 8.11520457e-02 2.31388974e+01] [-9.14414924e-02 9.95779146e-01 -7.89589828e-03 -1.82227318e+00] [-8.15342068e-02 4.15753833e-04 9.96670457e-01 -1.81022126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754000003 meters 0.012973484248396413 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.83, Z:-1.82 [[ 9.93086862e-01 9.04576637e-02 7.48057177e-02 2.32001584e+01] [-9.01644644e-02 9.95900177e-01 -7.29433848e-03 -1.82874326e+00] [-7.51588563e-02 4.99094240e-04 9.97171448e-01 -1.81868791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052754 meters 0.014710617469245641 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.84, Z:-1.83 [[ 9.94023887e-01 8.16929785e-02 7.24069755e-02 2.32601611e+01] [-8.13937554e-02 9.96656888e-01 -7.07849703e-03 -1.83812011e+00] [-7.27431744e-02 1.14271947e-03 9.97350051e-01 -1.82799239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters 0.016918318899245346 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.85, Z:-1.83 [[ 9.94529701e-01 7.28880357e-02 7.48198325e-02 2.33200909e+01] [-7.25434079e-02 9.97338415e-01 -7.31709994e-03 -1.85152197e+00] [-7.51540222e-02 1.84938759e-03 9.97170223e-01 -1.82794854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754000002 meters 0.01816309427397585 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.86, Z:-1.83 [[ 9.94720010e-01 6.65190525e-02 7.81493227e-02 2.33811861e+01] [-6.61232781e-02 9.97782181e-01 -7.64405042e-03 -1.86094192e+00] [-7.84844766e-02 2.43620051e-03 9.96912359e-01 -1.82689397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052754 meters 0.018404211597871506 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.86, Z:-1.83 [[ 9.94592679e-01 6.51147737e-02 8.09040717e-02 2.34425554e+01] [-6.46856635e-02 9.97874288e-01 -7.91642635e-03 -1.86342063e+00] [-8.12475693e-02 2.64028614e-03 9.96690454e-01 -1.83339744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters 0.01661392005801288 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.87, Z:-1.84 [[ 9.94142800e-01 7.13394123e-02 8.11836319e-02 2.35034148e+01] [-7.09265169e-02 9.97449765e-01 -7.96212143e-03 -1.86567936e+00] [-8.15446076e-02 2.15741345e-03 9.96667358e-01 -1.83563173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754000002 meters 0.016472695950930646 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.86, Z:-1.85 [[ 9.93801047e-01 7.78614900e-02 7.93540627e-02 2.35636117e+01] [-7.74876744e-02 9.96962923e-01 -7.78393311e-03 -1.86485756e+00] [-7.97191270e-02 1.58671909e-03 9.96816103e-01 -1.84506954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052754 meters 0.014464442981865003 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.86, Z:-1.85 [[ 9.93096324e-01 8.79281250e-02 7.76423654e-02 2.36252114e+01] [-8.76003423e-02 9.96126524e-01 -7.62418363e-03 -1.86178609e+00] [-7.80119997e-02 7.70050943e-04 9.96952123e-01 -1.85224735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754000003 meters 0.014057598126280576 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.86, Z:-1.86 [[ 9.92613613e-01 9.53677392e-02 7.49880682e-02 2.36873962e+01] [-9.50831083e-02 9.95442094e-01 -7.36482908e-03 -1.86427530e+00] [-7.53486467e-02 1.80330988e-04 9.97157234e-01 -1.85707112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052754 meters 0.014103105826451178 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.87, Z:-1.87 [[ 9.92379484e-01 9.83055418e-02 7.42898336e-02 2.37499639e+01] [-9.80330999e-02 9.95156279e-01 -7.31378813e-03 -1.86965105e+00] [-7.46489803e-02 -2.48093836e-05 9.97209872e-01 -1.86506957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052754 meters 0.014093834375345622 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.88, Z:-1.87 [[ 9.92694464e-01 9.47373181e-02 7.47164022e-02 2.38106673e+01] [-9.44500292e-02 9.95502270e-01 -7.37715010e-03 -1.88451601e+00] [-7.50792394e-02 2.66289697e-04 9.97177535e-01 -1.86729324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754000003 meters 0.015189106668802705 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.90, Z:-1.87 [[ 9.93491359e-01 8.50120259e-02 7.58147398e-02 2.38711343e+01] [-8.46863074e-02 9.96379385e-01 -7.50666084e-03 -1.90125902e+00] [-7.61784003e-02 1.03733232e-03 9.97093664e-01 -1.87004623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052754 meters 0.015592990383795045 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.91, Z:-1.87 [[ 9.93602813e-01 8.26532844e-02 7.69537846e-02 2.39326190e+01] [-8.23102528e-02 9.96577590e-01 -7.62421567e-03 -1.90960810e+00] [-7.73205837e-02 1.24135667e-03 9.97005510e-01 -1.87473001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters 0.01615820575304706 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.92, Z:-1.88 [[ 9.93604294e-01 7.99616718e-02 7.97285249e-02 2.39939076e+01] [-7.95831516e-02 9.96796775e-01 -7.91906528e-03 -1.92001887e+00] [-8.01063582e-02 1.52336998e-03 9.96785158e-01 -1.87555493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754000002 meters 0.015791455976228795 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.92, Z:-1.88 [[ 9.93459663e-01 8.17944499e-02 7.96716095e-02 2.40561150e+01] [-8.14208148e-02 9.96648246e-01 -7.93255775e-03 -1.92265254e+00] [-8.00534091e-02 1.39374879e-03 9.96789601e-01 -1.88067230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052754 meters 0.01579968359429822 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.93, Z:-1.89 [[ 9.93401621e-01 8.32182287e-02 7.89173408e-02 2.41174210e+01] [-8.28546136e-02 9.96530518e-01 -7.87655851e-03 -1.92542454e+00] [-7.92990118e-02 1.28592021e-03 9.96850045e-01 -1.88899019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters 0.015090337414240393 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.93, Z:-1.90 [[ 9.93086539e-01 8.81377444e-02 7.75297685e-02 2.41800035e+01] [-8.78003090e-02 9.96107893e-01 -7.75699411e-03 -1.92636090e+00] [-7.79116983e-02 8.96228802e-04 9.96959861e-01 -1.89545851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754000002 meters 0.014431701089059154 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.92, Z:-1.90 [[ 9.92143038e-01 9.93049959e-02 7.60967103e-02 2.42414995e+01] [-9.90122589e-02 9.95057042e-01 -7.61941076e-03 -1.92272693e+00] [-7.64772130e-02 2.50381626e-05 9.97071329e-01 -1.90062850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052754 meters 0.014487872827804251 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.93, Z:-1.91 [[ 9.92289231e-01 9.81198690e-02 7.57269596e-02 2.43029177e+01] [-9.78252717e-02 9.95174595e-01 -7.59884167e-03 -1.93152821e+00] [-7.61071437e-02 1.32238363e-04 9.97099637e-01 -1.90714765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754000003 meters 0.015487965095250002 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.95, Z:-1.91 [[ 9.92899260e-01 8.96725377e-02 7.81658221e-02 2.43639244e+01] [-8.93308792e-02 9.95970961e-01 -7.86379119e-03 -1.94640255e+00] [-7.85560551e-02 8.25330834e-04 9.96909356e-01 -1.90889815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754000002 meters 0.01657995386021682 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.96, Z:-1.91 [[ 9.93217372e-01 8.29424534e-02 8.14849779e-02 2.44247693e+01] [-8.25468523e-02 9.96553305e-01 -8.21756793e-03 -1.95854540e+00] [-8.18857092e-02 1.43550278e-03 9.96640693e-01 -1.90855267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052754 meters 0.016671982164656925 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.96, Z:-1.92 [[ 9.93172846e-01 8.34931874e-02 8.14652444e-02 2.44871803e+01] [-8.30981513e-02 9.96507354e-01 -8.23354493e-03 -1.96367722e+00] [-8.18681600e-02 1.40772204e-03 9.96642174e-01 -1.91598269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754000003 meters 0.016188259446037013 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.97, Z:-1.92 [[ 9.92974950e-01 8.70527855e-02 8.01408897e-02 2.45491418e+01] [-8.66803685e-02 9.96203074e-01 -8.12092308e-03 -1.96899964e+00] [-8.05435497e-02 1.11723134e-03 9.96750464e-01 -1.92062884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052754 meters 0.015151186536955484 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.97, Z:-1.93 [[ 9.92469480e-01 9.44110395e-02 7.80441310e-02 2.46114414e+01] [-9.40791923e-02 9.95533164e-01 -7.92620468e-03 -1.96683808e+00] [-7.84438419e-02 5.24187426e-04 9.96918396e-01 -1.92948911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052754 meters 0.015004825285331317 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.97, Z:-1.94 [[ 9.92330966e-01 9.99185371e-02 7.27704571e-02 2.46736647e+01] [-9.96437025e-02 9.94995616e-01 -7.40650615e-03 -1.97124826e+00] [-7.31463331e-02 9.85876281e-05 9.97321214e-01 -1.93603686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754000003 meters 0.01548318849166001 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.98, Z:-1.94 [[ 9.92710643e-01 9.51515197e-02 7.39714031e-02 2.47346977e+01] [-9.48527486e-02 9.95462686e-01 -7.54959857e-03 -1.98145519e+00] [-7.43541274e-02 4.78175942e-04 9.97231786e-01 -1.94106550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052754 meters 0.017460716411623285 Centerline is valid? [True, True] Translation: X:24.79, Y:-2.00, Z:-1.95 [[ 9.93726081e-01 8.56449710e-02 7.19264598e-02 2.47939465e+01] [-8.53362960e-02 9.96325026e-01 -7.35925213e-03 -1.99695073e+00] [-7.22924148e-02 1.17514311e-03 9.97382788e-01 -1.94509944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters 0.018090529574921188 Centerline is valid? [True, True] Translation: X:24.86, Y:-2.01, Z:-1.95 [[ 9.93886341e-01 8.37086930e-02 7.19916369e-02 2.48554088e+01] [-8.33944333e-02 9.96489399e-01 -7.36525747e-03 -2.00540638e+00] [-7.23554391e-02 1.31652703e-03 9.97378041e-01 -1.94775086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754000002 meters 0.01684178401920191 Centerline is valid? [True, True] Translation: X:24.92, Y:-2.00, Z:-1.96 [[ 9.93655878e-01 8.74244102e-02 7.07458030e-02 2.49181776e+01] [-8.71291075e-02 9.96170608e-01 -7.25524353e-03 -2.00235111e+00] [-7.11091749e-02 1.04519671e-03 9.97467991e-01 -1.95580246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781052754 meters 0.016370889199461055 Centerline is valid? [True, True] Translation: X:24.98, Y:-2.00, Z:-1.96 [[ 9.93341376e-01 9.17595708e-02 6.96641302e-02 2.49795177e+01] [-9.14835871e-02 9.95780925e-01 -7.14855648e-03 -2.00492399e+00] [-7.00261605e-02 7.27832405e-04 9.97544890e-01 -1.96125335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841052754000003 meters 0.015963246128154075 Centerline is valid? [True, True] Translation: X:25.04, Y:-2.01, Z:-1.97 [[ 9.93102788e-01 9.41775236e-02 6.98387178e-02 2.50416672e+01] [-9.39049529e-02 9.95555254e-01 -7.18309078e-03 -2.00735981e+00] [-7.02047881e-02 5.75345972e-04 9.97532434e-01 -1.96548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754000002 meters 0.015729903776241158 Centerline is valid? [True, True] Translation: X:25.10, Y:-2.01, Z:-1.97 [[ 9.92876867e-01 9.47291684e-02 7.22627910e-02 2.51027187e+01] [-9.44374563e-02 9.95502916e-01 -7.45055172e-03 -2.01185829e+00] [-7.26436038e-02 5.73166281e-04 9.97357799e-01 -1.96871234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052754 meters 0.015862354298824464 Centerline is valid? [True, True] Translation: X:25.16, Y:-2.02, Z:-1.97 [[ 9.93070674e-01 9.37448885e-02 7.08698285e-02 2.51638779e+01] [-9.34607501e-02 9.95596041e-01 -7.32201209e-03 -2.01860249e+00] [-7.12441218e-02 6.47728146e-04 9.97458699e-01 -1.97450845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754000003 meters 0.01663788867330038 Centerline is valid? [True, True] Translation: X:25.23, Y:-2.03, Z:-1.98 [[ 9.93716879e-01 8.74311209e-02 6.98753419e-02 2.52251326e+01] [-8.71380638e-02 9.96169957e-01 -7.23704700e-03 -2.02999054e+00] [-7.02404594e-02 1.10277377e-03 9.97529479e-01 -1.98048919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052754 meters 0.01847114499203423 Centerline is valid? [True, True] Translation: X:25.28, Y:-2.04, Z:-1.98 [[ 9.94282443e-01 8.00352561e-02 7.06879085e-02 2.52837008e+01] [-7.97162602e-02 9.96790668e-01 -7.32683139e-03 -2.04394050e+00] [-7.10474523e-02 1.64996411e-03 9.97471572e-01 -1.98402196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052754 meters 0.018468900783439032 Centerline is valid? [True, True] Translation: X:25.35, Y:-2.05, Z:-1.98 [[ 9.94262790e-01 7.92998246e-02 7.17846972e-02 2.53450969e+01] [-7.89690746e-02 9.96849314e-01 -7.43840053e-03 -2.05194992e+00] [-7.21483900e-02 1.72695376e-03 9.97392414e-01 -1.98486455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754000003 meters 0.017349502631512602 Centerline is valid? [True, True] Translation: X:25.41, Y:-2.05, Z:-1.99 [[ 9.93972397e-01 8.26240398e-02 7.20565222e-02 2.54075605e+01] [-8.22981782e-02 9.96579645e-01 -7.48466362e-03 -2.05293875e+00] [-7.24284765e-02 1.50942853e-03 9.97372467e-01 -1.99113200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052754 meters 0.016742943679110795 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.06, Z:-2.00 [[ 9.93722079e-01 8.62377236e-02 7.12705098e-02 2.54697506e+01] [-8.59275262e-02 9.96273814e-01 -7.41268465e-03 -2.05695163e+00] [-7.16441957e-02 1.24204979e-03 9.97429479e-01 -1.99797697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters 0.015966910959014206 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.06, Z:-2.00 [[ 9.93208256e-01 9.10022516e-02 7.24979347e-02 2.55314886e+01] [-9.06934478e-02 9.95850261e-01 -7.54690262e-03 -2.05879040e+00] [-7.28838724e-02 9.20558324e-04 9.97340009e-01 -2.00084240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754000002 meters 0.015290328758729184 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.06, Z:-2.01 [[ 9.93068339e-01 9.35436449e-02 7.11678350e-02 2.55933566e+01] [-9.32524837e-02 9.95614918e-01 -7.41007939e-03 -2.05942243e+00] [-7.15489241e-02 7.22137857e-04 9.97436830e-01 -2.00869914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052754 meters 0.01627997358457733 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.07, Z:-2.02 [[ 9.93662259e-01 8.76080301e-02 7.04283201e-02 2.56530173e+01] [-8.73066207e-02 9.96154353e-01 -7.35253344e-03 -2.06906837e+00] [-7.08016186e-02 1.15707636e-03 9.97489745e-01 -2.01501670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters 0.018143019976407944 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.08, Z:-2.02 [[ 9.94235418e-01 7.96925124e-02 7.17289141e-02 2.57118671e+01] [-7.93590628e-02 9.96817948e-01 -7.49120051e-03 -2.07969023e+00] [-7.20976616e-02 1.75567746e-03 9.97396032e-01 -2.01842570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754000002 meters 0.01928115855058736 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.09, Z:-2.02 [[ 9.94379983e-01 7.56920047e-02 7.40214114e-02 2.57727478e+01] [-7.53259037e-02 9.97129013e-01 -7.72915621e-03 -2.08964622e+00] [-7.43939322e-02 2.10998851e-03 9.97226700e-01 -2.01923462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052754 meters 0.018203221636174566 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.09, Z:-2.03 [[ 9.94299263e-01 7.57529084e-02 7.50364701e-02 2.58352509e+01] [-7.53756078e-02 9.97124300e-01 -7.85157530e-03 -2.09000211e+00] [-7.54154675e-02 2.15089599e-03 9.97149879e-01 -2.02626278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754000003 meters 0.01821508807765931 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.10, Z:-2.03 [[ 9.94030359e-01 7.92043671e-02 7.50354180e-02 2.58949104e+01] [-7.88351755e-02 9.96856566e-01 -7.87408993e-03 -2.09716120e+00] [-7.54232114e-02 1.91165410e-03 9.97149781e-01 -2.03110234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754000002 meters 0.01607042964071587 Centerline is valid? [True, True] Translation: X:25.96, Y:-2.10, Z:-2.04 [[ 9.93280280e-01 8.83963372e-02 7.47018996e-02 2.59558563e+01] [-8.80562571e-02 9.96084647e-01 -7.84037237e-03 -2.09774844e+00] [-7.51024755e-02 1.20971759e-03 9.97175087e-01 -2.03598081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052754 meters 0.01449496045475582 Centerline is valid? [True, True] Translation: X:26.02, Y:-2.10, Z:-2.04 [[ 9.92262813e-01 9.79510403e-02 7.62896093e-02 2.60169065e+01] [-9.76243954e-02 9.95191110e-01 -8.00826386e-03 -2.09826175e+00] [-7.67071587e-02 4.98575434e-04 9.97053541e-01 -2.03980178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754000003 meters 0.013959150555860158 Centerline is valid? [True, True] Translation: X:26.08, Y:-2.10, Z:-2.04 [[ 9.91410075e-01 1.06027605e-01 7.65781318e-02 2.60785512e+01] [-1.05722384e-01 9.94363179e-01 -8.04027782e-03 -2.10296673e+00] [-7.69989660e-02 -1.24810220e-04 9.97031165e-01 -2.04255829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052754 meters 0.014035275459647823 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.11, Z:-2.05 [[ 9.91800779e-01 1.03919186e-01 7.43775375e-02 2.61387459e+01] [-1.03624045e-01 9.94585743e-01 -7.82672167e-03 -2.11185647e+00] [-7.47881849e-02 5.52473175e-05 9.97199441e-01 -2.05366429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052754 meters 0.014419813260067334 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.13, Z:-2.06 [[ 9.92368347e-01 9.69727219e-02 7.61666281e-02 2.61996989e+01] [-9.66411975e-02 9.95286851e-01 -8.03514133e-03 -2.12848324e+00] [-7.65868330e-02 6.12985774e-04 9.97062727e-01 -2.05536813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754000003 meters 0.015497060803640347 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.14, Z:-2.06 [[ 9.92990614e-01 8.79868767e-02 7.89173584e-02 2.62601466e+01] [-8.76010153e-02 9.96120687e-01 -8.34495827e-03 -2.14241829e+00] [-7.93454601e-02 1.37322451e-03 9.96846233e-01 -2.05724606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052754 meters 0.016779949844554474 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.15, Z:-2.06 [[ 9.93422540e-01 8.14811717e-02 8.04516998e-02 2.63198254e+01] [-8.10573069e-02 9.96672976e-01 -8.52593794e-03 -2.15296641e+00] [-8.08787385e-02 1.94866080e-03 9.96722044e-01 -2.06324871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters 0.01700304246643294 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.16, Z:-2.07 [[ 9.93717244e-01 7.85533629e-02 7.97208103e-02 2.63804946e+01] [-7.81276847e-02 9.96907553e-01 -8.44965314e-03 -2.16306923e+00] [-8.01380265e-02 2.16816371e-03 9.96781418e-01 -2.06702762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754000002 meters 0.019160494388640644 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.17, Z:-2.07 [[ 9.93765507e-01 7.69725350e-02 8.06557278e-02 2.64411816e+01] [-7.65300655e-02 9.97030464e-01 -8.56756246e-03 -2.17179078e+00] [-8.10756847e-02 2.34155992e-03 9.96705197e-01 -2.07170105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052754 meters 0.0183156825257852 Centerline is valid? [True, True] Translation: X:26.50, Y:-2.17, Z:-2.08 [[ 9.93888950e-01 7.64397112e-02 7.96349480e-02 2.65032537e+01] [-7.60052604e-02 9.97071383e-01 -8.47693236e-03 -2.17451612e+00] [-8.00497019e-02 2.37245445e-03 9.96788050e-01 -2.07664173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754000003 meters 0.017358167518046985 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.17, Z:-2.09 [[ 9.93864236e-01 7.69974186e-02 7.94057808e-02 2.65661562e+01] [-7.65657002e-02 9.97028546e-01 -8.47184129e-03 -2.17235759e+00] [-7.98221401e-02 2.34010087e-03 9.96806375e-01 -2.08555411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754000002 meters 0.017330767655236536 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.18, Z:-2.09 [[ 9.93934375e-01 7.82381770e-02 7.72867730e-02 2.66282893e+01] [-7.78313186e-02 9.96932265e-01 -8.26713094e-03 -2.17539958e+00] [-7.76964829e-02 2.20165417e-03 9.96974628e-01 -2.09117343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052754 meters 0.01725055165565605 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.18, Z:-2.09 [[ 9.93262145e-01 8.51114847e-02 7.86533249e-02 2.66879485e+01] [-8.47099766e-02 9.96369960e-01 -8.43338099e-03 -2.17775376e+00] [-7.90855878e-02 1.71383679e-03 9.96866356e-01 -2.09397191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754000003 meters 0.014199600707348907 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.17, Z:-2.10 [[ 9.92333324e-01 9.51837445e-02 7.88329191e-02 2.67490910e+01] [-9.48120913e-02 9.95459301e-01 -8.45263747e-03 -2.17174157e+00] [-7.92795162e-02 9.13519920e-04 9.96852007e-01 -2.10123737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052754 meters 0.01308952107205347 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.17, Z:-2.11 [[ 9.91493924e-01 1.02801150e-01 7.98230658e-02 2.68111838e+01] [-1.02444727e-01 9.94701879e-01 -8.55859476e-03 -2.17051900e+00] [-8.02799869e-02 3.08342550e-04 9.96772305e-01 -2.10840772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052754 meters 0.013037218189734598 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.18, Z:-2.11 [[ 9.91670155e-01 1.01813204e-01 7.88947046e-02 2.68724286e+01] [-1.01460373e-01 9.94803452e-01 -8.47843683e-03 -2.17800640e+00] [-7.93479414e-02 4.03126644e-04 9.96846900e-01 -2.11381809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754000003 meters 0.01383890798902891 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.19, Z:-2.12 [[ 9.92382627e-01 9.44063894e-02 7.91464172e-02 2.69335686e+01] [-9.40260931e-02 9.95533221e-01 -8.52642126e-03 -2.19128726e+00] [-7.95978363e-02 1.01964394e-03 9.96826537e-01 -2.11698743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052754 meters 0.01563076703335551 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.20, Z:-2.13 [[ 9.93044078e-01 8.86057887e-02 7.75401378e-02 2.69936675e+01] [-8.82217146e-02 9.96065683e-01 -8.37159031e-03 -2.20138700e+00] [-7.79768417e-02 1.47263428e-03 9.96954083e-01 -2.12610269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052754 meters 0.016533737625074027 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.21, Z:-2.13 [[ 9.93311589e-01 8.50878595e-02 7.80521829e-02 2.70543067e+01] [-8.46864793e-02 9.96371866e-01 -8.44419711e-03 -2.21201505e+00] [-7.84874978e-02 1.77775428e-03 9.96913513e-01 -2.12967505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754000002 meters 0.015492442503077339 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.22, Z:-2.13 [[ 9.92999863e-01 8.65067712e-02 8.04229446e-02 2.71168758e+01] [-8.60837453e-02 9.96249752e-01 -8.71893024e-03 -2.21883864e+00] [-8.08755851e-02 1.73478825e-03 9.96722695e-01 -2.12875150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052754 meters 0.014030016131830097 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.22, Z:-2.14 [[ 9.92288089e-01 9.46554095e-02 8.00293841e-02 2.71785714e+01] [-9.42623927e-02 9.95509519e-01 -8.68320674e-03 -2.21850106e+00] [-8.04919262e-02 1.07248139e-03 9.96754684e-01 -2.13585350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754000003 meters 0.013156911751423557 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.22, Z:-2.14 [[ 9.91641457e-01 1.03917593e-01 7.64745381e-02 2.72402795e+01] [-1.03586022e-01 9.94585863e-01 -8.30047682e-03 -2.22067575e+00] [-7.69230600e-02 3.09403737e-04 9.97036984e-01 -2.14197997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754000002 meters 0.01355711753676138 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.23, Z:-2.15 [[ 9.91647127e-01 1.06965733e-01 7.20715487e-02 2.73001659e+01] [-1.06678086e-01 9.94262704e-01 -7.83973512e-03 -2.22537264e+00] [-7.24966359e-02 8.57959440e-05 9.97368653e-01 -2.15157862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052754 meters 0.014075828176147609 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.24, Z:-2.16 [[ 9.92212937e-01 1.03505109e-01 6.92833329e-02 2.73610882e+01] [-1.03230035e-01 9.94628865e-01 -7.54861253e-03 -2.23618726e+00] [-6.96925227e-02 3.37710164e-04 9.97568463e-01 -2.15657117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754000003 meters 0.015723658324479698 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.25, Z:-2.16 [[ 9.93337888e-01 9.37063605e-02 6.70742682e-02 2.74199474e+01] [-9.34249466e-02 9.95599364e-01 -7.32700832e-03 -2.25387447e+00] [-6.74656860e-02 1.01178505e-03 9.97721082e-01 -2.15966972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241052754000002 meters 0.01846490650007679 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.27, Z:-2.16 [[ 9.94272140e-01 8.16121809e-02 6.90098730e-02 2.74793531e+01] [-8.12850651e-02 9.96662376e-01 -7.53971102e-03 -2.27070523e+00] [-6.93948762e-02 1.88705260e-03 9.97587485e-01 -2.16220687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301052754 meters 0.018557352334896932 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.28, Z:-2.16 [[ 9.94750108e-01 7.59633437e-02 6.85696290e-02 2.75392670e+01] [-7.56269469e-02 9.97108033e-01 -7.49233487e-03 -2.28379265e+00] [-6.89404707e-02 2.26728923e-03 9.97618199e-01 -2.16305943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361052754000003 meters 0.01830282737284479 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.29, Z:-2.17 [[ 9.94575848e-01 7.73165873e-02 6.95774901e-02 2.76005830e+01] [-7.69734592e-02 9.97004151e-01 -7.60324796e-03 -2.29084337e+00] [-6.99569036e-02 2.20638670e-03 9.97547575e-01 -2.16796453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421052754 meters 0.017490333886517766 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.29, Z:-2.17 [[ 9.94307389e-01 8.19350314e-02 6.81136320e-02 2.76617335e+01] [-8.16157174e-02 9.96635936e-01 -7.46232219e-03 -2.29478508e+00] [-6.84959190e-02 1.86069915e-03 9.97649661e-01 -2.17429386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052754 meters 0.016448681881375254 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.30, Z:-2.18 [[ 9.94044518e-01 8.70315891e-02 6.55819941e-02 2.77238536e+01] [-8.67467361e-02 9.96204494e-01 -7.18402455e-03 -2.29696961e+00] [-6.59583143e-02 1.45221629e-03 9.97821323e-01 -2.18113600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754000003 meters 0.015617564823718904 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.30, Z:-2.19 [[ 9.93857899e-01 9.03095959e-02 6.39582109e-02 2.77855172e+01] [-9.00444877e-02 9.95912993e-01 -7.02137636e-03 -2.29741650e+00] [-6.43309109e-02 1.21916603e-03 9.97927877e-01 -2.19018150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052754 meters 0.015505171870107498 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.30, Z:-2.20 [[ 9.93845459e-01 9.08210097e-02 6.34251311e-02 2.78474858e+01] [-9.05604072e-02 9.95866520e-01 -6.97757191e-03 -2.30343456e+00] [-6.37966748e-02 1.19082246e-03 9.97962207e-01 -2.19592838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters 0.016213298853102298 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.31, Z:-2.20 [[ 9.93912377e-01 9.05150042e-02 6.28109982e-02 2.79073940e+01] [-9.02576559e-02 9.95894348e-01 -6.92840177e-03 -2.31247311e+00] [-6.31802425e-02 1.21705081e-03 9.98001391e-01 -2.20011656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754000002 meters 0.015112273156525627 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.31, Z:-2.21 [[ 9.93633289e-01 9.32080823e-02 6.32861743e-02 2.79691726e+01] [-9.29513779e-02 9.95646078e-01 -6.99486580e-03 -2.31433112e+00] [-6.36626092e-02 1.06779441e-03 9.97970907e-01 -2.20557517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052754 meters 0.014561193014316319 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.32, Z:-2.21 [[ 9.93320112e-01 9.51574919e-02 6.52702538e-02 2.80316230e+01] [-9.48873951e-02 9.95461737e-01 -7.23276160e-03 -2.31639445e+00] [-6.56622917e-02 9.91123198e-04 9.97841411e-01 -2.21329722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754000003 meters 0.014167488028244687 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.33, Z:-2.21 [[ 9.93161952e-01 9.79049817e-02 6.35920654e-02 2.80933772e+01] [-9.76540819e-02 9.95195453e-01 -7.04921140e-03 -2.32686297e+00] [-6.39766872e-02 7.90983796e-04 9.97951080e-01 -2.21364679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754000002 meters 0.013915019177495198 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.33, Z:-2.22 [[ 9.93335359e-01 9.50965010e-02 6.51269600e-02 2.81553824e+01] [-9.48261773e-02 9.95467544e-01 -7.23641099e-03 -2.33105507e+00] [-6.55199323e-02 1.01244225e-03 9.97850747e-01 -2.21838941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052754 meters 0.01436425737980051 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.34, Z:-2.23 [[ 9.93572828e-01 9.43204825e-02 6.25834037e-02 2.82164892e+01] [-9.40684282e-02 9.95541346e-01 -6.96839565e-03 -2.33750984e+00] [-6.29616284e-02 1.03648615e-03 9.98015410e-01 -2.22810540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754000003 meters 0.014883801890380029 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.34, Z:-2.24 [[ 9.93683184e-01 9.64731056e-02 5.73294870e-02 2.82767955e+01] [-9.62643331e-02 9.95335238e-01 -6.39866986e-03 -2.34315257e+00] [-5.76793581e-02 8.39465809e-04 9.98334807e-01 -2.23867700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052754 meters 0.014712681525843894 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.35, Z:-2.24 [[ 9.93332642e-01 9.85342541e-02 5.98436564e-02 2.83384063e+01] [-9.83101872e-02 9.95133372e-01 -6.68419371e-03 -2.35115775e+00] [-6.02110416e-02 7.56386737e-04 9.98185383e-01 -2.23876051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052754 meters 0.014345279177295596 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.36, Z:-2.24 [[ 9.93167372e-01 9.85508486e-02 6.25004123e-02 2.84001802e+01] [-9.83054830e-02 9.95131691e-01 -6.99634635e-03 -2.35902537e+00] [-6.28856369e-02 8.04409696e-04 9.98020415e-01 -2.24220770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754000003 meters 0.01449320005594971 Centerline is valid? [True, True] Translation: X:28.46, Y:-2.37, Z:-2.25 [[ 9.93028479e-01 9.89012330e-02 6.41325735e-02 2.84610635e+01] [-9.86425742e-02 9.95096918e-01 -7.19488960e-03 -2.36804257e+00] [-6.45297097e-02 8.18528136e-04 9.97915451e-01 -2.24838577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052754 meters 0.013966845577520853 Centerline is valid? [True, True] Translation: X:28.52, Y:-2.38, Z:-2.25 [[ 9.92242742e-01 1.05064254e-01 6.64518130e-02 2.85224041e+01] [-1.04799036e-01 9.94465333e-01 -7.47422329e-03 -2.37621109e+00] [-6.68692980e-02 4.52157888e-04 9.97761641e-01 -2.25034955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052754 meters 0.01420857599227242 Centerline is valid? [True, True] Translation: X:28.58, Y:-2.38, Z:-2.26 [[ 9.91240421e-01 1.14620904e-01 6.56085106e-02 2.85841111e+01] [-1.14383160e-01 9.93409288e-01 -7.38104231e-03 -2.38103795e+00] [-6.60221255e-02 -1.88121284e-04 9.97818142e-01 -2.25660881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754000002 meters 0.01481331811810177 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.38, Z:-2.26 [[ 9.90605467e-01 1.20097668e-01 6.54015155e-02 2.86459799e+01] [-1.19872237e-01 9.92761937e-01 -7.37445626e-03 -2.38356143e+00] [-6.58137903e-02 -5.34649281e-04 9.97831779e-01 -2.26442999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052754 meters 0.015742629790082875 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.39, Z:-2.27 [[ 9.89780777e-01 1.25170423e-01 6.83109027e-02 2.87078215e+01] [-1.24935341e-01 9.92134853e-01 -7.71971480e-03 -2.38881162e+00] [-6.87399074e-02 -8.93620599e-04 9.97634215e-01 -2.27107581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754000003 meters 0.014783863024900406 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.41, Z:-2.27 [[ 9.90876609e-01 1.16238082e-01 6.82074288e-02 2.87688155e+01] [-1.15981189e-01 9.93221347e-01 -7.72785995e-03 -2.40675235e+00] [-6.86433459e-02 -2.53423037e-04 9.97641232e-01 -2.27408748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754000002 meters 0.015106974490323406 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.42, Z:-2.28 [[ 9.92148162e-01 1.06251487e-01 6.59745921e-02 2.88291491e+01] [-1.05988859e-01 9.94339197e-01 -7.47813608e-03 -2.42292514e+00] [-6.63956860e-02 4.26847242e-04 9.97793281e-01 -2.28243873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052754 meters 0.015517933061922371 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.43, Z:-2.29 [[ 9.92512379e-01 1.03075121e-01 6.55339405e-02 2.88901619e+01] [-1.02808056e-01 9.94673362e-01 -7.44360465e-03 -2.43115656e+00] [-6.59521153e-02 6.50452712e-04 9.97822577e-01 -2.28794038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754000003 meters 0.016379782596540084 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.44, Z:-2.29 [[ 9.93070384e-01 9.60498370e-02 6.77173687e-02 2.89519490e+01] [-9.57471910e-02 9.95375837e-01 -7.70832113e-03 -2.43832641e+00] [-6.81446156e-02 1.17115758e-03 9.97674767e-01 -2.29169629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754000002 meters 0.017268457743903638 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.45, Z:-2.29 [[ 9.93544362e-01 8.99514893e-02 6.91254715e-02 2.90131722e+01] [-8.96201657e-02 9.95944798e-01 -7.88576994e-03 -2.44819838e+00] [-6.95544905e-02 1.63982605e-03 9.97576806e-01 -2.29179479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052754 meters 0.016808226039597647 Centerline is valid? [True, True] Translation: X:29.08, Y:-2.45, Z:-2.30 [[ 9.93697416e-01 8.79838646e-02 6.94570707e-02 2.90752795e+01] [-8.76434680e-02 9.96120271e-01 -7.93905223e-03 -2.45025940e+00] [-6.98861046e-02 1.80155713e-03 9.97553350e-01 -2.29759543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754000003 meters 0.015690462056526955 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.45, Z:-2.30 [[ 9.93058897e-01 9.59591492e-02 6.80137423e-02 2.91360926e+01] [-9.56501011e-02 9.95384508e-01 -7.79352369e-03 -2.45248753e+00] [-6.84476853e-02 1.23390671e-03 9.97653944e-01 -2.30360785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052754 meters 0.01445523612230815 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.45, Z:-2.31 [[ 9.91662552e-01 1.08058250e-01 7.02053971e-02 2.91967030e+01] [-1.07759026e-01 9.94144478e-01 -8.04669861e-03 -2.44961095e+00] [-7.06638200e-02 4.14344438e-04 9.97500102e-01 -2.30944783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052754 meters 0.014512536283632966 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.45, Z:-2.31 [[ 9.90701288e-01 1.15041036e-01 7.26396434e-02 2.92590956e+01] [-1.14739541e-01 9.93360736e-01 -8.32378236e-03 -2.45076442e+00] [-7.31149462e-02 -8.82574686e-05 9.97323517e-01 -2.31330703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754000003 meters 0.014854612623688847 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.46, Z:-2.32 [[ 9.90858638e-01 1.12685862e-01 7.41691047e-02 2.93193171e+01] [-1.12363506e-01 9.93630658e-01 -8.51805527e-03 -2.45978793e+00] [-7.46565607e-02 1.06288006e-04 9.97209299e-01 -2.31805778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052754 meters 0.01581776877095123 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.47, Z:-2.32 [[ 9.91841919e-01 1.01290270e-01 7.73943717e-02 2.93803015e+01] [-1.00903719e-01 9.94856395e-01 -8.89902950e-03 -2.47101484e+00] [-7.78976707e-02 1.01705057e-03 9.96960841e-01 -2.32333313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754000004 meters 0.017629719847087017 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.48, Z:-2.33 [[ 9.92823717e-01 8.94436989e-02 7.93781537e-02 2.94400196e+01] [-8.89975879e-02 9.95989837e-01 -9.14734175e-03 -2.48460226e+00] [-7.98780064e-02 2.01723363e-03 9.96802606e-01 -2.32740803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754000002 meters 0.01934897499871412 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.50, Z:-2.33 [[ 9.93266735e-01 8.42671992e-02 7.94998918e-02 2.94990877e+01] [-8.38030640e-02 9.96440210e-01 -9.16265315e-03 -2.49520567e+00] [-7.99890000e-02 2.43862406e-03 9.96792763e-01 -2.33124162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052754 meters 0.019120136416616373 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.50, Z:-2.34 [[ 9.93187048e-01 8.67974435e-02 7.77540398e-02 2.95602395e+01] [-8.63607897e-02 9.96223570e-01 -8.96726755e-03 -2.49836725e+00] [-7.82387431e-02 2.19127372e-03 9.96932243e-01 -2.34066179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754000003 meters 0.01804176069703444 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.50, Z:-2.35 [[ 9.92574592e-01 9.45523510e-02 7.65214479e-02 2.96194007e+01] [-9.41509961e-02 9.95518647e-01 -8.84382167e-03 -2.50079661e+00] [-7.70147324e-02 1.57358215e-03 9.97028713e-01 -2.34802343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754000002 meters 0.016486827120467343 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.51, Z:-2.35 [[ 9.91747745e-01 1.02431860e-01 7.70981465e-02 2.96812054e+01] [-1.02047757e-01 9.94739546e-01 -8.91577146e-03 -2.50564138e+00] [-7.76058343e-02 9.74503339e-04 9.96983643e-01 -2.34762063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052754 meters 0.015915347256162747 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.51, Z:-2.35 [[ 9.91356184e-01 1.06083324e-01 7.71961431e-02 2.97426084e+01] [-1.05709036e-01 9.94357003e-01 -8.93035703e-03 -2.50970774e+00] [-7.77078874e-02 6.92834812e-04 9.96975930e-01 -2.35310367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754000003 meters 0.01576297167242776 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.52, Z:-2.36 [[ 9.91330371e-01 1.06963233e-01 7.63083363e-02 2.98050536e+01] [-1.06598769e-01 9.94262774e-01 -8.84520929e-03 -2.51612906e+00] [-7.68166503e-02 6.34149866e-04 9.97045034e-01 -2.36193091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052754 meters 0.016415329905326223 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.53, Z:-2.37 [[ 9.91965325e-01 1.02580745e-01 7.40404307e-02 2.98655046e+01] [-1.02223984e-01 9.94724214e-01 -8.60209940e-03 -2.52933713e+00] [-7.45322190e-02 9.64276508e-04 9.97218140e-01 -2.36915712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052754 meters 0.018313437327117203 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.55, Z:-2.37 [[ 9.92805208e-01 9.03388857e-02 7.85920133e-02 2.99244730e+01] [-8.98968517e-02 9.95909033e-01 -9.15168976e-03 -2.54940224e+00] [-7.90972495e-02 2.02067069e-03 9.96864856e-01 -2.36671585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754000003 meters 0.018850706910818676 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.56, Z:-2.37 [[ 9.92897382e-01 9.07426377e-02 7.69451965e-02 2.99861165e+01] [-9.03200537e-02 9.95872471e-01 -8.96157323e-03 -2.55681624e+00] [-7.74407997e-02 1.94822832e-03 9.96995049e-01 -2.37288896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052754 meters 0.018070218882074385 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.56, Z:-2.38 [[ 9.92409855e-01 9.78839264e-02 7.44406975e-02 3.00464899e+01] [-9.75068773e-02 9.95196899e-01 -8.69140348e-03 -2.55670456e+00] [-7.49339000e-02 1.36695451e-03 9.97187566e-01 -2.38123235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052754000004 meters 0.016976052575023354 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.56, Z:-2.38 [[ 9.91848320e-01 1.03436930e-01 7.44158016e-02 3.01082056e+01] [-1.03075655e-01 9.94635563e-01 -8.68946572e-03 -2.55856106e+00] [-7.49154144e-02 9.48174467e-04 9.97189441e-01 -2.38486948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754000002 meters 0.016164667022257148 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.56, Z:-2.39 [[ 9.91029648e-01 1.12191510e-01 7.26175002e-02 3.01710787e+01] [-1.11870608e-01 9.93686562e-01 -8.48426898e-03 -2.55857161e+00] [-7.31108971e-02 2.84398215e-04 9.97323777e-01 -2.38975489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052754 meters 0.01629077793796149 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.57, Z:-2.40 [[ 9.91270642e-01 1.10860822e-01 7.13609996e-02 3.02325680e+01] [-1.10547175e-01 9.93835869e-01 -8.34197562e-03 -2.56656043e+00] [-7.18459192e-02 3.80398627e-04 9.97415670e-01 -2.39632850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00105275400001 meters 0.01685434117797422 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.58, Z:-2.40 [[ 9.91657559e-01 1.05118089e-01 7.46021023e-02 3.02938945e+01] [-1.04757619e-01 9.94459382e-01 -8.73950379e-03 -2.58078327e+00] [-7.51074405e-02 8.51456420e-04 9.97175084e-01 -2.39745398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters 0.017651726290786252 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.59, Z:-2.40 [[ 9.92151555e-01 9.94637006e-02 7.57777343e-02 3.03542365e+01] [-9.90738711e-02 9.95040318e-01 -8.89571386e-03 -2.59452988e+00] [-7.62867014e-02 1.31830287e-03 9.97085052e-01 -2.40002241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters 0.01764442981739935 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.60, Z:-2.41 [[ 9.92470200e-01 9.81611978e-02 7.32617380e-02 3.04153333e+01] [-9.77921612e-02 9.95169561e-01 -8.61609914e-03 -2.60362786e+00] [-7.37536183e-02 1.38679794e-03 9.97275529e-01 -2.40537818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18105275400001 meters 0.01762825207794842 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.61, Z:-2.41 [[ 9.92478071e-01 9.96122582e-02 7.11665399e-02 3.04779182e+01] [-9.92665924e-02 9.95025534e-01 -8.38630416e-03 -2.60889565e+00] [-7.16479030e-02 1.25876308e-03 9.97429192e-01 -2.41275310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24105275400001 meters 0.01777665314000817 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.61, Z:-2.42 [[ 9.92357787e-01 1.01812841e-01 6.97149054e-02 3.05386372e+01] [-1.01485199e-01 9.94802967e-01 -8.23479728e-03 -2.61466853e+00] [-7.01910028e-02 1.09683413e-03 9.97532967e-01 -2.41667727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters 0.017203171756114313 Centerline is valid? [True, True] Translation: X:30.60, Y:-2.62, Z:-2.42 [[ 9.91965020e-01 1.06502624e-01 6.82831668e-02 3.06009368e+01] [-1.06198274e-01 9.94312126e-01 -8.08219134e-03 -2.61625158e+00] [-6.87555553e-02 7.65696629e-04 9.97633243e-01 -2.42499819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754000006 meters 0.016365272473044753 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.61, Z:-2.43 [[ 9.91037257e-01 1.16798385e-01 6.48327999e-02 3.06627692e+01] [-1.16545858e-01 9.93155645e-01 -7.67648445e-03 -2.61436748e+00] [-6.52856622e-02 5.16878152e-05 9.97866614e-01 -2.43376260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42105275400001 meters 0.016688570844367964 Centerline is valid? [True, True] Translation: X:30.72, Y:-2.62, Z:-2.44 [[ 9.90130454e-01 1.26610814e-01 6.00948002e-02 3.07239726e+01] [-1.26410887e-01 9.91952325e-01 -7.13243511e-03 -2.61873290e+00] [-6.05142202e-02 -5.34595803e-04 9.98167192e-01 -2.43851673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters 0.016703284400266794 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.63, Z:-2.44 [[ 9.89590471e-01 1.28935938e-01 6.39235788e-02 3.07858915e+01] [-1.28714446e-01 9.91652665e-01 -7.58840816e-03 -2.62914531e+00] [-6.43684057e-02 -7.18471590e-04 9.97925945e-01 -2.43909159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754000006 meters 0.016180163352079273 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.65, Z:-2.44 [[ 9.90524841e-01 1.20639254e-01 6.56255289e-02 3.08438368e+01] [-1.20387219e-01 9.92696398e-01 -7.79609077e-03 -2.64910578e+00] [-6.60867408e-02 -1.78253341e-04 9.97813866e-01 -2.44200022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60105275400001 meters 0.016312577037879545 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.67, Z:-2.44 [[ 9.91300783e-01 1.11911662e-01 6.92714776e-02 3.09049723e+01] [-1.11609101e-01 9.93718065e-01 -8.23501441e-03 -2.66507669e+00] [-6.97579128e-02 4.32048911e-04 9.97563856e-01 -2.44195621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters 0.016628090887701903 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.68, Z:-2.44 [[ 9.91658239e-01 1.06770640e-01 7.22078062e-02 3.09660934e+01] [-1.06426895e-01 9.94283317e-01 -8.60238453e-03 -2.67604699e+00] [-7.27134992e-02 8.45772924e-04 9.97352511e-01 -2.44155750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721052754000006 meters 0.017453603364610427 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.68, Z:-2.45 [[ 9.92221039e-01 1.02349423e-01 7.08661049e-02 3.10276316e+01] [-1.02005781e-01 9.94747825e-01 -8.46079826e-03 -2.68230516e+00] [-7.13598615e-02 1.16622968e-03 9.97449954e-01 -2.45098929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78105275400001 meters 0.01706915171359451 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.68, Z:-2.46 [[ 9.92336592e-01 1.02910127e-01 6.83929370e-02 3.10890060e+01] [-1.02591256e-01 9.94690063e-01 -8.16783915e-03 -2.68343699e+00] [-6.88703282e-02 1.08872833e-03 9.97625026e-01 -2.46102775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters 0.01706524179016414 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.69, Z:-2.47 [[ 9.92391008e-01 1.05529020e-01 6.34327470e-02 3.11502058e+01] [-1.05259222e-01 9.94415856e-01 -7.58953272e-03 -2.68778724e+00] [-6.38794454e-02 8.54902415e-04 9.97957256e-01 -2.46925683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754000006 meters 0.016193310793552098 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.69, Z:-2.47 [[ 9.91738244e-01 1.09903017e-01 6.61557444e-02 3.12120192e+01] [-1.09617943e-01 9.93942124e-01 -7.93477890e-03 -2.69313574e+00] [-6.66270373e-02 6.17367048e-04 9.97777759e-01 -2.47009800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96105275400001 meters 0.015360541826351614 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.70, Z:-2.47 [[ 9.91036148e-01 1.15188924e-01 6.76673055e-02 3.12740538e+01] [-1.14902878e-01 9.93343566e-01 -8.11721698e-03 -2.69830211e+00] [-6.81518960e-02 2.69287271e-04 9.97674920e-01 -2.47451166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters 0.014924031088036532 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.71, Z:-2.48 [[ 9.90648781e-01 1.16409861e-01 7.11599453e-02 3.13358573e+01] [-1.16095330e-01 9.93201238e-01 -8.55427287e-03 -2.70804549e+00] [-7.16719475e-02 2.12942664e-04 9.97428236e-01 -2.47569587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters 0.01471288351180883 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.72, Z:-2.48 [[ 9.90529581e-01 1.15601878e-01 7.40766856e-02 3.13969543e+01] [-1.15257333e-01 9.93295583e-01 -8.92367825e-03 -2.71674665e+00] [-7.46116386e-02 3.01286046e-04 9.97212622e-01 -2.47808752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14105275400001 meters 0.014604116459439594 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.73, Z:-2.48 [[ 9.90616025e-01 1.14528387e-01 7.45864521e-02 3.14579694e+01] [-1.14174642e-01 9.93419894e-01 -9.00362840e-03 -2.72771691e+00] [-7.51268364e-02 4.03257120e-04 9.97173905e-01 -2.48154902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters 0.015005719038814017 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.74, Z:-2.49 [[ 9.91058649e-01 1.11833286e-01 7.27741010e-02 3.15192599e+01] [-1.11488440e-01 9.93726799e-01 -8.79640610e-03 -2.73835001e+00] [-7.33013055e-02 6.04283329e-04 9.97309658e-01 -2.48878397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters 0.015108530108269638 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.75, Z:-2.50 [[ 9.91547160e-01 1.09454222e-01 6.96706680e-02 3.15804448e+01] [-1.09131258e-01 9.93991546e-01 -8.43658638e-03 -2.74530995e+00] [-7.01754750e-02 7.62025629e-04 9.97534371e-01 -2.49849462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32105275400001 meters 0.01595553478753094 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.76, Z:-2.51 [[ 9.92257982e-01 1.05414925e-01 6.56642214e-02 3.16410337e+01] [-1.05118089e-01 9.94427818e-01 -7.96887720e-03 -2.75541460e+00] [-6.61383670e-02 1.00468451e-03 9.97809955e-01 -2.50844860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters 0.01656588434327631 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.77, Z:-2.51 [[ 9.92431373e-01 1.02884915e-01 6.70422585e-02 3.17021806e+01] [-1.02569542e-01 9.94692542e-01 -8.13855218e-03 -2.76611707e+00] [-6.75237688e-02 1.20046079e-03 9.97716944e-01 -2.51157864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters 0.01784379398611575 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.78, Z:-2.51 [[ 9.92853059e-01 9.80617671e-02 6.80198064e-02 3.17630851e+01] [-9.77245311e-02 9.95179093e-01 -8.27583738e-03 -2.78253089e+00] [-6.85034325e-02 1.56948677e-03 9.97649646e-01 -2.51095799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50105275400001 meters 0.017847225000178327 Centerline is valid? [True, True] Translation: X:31.82, Y:-2.79, Z:-2.52 [[ 9.92733782e-01 9.67386839e-02 7.15630094e-02 3.18249592e+01] [-9.63616692e-02 9.95308274e-01 -8.71020183e-03 -2.78822583e+00] [-7.20698688e-02 1.75098058e-03 9.97398049e-01 -2.51933793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters 0.016426927274596874 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.79, Z:-2.52 [[ 9.91962891e-01 1.01415667e-01 7.56603338e-02 3.18865071e+01] [-1.01006003e-01 9.94842986e-01 -9.23149788e-03 -2.79471306e+00] [-7.62063710e-02 1.51515543e-03 9.97090915e-01 -2.52166725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters 0.015027554797282705 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.80, Z:-2.52 [[ 9.91143029e-01 1.07329917e-01 7.82034900e-02 3.19479157e+01] [-1.06910084e-01 9.94222849e-01 -9.54779977e-03 -2.79732994e+00] [-7.87764612e-02 1.10249347e-03 9.96891696e-01 -2.52454494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68105275400001 meters 0.013533398844315543 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.80, Z:-2.53 [[ 9.90347476e-01 1.14948095e-01 7.74519941e-02 3.20107810e+01] [-1.14559359e-01 9.93371376e-01 -9.45844649e-03 -2.79522364e+00] [-7.80258243e-02 4.94297853e-04 9.96951216e-01 -2.53231579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74105275400001 meters 0.013159897415202293 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.80, Z:-2.54 [[ 9.90090840e-01 1.20451027e-01 7.21919524e-02 3.20733812e+01] [-1.20127674e-01 9.92719269e-01 -8.82018413e-03 -2.79883642e+00] [-7.27287424e-02 6.05322266e-05 9.97351757e-01 -2.54045341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters 0.013307660818718788 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.80, Z:-2.55 [[ 9.90403616e-01 1.18850641e-01 7.05351123e-02 3.21344395e+01] [-1.18536535e-01 9.92912125e-01 -8.63725057e-03 -2.80298474e+00] [-7.10617110e-02 1.93376360e-04 9.97471902e-01 -2.55134558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754000006 meters 0.013802987727302377 Centerline is valid? [True, True] Translation: X:32.20, Y:-2.82, Z:-2.55 [[ 9.91005738e-01 1.12532354e-01 7.24161331e-02 3.21951112e+01] [-1.12183073e-01 9.93647827e-01 -8.88558707e-03 -2.81669711e+00] [-7.29560493e-02 6.81803445e-04 9.97334924e-01 -2.55366250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92105275400001 meters 0.014722992250043197 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.83, Z:-2.55 [[ 9.91436155e-01 1.06762156e-01 7.52076619e-02 3.22559152e+01] [-1.06367353e-01 9.94283902e-01 -9.24711411e-03 -2.82952610e+00] [-7.57650093e-02 1.16828337e-03 9.97125016e-01 -2.55301629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters 0.014398364057167152 Centerline is valid? [True, True] Translation: X:32.32, Y:-2.83, Z:-2.56 [[ 9.91148498e-01 1.06916199e-01 7.86993059e-02 3.23183022e+01] [-1.06482849e-01 9.94267276e-01 -9.69464922e-03 -2.83364097e+00] [-7.92846596e-02 1.22871069e-03 9.96851259e-01 -2.55606058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754000006 meters 0.014088725643298904 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.84, Z:-2.56 [[ 9.91099808e-01 1.07321900e-01 7.87602671e-02 3.23807985e+01] [-1.06887650e-01 9.94223582e-01 -9.72107027e-03 -2.84010331e+00] [-7.93485986e-02 1.21605102e-03 9.96846187e-01 -2.56158135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10105275400001 meters 0.01444871225242454 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.85, Z:-2.57 [[ 9.91534604e-01 1.04158286e-01 7.75253499e-02 3.24415082e+01] [-1.03726232e-01 9.94559650e-01 -9.59015381e-03 -2.84854742e+00] [-7.81024789e-02 1.46755695e-03 9.96944256e-01 -2.57079292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters 0.015474752240535992 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.86, Z:-2.58 [[ 9.91823752e-01 1.02978314e-01 7.53731503e-02 3.25011994e+01] [-1.02565130e-01 9.94682416e-01 -9.34266462e-03 -2.85934457e+00] [-7.59344391e-02 1.53561973e-03 9.97111630e-01 -2.57677175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754000006 meters 0.014653368317987393 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.86, Z:-2.58 [[ 9.91444444e-01 1.07105700e-01 7.46075240e-02 3.25627058e+01] [-1.06711860e-01 9.94246896e-01 -9.25682931e-03 -2.86324880e+00] [-7.51697583e-02 1.21612431e-03 9.97170010e-01 -2.58445116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28105275400001 meters 0.013916262952952684 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.87, Z:-2.59 [[ 9.91130403e-01 1.10628331e-01 7.36335304e-02 3.26240367e+01] [-1.10253153e-01 9.93861390e-01 -9.15308884e-03 -2.86930350e+00] [-7.41941138e-02 9.53575722e-04 9.97243363e-01 -2.59049363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters 0.01452399108229915 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.88, Z:-2.60 [[ 9.91356116e-01 1.08344698e-01 7.39897147e-02 3.26849587e+01] [-1.07958208e-01 9.94112725e-01 -9.21497237e-03 -2.87741851e+00] [-7.45525103e-02 1.14752219e-03 9.97216429e-01 -2.59721682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754000006 meters 0.015113109875307507 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.89, Z:-2.60 [[ 9.91945039e-01 1.02905413e-01 7.38614574e-02 3.27453578e+01] [-1.02503919e-01 9.94689906e-01 -9.21619998e-03 -2.89014824e+00] [-7.44176429e-02 1.57087503e-03 9.97225926e-01 -2.59924638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46105275400001 meters 0.01543867093466001 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.90, Z:-2.60 [[ 9.91762077e-01 1.01628322e-01 7.79722177e-02 3.28072336e+01] [-1.01175400e-01 9.94820849e-01 -9.74768688e-03 -2.89950084e+00] [-7.85590289e-02 1.77851584e-03 9.96907877e-01 -2.60058218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters 0.014733258416991803 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.90, Z:-2.61 [[ 9.91461910e-01 1.04172203e-01 7.84310680e-02 3.28687401e+01] [-1.03720359e-01 9.94557980e-01 -9.82404694e-03 -2.90359349e+00] [-7.90276372e-02 1.60526983e-03 9.96871133e-01 -2.60770927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters 0.014456784612696148 Centerline is valid? [True, True] Translation: X:32.93, Y:-2.91, Z:-2.61 [[ 9.91222221e-01 1.05793860e-01 7.92853572e-02 3.29299238e+01] [-1.05335727e-01 9.94386934e-01 -9.95036892e-03 -2.91064360e+00] [-7.98930112e-02 1.51144602e-03 9.96802298e-01 -2.61385066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64105275400001 meters 0.01429953446288708 Centerline is valid? [True, True] Translation: X:32.99, Y:-2.92, Z:-2.62 [[ 9.91023943e-01 1.08317101e-01 7.83514549e-02 3.29901000e+01] [-1.07876120e-01 9.94115530e-01 -9.85169445e-03 -2.91730219e+00] [-7.89575050e-02 1.31101414e-03 9.96877121e-01 -2.61805004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters 0.01293454317405895 Centerline is valid? [True, True] Translation: X:33.05, Y:-2.92, Z:-2.63 [[ 9.90599271e-01 1.12842517e-01 7.73282038e-02 3.30520763e+01] [-1.12425460e-01 9.93612427e-01 -9.73962968e-03 -2.91861623e+00] [-7.79333086e-02 9.54411168e-04 9.96958118e-01 -2.62555401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters 0.01445145596940487 Centerline is valid? [True, True] Translation: X:33.11, Y:-2.93, Z:-2.63 [[ 9.91168234e-01 1.08382306e-01 7.64120926e-02 3.31113486e+01] [-1.07960405e-01 9.94108427e-01 -9.64297937e-03 -2.93042416e+00] [-7.70070335e-02 1.30833441e-03 9.97029691e-01 -2.63250768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82105275400001 meters 0.01988263941912905 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.95, Z:-2.63 [[ 9.92527182e-01 9.52002938e-02 7.63328051e-02 3.31689077e+01] [-9.47401175e-02 9.95455407e-01 -9.63550711e-03 -2.95318503e+00] [-7.69032067e-02 2.33172379e-03 9.97035837e-01 -2.63423749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters 0.021250869323964038 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.96, Z:-2.63 [[ 9.92437777e-01 9.34685319e-02 7.95668997e-02 3.32302760e+01] [-9.29626316e-02 9.95618906e-01 -1.00470166e-02 -2.96442536e+00] [-8.01573895e-02 2.57429040e-03 9.96778895e-01 -2.63459101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters 0.016643242943941945 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.97, Z:-2.64 [[ 9.92275111e-01 9.43326111e-02 8.05696194e-02 3.32922107e+01] [-9.38152274e-02 9.95537460e-01 -1.01915951e-02 -2.96569324e+00] [-8.11714740e-02 2.55420901e-03 9.96696879e-01 -2.63848571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00105275400001 meters 0.015743705998411052 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.97, Z:-2.65 [[ 9.92264198e-01 9.73867533e-02 7.69907912e-02 3.33534433e+01] [-9.69221758e-02 9.95244138e-01 -9.75688611e-03 -2.96865443e+00] [-7.75748251e-02 2.21929377e-03 9.96984063e-01 -2.65248378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06105275400001 meters 0.013479379884393631 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.97, Z:-2.66 [[ 9.91035272e-01 1.10980131e-01 7.43807719e-02 3.34138185e+01] [-1.10583298e-01 9.93821977e-01 -9.44524564e-03 -2.97287561e+00] [-7.49694803e-02 1.13530056e-03 9.97185182e-01 -2.65500223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters 0.01173775234366413 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.97, Z:-2.66 [[ 9.89927833e-01 1.21992031e-01 7.18389168e-02 3.34754396e+01] [-1.21650752e-01 9.92531037e-01 -9.12335587e-03 -2.97313712e+00] [-7.24153313e-02 2.92205668e-04 9.97374521e-01 -2.66369625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18105275400001 meters 0.011895744077817284 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.98, Z:-2.68 [[ 9.89921425e-01 1.22542552e-01 7.09851730e-02 3.35366140e+01] [-1.22210651e-01 9.92463229e-01 -9.01646252e-03 -2.98051547e+00] [-7.15550743e-02 2.50445220e-04 9.97436619e-01 -2.67599795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24105275400001 meters 0.013636906592053306 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.00, Z:-2.67 [[ 9.90932981e-01 1.11217825e-01 7.53818483e-02 3.35956451e+01] [-1.10809021e-01 9.93795380e-01 -9.59711133e-03 -3.00196084e+00] [-7.59815024e-02 1.15710535e-03 9.97108556e-01 -2.67484322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters 0.013736881593777525 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.01, Z:-2.68 [[ 9.91297384e-01 1.07006011e-01 7.66760098e-02 3.36565566e+01] [-1.06569131e-01 9.94257208e-01 -9.77877187e-03 -3.01238578e+00] [-7.72820628e-02 1.52237524e-03 9.97008107e-01 -2.67761409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754000006 meters 0.01826836276585078 Centerline is valid? [True, True] Translation: X:33.71, Y:-3.03, Z:-2.68 [[ 9.92202209e-01 9.66495685e-02 7.86996603e-02 3.37146973e+01] [-9.61551559e-02 9.95315552e-01 -1.00567208e-02 -3.03366146e+00] [-7.93029736e-02 2.41092250e-03 9.96847644e-01 -2.67725090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42105275400001 meters 0.01775204941503504 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.04, Z:-2.68 [[ 9.92207867e-01 9.39413856e-02 8.18447600e-02 3.37758493e+01] [-9.33973488e-02 9.95573977e-01 -1.04590041e-02 -3.03665285e+00] [-8.24650465e-02 2.73342252e-03 9.96590209e-01 -2.68441127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters 0.015975656231787518 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.04, Z:-2.69 [[ 9.91699367e-01 9.96398080e-02 8.12666814e-02 3.38367607e+01] [-9.91210504e-02 9.95021002e-01 -1.04030172e-02 -3.03649496e+00] [-8.18986094e-02 2.26142675e-03 9.96638101e-01 -2.69017897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754000006 meters 0.014111848876523331 Centerline is valid? [True, True] Translation: X:33.90, Y:-3.04, Z:-2.70 [[ 9.90583227e-01 1.10553906e-01 8.07632609e-02 3.38974462e+01] [-1.10077610e-01 9.93869209e-01 -1.03399635e-02 -3.03511499e+00] [-8.14112416e-02 1.35236771e-03 9.96679678e-01 -2.69524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60105275400001 meters 0.012652431340528767 Centerline is valid? [True, True] Translation: X:33.96, Y:-3.03, Z:-2.70 [[ 9.89956277e-01 1.15957758e-01 8.08725450e-02 3.39604398e+01] [-1.15498154e-01 9.93253730e-01 -1.03539908e-02 -3.03272605e+00] [-8.15275825e-02 9.09368604e-04 9.96670671e-01 -2.70408954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters 0.012506970785332201 Centerline is valid? [True, True] Translation: X:34.02, Y:-3.04, Z:-2.71 [[ 9.89232516e-01 1.19984678e-01 8.38015845e-02 3.40217584e+01] [-1.19504836e-01 9.92775558e-01 -1.07371035e-02 -3.03534719e+00] [-8.44844527e-02 6.06797357e-04 9.96424613e-01 -2.70818151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754000006 meters 0.013508575484693705 Centerline is valid? [True, True] Translation: X:34.08, Y:-3.05, Z:-2.71 [[ 9.89845455e-01 1.15077106e-01 8.34459956e-02 3.40826006e+01] [-1.14582329e-01 9.93356018e-01 -1.07103676e-02 -3.04723674e+00] [-8.41241000e-02 1.04017210e-03 9.96454743e-01 -2.71367047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78105275400001 meters 0.01593249299059439 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.06, Z:-2.72 [[ 9.90691844e-01 1.05408904e-01 8.61314902e-02 3.41423863e+01] [-1.04843452e-01 9.94427068e-01 -1.10751028e-02 -3.06154634e+00] [-8.68188997e-02 1.94169128e-03 9.96222218e-01 -2.71872034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters 0.017164378320395586 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.07, Z:-2.72 [[ 9.91098541e-01 1.00448835e-01 8.73711233e-02 3.42025348e+01] [-9.98474491e-02 9.94939298e-01 -1.12374906e-02 -3.07415114e+00] [-8.80577569e-02 2.41367673e-03 9.96112446e-01 -2.72343006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754000006 meters 0.01674541072162907 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.08, Z:-2.73 [[ 9.90657790e-01 1.01464915e-01 9.11153904e-02 3.42636969e+01] [-1.00814515e-01 9.94836152e-01 -1.17244872e-02 -3.08131146e+00] [-9.18345085e-02 2.42920073e-03 9.95771320e-01 -2.72812219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96105275400001 meters 0.014962614969592683 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.09, Z:-2.73 [[ 9.89712112e-01 1.08847492e-01 9.28555754e-02 3.43248191e+01] [-1.08202424e-01 9.94056834e-01 -1.19685208e-02 -3.08639442e+00] [-9.36064628e-02 1.79819162e-03 9.95607652e-01 -2.73235661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters 0.013505808872079951 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.09, Z:-2.74 [[ 9.88681272e-01 1.19090018e-01 9.12519081e-02 3.43849723e+01] [-1.18510310e-01 9.92883125e-01 -1.17646359e-02 -3.08940476e+00] [-9.20035303e-02 8.17183295e-04 9.95758345e-01 -2.73993101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754000005 meters 0.013010631001915431 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.09, Z:-2.75 [[ 9.87369831e-01 1.32053951e-01 8.75361118e-02 3.44461687e+01] [-1.31571151e-01 9.91242461e-01 -1.12878893e-02 -3.08894055e+00] [-8.82601213e-02 -3.71905606e-04 9.96097391e-01 -2.75090717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14105275400001 meters 0.013573816510478755 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.10, Z:-2.76 [[ 9.86771288e-01 1.37556288e-01 8.57944745e-02 3.45070602e+01] [-1.37111679e-01 9.90493605e-01 -1.10817841e-02 -3.09681641e+00] [-8.65032474e-02 -8.28238075e-04 9.96251224e-01 -2.75845667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters 0.012846482171050288 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.11, Z:-2.77 [[ 9.87824365e-01 1.30424547e-01 8.48083788e-02 3.45671845e+01] [-1.29962131e-01 9.91458221e-01 -1.09744977e-02 -3.11353956e+00] [-8.55153083e-02 -1.81001461e-04 9.96336840e-01 -2.76547528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters 0.01331491431241891 Centerline is valid? [True, True] Translation: X:34.63, Y:-3.13, Z:-2.77 [[ 9.88698125e-01 1.21955524e-01 8.71944240e-02 3.46279176e+01] [-1.21431842e-01 9.92535391e-01 -1.13050710e-02 -3.12882711e+00] [-8.79222676e-02 5.89122983e-04 9.96127164e-01 -2.76839553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32105275400001 meters 0.01379276572499337 Centerline is valid? [True, True] Translation: X:34.69, Y:-3.14, Z:-2.77 [[ 9.88890181e-01 1.17912855e-01 9.05139184e-02 3.46895571e+01] [-1.17329406e-01 9.93023435e-01 -1.17587492e-02 -3.13501750e+00] [-9.12689498e-02 1.00816734e-03 9.95825769e-01 -2.77173250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters 0.01428859131005468 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.14, Z:-2.77 [[ 9.88938058e-01 1.16360197e-01 9.19881586e-02 3.47505363e+01] [-1.15748660e-01 9.93206363e-01 -1.19736421e-02 -3.14302966e+00] [-9.27564798e-02 1.19368427e-03 9.95688109e-01 -2.77061752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters 0.014156077062855979 Centerline is valid? [True, True] Translation: X:34.81, Y:-3.15, Z:-2.78 [[ 9.88956490e-01 1.19226404e-01 8.80347939e-02 3.48108861e+01] [-1.18676008e-01 9.92866681e-01 -1.14785982e-02 -3.14823652e+00] [-8.87753657e-02 9.04216275e-04 9.96051262e-01 -2.77792224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50105275400001 meters 0.013775291061017911 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.15, Z:-2.79 [[ 9.88768106e-01 1.24380744e-01 8.28677394e-02 3.48729790e+01] [-1.23909790e-01 9.92234470e-01 -1.08222280e-02 -3.15147626e+00] [-8.35703043e-02 4.32549700e-04 9.96501790e-01 -2.78839255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56105275400001 meters 0.013542106283722688 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.16, Z:-2.80 [[ 9.88093058e-01 1.30239715e-01 8.19129170e-02 3.49335491e+01] [-1.29799041e-01 9.91482533e-01 -1.07049148e-02 -3.15567306e+00] [-8.26094315e-02 -5.47660569e-05 9.96581998e-01 -2.79527988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters 0.013967726872748453 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.16, Z:-2.79 [[ 9.87049623e-01 1.36960153e-01 8.35162217e-02 3.49948959e+01] [-1.36524390e-01 9.90576370e-01 -1.09337267e-02 -3.16437746e+00] [-8.42266806e-02 -6.09870362e-04 9.96446433e-01 -2.79248192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68105275400001 meters 0.013853218417884679 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.18, Z:-2.80 [[ 9.87710112e-01 1.30853631e-01 8.54755007e-02 3.50544639e+01] [-1.30372599e-01 9.91401696e-01 -1.12099666e-02 -3.17822293e+00] [-8.62074212e-02 -7.14657655e-05 9.96277208e-01 -2.79606437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74105275400001 meters 0.014345953206655949 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.19, Z:-2.80 [[ 9.88544872e-01 1.23562421e-01 8.66681220e-02 3.51152676e+01] [-1.23038118e-01 9.92336625e-01 -1.13861290e-02 -3.19402991e+00] [-8.74108494e-02 5.92216777e-04 9.96172170e-01 -2.79971756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters 0.015209446641681189 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.21, Z:-2.81 [[ 9.89666708e-01 1.17579405e-01 8.20663765e-02 3.51750763e+01] [-1.17087298e-01 9.93062897e-01 -1.08003301e-02 -3.20832075e+00] [-8.27669700e-02 1.07979679e-03 9.96568343e-01 -2.80672099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754000006 meters 0.015168237181678897 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.21, Z:-2.81 [[ 9.89365453e-01 1.19903826e-01 8.23351297e-02 3.52357005e+01] [-1.19414968e-01 9.92785098e-01 -1.08542624e-02 -3.21121105e+00] [-8.30425574e-02 9.06785327e-04 9.96545589e-01 -2.81139866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92105275400001 meters 0.015118678978654349 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.22, Z:-2.82 [[ 9.89373276e-01 1.21780443e-01 7.94357885e-02 3.52976713e+01] [-1.21330147e-01 9.92556788e-01 -1.04889735e-02 -3.21538741e+00] [-8.01218828e-02 7.39554165e-04 9.96784800e-01 -2.81823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters 0.015219068411767482 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.22, Z:-2.82 [[ 9.89186599e-01 1.23735119e-01 7.87368600e-02 3.53588716e+01] [-1.23297448e-01 9.92315105e-01 -1.04149952e-02 -3.22038342e+00] [-7.94204762e-02 5.94319772e-04 9.96841028e-01 -2.82173735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754000006 meters 0.0150605890152557 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.22, Z:-2.83 [[ 9.89102051e-01 1.24505337e-01 7.85846874e-02 3.54213594e+01] [-1.24070456e-01 9.92218787e-01 -1.04116015e-02 -3.22293008e+00] [-7.92695031e-02 5.48098394e-04 9.96853071e-01 -2.82751975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10105275400001 meters 0.014998313045596774 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.23, Z:-2.83 [[ 9.88804470e-01 1.28198422e-01 7.63602280e-02 3.54831653e+01] [-1.27797240e-01 9.91748503e-01 -1.01376233e-02 -3.22629891e+00] [-7.70297691e-02 2.65500846e-04 9.97028758e-01 -2.83409894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters 0.01543454571202687 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.24, Z:-2.84 [[ 9.89214790e-01 1.25733205e-01 7.51349461e-02 3.55429354e+01] [-1.25336318e-01 9.92063981e-01 -9.99327638e-03 -3.23589510e+00] [-7.57951604e-02 4.68359290e-04 9.97123299e-01 -2.83812200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754000006 meters 0.015833082115162066 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.25, Z:-2.84 [[ 9.89505296e-01 1.22801571e-01 7.61514550e-02 3.56045338e+01] [-1.22384521e-01 9.92430989e-01 -1.01370746e-02 -3.24609370e+00] [-7.68199125e-02 7.10929645e-04 9.97044731e-01 -2.84172925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28105275400001 meters 0.01739672469238813 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.26, Z:-2.84 [[ 9.90878450e-01 1.10712525e-01 7.68286044e-02 3.56640914e+01] [-1.10250184e-01 9.93851048e-01 -1.02465438e-02 -3.26038210e+00] [-7.74906097e-02 1.68271164e-03 9.96991662e-01 -2.84297357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters 0.018416228449199854 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.27, Z:-2.85 [[ 9.91622690e-01 1.04103298e-01 7.64653145e-02 3.57244826e+01] [-1.03625606e-01 9.94564079e-01 -1.01993809e-02 -3.27014193e+00] [-7.71114442e-02 2.19017296e-03 9.97020074e-01 -2.84755254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754000006 meters 0.018115285589542503 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.28, Z:-2.85 [[ 9.91262140e-01 1.08207019e-01 7.54361400e-02 3.57845405e+01] [-1.07753799e-01 9.94126665e-01 -1.00644342e-02 -3.27617865e+00] [-7.60821207e-02 1.84796198e-03 9.97099843e-01 -2.85118954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46105275400001 meters 0.01657906731922711 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.27, Z:-2.86 [[ 9.90077001e-01 1.20913832e-01 7.16057006e-02 3.58443018e+01] [-1.20538073e-01 9.92662655e-01 -9.56169485e-03 -3.27303545e+00] [-7.22364461e-02 8.35601004e-04 9.97387185e-01 -2.86106156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters 0.016219952629102606 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.27, Z:-2.87 [[ 9.87559849e-01 1.42681452e-01 6.60874314e-02 3.59071061e+01] [-1.42410310e-01 9.89768413e-01 -8.81997396e-03 -3.26658803e+00] [-6.66696988e-02 -7.01279453e-04 9.97774854e-01 -2.86979815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754000005 meters 0.018300428181470697 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.27, Z:-2.88 [[ 9.85970885e-01 1.53631358e-01 6.52596342e-02 3.59669940e+01] [-1.53389581e-01 9.88127237e-01 -8.72925991e-03 -3.26669972e+00] [-6.58259101e-02 -1.40335180e-03 9.97830136e-01 -2.87634210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64105275400001 meters 0.018825117106570942 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.28, Z:-2.88 [[ 9.85727028e-01 1.54958712e-01 6.58029155e-02 3.60281857e+01] [-1.54716075e-01 9.87919796e-01 -8.79843800e-03 -3.27571928e+00] [-6.63713975e-02 -1.50791064e-03 9.97793848e-01 -2.88212861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters 0.01748519292416608 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.30, Z:-2.88 [[ 9.86331771e-01 1.50126806e-01 6.79086180e-02 3.60879735e+01] [-1.49855638e-01 9.88666019e-01 -9.09891060e-03 -3.29546440e+00] [-6.85049334e-02 -1.20194470e-03 9.97650054e-01 -2.88335579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters 0.01607270595507713 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.32, Z:-2.88 [[ 9.87784389e-01 1.38991004e-01 7.04521262e-02 3.61457427e+01] [-1.38670364e-01 9.90293546e-01 -9.44576105e-03 -3.31779295e+00] [-7.10811617e-02 -4.39246651e-04 9.97470438e-01 -2.88410381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82105275400001 meters 0.016268096436176434 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.34, Z:-2.89 [[ 9.89052480e-01 1.29635741e-01 7.04965742e-02 3.62055995e+01] [-1.29290995e-01 9.91561657e-01 -9.45082901e-03 -3.33619513e+00] [-7.11268652e-02 2.32793659e-04 9.97467250e-01 -2.89100694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters 0.017945172157088372 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.35, Z:-2.90 [[ 9.90380561e-01 1.20971256e-01 6.71736559e-02 3.62632448e+01] [-1.20637141e-01 9.92655661e-01 -9.02321700e-03 -3.35483929e+00] [-6.77718597e-02 8.32780921e-04 9.97700497e-01 -2.89833597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters 0.017801384792291115 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.36, Z:-2.90 [[ 9.90711338e-01 1.17934224e-01 6.76946402e-02 3.63245080e+01] [-1.17587931e-01 9.93020857e-01 -9.09153717e-03 -3.36254630e+00] [-6.82943930e-02 1.04701628e-03 9.97664663e-01 -2.90016996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00105275400001 meters 0.018851675982711914 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.37, Z:-2.91 [[ 9.91124487e-01 1.15411282e-01 6.59733766e-02 3.63852092e+01] [-1.15076346e-01 9.93317071e-01 -8.86740227e-03 -3.36849876e+00] [-6.65558795e-02 1.19672441e-03 9.97781982e-01 -2.90959523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06105275400001 meters 0.01967958985537899 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.37, Z:-2.92 [[ 9.91416566e-01 1.13810472e-01 6.43456945e-02 3.64470677e+01] [-1.13487621e-01 9.93501648e-01 -8.66233268e-03 -3.37281567e+00] [-6.49134177e-02 1.28554033e-03 9.97890072e-01 -2.91897604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters 0.020131843548451385 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.38, Z:-2.92 [[ 9.91514949e-01 1.13500135e-01 6.33705389e-02 3.65082389e+01] [-1.13185411e-01 9.93537129e-01 -8.54610745e-03 -3.38066160e+00] [-6.39309676e-02 1.30097279e-03 9.97953475e-01 -2.91982392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18105275400001 meters 0.020010769756239263 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.39, Z:-2.92 [[ 9.91565455e-01 1.11562089e-01 6.59685467e-02 3.65702840e+01] [-1.11215741e-01 9.93756335e-01 -8.91100323e-03 -3.38797772e+00] [-6.65507913e-02 1.49910217e-03 9.97781912e-01 -2.92140741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24105275400001 meters 0.01955289477130121 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.39, Z:-2.93 [[ 9.90940510e-01 1.15583982e-01 6.83904188e-02 3.66300529e+01] [-1.15219770e-01 9.93296866e-01 -9.25962263e-03 -3.39413477e+00] [-6.90022527e-02 1.29580685e-03 9.97615662e-01 -2.92668510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters 0.018199936234672785 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.40, Z:-2.93 [[ 9.89959595e-01 1.23571894e-01 6.86293433e-02 3.66919099e+01] [-1.23224223e-01 9.92335344e-01 -9.29275908e-03 -3.39883368e+00] [-6.92516468e-02 7.42658510e-04 9.97598946e-01 -2.92931197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754000006 meters 0.01766892773825657 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.40, Z:-2.93 [[ 9.88839003e-01 1.31888420e-01 6.93027515e-02 3.67528990e+01] [-1.31554137e-01 9.91264555e-01 -9.38569171e-03 -3.40231230e+00] [-6.99352251e-02 1.63874360e-04 9.97551521e-01 -2.93423823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42105275400001 meters 0.01767395250183387 Centerline is valid? [True, True] Translation: X:36.81, Y:-3.41, Z:-2.94 [[ 9.87863173e-01 1.39362133e-01 6.85897036e-02 3.68144898e+01] [-1.39051652e-01 9.90241423e-01 -9.30388496e-03 -3.40621379e+00] [-6.92169750e-02 -3.46546301e-04 9.97601569e-01 -2.93941554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters 0.01766612660875943 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.42, Z:-2.94 [[ 9.88256300e-01 1.37063553e-01 6.75504792e-02 3.68754858e+01] [-1.36756003e-01 9.90562242e-01 -9.17830782e-03 -3.42032941e+00] [-6.81709656e-02 -1.67413003e-04 9.97673640e-01 -2.94383415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754000006 meters 0.01786664375060295 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.44, Z:-2.95 [[ 9.89163438e-01 1.30420166e-01 6.74260649e-02 3.69362645e+01] [-1.30097031e-01 9.91458766e-01 -9.18029000e-03 -3.43651458e+00] [-6.80474581e-02 3.08876377e-04 9.97682038e-01 -2.95237684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60105275400001 meters 0.018216638293299465 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.45, Z:-2.95 [[ 9.89790790e-01 1.26846984e-01 6.49925820e-02 3.69964641e+01] [-1.26537905e-01 9.91922143e-01 -8.86683709e-03 -3.45123388e+00] [-6.55923127e-02 5.52288497e-04 9.97846353e-01 -2.95451390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters 0.018625521177948752 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.46, Z:-2.96 [[ 9.90155098e-01 1.25454997e-01 6.20799951e-02 3.70580123e+01] [-1.25169467e-01 9.92099112e-01 -8.48268711e-03 -3.45599572e+00] [-6.26537035e-02 6.28655982e-04 9.98035129e-01 -2.96254173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754000006 meters 0.01957142198966416 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.46, Z:-2.97 [[ 9.90612849e-01 1.21982807e-01 6.16958540e-02 3.71180881e+01] [-1.21693118e-01 9.92531842e-01 -8.44551176e-03 -3.46262711e+00] [-6.22653069e-02 8.58271597e-04 9.98059264e-01 -2.96972601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78105275400001 meters 0.02054803128487186 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.47, Z:-2.97 [[ 9.91024336e-01 1.17163463e-01 6.43699258e-02 3.71789750e+01] [-1.16836939e-01 9.93111886e-01 -8.82676642e-03 -3.47422044e+00] [-6.49607129e-02 1.22675526e-03 9.97887068e-01 -2.96912234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters 0.021080555582762242 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.48, Z:-2.98 [[ 9.91041470e-01 1.16783190e-01 6.47957651e-02 3.72404631e+01] [-1.16450515e-01 9.93156614e-01 -8.90038990e-03 -3.47703279e+00] [-6.53917586e-02 1.27515526e-03 9.97858854e-01 -2.97732455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754000006 meters 0.01886703486869953 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.48, Z:-2.98 [[ 9.89568497e-01 1.29305884e-01 6.35151803e-02 3.73024507e+01] [-1.29011161e-01 9.91604651e-01 -8.73704828e-03 -3.47544217e+00] [-6.41117000e-02 4.51740585e-04 9.97942627e-01 -2.98091217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96105275400001 meters 0.018624966670218342 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.47, Z:-2.99 [[ 9.87026161e-01 1.46700229e-01 6.52564218e-02 3.73661543e+01] [-1.46427071e-01 9.89180751e-01 -8.97526249e-03 -3.46973322e+00] [-6.58670694e-02 -6.96487818e-04 9.97828164e-01 -2.98655413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters 0.018945411718430758 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.48, Z:-2.99 [[ 9.86137865e-01 1.50845978e-01 6.91202055e-02 3.74272142e+01] [-1.50548197e-01 9.88556761e-01 -9.52737430e-03 -3.47830981e+00] [-6.97664125e-02 -1.01061777e-03 9.97562843e-01 -2.98616545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754000005 meters 0.018256498147024208 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.49, Z:-2.99 [[ 9.87074849e-01 1.44897970e-01 6.84676682e-02 3.74872642e+01] [-1.44590269e-01 9.89446440e-01 -9.45502422e-03 -3.49475632e+00] [-6.91151043e-02 -5.66941928e-04 9.97608531e-01 -2.99041096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14105275400001 meters 0.017993266515032684 Centerline is valid? [True, True] Translation: X:37.55, Y:-3.51, Z:-3.00 [[ 9.87607411e-01 1.41430593e-01 6.80366800e-02 3.75483668e+01] [-1.41117421e-01 9.89948127e-01 -9.41168788e-03 -3.50652838e+00] [-6.86838845e-02 -3.06108126e-04 9.97638427e-01 -2.99600790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters 0.018795904060248465 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.53, Z:-3.00 [[ 9.89550831e-01 1.27432481e-01 6.74545474e-02 3.76078017e+01] [-1.27090995e-01 9.91847017e-01 -9.34742578e-03 -3.52667200e+00] [-6.80957573e-02 6.76887403e-04 9.97678560e-01 -3.00014933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters 0.021070415281476653 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.55, Z:-3.01 [[ 9.91342063e-01 1.13557164e-01 6.59218099e-02 3.76670357e+01] [-1.13199085e-01 9.93530156e-01 -9.15406839e-03 -3.54567866e+00] [-6.65348161e-02 1.61252451e-03 9.97782801e-01 -3.00509902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32105275400001 meters 0.022678689565915254 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.55, Z:-3.01 [[ 9.92222897e-01 1.05794079e-01 6.55845744e-02 3.77275199e+01] [-1.05422640e-01 9.94385792e-01 -9.10843167e-03 -3.55270012e+00] [-6.61799871e-02 2.12349550e-03 9.97805442e-01 -3.01349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38105275400001 meters 0.02362719265937667 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.56, Z:-3.02 [[ 9.92723276e-01 1.01150493e-01 6.53381590e-02 3.77881885e+01] [-1.00771658e-01 9.94868178e-01 -9.07640426e-03 -3.56137220e+00] [-6.59209379e-02 2.42612313e-03 9.97821900e-01 -3.01633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters 0.0238757341375063 Centerline is valid? [True, True] Translation: X:37.85, Y:-3.56, Z:-3.02 [[ 9.92191205e-01 1.05464469e-01 6.65872251e-02 3.78483716e+01] [-1.05080482e-01 9.94420675e-01 -9.25279128e-03 -3.56251444e+00] [-6.71915540e-02 2.18352039e-03 9.97737705e-01 -3.01982850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50105275400001 meters 0.02181168909777927 Centerline is valid? [True, True] Translation: X:37.91, Y:-3.56, Z:-3.02 [[ 9.91592299e-01 1.09903012e-01 6.83084204e-02 3.79099772e+01] [-1.09509413e-01 9.93940440e-01 -9.49161417e-03 -3.56129019e+00] [-6.89376584e-02 1.93139647e-03 9.97619100e-01 -3.02489918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56105275400001 meters 0.02035540797685441 Centerline is valid? [True, True] Translation: X:37.97, Y:-3.56, Z:-3.03 [[ 9.90891499e-01 1.15363405e-01 6.94645424e-02 3.79717599e+01] [-1.14969605e-01 9.93322097e-01 -9.65406515e-03 -3.56489585e+00] [-7.01143908e-02 1.57982006e-03 9.97537707e-01 -3.02650759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters 0.01941946237615607 Centerline is valid? [True, True] Translation: X:38.03, Y:-3.56, Z:-3.04 [[ 9.90078708e-01 1.23121830e-01 6.77138663e-02 3.80326100e+01] [-1.22765507e-01 9.92391051e-01 -9.41443086e-03 -3.56260267e+00] [-6.83577569e-02 1.00810040e-03 9.97660363e-01 -3.03742269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68105275400001 meters 0.018019300220839488 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.57, Z:-3.04 [[ 9.89220545e-01 1.29604324e-01 6.81574094e-02 3.80952979e+01] [-1.29258545e-01 9.91565630e-01 -9.47783638e-03 -3.56800908e+00] [-6.88109132e-02 5.65742920e-04 9.97629560e-01 -3.03691930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74105275400001 meters 0.017712104279726044 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.57, Z:-3.05 [[ 9.88687159e-01 1.34865775e-01 6.56424008e-02 3.81569058e+01] [-1.34556454e-01 9.90863858e-01 -9.13104027e-03 -3.57125128e+00] [-6.62741473e-02 1.95133547e-04 9.97801433e-01 -3.04870137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters 0.017316488468209375 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.58, Z:-3.06 [[ 9.87920315e-01 1.39259378e-01 6.79726189e-02 3.82192796e+01] [-1.38936646e-01 9.90255936e-01 -9.47572922e-03 -3.57509375e+00] [-6.86298735e-02 -8.26223112e-05 9.97642187e-01 -3.05500744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754000006 meters 0.01712892096486462 Centerline is valid? [True, True] Translation: X:38.28, Y:-3.59, Z:-3.06 [[ 9.87646748e-01 1.41057592e-01 6.82397070e-02 3.82803409e+01] [-1.40736325e-01 9.90001371e-01 -9.51698427e-03 -3.58617225e+00] [-6.88998464e-02 -2.04386988e-04 9.97623561e-01 -3.05547874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92105275400001 meters 0.01713345325371214 Centerline is valid? [True, True] Translation: X:38.34, Y:-3.59, Z:-3.06 [[ 9.88063961e-01 1.37438643e-01 6.95717536e-02 3.83409441e+01] [-1.37094371e-01 9.90510280e-01 -9.72207729e-03 -3.59388045e+00] [-7.02477263e-02 6.81384195e-05 9.97529575e-01 -3.06159224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters 0.01805465367017719 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.61, Z:-3.07 [[ 9.89705106e-01 1.26017762e-01 6.78478229e-02 3.84005931e+01] [-1.25662503e-01 9.92027602e-01 -9.49591878e-03 -3.60996082e+00] [-6.85035675e-02 8.72232051e-04 9.97650490e-01 -3.06909924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754000006 meters 0.020222136331561873 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.63, Z:-3.07 [[ 9.91250841e-01 1.12893397e-01 6.83875094e-02 3.84601365e+01] [-1.12499986e-01 9.93605454e-01 -9.58931327e-03 -3.62721388e+00] [-6.90327725e-02 1.81182095e-03 9.97612747e-01 -3.07050349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10105275400001 meters 0.022461060230088266 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.64, Z:-3.07 [[ 9.91575276e-01 1.07543623e-01 7.22000033e-02 3.85191802e+01] [-1.07090822e-01 9.94197689e-01 -1.01248020e-02 -3.63915790e+00] [-7.28699343e-02 2.30754564e-03 9.97338783e-01 -3.07206458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters 0.019913121385707735 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.64, Z:-3.07 [[ 9.91115729e-01 1.11853794e-01 7.19606845e-02 3.85807123e+01] [-1.11414851e-01 9.93722681e-01 -1.00977405e-02 -3.64030140e+00] [-7.26384349e-02 1.99054050e-03 9.97356353e-01 -3.07475851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754000006 meters 0.017578319091647105 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.64, Z:-3.08 [[ 9.90071262e-01 1.21123587e-01 7.13300309e-02 3.86422511e+01] [-1.20716116e-01 9.92636581e-01 -1.00118596e-02 -3.63722840e+00] [-7.20174703e-02 1.30177017e-03 9.97402521e-01 -3.08227831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28105275400001 meters 0.016607150644642577 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.64, Z:-3.09 [[ 9.89046802e-01 1.29638519e-01 7.05710890e-02 3.87032094e+01] [-1.29261229e-01 9.91561091e-01 -9.90640776e-03 -3.63619329e+00] [-7.12597981e-02 6.75795201e-04 9.97457560e-01 -3.09108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters 0.01631288973799476 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.64, Z:-3.10 [[ 9.88598419e-01 1.34792666e-01 6.71126217e-02 3.87662657e+01] [-1.34463420e-01 9.90873783e-01 -9.41990191e-03 -3.64072356e+00] [-6.77698711e-02 2.88307497e-04 9.97700938e-01 -3.09727582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754000006 meters 0.01662523791667233 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.65, Z:-3.10 [[ 9.89432923e-01 1.28491877e-01 6.71738628e-02 3.88272836e+01] [-1.28146191e-01 9.91710285e-01 -9.44795463e-03 -3.65169281e+00] [-6.78309961e-02 7.40042734e-04 9.97696551e-01 -3.10292824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46105275400001 meters 0.020375484004395764 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.67, Z:-3.11 [[ 9.91369188e-01 1.13476957e-01 6.56514561e-02 3.88845013e+01] [-1.13112558e-01 9.93539092e-01 -9.25323735e-03 -3.67275422e+00] [-6.62773173e-02 1.74737028e-03 9.97799711e-01 -3.10884279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters 0.02199661796453561 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.69, Z:-3.11 [[ 9.92468573e-01 1.02450342e-01 6.71569807e-02 3.89446072e+01] [-1.02043773e-01 9.94734873e-01 -9.46572782e-03 -3.68591787e+00] [-6.77731577e-02 2.54148566e-03 9.97697519e-01 -3.11038973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754000005 meters 0.022593924803826947 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.69, Z:-3.11 [[ 9.92572928e-01 9.88655313e-02 7.08843346e-02 3.90064226e+01] [-9.84032622e-02 9.95096450e-01 -9.99268776e-03 -3.69388061e+00] [-7.15246821e-02 2.94322158e-03 9.97434488e-01 -3.11230806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64105275400001 meters 0.021867021180970315 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.70, Z:-3.12 [[ 9.92270680e-01 1.01298203e-01 7.16768585e-02 3.90679128e+01] [-1.00831455e-01 9.94852155e-01 -1.01098094e-02 -3.69793550e+00] [-7.23319826e-02 2.80438550e-03 9.97376669e-01 -3.11585966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters 0.01939179190268424 Centerline is valid? [True, True] Translation: X:39.13, Y:-3.70, Z:-3.12 [[ 9.91433525e-01 1.10227721e-01 7.00672164e-02 3.91295795e+01] [-1.09803776e-01 9.93904125e-01 -9.88538989e-03 -3.69609958e+00] [-7.07297394e-02 2.10706202e-03 9.97493290e-01 -3.12387666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters 0.017184892050485366 Centerline is valid? [True, True] Translation: X:39.19, Y:-3.70, Z:-3.13 [[ 9.89907090e-01 1.23444205e-01 6.96094962e-02 3.91897664e+01] [-1.23058269e-01 9.92350840e-01 -9.82203741e-03 -3.69605783e+00] [-7.02895156e-02 1.15688035e-03 9.97525962e-01 -3.13179649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82105275400001 meters 0.015500325487619324 Centerline is valid? [True, True] Translation: X:39.25, Y:-3.69, Z:-3.14 [[ 9.88645166e-01 1.34453287e-01 6.71047699e-02 3.92515265e+01] [-1.34119997e-01 9.90919867e-01 -9.46798836e-03 -3.69444167e+00] [-6.77684519e-02 3.60389413e-04 9.97701011e-01 -3.14129059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88105275400001 meters 0.015246979086478514 Centerline is valid? [True, True] Translation: X:39.31, Y:-3.70, Z:-3.15 [[ 9.88621444e-01 1.35238993e-01 6.58639195e-02 3.93124216e+01] [-1.34919725e-01 9.90812962e-01 -9.29209076e-03 -3.70384509e+00] [-6.65154782e-02 3.00018240e-04 9.97785348e-01 -3.14656005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters 0.015388899572333317 Centerline is valid? [True, True] Translation: X:39.37, Y:-3.72, Z:-3.15 [[ 9.89117963e-01 1.30996859e-01 6.69737142e-02 3.93729365e+01] [-1.30655864e-01 9.91382594e-01 -9.46556449e-03 -3.71803366e+00] [-6.76365337e-02 6.12051354e-04 9.97709840e-01 -3.14991779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00105275400001 meters 0.015363104270286025 Centerline is valid? [True, True] Translation: X:39.43, Y:-3.73, Z:-3.15 [[ 9.89152006e-01 1.30303235e-01 6.78187003e-02 3.94346866e+01] [-1.29950793e-01 9.91473952e-01 -9.60171789e-03 -3.72785085e+00] [-6.84916098e-02 6.84464610e-04 9.97651458e-01 -3.15396704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06105275400001 meters 0.015206100123486435 Centerline is valid? [True, True] Translation: X:39.50, Y:-3.74, Z:-3.16 [[ 9.88642385e-01 1.33175362e-01 6.96459368e-02 3.94951908e+01] [-1.32809275e-01 9.91092353e-01 -9.88148440e-03 -3.73784240e+00] [-7.03415256e-02 5.19627968e-04 9.97522832e-01 -3.16012740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters 0.014608677074015171 Centerline is valid? [True, True] Translation: X:39.56, Y:-3.74, Z:-3.17 [[ 9.87237756e-01 1.43544253e-01 6.89685496e-02 3.95561705e+01] [-1.43209318e-01 9.89643879e-01 -9.80224067e-03 -3.74432536e+00] [-6.96613582e-02 -1.99796853e-04 9.97570677e-01 -3.16703052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18105275400001 meters 0.015751488277476716 Centerline is valid? [True, True] Translation: X:39.62, Y:-3.75, Z:-3.17 [[ 9.85180453e-01 1.57070276e-01 6.89086545e-02 3.96169078e+01] [-1.56767570e-01 9.87586776e-01 -9.81272920e-03 -3.74885944e+00] [-6.95945640e-02 -1.13533329e-03 9.97574713e-01 -3.17446227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24105275400001 meters 0.0188480861576762 Centerline is valid? [True, True] Translation: X:39.68, Y:-3.76, Z:-3.18 [[ 9.83351634e-01 1.68192366e-01 6.87814733e-02 3.96756615e+01] [-1.67917689e-01 9.85752332e-01 -9.79744553e-03 -3.75638200e+00] [-6.94493533e-02 -1.91529200e-03 9.97583640e-01 -3.18218363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters 0.02131034836257666 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.77, Z:-3.19 [[ 9.82095252e-01 1.76399158e-01 6.61230172e-02 3.97340889e+01] [-1.76163879e-01 9.84315794e-01 -9.41832370e-03 -3.77217118e+00] [-6.67473145e-02 -2.39879619e-03 9.97767028e-01 -3.19339933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754000006 meters 0.019206085047684337 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.80, Z:-3.20 [[ 9.83098100e-01 1.69824615e-01 6.83939054e-02 3.97908383e+01] [-1.69556786e-01 9.85472239e-01 -9.74487255e-03 -3.79749395e+00] [-6.90552143e-02 -2.01648506e-03 9.97610801e-01 -3.19544432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42105275400001 meters 0.01511552115853322 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.83, Z:-3.20 [[ 9.85591366e-01 1.53603770e-01 7.08204805e-02 3.98481041e+01] [-1.53274657e-01 9.88132104e-01 -1.00908293e-02 -3.83056866e+00] [-7.15299799e-02 -9.09550657e-04 9.97438036e-01 -3.19787885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters 0.013825725795736536 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.86, Z:-3.20 [[ 9.87956495e-01 1.35099082e-01 7.54334334e-02 3.99059384e+01] [-1.34671336e-01 9.90831985e-01 -1.07521325e-02 -3.86160421e+00] [-7.61944618e-02 4.63917829e-04 9.97092869e-01 -3.20078155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754000006 meters 0.013928169019895634 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.87, Z:-3.20 [[ 9.88092032e-01 1.29809314e-01 8.26055600e-02 3.99674899e+01] [-1.29277301e-01 9.91538512e-01 -1.17796274e-02 -3.87411943e+00] [-8.34356993e-02 9.60332162e-04 9.96512700e-01 -3.20065685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60105275400001 meters 0.017480266487928307 Centerline is valid? [True, True] Translation: X:40.03, Y:-3.89, Z:-3.20 [[ 9.89916443e-01 1.07154214e-01 9.26466917e-02 4.00273209e+01] [-1.06383283e-01 9.94237117e-01 -1.32345267e-02 -3.89177489e+00] [-9.35309149e-02 3.24501630e-03 9.95611088e-01 -3.19825223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters 0.021700320818780528 Centerline is valid? [True, True] Translation: X:40.09, Y:-3.90, Z:-3.21 [[ 9.91754016e-01 8.93136598e-02 9.19077862e-02 4.00863428e+01] [-8.84783364e-02 9.95991538e-01 -1.31316823e-02 -3.90435642e+00] [-9.27122159e-02 4.89155066e-03 9.95680932e-01 -3.20642553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754000006 meters 0.025964607019347056 Centerline is valid? [True, True] Translation: X:40.15, Y:-3.91, Z:-3.22 [[ 9.93295350e-01 7.51527331e-02 8.78431188e-02 4.01465234e+01] [-7.43344945e-02 9.97154343e-01 -1.25538175e-02 -3.90840122e+00] [-8.85366012e-02 5.93987470e-03 9.96055213e-01 -3.21909014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78105275400001 meters 0.029029553146435322 Centerline is valid? [True, True] Translation: X:40.21, Y:-3.91, Z:-3.23 [[ 9.94055632e-01 6.91092992e-02 8.41267234e-02 4.02074153e+01] [-6.83373145e-02 9.97589799e-01 -1.20251872e-02 -3.91112212e+00] [-8.47550134e-02 6.20471070e-03 9.96382501e-01 -3.22996191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters 0.026498243463703382 Centerline is valid? [True, True] Translation: X:40.27, Y:-3.91, Z:-3.24 [[ 9.93879152e-01 7.13863639e-02 8.43102502e-02 4.02694892e+01] [-7.06189185e-02 9.97430535e-01 -1.20539111e-02 -3.90554727e+00] [-8.49541029e-02 6.02623225e-03 9.96366642e-01 -3.23627183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754000006 meters 0.026944228834759557 Centerline is valid? [True, True] Translation: X:40.33, Y:-3.90, Z:-3.24 [[ 9.92945289e-01 7.81943753e-02 8.91363769e-02 4.03305692e+01] [-7.73633487e-02 9.96921495e-01 -1.27454233e-02 -3.90323618e+00] [-8.98585905e-02 5.75961944e-03 9.95937880e-01 -3.23962760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96105275400001 meters 0.02272072057272368 Centerline is valid? [True, True] Translation: X:40.39, Y:-3.90, Z:-3.24 [[ 9.92008023e-01 8.81915942e-02 9.02348378e-02 4.03924400e+01] [-8.73809561e-02 9.96091405e-01 -1.29027714e-02 -3.89942940e+00] [-9.10200624e-02 4.91484632e-03 9.95836931e-01 -3.24333364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters 0.020766279405829403 Centerline is valid? [True, True] Translation: X:40.45, Y:-3.89, Z:-3.25 [[ 9.91111304e-01 9.71077810e-02 9.09310877e-02 4.04540049e+01] [-9.63216877e-02 9.95265302e-01 -1.30042599e-02 -3.89392155e+00] [-9.17633713e-02 4.13003310e-03 9.95772276e-01 -3.25082354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754000005 meters 0.02069172900570464 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.89, Z:-3.26 [[ 9.90810783e-01 9.87651661e-02 9.24090616e-02 4.05161241e+01] [-9.79601122e-02 9.95102548e-01 -1.32187574e-02 -3.89497364e+00] [-9.32620454e-02 4.04488535e-03 9.95633381e-01 -3.25767903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14105275400001 meters 0.022939376036492848 Centerline is valid? [True, True] Translation: X:40.58, Y:-3.90, Z:-3.26 [[ 9.91741154e-01 8.72307793e-02 9.40227327e-02 4.05772600e+01] [-8.63436825e-02 9.96174347e-01 -1.34699469e-02 -3.89862160e+00] [-9.48380283e-02 5.24043167e-03 9.95478923e-01 -3.26088708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20105275400001 meters 0.024673788576644512 Centerline is valid? [True, True] Translation: X:40.64, Y:-3.90, Z:-3.27 [[ 9.92411570e-01 7.81710283e-02 9.49134688e-02 4.06384411e+01] [-7.72255429e-02 9.96920889e-01 -1.35998483e-02 -3.90227136e+00] [-9.56843339e-02 6.16690264e-03 9.95392625e-01 -3.26706797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754000005 meters 0.028559944095562097 Centerline is valid? [True, True] Translation: X:40.70, Y:-3.90, Z:-3.28 [[ 9.93500598e-01 6.56732026e-02 9.29709237e-02 4.07003621e+01] [-6.47116049e-02 9.97815060e-01 -1.33234398e-02 -3.89819238e+00] [-9.36427808e-02 7.22054770e-03 9.95579677e-01 -3.27738653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32105275400001 meters 0.027588834445078026 Centerline is valid? [True, True] Translation: X:40.76, Y:-3.89, Z:-3.28 [[ 9.93443165e-01 6.46026475e-02 9.43248465e-02 4.07637850e+01] [-6.36076340e-02 9.97883390e-01 -1.35207176e-02 -3.89321489e+00] [-9.49986717e-02 7.43228414e-03 9.95449654e-01 -3.28134212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38105275400001 meters 0.027882478245953253 Centerline is valid? [True, True] Translation: X:40.83, Y:-3.89, Z:-3.29 [[ 9.93409170e-01 6.65402255e-02 9.33307004e-02 4.08259835e+01] [-6.55740727e-02 9.97757939e-01 -1.33841612e-02 -3.88787709e+00] [-9.40120324e-02 7.17587436e-03 9.95545200e-01 -3.28889984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters 0.0282140357100403 Centerline is valid? [True, True] Translation: X:40.89, Y:-3.88, Z:-3.29 [[ 9.93205581e-01 6.95867682e-02 9.32756929e-02 4.08884703e+01] [-6.86349289e-02 9.97552143e-01 -1.33779251e-02 -3.87763840e+00] [-9.39782939e-02 6.88505929e-03 9.95550439e-01 -3.29430901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50105275400001 meters 0.026928570864086288 Centerline is valid? [True, True] Translation: X:40.95, Y:-3.86, Z:-3.30 [[ 9.92753484e-01 7.38928387e-02 9.47648032e-02 4.09516877e+01] [-7.29295646e-02 9.97244457e-01 -1.35930683e-02 -3.86133871e+00] [-9.55081051e-02 6.58341009e-03 9.95406882e-01 -3.29859157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56105275400001 meters 0.028870420126488903 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.85, Z:-3.31 [[ 9.92341180e-01 7.77157409e-02 9.60169072e-02 4.10133162e+01] [-7.67444308e-02 9.96955658e-01 -1.37734966e-02 -3.85227954e+00] [-9.67950164e-02 6.29924502e-03 9.95284404e-01 -3.30539151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters 0.024958637553776798 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.84, Z:-3.31 [[ 9.92468570e-01 7.87708772e-02 9.38151762e-02 4.10769286e+01] [-7.78483951e-02 9.96874367e-01 -1.34581972e-02 -3.84026690e+00] [-9.45820584e-02 6.05347680e-03 9.95498664e-01 -3.31290091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68105275400001 meters 0.02568412869208261 Centerline is valid? [True, True] Translation: X:41.14, Y:-3.83, Z:-3.32 [[ 9.92686975e-01 7.80990891e-02 9.20494521e-02 4.11409141e+01] [-7.72075843e-02 9.96927495e-01 -1.32120932e-02 -3.83193898e+00] [-9.27984821e-02 6.00855703e-03 9.95666781e-01 -3.31816168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74105275400001 meters 0.02697426543378122 Centerline is valid? [True, True] Translation: X:41.21, Y:-3.82, Z:-3.32 [[ 9.92618861e-01 7.85095040e-02 9.24340599e-02 4.12054318e+01] [-7.76100691e-02 9.96895195e-01 -1.32908677e-02 -3.82497238e+00] [-9.31905296e-02 6.01895222e-03 9.95630101e-01 -3.32307145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters 0.025209984155445158 Centerline is valid? [True, True] Translation: X:41.27, Y:-3.82, Z:-3.33 [[ 9.92188384e-01 8.22319388e-02 9.38089508e-02 4.12680762e+01] [-8.13197768e-02 9.96596471e-01 -1.35117397e-02 -3.81713981e+00] [-9.46007659e-02 5.77766827e-03 9.95498525e-01 -3.32683056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754000006 meters 0.023741600247616387 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.81, Z:-3.33 [[ 9.91679546e-01 9.03968722e-02 9.16519698e-02 4.13305113e+01] [-8.95608296e-02 9.95893844e-01 -1.32026154e-02 -3.80795183e+00] [-9.24691077e-02 4.88433717e-03 9.95703574e-01 -3.33140658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92105275400001 meters 0.02190944606324254 Centerline is valid? [True, True] Translation: X:41.39, Y:-3.81, Z:-3.34 [[ 9.91439698e-01 9.40254055e-02 9.05900065e-02 4.13920741e+01] [-9.32236357e-02 9.95559655e-01 -1.30509652e-02 -3.80778097e+00] [-9.14148779e-02 4.49411523e-03 9.95802753e-01 -3.33830751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters 0.018877157284170016 Centerline is valid? [True, True] Translation: X:41.45, Y:-3.80, Z:-3.35 [[ 9.90562769e-01 1.05309594e-01 8.77227984e-02 4.14542827e+01] [-1.04601811e-01 9.94433862e-01 -1.26394352e-02 -3.79877574e+00] [-8.85655750e-02 3.34419035e-03 9.96064735e-01 -3.34644301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754000006 meters 0.016896395848128822 Centerline is valid? [True, True] Translation: X:41.52, Y:-3.80, Z:-3.35 [[ 9.89385346e-01 1.14673990e-01 8.92553235e-02 4.15161714e+01] [-1.13978978e-01 9.93399900e-01 -1.28619711e-02 -3.79565514e+00] [-9.01411630e-02 2.55221517e-03 9.95925729e-01 -3.34824646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10105275400001 meters 0.015713577388340498 Centerline is valid? [True, True] Translation: X:41.58, Y:-3.79, Z:-3.35 [[ 9.88729078e-01 1.20993499e-01 8.81781310e-02 4.15772591e+01] [-1.20340186e-01 9.92651379e-01 -1.27074896e-02 -3.79316513e+00] [-8.90676669e-02 1.95289180e-03 9.96023663e-01 -3.35343883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters 0.015362599906284455 Centerline is valid? [True, True] Translation: X:41.64, Y:-3.80, Z:-3.36 [[ 9.88371668e-01 1.24478012e-01 8.73308062e-02 4.16389920e+01] [-1.23850635e-01 9.92221036e-01 -1.25871147e-02 -3.79696291e+00] [-8.82182820e-02 1.62477178e-03 9.96099842e-01 -3.35939901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754000006 meters 0.016167983397744834 Centerline is valid? [True, True] Translation: X:41.70, Y:-3.81, Z:-3.36 [[ 9.88676741e-01 1.22483280e-01 8.66957251e-02 4.17003316e+01] [-1.21855500e-01 9.92468925e-01 -1.25167792e-02 -3.80602178e+00] [-8.75759093e-02 1.81069751e-03 9.96156203e-01 -3.36407138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28105275400001 meters 0.01577494043964872 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.81, Z:-3.37 [[ 9.88847711e-01 1.22239445e-01 8.50748088e-02 4.17622223e+01] [-1.21632297e-01 9.92498973e-01 -1.23033525e-02 -3.81306600e+00] [-8.59406153e-02 1.81829759e-03 9.96298602e-01 -3.37039807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters 0.015714547777977185 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.82, Z:-3.37 [[ 9.88723477e-01 1.23017433e-01 8.53967051e-02 4.18233039e+01] [-1.22406437e-01 9.92402910e-01 -1.23744926e-02 -3.82373292e+00] [-8.62702170e-02 1.78184496e-03 9.96270182e-01 -3.37421056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754000006 meters 0.01527505735802445 Centerline is valid? [True, True] Translation: X:41.88, Y:-3.83, Z:-3.38 [[ 9.88510455e-01 1.26037944e-01 8.34357091e-02 4.18844865e+01] [-1.25463740e-01 9.92024282e-01 -1.21109017e-02 -3.83149496e+00] [-8.42966826e-02 1.50359678e-03 9.96439566e-01 -3.38050256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46105275400001 meters 0.014623449567105658 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.84, Z:-3.39 [[ 9.87933171e-01 1.33356306e-01 7.87664029e-02 4.19433882e+01] [-1.32866351e-01 9.91067796e-01 -1.14524020e-02 -3.84194530e+00] [-7.95900953e-02 8.48803252e-04 9.96827315e-01 -3.38758305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters 0.014223521796363443 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.85, Z:-3.39 [[ 9.86806715e-01 1.42834977e-01 7.62278011e-02 4.20042873e+01] [-1.42404316e-01 9.89746514e-01 -1.10836850e-02 -3.85400740e+00] [-7.70293384e-02 8.22869015e-05 9.97028823e-01 -3.39311501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754000005 meters 0.014462829719951536 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.87, Z:-3.40 [[ 9.86519613e-01 1.44771455e-01 7.62907495e-02 4.20651649e+01] [-1.44344376e-01 9.89465120e-01 -1.11120483e-02 -3.86662551e+00] [-7.70957430e-02 -4.98871071e-05 9.97023693e-01 -3.39820383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64105275400001 meters 0.015122968437749629 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.89, Z:-3.39 [[ 9.87310817e-01 1.37907636e-01 7.87326819e-02 4.21240870e+01] [-1.37429194e-01 9.90444956e-01 -1.14894158e-02 -3.89494458e+00] [-7.95648658e-02 5.23455504e-04 9.96829553e-01 -3.39474721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70105275400001 meters 0.016325053944098063 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.91, Z:-3.40 [[ 9.88501077e-01 1.29186837e-01 7.85899571e-02 4.21838649e+01] [-1.28681022e-01 9.91619491e-01 -1.14882034e-02 -3.91372582e+00] [-7.94154580e-02 1.24306545e-03 9.96840830e-01 -3.39957078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754000005 meters 0.017136815956726024 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.93, Z:-3.40 [[ 9.88961881e-01 1.25714034e-01 7.84243526e-02 4.22439506e+01] [-1.25199036e-01 9.92065350e-01 -1.14691806e-02 -3.92888599e+00] [-7.92439198e-02 1.52392904e-03 9.96854091e-01 -3.40364206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82105275400001 meters 0.016702477971534707 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.95, Z:-3.41 [[ 9.88758609e-01 1.28844710e-01 7.58647067e-02 4.23040618e+01] [-1.28370646e-01 9.91663996e-01 -1.11129282e-02 -3.94616399e+00] [-7.66641402e-02 1.24920202e-03 9.97056192e-01 -3.40604464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88105275400001 meters 0.01609310098000318 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.95, Z:-3.41 [[ 9.87828683e-01 1.36258255e-01 7.50211990e-02 4.23646834e+01] [-1.35814520e-01 9.90673113e-01 -1.10090306e-02 -3.95286948e+00] [-7.58215561e-02 6.86068105e-04 9.97121167e-01 -3.41088482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters 0.015870298594088433 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.96, Z:-3.42 [[ 9.86945198e-01 1.44539778e-01 7.10452555e-02 4.24255705e+01] [-1.44163271e-01 9.89498989e-01 -1.04259889e-02 -3.96423059e+00] [-7.18061786e-02 4.77632428e-05 9.97418603e-01 -3.41781734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00105275400001 meters 0.01614278363108985 Centerline is valid? [True, True] Translation: X:42.48, Y:-3.98, Z:-3.42 [[ 9.86514068e-01 1.48075645e-01 6.97394902e-02 4.24842436e+01] [-1.47720458e-01 9.88976020e-01 -1.02517615e-02 -3.98148734e+00] [-7.04887197e-02 -1.88442460e-04 9.97512559e-01 -3.42344393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06105275400001 meters 0.016190591105148075 Centerline is valid? [True, True] Translation: X:42.55, Y:-4.00, Z:-3.42 [[ 9.86082436e-01 1.50373397e-01 7.09173533e-02 4.25450162e+01] [-1.50010868e-01 9.88629215e-01 -1.04410562e-02 -4.00312190e+00] [-7.16810244e-02 -3.42631605e-04 9.97427548e-01 -3.42404748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters 0.016943044293385584 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.02, Z:-3.43 [[ 9.85302515e-01 1.56322055e-01 6.88648558e-02 4.26051747e+01] [-1.55993372e-01 9.87705866e-01 -1.01582955e-02 -4.02000299e+00] [-6.96061877e-02 -7.33466882e-04 9.97574278e-01 -3.43120650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18105275400001 meters 0.01701852242367619 Centerline is valid? [True, True] Translation: X:42.66, Y:-4.04, Z:-3.44 [[ 9.85470076e-01 1.55985771e-01 6.72098820e-02 4.26649299e+01] [-1.55670834e-01 9.87759071e-01 -9.93025806e-03 -4.04059491e+00] [-6.79361495e-02 -6.76646201e-04 9.97689442e-01 -3.43694559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24105275400001 meters 0.0170850840019027 Centerline is valid? [True, True] Translation: X:42.72, Y:-4.08, Z:-3.44 [[ 9.87960395e-01 1.38420154e-01 6.90950030e-02 4.27228207e+01] [-1.38042917e-01 9.90373434e-01 -1.02280746e-02 -4.07820428e+00] [-6.98456271e-02 5.66856842e-04 9.97557651e-01 -3.43765640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters 0.019368141563758438 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.10, Z:-3.44 [[ 9.89441198e-01 1.26877711e-01 7.00582729e-02 4.27795615e+01] [-1.26460443e-01 9.91917367e-01 -1.03775508e-02 -4.10485691e+00] [-7.08086975e-02 1.40837610e-03 9.97488920e-01 -3.44210930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754000006 meters 0.020107603324699977 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.12, Z:-3.45 [[ 9.89711217e-01 1.24841293e-01 6.99024950e-02 4.28400224e+01] [-1.24420884e-01 9.92175514e-01 -1.03534147e-02 -4.12113899e+00] [-7.06480776e-02 1.54956039e-03 9.97500099e-01 -3.44640206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42105275400001 meters 0.019744186975769296 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.14, Z:-3.45 [[ 9.89812164e-01 1.25201601e-01 6.77970422e-02 4.29005688e+01] [-1.24805969e-01 9.92130198e-01 -1.00568219e-02 -4.13821665e+00] [-6.85226231e-02 1.49288914e-03 9.97648446e-01 -3.45086109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters 0.017900522082106754 Centerline is valid? [True, True] Translation: X:42.96, Y:-4.15, Z:-3.45 [[ 9.88785876e-01 1.32615507e-01 6.86703589e-02 4.29614058e+01] [-1.32226113e-01 9.91167042e-01 -1.02053689e-02 -4.14637056e+00] [-6.94171867e-02 1.01091004e-03 9.97587205e-01 -3.45312508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754000006 meters 0.017243992248152012 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.15, Z:-3.46 [[ 9.87456058e-01 1.41928521e-01 6.91869160e-02 4.30223045e+01] [-1.41555861e-01 9.89876843e-01 -1.02846560e-02 -4.15338084e+00] [-6.99462120e-02 3.61832371e-04 9.97550699e-01 -3.45932535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60105275400001 meters 0.01724857568979465 Centerline is valid? [True, True] Translation: X:43.08, Y:-4.17, Z:-3.46 [[ 9.86157100e-01 1.52414237e-01 6.52998782e-02 4.30827032e+01] [-1.52105311e-01 9.88316635e-01 -9.70588369e-03 -4.16813054e+00] [-6.60162707e-02 -3.60932188e-04 9.97818481e-01 -3.46388958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters 0.01890011338667172 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.17, Z:-3.47 [[ 9.84330048e-01 1.64083783e-01 6.45822647e-02 4.31434548e+01] [-1.63805420e-01 9.86445780e-01 -9.61810242e-03 -4.17479632e+00] [-6.52850771e-02 -1.11153774e-03 9.97866035e-01 -3.47082148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754000006 meters 0.02123495011014613 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.18, Z:-3.48 [[ 9.82444091e-01 1.75413848e-01 6.35105541e-02 4.32037144e+01] [-1.75168089e-01 9.84493084e-01 -9.46087780e-03 -4.18377818e+00] [-6.41852702e-02 -1.83023891e-03 9.97936321e-01 -3.47675811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78105275400001 meters 0.02292656030896662 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.20, Z:-3.48 [[ 9.81081894e-01 1.83583927e-01 6.14431385e-02 4.32627207e+01] [-1.83369811e-01 9.83001382e-01 -9.15402047e-03 -4.20344344e+00] [-6.20792210e-02 -2.28597297e-03 9.98068607e-01 -3.47814693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters 0.023961747413474642 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.21, Z:-3.48 [[ 9.80829182e-01 1.85342151e-01 6.01863982e-02 4.33226498e+01] [-1.85140170e-01 9.82671238e-01 -8.96414220e-03 -4.21453747e+00] [-6.08048758e-02 -2.35062773e-03 9.98146904e-01 -3.48413371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754000006 meters 0.02624591407848308 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.23, Z:-3.49 [[ 9.80147610e-01 1.89330233e-01 5.88619137e-02 4.33814695e+01] [-1.89143160e-01 9.81910228e-01 -8.78455950e-03 -4.23120216e+00] [-5.94602979e-02 -2.52316335e-03 9.98227482e-01 -3.49370734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96105275400001 meters 0.02673149629528934 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.26, Z:-3.50 [[ 9.80036420e-01 1.90252068e-01 5.77301091e-02 4.34400348e+01] [-1.90073800e-01 9.81732013e-01 -8.61420732e-03 -4.25513404e+00] [-5.83143670e-02 -2.53074430e-03 9.98295062e-01 -3.49856215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters 0.02520904209593706 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.29, Z:-3.50 [[ 9.80799325e-01 1.86318023e-01 5.76045012e-02 4.34965194e+01] [-1.86133200e-01 9.82486837e-01 -8.60501283e-03 -4.29062912e+00] [-5.81989332e-02 -2.28231938e-03 9.98302397e-01 -3.49702058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754000005 meters 0.02365607979141852 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.31, Z:-3.50 [[ 9.81129400e-01 1.83919580e-01 5.96547499e-02 4.35550907e+01] [-1.83716881e-01 9.82938798e-01 -8.91223516e-03 -4.31262761e+00] [-6.02761027e-02 -2.21552866e-03 9.98179284e-01 -3.49946234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14105275400001 meters 0.02328293069335705 Centerline is valid? [True, True] Translation: X:43.61, Y:-4.34, Z:-3.50 [[ 9.81506525e-01 1.80700149e-01 6.31854177e-02 4.36119603e+01] [-1.80465897e-01 9.83535916e-01 -9.44254785e-03 -4.33792339e+00] [-6.38513975e-02 -2.13489073e-03 9.97957134e-01 -3.50290237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20105275400001 meters 0.021053602039758673 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.37, Z:-3.50 [[ 9.82190355e-01 1.76991748e-01 6.30557433e-02 4.36694441e+01] [-1.76750818e-01 9.84210521e-01 -9.42328149e-03 -4.36874466e+00] [-6.37279691e-02 -1.88969801e-03 9.97965518e-01 -3.50335923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754000005 meters 0.019122043852841556 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.40, Z:-3.51 [[ 9.83956589e-01 1.67737647e-01 6.07742787e-02 4.37266130e+01] [-1.67496039e-01 9.85830890e-01 -9.08479474e-03 -4.39553419e+00] [-6.14370233e-02 -1.24040733e-03 9.98110191e-01 -3.50907605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32105275400001 meters 0.018128075009306337 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.42, Z:-3.52 [[ 9.85597535e-01 1.58080061e-01 6.00682450e-02 4.37850959e+01] [-1.57826060e-01 9.87426097e-01 -8.97982914e-03 -4.41755097e+00] [-6.07324846e-02 -6.29836956e-04 9.98153880e-01 -3.51565941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38105275400001 meters 0.018486560085845243 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.42, Z:-3.52 [[ 9.85312449e-01 1.59320880e-01 6.14510720e-02 4.38457060e+01] [-1.59057531e-01 9.87226587e-01 -9.18524599e-03 -4.42387380e+00] [-6.21295335e-02 -7.23918547e-04 9.98067832e-01 -3.51973250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters 0.018821685213736568 Centerline is valid? [True, True] Translation: X:43.91, Y:-4.43, Z:-3.52 [[ 9.84468054e-01 1.63825653e-01 6.31174039e-02 4.39076269e+01] [-1.63556138e-01 9.86488780e-01 -9.44866511e-03 -4.42630387e+00] [-6.38125445e-02 -1.02132987e-03 9.97961380e-01 -3.52314475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50105275400001 meters 0.01989345674114022 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.43, Z:-3.53 [[ 9.84178570e-01 1.66002078e-01 6.19342531e-02 4.39683121e+01] [-1.65745940e-01 9.86124760e-01 -9.28658094e-03 -4.43100197e+00] [-6.26164923e-02 -1.12569706e-03 9.98037027e-01 -3.53041553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56105275400001 meters 0.01958088881614863 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.44, Z:-3.54 [[ 9.84286524e-01 1.65558130e-01 6.14047552e-02 4.40304166e+01] [-1.65304720e-01 9.86199447e-01 -9.21961181e-03 -4.44097579e+00] [-6.20837173e-02 -1.07575618e-03 9.98070366e-01 -3.53796738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters 0.018501623913354408 Centerline is valid? [True, True] Translation: X:44.09, Y:-4.45, Z:-3.54 [[ 9.84325579e-01 1.63330307e-01 6.65309328e-02 4.40906576e+01] [-1.63026104e-01 9.86570945e-01 -1.00129583e-02 -4.45316606e+00] [-6.72729048e-02 -9.90267761e-04 9.97734121e-01 -3.53709850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68105275400001 meters 0.018288839412195845 Centerline is valid? [True, True] Translation: X:44.15, Y:-4.46, Z:-3.54 [[ 9.83801382e-01 1.65756546e-01 6.82613275e-02 4.41523490e+01] [-1.65442138e-01 9.86165990e-01 -1.02732352e-02 -4.46245034e+00] [-6.90198556e-02 -1.18647694e-03 9.97614581e-01 -3.53960872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74105275400001 meters 0.018699012394176893 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.47, Z:-3.55 [[ 9.83668252e-01 1.67402701e-01 6.61294615e-02 4.42129971e+01] [-1.67110274e-01 9.85887816e-01 -9.96850470e-03 -4.46865676e+00] [-6.68649850e-02 -1.24521083e-03 9.97761256e-01 -3.55043474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters 0.018388511760893594 Centerline is valid? [True, True] Translation: X:44.27, Y:-4.48, Z:-3.55 [[ 9.84385958e-01 1.63722739e-01 6.46463566e-02 4.42724364e+01] [-1.63434400e-01 9.86505928e-01 -9.75962982e-03 -4.48401442e+00] [-6.53718873e-02 -9.58195929e-04 9.97860510e-01 -3.55445158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754000006 meters 0.01814104561665869 Centerline is valid? [True, True] Translation: X:44.33, Y:-4.50, Z:-3.56 [[ 9.84614610e-01 1.63058382e-01 6.28174587e-02 4.43337017e+01] [-1.62783931e-01 9.86616034e-01 -9.49699306e-03 -4.49505007e+00] [-6.35252763e-02 -8.74794773e-04 9.97979846e-01 -3.55981894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92105275400001 meters 0.018560857202135943 Centerline is valid? [True, True] Translation: X:44.39, Y:-4.50, Z:-3.57 [[ 9.84412133e-01 1.64383656e-01 6.25361157e-02 4.43936007e+01] [-1.64113327e-01 9.86396031e-01 -9.47029345e-03 -4.50310099e+00] [-6.32421378e-02 -9.40338239e-04 9.97997769e-01 -3.56597676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters 0.017977203964293618 Centerline is valid? [True, True] Translation: X:44.45, Y:-4.51, Z:-3.57 [[ 9.84413401e-01 1.62948377e-01 6.61670805e-02 4.44548138e+01] [-1.62641221e-01 9.86634205e-01 -1.00388903e-02 -4.51258856e+00] [-6.69185257e-02 -8.79076658e-04 9.97758056e-01 -3.56790254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754000006 meters 0.01753578482909871 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.52, Z:-3.57 [[ 9.84195796e-01 1.63033161e-01 6.91290336e-02 4.45161979e+01] [-1.62697959e-01 9.86620158e-01 -1.04898863e-02 -4.52087000e+00] [-6.99142974e-02 -9.23050691e-04 9.97552575e-01 -3.57081695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10105275400001 meters 0.017688283032441184 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.53, Z:-3.57 [[ 9.84055867e-01 1.63546564e-01 6.99040238e-02 4.45769237e+01] [-1.63203865e-01 9.86535155e-01 -1.06247621e-02 -4.53061478e+00] [-7.07004203e-02 -9.53247405e-04 9.97497139e-01 -3.57465383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters 0.01805675706675367 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.54, Z:-3.59 [[ 9.83788707e-01 1.66241413e-01 6.72575028e-02 4.46382508e+01] [-1.65929342e-01 9.86084485e-01 -1.02392429e-02 -4.53648755e+00] [-6.80237662e-02 -1.08674159e-03 9.97683109e-01 -3.58565183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754000006 meters 0.020195767135759234 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.54, Z:-3.60 [[ 9.83068488e-01 1.72023399e-01 6.31212921e-02 4.46983891e+01] [-1.71759269e-01 9.85091902e-01 -9.62800258e-03 -4.53703891e+00] [-6.38365154e-02 -1.37668107e-03 9.97959420e-01 -3.59781628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28105275400001 meters 0.0211410355292078 Centerline is valid? [True, True] Translation: X:44.76, Y:-4.54, Z:-3.61 [[ 9.82547808e-01 1.76652237e-01 5.82562580e-02 4.47585212e+01] [-1.76435340e-01 9.84272114e-01 -8.88684592e-03 -4.54318581e+00] [-5.89098914e-02 -1.54671172e-03 9.98262106e-01 -3.60658623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters 0.02106009390648035 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.55, Z:-3.61 [[ 9.82478080e-01 1.76573553e-01 5.96540250e-02 4.48197809e+01] [-1.76346191e-01 9.84286176e-01 -9.09645884e-03 -4.55184297e+00] [-6.03228262e-02 -1.58268865e-03 9.98177665e-01 -3.61169484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754000006 meters 0.02040179896157675 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.56, Z:-3.61 [[ 9.82812244e-01 1.74139254e-01 6.12830524e-02 4.48796333e+01] [-1.73893352e-01 9.84719965e-01 -9.36448973e-03 -4.56491704e+00] [-6.19773704e-02 -1.45318021e-03 9.98076497e-01 -3.61463134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46105275400001 meters 0.01860410495734652 Centerline is valid? [True, True] Translation: X:44.94, Y:-4.58, Z:-3.62 [[ 9.83564303e-01 1.68036081e-01 6.60691897e-02 4.49392689e+01] [-1.67736302e-01 9.85780175e-01 -1.00984845e-02 -4.58067336e+00] [-6.68266071e-02 -1.14969267e-03 9.97763941e-01 -3.61532235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52105275400001 meters 0.017457312123432055 Centerline is valid? [True, True] Translation: X:45.00, Y:-4.60, Z:-3.62 [[ 9.84125232e-01 1.63082205e-01 7.00122948e-02 4.49991044e+01] [-1.62732868e-01 9.86612110e-01 -1.07032172e-02 -4.59539789e+00] [-7.08204821e-02 -8.59995390e-04 9.97488707e-01 -3.61563623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754000005 meters 0.01742212916760855 Centerline is valid? [True, True] Translation: X:45.06, Y:-4.60, Z:-3.62 [[ 9.84238916e-01 1.62950093e-01 6.87097041e-02 4.50607878e+01] [-1.62613359e-01 9.86633959e-01 -1.05036040e-02 -4.60468171e+00] [-6.95028907e-02 -8.35059959e-04 9.97581401e-01 -3.62302036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64105275400001 meters 0.01836088947403364 Centerline is valid? [True, True] Translation: X:45.12, Y:-4.61, Z:-3.64 [[ 9.83935070e-01 1.66351019e-01 6.48005882e-02 4.51223097e+01] [-1.66057587e-01 9.86066098e-01 -9.92610154e-03 -4.60843818e+00] [-6.55488803e-02 -9.93989896e-04 9.97848864e-01 -3.63716950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70105275400001 meters 0.01903107657268361 Centerline is valid? [True, True] Translation: X:45.18, Y:-4.61, Z:-3.64 [[ 9.83433432e-01 1.69682213e-01 6.37701415e-02 4.51838101e+01] [-1.69404932e-01 9.85498107e-01 -9.76987377e-03 -4.61231854e+00] [-6.45031276e-02 -1.19495599e-03 9.97916789e-01 -3.64496724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754000005 meters 0.01998457616824523 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.62, Z:-3.65 [[ 9.82984358e-01 1.72371408e-01 6.34811024e-02 4.52446625e+01] [-1.72101262e-01 9.85031103e-01 -9.74069370e-03 -4.61695510e+00] [-6.42098774e-02 -1.35022830e-03 9.97935503e-01 -3.65238757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82105275400001 meters 0.018806898462276057 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.63, Z:-3.66 [[ 9.83049116e-01 1.73004079e-01 6.06961623e-02 4.53051944e+01] [-1.72757609e-01 9.84920225e-01 -9.32516214e-03 -4.62994975e+00] [-6.13941689e-02 -1.31863148e-03 9.98112728e-01 -3.65784691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88105275400001 meters 0.01890461380699276 Centerline is valid? [True, True] Translation: X:45.36, Y:-4.64, Z:-3.67 [[ 9.83664683e-01 1.68378363e-01 6.36594010e-02 4.53641957e+01] [-1.68096191e-01 9.85721870e-01 -9.80135489e-03 -4.63941555e+00] [-6.44007999e-02 -1.05965617e-03 9.97923551e-01 -3.66663891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters 0.01758746468470556 Centerline is valid? [True, True] Translation: X:45.42, Y:-4.65, Z:-3.67 [[ 9.83809891e-01 1.66603220e-01 6.60413923e-02 4.54247939e+01] [-1.66295651e-01 9.86023532e-01 -1.01661942e-02 -4.65333529e+00] [-6.68120876e-02 -9.80793855e-04 9.97765094e-01 -3.66883239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00105275400001 meters 0.017231414653407183 Centerline is valid? [True, True] Translation: X:45.49, Y:-4.67, Z:-3.67 [[ 9.83602885e-01 1.66684761e-01 6.88589438e-02 4.54861219e+01] [-1.66349347e-01 9.86009720e-01 -1.06173150e-02 -4.66513812e+00] [-6.96653325e-02 -1.01141865e-03 9.97569907e-01 -3.67009847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06105275400001 meters 0.017271983260161848 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.67, Z:-3.68 [[ 9.83403832e-01 1.67379615e-01 7.00069152e-02 4.55480679e+01] [-1.67033468e-01 9.85891950e-01 -1.08112548e-02 -4.67374061e+00] [-7.08288378e-02 -1.06166840e-03 9.97487919e-01 -3.67619497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters 0.016857764184992716 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.68, Z:-3.68 [[ 9.83571884e-01 1.65850528e-01 7.12737708e-02 4.56085257e+01] [-1.65486249e-01 9.86150446e-01 -1.10272008e-02 -4.68488153e+00] [-7.21155279e-02 -9.48784301e-04 9.97395834e-01 -3.68373691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18105275400001 meters 0.016282497269382887 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.70, Z:-3.69 [[ 9.84007915e-01 1.63423309e-01 7.08607520e-02 4.56690050e+01] [-1.63055755e-01 9.86555756e-01 -1.09800250e-02 -4.69903148e+00] [-7.17024748e-02 -7.49821945e-04 9.97425783e-01 -3.68916577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24105275400001 meters 0.016101175175315414 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.71, Z:-3.70 [[ 9.84030368e-01 1.63599680e-01 7.01382903e-02 4.57306949e+01] [-1.63238885e-01 9.86526532e-01 -1.08842758e-02 -4.70891589e+00] [-7.09739484e-02 -7.38838381e-04 9.97477896e-01 -3.69545968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters 0.016160307660043782 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.71, Z:-3.70 [[ 9.83757007e-01 1.64515798e-01 7.18101878e-02 4.57921624e+01] [-1.64138496e-01 9.86374121e-01 -1.11645759e-02 -4.71374687e+00] [-7.26684599e-02 -8.03586499e-04 9.97355829e-01 -3.70272552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754000006 meters 0.015837499308694172 Centerline is valid? [True, True] Translation: X:45.85, Y:-4.72, Z:-3.71 [[ 9.83426685e-01 1.65811662e-01 7.33378979e-02 4.58540572e+01] [-1.65420399e-01 9.86157026e-01 -1.14197574e-02 -4.72391907e+00] [-7.42162122e-02 -9.01090190e-04 9.97241767e-01 -3.70630771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42105275400001 meters 0.015647734741365677 Centerline is valid? [True, True] Translation: X:45.91, Y:-4.73, Z:-3.71 [[ 9.83373773e-01 1.65746618e-01 7.41894900e-02 4.59145925e+01] [-1.65344409e-01 9.86167975e-01 -1.15737581e-02 -4.73436292e+00] [-7.50816104e-02 -8.85487149e-04 9.97176999e-01 -3.71190051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters 0.015883102531583426 Centerline is valid? [True, True] Translation: X:45.98, Y:-4.74, Z:-3.72 [[ 9.82781816e-01 1.68330287e-01 7.61893534e-02 4.59757818e+01] [-1.67912340e-01 9.85730044e-01 -1.19049015e-02 -4.74237655e+00] [-7.71060902e-02 -1.09321186e-03 9.97022295e-01 -3.71841638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754000006 meters 0.016941625281581225 Centerline is valid? [True, True] Translation: X:46.04, Y:-4.75, Z:-3.72 [[ 9.81878331e-01 1.73187311e-01 7.69486739e-02 4.60374925e+01] [-1.72774338e-01 9.84887808e-01 -1.20429890e-02 -4.75048822e+00] [-7.78715036e-02 -1.47000631e-03 9.96962320e-01 -3.72148891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60105275400001 meters 0.01682855979422666 Centerline is valid? [True, True] Translation: X:46.10, Y:-4.76, Z:-3.73 [[ 9.81431651e-01 1.74831534e-01 7.89040505e-02 4.60989056e+01] [-1.74402152e-01 9.84597003e-01 -1.23543942e-02 -4.75683898e+00] [-7.98486293e-02 -1.63604271e-03 9.96805658e-01 -3.72824930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters 0.017469097144364794 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.77, Z:-3.74 [[ 9.81556736e-01 1.75306460e-01 7.62497142e-02 4.61592624e+01] [-1.74905524e-01 9.84512613e-01 -1.19571133e-02 -4.76552572e+00] [-7.71649645e-02 -1.59991110e-03 9.97017055e-01 -3.73642821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754000006 meters 0.01625879944368273 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.78, Z:-3.74 [[ 9.81858079e-01 1.74387169e-01 7.44568894e-02 4.62191733e+01] [-1.74001016e-01 9.84676058e-01 -1.16922222e-02 -4.77896845e+00] [-7.53548898e-02 -1.47547164e-03 9.97155687e-01 -3.74399411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78105275400001 meters 0.016840092897904155 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.79, Z:-3.75 [[ 9.82008294e-01 1.74461110e-01 7.22705400e-02 4.62802108e+01] [-1.74096227e-01 9.84663041e-01 -1.13665842e-02 -4.78529348e+00] [-7.31451566e-02 -1.41994834e-03 9.97320294e-01 -3.75463368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters 0.017432951873469486 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.79, Z:-3.76 [[ 9.81946578e-01 1.75655462e-01 7.01860162e-02 4.63406273e+01] [-1.75312998e-01 9.84450643e-01 -1.10582375e-02 -4.79323591e+00] [-7.10371086e-02 -1.44592247e-03 9.97472625e-01 -3.76175038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754000006 meters 0.017362821926075037 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.80, Z:-3.77 [[ 9.81689338e-01 1.77989646e-01 6.78655326e-02 4.64012974e+01] [-1.77674547e-01 9.84031133e-01 -1.06997471e-02 -4.80346890e+00] [-6.86862412e-02 -1.55415017e-03 9.97637101e-01 -3.76598554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96105275400001 meters 0.018330988878610316 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.81, Z:-3.77 [[ 9.81043877e-01 1.81524133e-01 6.78373035e-02 4.64628795e+01] [-1.81216527e-01 9.83384873e-01 -1.07127235e-02 -4.80710059e+00] [-6.86547959e-02 -1.78358874e-03 9.97638881e-01 -3.77465027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02105275400001 meters 0.018016065632120666 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.82, Z:-3.78 [[ 9.80996306e-01 1.81447259e-01 6.87251022e-02 4.65239291e+01] [-1.81131155e-01 9.83399032e-01 -1.08557891e-02 -4.81664185e+00] [-6.95539522e-02 -1.79876814e-03 9.97576570e-01 -3.78146441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754000005 meters 0.017257102057200956 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.83, Z:-3.78 [[ 9.81546203e-01 1.78102890e-01 6.96161748e-02 4.65840699e+01] [-1.77768744e-01 9.84010629e-01 -1.10161389e-02 -4.83066174e+00] [-7.04650621e-02 -1.56273066e-03 9.97513024e-01 -3.78432923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14105275400001 meters 0.0170256466065095 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.84, Z:-3.79 [[ 9.81748012e-01 1.76890880e-01 6.98602699e-02 4.66446717e+01] [-1.76551196e-01 9.84229358e-01 -1.10565203e-02 -4.84202545e+00] [-7.07143262e-02 -1.47919732e-03 9.97495512e-01 -3.78911585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20105275400001 meters 0.016347307031202858 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.85, Z:-3.79 [[ 9.81990731e-01 1.74682487e-01 7.19738300e-02 4.67052054e+01] [-1.74314669e-01 9.84623901e-01 -1.14091845e-02 -4.85349852e+00] [-7.28601380e-02 -1.34238088e-03 9.97341265e-01 -3.79335784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754000005 meters 0.015915094606437353 Centerline is valid? [True, True] Translation: X:46.77, Y:-4.87, Z:-3.80 [[ 9.82142760e-01 1.73910450e-01 7.17687581e-02 4.67658731e+01] [-1.73541396e-01 9.84760660e-01 -1.13941458e-02 -4.86534357e+00] [-7.26566106e-02 -1.26417265e-03 9.97356215e-01 -3.79800109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32105275400001 meters 0.016318732020648277 Centerline is valid? [True, True] Translation: X:46.83, Y:-4.87, Z:-3.80 [[ 9.81993611e-01 1.74657131e-01 7.19960698e-02 4.68278908e+01] [-1.74286436e-01 9.84628448e-01 -1.14480324e-02 -4.87393547e+00] [-7.28888590e-02 -1.30604369e-03 9.97339214e-01 -3.80225100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38105275400001 meters 0.016255163445946873 Centerline is valid? [True, True] Translation: X:46.89, Y:-4.88, Z:-3.81 [[ 9.82022071e-01 1.74629002e-01 7.16754093e-02 4.68893304e+01] [-1.74260055e-01 9.84633474e-01 -1.14173049e-02 -4.88469504e+00] [-7.25677999e-02 -1.27811540e-03 9.97362663e-01 -3.80529292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters 0.016529950325622843 Centerline is valid? [True, True] Translation: X:46.95, Y:-4.89, Z:-3.81 [[ 9.81826642e-01 1.75678166e-01 7.17887708e-02 4.69509905e+01] [-1.75309322e-01 9.84446745e-01 -1.14563288e-02 -4.89168077e+00] [-7.26848486e-02 -1.33711185e-03 9.97354062e-01 -3.81133935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50105275400001 meters 0.017099517223989707 Centerline is valid? [True, True] Translation: X:47.01, Y:-4.90, Z:-3.82 [[ 9.81562508e-01 1.77783627e-01 7.01998907e-02 4.70122022e+01] [-1.77435085e-01 9.84068545e-01 -1.12200724e-02 -4.89839869e+00] [-7.10762494e-02 -1.44272123e-03 9.97469842e-01 -3.81857893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56105275400001 meters 0.017013310326291577 Centerline is valid? [True, True] Translation: X:47.07, Y:-4.91, Z:-3.82 [[ 9.81683014e-01 1.76954232e-01 7.06092059e-02 4.70729072e+01] [-1.76598188e-01 9.84218123e-01 -1.13033581e-02 -4.91047635e+00] [-7.14950372e-02 -1.37314313e-03 9.97440010e-01 -3.82079126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters 0.017124305908872883 Centerline is valid? [True, True] Translation: X:47.13, Y:-4.92, Z:-3.83 [[ 9.81784376e-01 1.76269620e-01 7.09116411e-02 4.71341283e+01] [-1.75907467e-01 9.84341049e-01 -1.13693603e-02 -4.92125401e+00] [-7.18053120e-02 -1.31162683e-03 9.97417805e-01 -3.82519552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68105275400001 meters 0.016629025259068543 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.93, Z:-3.83 [[ 9.82219955e-01 1.73547567e-01 7.15905188e-02 4.71946510e+01] [-1.73169934e-01 9.84824867e-01 -1.14958669e-02 -4.93290539e+00] [-7.24992029e-02 -1.10585559e-03 9.97367857e-01 -3.83212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74105275400001 meters 0.01609986142405949 Centerline is valid? [True, True] Translation: X:47.26, Y:-4.95, Z:-3.84 [[ 9.82398607e-01 1.73202470e-01 6.99562864e-02 4.72565363e+01] [-1.72839893e-01 9.84885690e-01 -1.12493757e-02 -4.94610597e+00] [-7.08473651e-02 -1.03986598e-03 9.97486626e-01 -3.83671548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters 0.017093552406512516 Centerline is valid? [True, True] Translation: X:47.32, Y:-4.95, Z:-3.84 [[ 9.82099224e-01 1.75941950e-01 6.72721675e-02 4.73171238e+01] [-1.75611773e-01 9.84399848e-01 -1.08372193e-02 -4.95053242e+00] [-6.81294329e-02 -1.17055996e-03 9.97675804e-01 -3.84347255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754000006 meters 0.01745398735467666 Centerline is valid? [True, True] Translation: X:47.38, Y:-4.96, Z:-3.85 [[ 9.81943014e-01 1.77683968e-01 6.49332256e-02 4.73792929e+01] [-1.77379241e-01 9.84086830e-01 -1.04745550e-02 -4.95502281e+00] [-6.57610926e-02 -1.23239014e-03 9.97834636e-01 -3.84970912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92105275400001 meters 0.017425830945935812 Centerline is valid? [True, True] Translation: X:47.44, Y:-4.96, Z:-3.85 [[ 9.82083040e-01 1.76817996e-01 6.51789671e-02 4.74391795e+01] [-1.76507875e-01 9.84242880e-01 -1.05319803e-02 -4.96427596e+00] [-6.60141780e-02 -1.16132173e-03 9.97818009e-01 -3.85459261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters 0.01713608676544074 Centerline is valid? [True, True] Translation: X:47.50, Y:-4.98, Z:-3.85 [[ 9.82168542e-01 1.75711276e-01 6.68618124e-02 4.75005423e+01] [-1.75381660e-01 9.84441124e-01 -1.08141840e-02 -4.97772822e+00] [-6.77216918e-02 -1.10498436e-03 9.97703639e-01 -3.85497094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754000006 meters 0.016555186200064197 Centerline is valid? [True, True] Translation: X:47.56, Y:-4.99, Z:-3.86 [[ 9.82919353e-01 1.72003267e-01 6.54554910e-02 4.75618177e+01] [-1.71678797e-01 9.85096033e-01 -1.05922867e-02 -4.98932780e+00] [-6.63018525e-02 -8.25956399e-04 9.97799269e-01 -3.86021310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10105275400001 meters 0.01622196085143493 Centerline is valid? [True, True] Translation: X:47.62, Y:-5.00, Z:-3.87 [[ 9.83262381e-01 1.69915110e-01 6.57567138e-02 4.76222417e+01] [-1.69582738e-01 9.85458465e-01 -1.06446362e-02 -5.00115632e+00] [-6.66091948e-02 -6.84733241e-04 9.97778907e-01 -3.86560841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters 0.01618743608541738 Centerline is valid? [True, True] Translation: X:47.68, Y:-5.01, Z:-3.87 [[ 9.83387281e-01 1.69595562e-01 6.47054908e-02 4.76839297e+01] [-1.69272068e-01 9.85513541e-01 -1.04894321e-02 -5.01294564e+00] [-6.55470985e-02 -6.37658098e-04 9.97849273e-01 -3.86897406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754000006 meters 0.01660485988903509 Centerline is valid? [True, True] Translation: X:47.74, Y:-5.02, Z:-3.87 [[ 9.83148201e-01 1.71577137e-01 6.30943857e-02 4.77440482e+01] [-1.71272479e-01 9.85170416e-01 -1.02463882e-02 -5.02015713e+00] [-6.39167681e-02 -7.32613765e-04 9.97954964e-01 -3.87481523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28105275400001 meters 0.016400547660691264 Centerline is valid? [True, True] Translation: X:47.81, Y:-5.03, Z:-3.88 [[ 9.82985620e-01 1.72576020e-01 6.29029987e-02 4.78055702e+01] [-1.72274425e-01 9.84995891e-01 -1.02282620e-02 -5.02913467e+00] [-6.37243480e-02 -7.82343475e-04 9.97967232e-01 -3.88034743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34105275400001 meters 0.016416825552729334 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.04, Z:-3.88 [[ 9.82969117e-01 1.72844661e-01 6.24214598e-02 4.78670613e+01] [-1.72547077e-01 9.84948791e-01 -1.01678483e-02 -5.03991335e+00] [-6.32393997e-02 -7.75959590e-04 9.97998084e-01 -3.88409201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754000006 meters 0.016655669208090324 Centerline is valid? [True, True] Translation: X:47.93, Y:-5.05, Z:-3.89 [[ 9.82610276e-01 1.74598334e-01 6.31859718e-02 4.79280291e+01] [-1.74295831e-01 9.84639348e-01 -1.03110713e-02 -5.04845829e+00] [-6.40156899e-02 -8.81286848e-04 9.97948503e-01 -3.88589342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46105275400001 meters 0.01669690862134295 Centerline is valid? [True, True] Translation: X:47.99, Y:-5.06, Z:-3.89 [[ 9.82413826e-01 1.75344451e-01 6.41669552e-02 4.79892359e+01] [-1.75032922e-01 9.84506711e-01 -1.04886726e-02 -5.05833698e+00] [-6.50119285e-02 -9.27112656e-04 9.97884056e-01 -3.88930850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52105275400001 meters 0.016444590732460462 Centerline is valid? [True, True] Translation: X:48.05, Y:-5.07, Z:-3.89 [[ 9.82729041e-01 1.73430389e-01 6.45409332e-02 4.80496691e+01] [-1.73110060e-01 9.84845814e-01 -1.05655288e-02 -5.07018252e+00] [-6.53952517e-02 -7.89632866e-04 9.97859127e-01 -3.89414925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754000005 meters 0.015695382452413986 Centerline is valid? [True, True] Translation: X:48.11, Y:-5.09, Z:-3.90 [[ 9.83428805e-01 1.68724440e-01 6.63313543e-02 4.81098202e+01] [-1.68374271e-01 9.85663147e-01 -1.08750087e-02 -5.08514710e+00] [-6.72152511e-02 -4.73696602e-04 9.97738385e-01 -3.89548690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64105275400001 meters 0.01565959794974443 Centerline is valid? [True, True] Translation: X:48.17, Y:-5.10, Z:-3.90 [[ 9.84181484e-01 1.64769543e-01 6.50984124e-02 4.81711069e+01] [-1.64422651e-01 9.86332076e-01 -1.06877600e-02 -5.09559348e+00] [-6.59696695e-02 -1.84958053e-04 9.97821612e-01 -3.90300502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70105275400001 meters 0.016059949485661796 Centerline is valid? [True, True] Translation: X:48.23, Y:-5.11, Z:-3.91 [[ 9.84856800e-01 1.62229490e-01 6.11447196e-02 4.82315148e+01] [-1.61917603e-01 9.86753055e-01 -1.00547149e-02 -5.10777107e+00] [-6.19659101e-02 2.04787089e-06 9.98078266e-01 -3.90911493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754000005 meters 0.01594619780513557 Centerline is valid? [True, True] Translation: X:48.29, Y:-5.12, Z:-3.91 [[ 9.85138549e-01 1.60529974e-01 6.10914586e-02 4.82930245e+01] [-1.60214503e-01 9.87030958e-01 -1.00598531e-02 -5.11793801e+00] [-6.19140689e-02 1.22611458e-04 9.98081476e-01 -3.91219139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82105275400001 meters 0.01583558430718784 Centerline is valid? [True, True] Translation: X:48.35, Y:-5.13, Z:-3.91 [[ 9.84841458e-01 1.60872176e-01 6.48648303e-02 4.83535131e+01] [-1.60515910e-01 9.86975241e-01 -1.07011987e-02 -5.12688995e+00] [-6.57415066e-02 1.27146838e-04 9.97836679e-01 -3.91342562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88105275400001 meters 0.015187009835477164 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.14, Z:-3.91 [[ 9.84197395e-01 1.63980489e-01 6.68272896e-02 4.84149349e+01] [-1.63608918e-01 9.86463580e-01 -1.10330449e-02 -5.13597756e+00] [-6.77318914e-02 -7.48465378e-05 9.97703556e-01 -3.91273727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters 0.015073046412526377 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.14, Z:-3.92 [[ 9.83059799e-01 1.69111894e-01 7.06724801e-02 4.84770562e+01] [-1.68708207e-01 9.85596762e-01 -1.16860058e-02 -5.14155623e+00] [-7.16308102e-02 -4.34984853e-04 9.97431119e-01 -3.91650798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00105275400001 meters 0.015611289084907422 Centerline is valid? [True, True] Translation: X:48.54, Y:-5.15, Z:-3.92 [[ 9.81767845e-01 1.76540537e-01 7.04651461e-02 4.85382722e+01] [-1.76157006e-01 9.84292906e-01 -1.16697943e-02 -5.14825484e+00] [-7.14185352e-02 -9.55900363e-04 9.97445978e-01 -3.91939691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06105275400001 meters 0.016793778350094334 Centerline is valid? [True, True] Translation: X:48.60, Y:-5.16, Z:-3.93 [[ 9.80877605e-01 1.81589590e-01 7.00310308e-02 4.85999334e+01] [-1.81222972e-01 9.83373538e-01 -1.16069005e-02 -5.15621084e+00] [-7.09743548e-02 -1.30628283e-03 9.97477285e-01 -3.92594348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters 0.01783525200207488 Centerline is valid? [True, True] Translation: X:48.66, Y:-5.17, Z:-3.94 [[ 9.80755102e-01 1.84094398e-01 6.50283278e-02 4.86601469e+01] [-1.83783455e-01 9.82907606e-01 -1.07833400e-02 -5.16718212e+00] [-6.59019905e-02 -1.37531510e-03 9.97825153e-01 -3.93598757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18105275400001 meters 0.017426183436082016 Centerline is valid? [True, True] Translation: X:48.72, Y:-5.18, Z:-3.94 [[ 9.81389083e-01 1.81952637e-01 6.13897887e-02 4.87204142e+01] [-1.81671345e-01 9.83306609e-01 -1.01801128e-02 -5.18165396e+00] [-6.22172833e-02 -1.16211395e-03 9.98061952e-01 -3.94460669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24105275400001 meters 0.016636091168634706 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.19, Z:-3.95 [[ 9.81764559e-01 1.80075863e-01 6.09182562e-02 4.87809418e+01] [-1.79794364e-01 9.83652196e-01 -1.01165583e-02 -5.19315700e+00] [-6.17441244e-02 -1.02068076e-03 9.98091489e-01 -3.95083372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters 0.016657434628280583 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.20, Z:-3.95 [[ 9.81591118e-01 1.81523163e-01 5.93988053e-02 4.88421848e+01] [-1.81257339e-01 9.83386087e-01 -9.87829369e-03 -5.20325546e+00] [-6.02050979e-02 -1.07002404e-03 9.98185454e-01 -3.95476531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754000006 meters 0.01741569277571803 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.21, Z:-3.96 [[ 9.81143151e-01 1.84256903e-01 5.83738834e-02 4.89040658e+01] [-1.84003944e-01 9.82877387e-01 -9.72582167e-03 -5.20972965e+00] [-5.91664198e-02 -1.19860145e-03 9.98247413e-01 -3.95893250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42105275400001 meters 0.01778693873231507 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.21, Z:-3.97 [[ 9.80725270e-01 1.86771999e-01 5.73948212e-02 4.89653306e+01] [-1.86531742e-01 9.82402391e-01 -9.56296479e-03 -5.21491583e+00] [-5.81709037e-02 -1.32731478e-03 9.98305757e-01 -3.96631485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters 0.018161277840653873 Centerline is valid? [True, True] Translation: X:49.03, Y:-5.22, Z:-3.97 [[ 9.80700165e-01 1.86963434e-01 5.72001819e-02 4.90260179e+01] [-1.86724404e-01 9.82365984e-01 -9.54305041e-03 -5.22321455e+00] [-5.79757145e-02 -1.32179874e-03 9.98317119e-01 -3.97333340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754000006 meters 0.017629317745445804 Centerline is valid? [True, True] Translation: X:49.09, Y:-5.24, Z:-3.97 [[ 9.80608549e-01 1.87245215e-01 5.78455104e-02 4.90870172e+01] [-1.87000312e-01 9.82312292e-01 -9.66664985e-03 -5.23647544e+00] [-5.86323898e-02 -1.33792899e-03 9.98278745e-01 -3.97404610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60105275400001 meters 0.0179474055010161 Centerline is valid? [True, True] Translation: X:49.15, Y:-5.25, Z:-3.98 [[ 9.80432511e-01 1.88404226e-01 5.70608379e-02 4.91482308e+01] [-1.88167074e-01 9.82090606e-01 -9.54951737e-03 -5.24729380e+00] [-5.78380823e-02 -1.37431362e-03 9.98325031e-01 -3.97773751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters 0.01767067268677607 Centerline is valid? [True, True] Translation: X:49.21, Y:-5.26, Z:-3.98 [[ 9.80221180e-01 1.89628294e-01 5.66352274e-02 4.92095114e+01] [-1.89395912e-01 9.81854922e-01 -9.49213514e-03 -5.25744513e+00] [-5.74075541e-02 -1.42208862e-03 9.98349814e-01 -3.98151516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754000006 meters 0.017066565841088628 Centerline is valid? [True, True] Translation: X:49.27, Y:-5.27, Z:-3.99 [[ 9.80747468e-01 1.86391800e-01 5.82451797e-02 4.92686604e+01] [-1.86139089e-01 9.82474702e-01 -9.78257127e-03 -5.26925246e+00] [-5.90478067e-02 -1.24747270e-03 9.98254377e-01 -3.98537255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78105275400001 meters 0.016618369035107525 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.28, Z:-3.99 [[ 9.81510779e-01 1.82916784e-01 5.63741094e-02 4.93285004e+01] [-1.82674584e-01 9.83127882e-01 -9.46386796e-03 -5.28499180e+00] [-5.71540590e-02 -1.00922855e-03 9.98364861e-01 -3.99044496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84105275400001 meters 0.01551856365760512 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.30, Z:-3.99 [[ 9.81910853e-01 1.79717557e-01 5.96043274e-02 4.93891943e+01] [-1.79439694e-01 9.83717884e-01 -1.00259834e-02 -5.29716323e+00] [-6.04356881e-02 -8.50760366e-04 9.98171731e-01 -3.99268554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754000006 meters 0.014790846868241453 Centerline is valid? [True, True] Translation: X:49.45, Y:-5.31, Z:-3.99 [[ 9.82167482e-01 1.76690912e-01 6.42445272e-02 4.94495751e+01] [-1.76361321e-01 9.84266130e-01 -1.08106600e-02 -5.30710857e+00] [-6.51438576e-02 -7.12370985e-04 9.97875629e-01 -3.99299893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96105275400001 meters 0.014269612461490173 Centerline is valid? [True, True] Translation: X:49.51, Y:-5.32, Z:-4.00 [[ 9.82936114e-01 1.71872463e-01 6.55473222e-02 4.95108813e+01] [-1.71518536e-01 9.85119128e-01 -1.10315291e-02 -5.32031962e+00] [-6.64679370e-02 -3.99292370e-04 9.97788482e-01 -3.99570872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02105275400001 meters 0.014119514970814066 Centerline is valid? [True, True] Translation: X:49.57, Y:-5.33, Z:-4.00 [[ 9.84017409e-01 1.66054562e-01 6.43088020e-02 4.95719351e+01] [-1.65701310e-01 9.86116566e-01 -1.08255977e-02 -5.33335728e+00] [-6.52136149e-02 -3.47616125e-06 9.97871327e-01 -4.00490420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754000005 meters 0.015384715848245823 Centerline is valid? [True, True] Translation: X:49.63, Y:-5.35, Z:-4.01 [[ 9.85706613e-01 1.56484194e-01 6.24112932e-02 4.96303442e+01] [-1.56130972e-01 9.87680261e-01 -1.05272200e-02 -5.34993047e+00] [-6.32897459e-02 6.32414515e-04 9.97994994e-01 -4.01323181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14105275400001 meters 0.01642380973807607 Centerline is valid? [True, True] Translation: X:49.69, Y:-5.36, Z:-4.02 [[ 9.86338272e-01 1.52226146e-01 6.29604173e-02 4.96911876e+01] [-1.51858082e-01 9.88345267e-01 -1.06186320e-02 -5.36100010e+00] [-6.38430639e-02 9.12514899e-04 9.97959534e-01 -4.01846544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20105275400001 meters 0.016001900779994003 Centerline is valid? [True, True] Translation: X:49.75, Y:-5.37, Z:-4.02 [[ 9.86140162e-01 1.53784489e-01 6.22728885e-02 4.97534506e+01] [-1.53426664e-01 9.88104076e-01 -1.05163774e-02 -5.36707101e+00] [-6.31493507e-02 8.16300557e-04 9.98003754e-01 -4.02216205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754000005 meters 0.015192478836520577 Centerline is valid? [True, True] Translation: X:49.82, Y:-5.37, Z:-4.03 [[ 9.85788440e-01 1.55987460e-01 6.23623534e-02 4.98153790e+01] [-1.55631896e-01 9.87758792e-01 -1.05490059e-02 -5.37114969e+00] [-6.32444755e-02 6.93516730e-04 9.97997823e-01 -4.02983700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32105275400001 meters 0.014705170294058396 Centerline is valid? [True, True] Translation: X:49.88, Y:-5.38, Z:-4.03 [[ 9.85277902e-01 1.58062980e-01 6.51425314e-02 4.98758832e+01] [-1.57678363e-01 9.87428849e-01 -1.10364060e-02 -5.38079685e+00] [-6.60680621e-02 6.02359266e-04 9.97814937e-01 -4.03202688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38105275400001 meters 0.014196537457605516 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.39, Z:-4.03 [[ 9.84689111e-01 1.60629257e-01 6.77170327e-02 4.99362431e+01] [-1.60218559e-01 9.87014705e-01 -1.14885056e-02 -5.39064066e+00] [-6.86830971e-02 4.63080954e-04 9.97638420e-01 -4.03413676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754000005 meters 0.013443659659559409 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.40, Z:-4.04 [[ 9.83726704e-01 1.66123783e-01 6.84445862e-02 4.99974272e+01] [-1.65716433e-01 9.86104903e-01 -1.16268801e-02 -5.39971705e+00] [-6.94250433e-02 9.52798276e-05 9.97587166e-01 -4.03848282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50105275400001 meters 0.01363115295268165 Centerline is valid? [True, True] Translation: X:50.06, Y:-5.41, Z:-4.05 [[ 9.82565523e-01 1.73814959e-01 6.59799362e-02 5.00589178e+01] [-1.73452724e-01 9.84778242e-01 -1.12234672e-02 -5.40728364e+00] [-6.69264121e-02 -4.16607769e-04 9.97757827e-01 -4.04820649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56105275400001 meters 0.014156392615308528 Centerline is valid? [True, True] Translation: X:50.12, Y:-5.42, Z:-4.05 [[ 9.81433574e-01 1.80468118e-01 6.49568892e-02 5.01196715e+01] [-1.80130387e-01 9.83580477e-01 -1.10674686e-02 -5.41890105e+00] [-6.58876533e-02 -8.38724322e-04 9.97826695e-01 -4.05342971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters 0.016182925275901643 Centerline is valid? [True, True] Translation: X:50.18, Y:-5.43, Z:-4.07 [[ 9.81382848e-01 1.82031383e-01 6.12558657e-02 5.01793548e+01] [-1.81733915e-01 9.83292321e-01 -1.04400605e-02 -5.42532002e+00] [-6.21328410e-02 -8.86571967e-04 9.98067495e-01 -4.06737427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68105275400001 meters 0.015309022045521023 Centerline is valid? [True, True] Translation: X:50.24, Y:-5.44, Z:-4.07 [[ 9.81395350e-01 1.83201469e-01 5.74490073e-02 5.02399557e+01] [-1.82941419e-01 9.83074984e-01 -9.79865291e-03 -5.43826461e+00] [-5.82718095e-02 -8.93450529e-04 9.98300355e-01 -4.07292694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74105275400001 meters 0.015756311130762927 Centerline is valid? [True, True] Translation: X:50.30, Y:-5.45, Z:-4.08 [[ 9.81285155e-01 1.83688628e-01 5.77748425e-02 5.03019116e+01] [-1.83426291e-01 9.82984045e-01 -9.85712684e-03 -5.44691094e+00] [-5.86023905e-02 -9.24772863e-04 9.98280975e-01 -4.07953049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters 0.015417519069294826 Centerline is valid? [True, True] Translation: X:50.36, Y:-5.46, Z:-4.08 [[ 9.81315327e-01 1.83662154e-01 5.73449441e-02 5.03637675e+01] [-1.83403474e-01 9.82989003e-01 -9.78703608e-03 -5.45718917e+00] [-5.81669576e-02 -9.13093470e-04 9.98306452e-01 -4.08479690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754000006 meters 0.015220167208414554 Centerline is valid? [True, True] Translation: X:50.43, Y:-5.47, Z:-4.09 [[ 9.81159179e-01 1.84369446e-01 5.77457596e-02 5.04254970e+01] [-1.84107397e-01 9.82856558e-01 -9.87183947e-03 -5.46650089e+00] [-5.85758641e-02 -9.45575562e-04 9.98282512e-01 -4.09061172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92105275400001 meters 0.015417955883085163 Centerline is valid? [True, True] Translation: X:50.48, Y:-5.48, Z:-4.10 [[ 9.80879291e-01 1.86868406e-01 5.43692461e-02 5.04849602e+01] [-1.86638861e-01 9.82384434e-01 -9.31445307e-03 -5.47668313e+00] [-5.51520780e-02 -1.01106004e-03 9.98477454e-01 -4.09691484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters 0.01666445316413814 Centerline is valid? [True, True] Translation: X:50.54, Y:-5.49, Z:-4.10 [[ 9.80447046e-01 1.89462961e-01 5.31730772e-02 5.05449080e+01] [-1.89247327e-01 9.81887214e-01 -9.10754305e-03 -5.48594559e+00] [-5.39355067e-02 -1.13339905e-03 9.98543778e-01 -4.10380241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754000006 meters 0.016802312781083153 Centerline is valid? [True, True] Translation: X:50.61, Y:-5.49, Z:-4.11 [[ 9.80009808e-01 1.91479610e-01 5.40031067e-02 5.06059654e+01] [-1.91259561e-01 9.81495793e-01 -9.26216507e-03 -5.49470516e+00] [-5.47773379e-02 -1.25159791e-03 9.98497810e-01 -4.10775423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10105275400001 meters 0.015861854560029164 Centerline is valid? [True, True] Translation: X:50.67, Y:-5.51, Z:-4.11 [[ 9.79625389e-01 1.92772550e-01 5.63279782e-02 5.06671922e+01] [-1.92534438e-01 9.81242516e-01 -9.67543851e-03 -5.50576767e+00] [-5.71365660e-02 -1.36677041e-03 9.98365436e-01 -4.10790674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters 0.016209846458396206 Centerline is valid? [True, True] Translation: X:50.73, Y:-5.52, Z:-4.12 [[ 9.79772214e-01 1.91633414e-01 5.76458363e-02 5.07270362e+01] [-1.91381015e-01 9.81465695e-01 -9.91954674e-03 -5.51604634e+00] [-5.84783274e-02 -1.31342239e-03 9.98287814e-01 -4.11569306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754000006 meters 0.015812004597752692 Centerline is valid? [True, True] Translation: X:50.79, Y:-5.53, Z:-4.12 [[ 9.80077369e-01 1.89895487e-01 5.82070072e-02 5.07872265e+01] [-1.89634711e-01 9.81803558e-01 -1.00224373e-02 -5.52840511e+00] [-5.90510624e-02 -1.21530496e-03 9.98254224e-01 -4.12219958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28105275400001 meters 0.014693702518266896 Centerline is valid? [True, True] Translation: X:50.85, Y:-5.54, Z:-4.12 [[ 9.80550781e-01 1.86283528e-01 6.17949270e-02 5.08469234e+01] [-1.85981148e-01 9.82495479e-01 -1.06604886e-02 -5.54434823e+00] [-6.26991099e-02 -1.03954102e-03 9.98031934e-01 -4.12238755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34105275400001 meters 0.013915784704896496 Centerline is valid? [True, True] Translation: X:50.91, Y:-5.56, Z:-4.13 [[ 9.80778962e-01 1.83776103e-01 6.55665415e-02 5.09069292e+01] [-1.83429891e-01 9.82967689e-01 -1.13136046e-02 -5.55516703e+00] [-6.65289620e-02 -9.30718138e-04 9.97784060e-01 -4.12694277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754000006 meters 0.013482005586958229 Centerline is valid? [True, True] Translation: X:50.97, Y:-5.57, Z:-4.13 [[ 9.81241345e-01 1.80479018e-01 6.77698038e-02 5.09669904e+01] [-1.80101266e-01 9.83578563e-01 -1.16937773e-02 -5.56754515e+00] [-6.87674077e-02 -7.31009741e-04 9.97632452e-01 -4.13152380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46105275400001 meters 0.01326213861278243 Centerline is valid? [True, True] Translation: X:51.03, Y:-5.58, Z:-4.14 [[ 9.81421236e-01 1.79032841e-01 6.89898511e-02 5.10282758e+01] [-1.78636480e-01 9.83842901e-01 -1.19228460e-02 -5.57923040e+00] [-7.00097562e-02 -6.22769875e-04 9.97546112e-01 -4.13659871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52105275400001 meters 0.012899046607622047 Centerline is valid? [True, True] Translation: X:51.09, Y:-5.59, Z:-4.14 [[ 9.81758109e-01 1.76562957e-01 7.05445867e-02 5.10875252e+01] [-1.76141787e-01 9.84289245e-01 -1.21964239e-02 -5.59242691e+00] [-7.15897147e-02 -4.51911471e-04 9.97434062e-01 -4.14120509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754000005 meters 0.012531999409370859 Centerline is valid? [True, True] Translation: X:51.15, Y:-5.60, Z:-4.15 [[ 9.81896199e-01 1.75312384e-01 7.17316042e-02 5.11481920e+01] [-1.74872436e-01 9.84512795e-01 -1.24172032e-02 -5.60455898e+00] [-7.27975716e-02 -3.51475733e-04 9.97346675e-01 -4.14632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64105275400001 meters 0.012605388056840841 Centerline is valid? [True, True] Translation: X:51.21, Y:-5.61, Z:-4.16 [[ 9.82268992e-01 1.73473149e-01 7.10963740e-02 5.12090163e+01] [-1.73034862e-01 9.84838580e-01 -1.23251085e-02 -5.61456531e+00] [-7.21565273e-02 -1.95579366e-04 9.97393301e-01 -4.15684043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70105275400001 meters 0.012732466752159092 Centerline is valid? [True, True] Translation: X:51.27, Y:-5.63, Z:-4.17 [[ 9.83095032e-01 1.69697280e-01 6.87531206e-02 5.12688658e+01] [-1.69276938e-01 9.85496232e-01 -1.19371061e-02 -5.62751225e+00] [-6.97816358e-02 9.69919976e-05 9.97562286e-01 -4.16560347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754000005 meters 0.01265315863974587 Centerline is valid? [True, True] Translation: X:51.33, Y:-5.64, Z:-4.17 [[ 9.82839833e-01 1.71380858e-01 6.82236325e-02 5.13313679e+01] [-1.70969904e-01 9.85204853e-01 -1.18612980e-02 -5.63574514e+00] [-6.92470532e-02 -6.43173033e-06 9.97599542e-01 -4.17238287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82105275400001 meters 0.012726345866750564 Centerline is valid? [True, True] Translation: X:51.39, Y:-5.64, Z:-4.18 [[ 9.82585212e-01 1.74136921e-01 6.48277272e-02 5.13928420e+01] [-1.73770730e-01 9.84721434e-01 -1.12885287e-02 -5.63941839e+00] [-6.58030021e-02 -1.73220103e-04 9.97832619e-01 -4.18370968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88105275400001 meters 0.012871180464932512 Centerline is valid? [True, True] Translation: X:51.45, Y:-5.65, Z:-4.19 [[ 9.82517011e-01 1.74634322e-01 6.45226866e-02 5.14531955e+01] [-1.74271604e-01 9.84633342e-01 -1.12512335e-02 -5.65039061e+00] [-6.54960400e-02 -1.89943826e-04 9.97852811e-01 -4.19050312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754000005 meters 0.01251281074397713 Centerline is valid? [True, True] Translation: X:51.51, Y:-5.66, Z:-4.19 [[ 9.82301488e-01 1.74812631e-01 6.72631377e-02 5.15147655e+01] [-1.74417391e-01 9.84601700e-01 -1.17501421e-02 -5.66227878e+00] [-6.82814729e-02 -1.89678891e-04 9.97666079e-01 -4.19184453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00105275400001 meters 0.01233094711414647 Centerline is valid? [True, True] Translation: X:51.58, Y:-5.67, Z:-4.20 [[ 9.81803473e-01 1.76851138e-01 6.91781360e-02 5.15758756e+01] [-1.76437773e-01 9.84237554e-01 -1.20892649e-02 -5.67083270e+00] [-7.02257196e-02 -3.36353967e-04 9.97531070e-01 -4.19729074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06105275400001 meters 0.012347870431353625 Centerline is valid? [True, True] Translation: X:51.64, Y:-5.68, Z:-4.20 [[ 9.81563758e-01 1.77894569e-01 6.99007252e-02 5.16373797e+01] [-1.77473927e-01 9.84049472e-01 -1.22328115e-02 -5.68358535e+00] [-7.09619225e-02 -3.98271749e-04 9.97478946e-01 -4.20313387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters 0.012512719388134677 Centerline is valid? [True, True] Translation: X:51.70, Y:-5.69, Z:-4.21 [[ 9.80980707e-01 1.81501036e-01 6.88057098e-02 5.16978327e+01] [-1.81100963e-01 9.83390552e-01 -1.20608172e-02 -5.69437362e+00] [-6.98519357e-02 -6.29351316e-04 9.97557172e-01 -4.20940359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18105275400001 meters 0.013586030502505347 Centerline is valid? [True, True] Translation: X:51.76, Y:-5.70, Z:-4.22 [[ 9.79807213e-01 1.88657676e-01 6.62276913e-02 5.17589334e+01] [-1.88302114e-01 9.82042320e-01 -1.16273536e-02 -5.70021181e+00] [-6.72319852e-02 -1.07824941e-03 9.97736788e-01 -4.21679911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24105275400001 meters 0.014975243794036919 Centerline is valid? [True, True] Translation: X:51.82, Y:-5.71, Z:-4.22 [[ 9.78731315e-01 1.94119786e-01 6.63514948e-02 5.18200128e+01] [-1.93775355e-01 9.80976754e-01 -1.16499242e-02 -5.70547357e+00] [-6.73507547e-02 -1.45513880e-03 9.97728299e-01 -4.22356213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters 0.014866994231184323 Centerline is valid? [True, True] Translation: X:51.88, Y:-5.72, Z:-4.23 [[ 9.78397838e-01 1.95467167e-01 6.73071915e-02 5.18818528e+01] [-1.95114869e-01 9.80709013e-01 -1.18330068e-02 -5.71845980e+00] [-6.83217337e-02 -1.55524559e-03 9.97662128e-01 -4.22568684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754000006 meters 0.015223218653684579 Centerline is valid? [True, True] Translation: X:51.94, Y:-5.73, Z:-4.23 [[ 9.78509481e-01 1.94221269e-01 6.92625071e-02 5.19419675e+01] [-1.93843552e-01 9.80956614e-01 -1.21982943e-02 -5.72764696e+00] [-7.03126827e-02 -1.48994379e-03 9.97523888e-01 -4.23204195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42105275400001 meters 0.014382264362297564 Centerline is valid? [True, True] Translation: X:52.00, Y:-5.74, Z:-4.24 [[ 9.78783246e-01 1.92141276e-01 7.11694266e-02 5.20021939e+01] [-1.91735732e-01 9.81366332e-01 -1.25511238e-02 -5.74087628e+00] [-7.22548681e-02 -1.36089240e-03 9.97385273e-01 -4.23577685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters 0.012422716388874853 Centerline is valid? [True, True] Translation: X:52.06, Y:-5.76, Z:-4.24 [[ 9.79724977e-01 1.86734715e-01 7.25886691e-02 5.20613257e+01] [-1.86296530e-01 9.82409905e-01 -1.28211476e-02 -5.75761621e+00] [-7.37059808e-02 -9.61818600e-04 9.97279551e-01 -4.23705121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754000006 meters 0.011958418888020551 Centerline is valid? [True, True] Translation: X:52.12, Y:-5.77, Z:-4.24 [[ 9.80376536e-01 1.83022285e-01 7.32440454e-02 5.21213495e+01] [-1.82565687e-01 9.83108524e-01 -1.29382988e-02 -5.76836554e+00] [-7.43748424e-02 -6.87444917e-04 9.97230119e-01 -4.24379236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60105275400001 meters 0.011011934349120163 Centerline is valid? [True, True] Translation: X:52.18, Y:-5.79, Z:-4.25 [[ 9.82139167e-01 1.72796655e-01 7.44578550e-02 5.21811673e+01] [-1.72294061e-01 9.84957514e-01 -1.31701109e-02 -5.78781993e+00] [-7.56135748e-02 1.06235525e-04 9.97137190e-01 -4.24797465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66105275400001 meters 0.012634668864037354 Centerline is valid? [True, True] Translation: X:52.24, Y:-5.81, Z:-4.25 [[ 9.84115175e-01 1.60867957e-01 7.50920967e-02 5.22400118e+01] [-1.60320551e-01 9.86975377e-01 -1.33013465e-02 -5.80632237e+00] [-7.62538109e-02 1.05125060e-03 9.97087885e-01 -4.25117070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754000006 meters 0.014331723126657548 Centerline is valid? [True, True] Translation: X:52.30, Y:-5.82, Z:-4.26 [[ 9.85945970e-01 1.50090964e-01 7.33706122e-02 5.22994709e+01] [-1.49537254e-01 9.88670443e-01 -1.30140203e-02 -5.81688017e+00] [-7.44926425e-02 1.85948098e-03 9.97219830e-01 -4.25745540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78105275400001 meters 0.020399483096121357 Centerline is valid? [True, True] Translation: X:52.36, Y:-5.84, Z:-4.26 [[ 9.88748623e-01 1.31364209e-01 7.15514189e-02 5.23570961e+01] [-1.30788489e-01 9.91329034e-01 -1.26931955e-02 -5.83522092e+00] [-7.25984305e-02 3.19227757e-03 9.97356144e-01 -4.26280496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84105275400001 meters 0.02149925284309946 Centerline is valid? [True, True] Translation: X:52.42, Y:-5.84, Z:-4.27 [[ 9.89248137e-01 1.27961155e-01 7.08100770e-02 5.24181191e+01] [-1.27388562e-01 9.91773328e-01 -1.25626615e-02 -5.84157983e+00] [-7.18350784e-02 3.40719561e-03 9.97410704e-01 -4.26856343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754000006 meters 0.018266481721865076 Centerline is valid? [True, True] Translation: X:52.48, Y:-5.84, Z:-4.27 [[ 9.88404445e-01 1.34429140e-01 7.06077879e-02 5.24794169e+01] [-1.33876068e-01 9.90918873e-01 -1.25293728e-02 -5.84267689e+00] [-7.16509025e-02 2.93139472e-03 9.97425463e-01 -4.27245728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96105275400001 meters 0.01571594329396982 Centerline is valid? [True, True] Translation: X:52.54, Y:-5.84, Z:-4.28 [[ 9.86999317e-01 1.44130470e-01 7.11249272e-02 5.25416505e+01] [-1.43594235e-01 9.89556146e-01 -1.26225772e-02 -5.84343609e+00] [-7.22014068e-02 2.24534553e-03 9.97387545e-01 -4.27605231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02105275400001 meters 0.013043874897318697 Centerline is valid? [True, True] Translation: X:52.60, Y:-5.84, Z:-4.28 [[ 9.84792767e-01 1.57390527e-01 7.35624161e-02 5.26028442e+01] [-1.56853470e-01 9.87535558e-01 -1.30580144e-02 -5.84449441e+00] [-7.47007094e-02 1.32091788e-03 9.97205124e-01 -4.27887567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754000005 meters 0.010950183616631064 Centerline is valid? [True, True] Translation: X:52.66, Y:-5.84, Z:-4.28 [[ 9.82535472e-01 1.70174578e-01 7.52639333e-02 5.26649764e+01] [-1.69649476e-01 9.85413864e-01 -1.33631120e-02 -5.84282313e+00] [-7.64401852e-02 3.61244641e-04 9.97074103e-01 -4.28377710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14105275400001 meters 0.010919128506038432 Centerline is valid? [True, True] Translation: X:52.73, Y:-5.85, Z:-4.29 [[ 9.81356382e-01 1.76954179e-01 7.50124608e-02 5.27275695e+01] [-1.76452273e-01 9.84219077e-01 -1.33193040e-02 -5.84660551e+00] [-7.61856015e-02 -1.65135232e-04 9.97093640e-01 -4.28979947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20105275400001 meters 0.011125390369396295 Centerline is valid? [True, True] Translation: X:52.79, Y:-5.85, Z:-4.30 [[ 9.80792379e-01 1.80488529e-01 7.39608000e-02 5.27891578e+01] [-1.80009057e-01 9.83577003e-01 -1.31536522e-02 -5.85471196e+00] [-7.51202253e-02 -4.12612031e-04 9.97174399e-01 -4.29584674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754000005 meters 0.011697463981899178 Centerline is valid? [True, True] Translation: X:52.85, Y:-5.86, Z:-4.30 [[ 9.80347772e-01 1.83652924e-01 7.20406028e-02 5.28493820e+01] [-1.83205288e-01 9.82990955e-01 -1.28298192e-02 -5.86389298e+00] [-7.31714948e-02 -6.20534705e-04 9.97319180e-01 -4.30148331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32105275400001 meters 0.01239910371695625 Centerline is valid? [True, True] Translation: X:52.91, Y:-5.87, Z:-4.31 [[ 9.79394688e-01 1.88663520e-01 7.20563822e-02 5.29107251e+01] [-1.88228012e-01 9.82041302e-01 -1.28490172e-02 -5.87330828e+00] [-7.31864842e-02 -9.78770364e-04 9.97317793e-01 -4.30566660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38105275400001 meters 0.01256313912923367 Centerline is valid? [True, True] Translation: X:52.97, Y:-5.88, Z:-4.31 [[ 9.79058824e-01 1.90598509e-01 7.15264169e-02 5.29717945e+01] [-1.90173246e-01 9.81667461e-01 -1.27723456e-02 -5.88422376e+00] [-7.26495461e-02 -1.09753323e-03 9.97356927e-01 -4.31118160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754000005 meters 0.013862894735486518 Centerline is valid? [True, True] Translation: X:53.03, Y:-5.90, Z:-4.32 [[ 9.78228438e-01 1.95293012e-01 7.02122748e-02 5.30320061e+01] [-1.94893932e-01 9.80743941e-01 -1.25569341e-02 -5.89719463e+00] [-7.13125446e-02 -1.40039634e-03 9.97453036e-01 -4.31807155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50105275400001 meters 0.014738055352304009 Centerline is valid? [True, True] Translation: X:53.09, Y:-5.92, Z:-4.32 [[ 9.77782624e-01 1.97934197e-01 6.90159022e-02 5.30912513e+01] [-1.97554956e-01 9.80214064e-01 -1.23461459e-02 -5.91607975e+00] [-7.00940825e-02 -1.56258657e-03 9.97539161e-01 -4.32057652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56105275400001 meters 0.0157676014532265 Centerline is valid? [True, True] Translation: X:53.15, Y:-5.93, Z:-4.33 [[ 9.77504808e-01 1.99649810e-01 6.80022393e-02 5.31511221e+01] [-1.99284718e-01 9.79865932e-01 -1.21801445e-02 -5.93177375e+00] [-6.90648412e-02 -1.64565729e-03 9.97610816e-01 -4.32706749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters 0.016668136580594864 Centerline is valid? [True, True] Translation: X:53.21, Y:-5.95, Z:-4.33 [[ 9.77346423e-01 2.00951831e-01 6.64253857e-02 5.32101447e+01] [-2.00605411e-01 9.79599681e-01 -1.19136525e-02 -5.95231302e+00] [-6.74643569e-02 -1.68152611e-03 9.97720268e-01 -4.33223277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68105275400001 meters 0.01654138831291357 Centerline is valid? [True, True] Translation: X:53.27, Y:-5.97, Z:-4.34 [[ 9.77989308e-01 1.98713897e-01 6.36372555e-02 5.32686978e+01] [-1.98390277e-01 9.80056473e-01 -1.14283882e-02 -5.97274170e+00] [-6.46390837e-02 -1.44817125e-03 9.97907657e-01 -4.34142091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74105275400001 meters 0.015799991692511287 Centerline is valid? [True, True] Translation: X:53.33, Y:-5.98, Z:-4.34 [[ 9.78209875e-01 1.97318404e-01 6.45824137e-02 5.33295787e+01] [-1.96981012e-01 9.80338511e-01 -1.16139891e-02 -5.98498047e+00] [-6.56042811e-02 -1.36059040e-03 9.97844791e-01 -4.34373723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters 0.01681061008051433 Centerline is valid? [True, True] Translation: X:53.39, Y:-5.99, Z:-4.35 [[ 9.78020206e-01 1.98902369e-01 6.25645682e-02 5.33912428e+01] [-1.98588040e-01 9.80018301e-01 -1.12658903e-02 -5.99226717e+00] [-6.35552341e-02 -1.40630665e-03 9.97977332e-01 -4.34946328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754000006 meters 0.01597307681793315 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.01, Z:-4.35 [[ 9.78199555e-01 1.98784194e-01 6.00872300e-02 5.34516361e+01] [-1.98493229e-01 9.80042385e-01 -1.08333679e-02 -6.00568671e+00] [-6.10415345e-02 -1.32971269e-03 9.98134341e-01 -4.35482018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92105275400001 meters 0.015391191184225803 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.02, Z:-4.36 [[ 9.79014201e-01 1.94578471e-01 6.05839369e-02 5.35101824e+01] [-1.94273401e-01 9.80886386e-01 -1.09427564e-02 -6.01853252e+00] [-6.15551837e-02 -1.05673351e-03 9.98103122e-01 -4.36075480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters 0.014723454354627756 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.03, Z:-4.36 [[ 9.79756749e-01 1.90173202e-01 6.25369203e-02 5.35696998e+01] [-1.89839106e-01 9.81750226e-01 -1.12963483e-02 -6.03445786e+00] [-6.35438984e-02 -8.04279553e-04 9.97978720e-01 -4.35913926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754000006 meters 0.014453438434098236 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.05, Z:-4.36 [[ 9.79672200e-01 1.88853505e-01 6.76515712e-02 5.36303324e+01] [-1.88459150e-01 9.82004966e-01 -1.22227766e-02 -6.04590988e+00] [-6.87424930e-02 -7.75243182e-04 9.97634136e-01 -4.35797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10105275400001 meters 0.014229706688370857 Centerline is valid? [True, True] Translation: X:53.69, Y:-6.06, Z:-4.36 [[ 9.80013994e-01 1.86675352e-01 6.87377982e-02 5.36907034e+01] [-1.86262858e-01 9.82421454e-01 -1.24191329e-02 -6.05931721e+00] [-6.98478336e-02 -6.32374670e-04 9.97557457e-01 -4.36186041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16105275400001 meters 0.014479264789850675 Centerline is valid? [True, True] Translation: X:53.75, Y:-6.07, Z:-4.37 [[ 9.80235550e-01 1.86649365e-01 6.55765282e-02 5.37515009e+01] [-1.86272887e-01 9.82426420e-01 -1.18634194e-02 -6.07264009e+00] [-6.66384136e-02 -5.86183752e-04 9.97777018e-01 -4.36789221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754000006 meters 0.015245461678782178 Centerline is valid? [True, True] Translation: X:53.81, Y:-6.08, Z:-4.37 [[ 9.80081486e-01 1.89046001e-01 6.08431548e-02 5.38119046e+01] [-1.88725524e-01 9.81967998e-01 -1.10239400e-02 -6.08443420e+00] [-6.18300626e-02 -6.78296741e-04 9.98086461e-01 -4.37492388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28105275400001 meters 0.015434781826429092 Centerline is valid? [True, True] Translation: X:53.87, Y:-6.09, Z:-4.38 [[ 9.79833500e-01 1.89511192e-01 6.33389256e-02 5.38731636e+01] [-1.89164714e-01 9.81878286e-01 -1.14779353e-02 -6.09160170e+00] [-6.43663129e-02 -7.35024230e-04 9.97926068e-01 -4.38207683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34105275400001 meters 0.015175110784809789 Centerline is valid? [True, True] Translation: X:53.93, Y:-6.10, Z:-4.38 [[ 9.79687921e-01 1.89528932e-01 6.55008570e-02 5.39338954e+01] [-1.89157307e-01 9.81874854e-01 -1.18863154e-02 -6.10418976e+00] [-6.65664451e-02 -7.45086111e-04 9.97781716e-01 -4.37980947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754000006 meters 0.015467847474991045 Centerline is valid? [True, True] Translation: X:53.99, Y:-6.11, Z:-4.39 [[ 9.79542175e-01 1.90574196e-01 6.46421175e-02 5.39948462e+01] [-1.90213467e-01 9.81672477e-01 -1.17466753e-02 -6.11347911e+00] [-6.56960008e-02 -7.89437478e-04 9.97839372e-01 -4.38600017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46105275400001 meters 0.015742275665768364 Centerline is valid? [True, True] Translation: X:54.05, Y:-6.12, Z:-4.39 [[ 9.79655938e-01 1.90197104e-01 6.40258063e-02 5.40549892e+01] [-1.89841390e-01 9.81745645e-01 -1.16505081e-02 -6.12496773e+00] [-6.50729494e-02 -7.41258686e-04 9.97880234e-01 -4.39251584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52105275400001 meters 0.015549879635579685 Centerline is valid? [True, True] Translation: X:54.12, Y:-6.14, Z:-4.40 [[ 9.79937184e-01 1.88739679e-01 6.40347506e-02 5.41151155e+01] [-1.88379619e-01 9.82026955e-01 -1.16695754e-02 -6.13843858e+00] [-6.50863631e-02 -6.27391089e-04 9.97879437e-01 -4.39606852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754000005 meters 0.015429994020897024 Centerline is valid? [True, True] Translation: X:54.17, Y:-6.15, Z:-4.40 [[ 9.80349151e-01 1.86147770e-01 6.53035230e-02 5.41746078e+01] [-1.85766412e-01 9.82521657e-01 -1.19177435e-02 -6.15134652e+00] [-6.63805871e-02 -4.47651426e-04 9.97794276e-01 -4.39915278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64105275400001 meters 0.015459155780493833 Centerline is valid? [True, True] Translation: X:54.24, Y:-6.16, Z:-4.40 [[ 9.80550798e-01 1.84458707e-01 6.70456388e-02 5.42356206e+01] [-1.84051699e-01 9.82840210e-01 -1.22512645e-02 -6.16278841e+00] [-6.81550021e-02 -3.26876510e-04 9.97674691e-01 -4.40095297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70105275400001 meters 0.015616534805198723 Centerline is valid? [True, True] Translation: X:54.30, Y:-6.17, Z:-4.41 [[ 9.80689851e-01 1.84149318e-01 6.58516833e-02 5.42959080e+01] [-1.83754919e-01 9.82898239e-01 -1.20491441e-02 -6.17137898e+00] [-6.69443452e-02 -2.84097406e-04 9.97756671e-01 -4.40955923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754000005 meters 0.016019727195945053 Centerline is valid? [True, True] Translation: X:54.36, Y:-6.18, Z:-4.42 [[ 9.80401841e-01 1.86538279e-01 6.33695559e-02 5.43566167e+01] [-1.86177205e-01 9.82447605e-01 -1.16082690e-02 -6.18083036e+00] [-6.44226549e-02 -4.17198532e-04 9.97922616e-01 -4.41610795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82105275400001 meters 0.016071532762380263 Centerline is valid? [True, True] Translation: X:54.42, Y:-6.19, Z:-4.42 [[ 9.80092743e-01 1.88111247e-01 6.35009820e-02 5.44179299e+01] [-1.87751028e-01 9.82147597e-01 -1.16468812e-02 -6.19367553e+00] [-6.45582462e-02 -5.07350896e-04 9.97913812e-01 -4.41816502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88105275400001 meters 0.016364682531431567 Centerline is valid? [True, True] Translation: X:54.48, Y:-6.20, Z:-4.42 [[ 9.79794485e-01 1.89250283e-01 6.47077890e-02 5.44789678e+01] [-1.88877453e-01 9.81928714e-01 -1.18872850e-02 -6.20450370e+00] [-6.57881081e-02 -5.74746086e-04 9.97833450e-01 -4.42260782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754000005 meters 0.016636649252521295 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.22, Z:-4.43 [[ 9.79393933e-01 1.91198789e-01 6.50426547e-02 5.45410808e+01] [-1.90825371e-01 9.81551089e-01 -1.19639820e-02 -6.21622816e+00] [-6.61301874e-02 -6.94337308e-04 9.97810762e-01 -4.42619256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00105275400001 meters 0.016947433053339536 Centerline is valid? [True, True] Translation: X:54.60, Y:-6.23, Z:-4.43 [[ 9.79255068e-01 1.91850598e-01 6.52139603e-02 5.46021694e+01] [-1.91475447e-01 9.81423877e-01 -1.20136157e-02 -6.22870136e+00] [-6.63073571e-02 -7.22478208e-04 9.97798984e-01 -4.42879194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06105275400001 meters 0.01694205765329711 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.24, Z:-4.43 [[ 9.78834157e-01 1.94253941e-01 6.44135109e-02 5.46639665e+01] [-1.93892091e-01 9.80950901e-01 -1.18822352e-02 -6.23667022e+00] [-6.54946625e-02 -8.58532702e-04 9.97852550e-01 -4.43402738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters 0.01833664423614223 Centerline is valid? [True, True] Translation: X:54.72, Y:-6.24, Z:-4.45 [[ 9.78713829e-01 1.96132015e-01 6.04274255e-02 5.47239951e+01] [-1.95816305e-01 9.80577078e-01 -1.11610301e-02 -6.24161020e+00] [-6.14427837e-02 -9.09220709e-04 9.98110193e-01 -4.44764205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18105275400001 meters 0.0175787421444715 Centerline is valid? [True, True] Translation: X:54.78, Y:-6.26, Z:-4.45 [[ 9.78649712e-01 1.96490694e-01 6.03004780e-02 5.47848613e+01] [-1.96176230e-01 9.80505260e-01 -1.11499593e-02 -6.25657263e+00] [-6.13157991e-02 -9.17615941e-04 9.98117994e-01 -4.44806742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24105275400001 meters 0.017518380680385713 Centerline is valid? [True, True] Translation: X:54.85, Y:-6.27, Z:-4.45 [[ 9.78617113e-01 1.96480079e-01 6.08615165e-02 5.48454191e+01] [-1.96158600e-01 9.80507396e-01 -1.12716211e-02 -6.27107521e+00] [-6.18898161e-02 -9.07908524e-04 9.98082575e-01 -4.44958960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters 0.017865908565206066 Centerline is valid? [True, True] Translation: X:54.91, Y:-6.28, Z:-4.45 [[ 9.77913696e-01 1.99399568e-01 6.26467583e-02 5.49081104e+01] [-1.99063936e-01 9.79917640e-01 -1.16175932e-02 -6.27949793e+00] [-6.37052066e-02 -1.10970679e-03 9.97968143e-01 -4.45427998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754000006 meters 0.018342066279833733 Centerline is valid? [True, True] Translation: X:54.97, Y:-6.29, Z:-4.46 [[ 9.77890639e-01 2.00236069e-01 6.02944095e-02 5.49678121e+01] [-1.99925723e-01 9.79747059e-01 -1.11984871e-02 -6.28806194e+00] [-6.13156114e-02 -1.10350776e-03 9.98117818e-01 -4.46401546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42105275400001 meters 0.01761638882184783 Centerline is valid? [True, True] Translation: X:55.03, Y:-6.30, Z:-4.47 [[ 9.77910301e-01 2.00048995e-01 6.05957309e-02 5.50285036e+01] [-1.99734371e-01 9.79785295e-01 -1.12675280e-02 -6.30218298e+00] [-6.16248637e-02 -1.08441854e-03 9.98098793e-01 -4.46578222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48105275400001 meters 0.017363124106144892 Centerline is valid? [True, True] Translation: X:55.09, Y:-6.32, Z:-4.47 [[ 9.77961470e-01 1.99533459e-01 6.14635010e-02 5.50894434e+01] [-1.99207748e-01 9.79890449e-01 -1.14446698e-02 -6.31576324e+00] [-6.25110922e-02 -1.05155954e-03 9.98043715e-01 -4.46715782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754000006 meters 0.017460804857045403 Centerline is valid? [True, True] Translation: X:55.15, Y:-6.33, Z:-4.48 [[ 9.78187534e-01 1.98347929e-01 6.17028954e-02 5.51496524e+01] [-1.98016310e-01 9.80131200e-01 -1.15052591e-02 -6.32538410e+00] [-6.27589773e-02 -9.63878583e-04 9.98028247e-01 -4.47558559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60105275400001 meters 0.017111383771928793 Centerline is valid? [True, True] Translation: X:55.21, Y:-6.34, Z:-4.48 [[ 9.78209992e-01 1.97790909e-01 6.31186812e-02 5.52107437e+01] [-1.97441781e-01 9.80243787e-01 -1.17839414e-02 -6.33922541e+00] [-6.42024516e-02 -9.35095564e-04 9.97936456e-01 -4.47607955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66105275400001 meters 0.01758754304914431 Centerline is valid? [True, True] Translation: X:55.27, Y:-6.35, Z:-4.48 [[ 9.78020664e-01 1.98935884e-01 6.24507428e-02 5.52704100e+01] [-1.98595355e-01 9.80012014e-01 -1.16763352e-02 -6.34848362e+00] [-6.35253204e-02 -9.82730351e-04 9.97979743e-01 -4.48164714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754000006 meters 0.017841719681443567 Centerline is valid? [True, True] Translation: X:55.33, Y:-6.35, Z:-4.49 [[ 9.77642299e-01 2.01953892e-01 5.85675729e-02 5.53304604e+01] [-2.01659511e-01 9.79394413e-01 -1.09556421e-02 -6.35498187e+00] [-5.95732882e-02 -1.10000897e-03 9.98223328e-01 -4.49287559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78105275400001 meters 0.017592948572497828 Centerline is valid? [True, True] Translation: X:55.39, Y:-6.37, Z:-4.50 [[ 9.78598474e-01 1.97976490e-01 5.61278604e-02 5.53913428e+01] [-1.97699180e-01 9.80206430e-01 -1.05065924e-02 -6.36774609e+00] [-5.70969480e-02 -8.14696662e-04 9.98368306e-01 -4.49901147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84105275400001 meters 0.01750958428563021 Centerline is valid? [True, True] Translation: X:55.45, Y:-6.38, Z:-4.50 [[ 9.78764794e-01 1.97252045e-01 5.57773081e-02 5.54526299e+01] [-1.96976286e-01 9.80352519e-01 -1.04537885e-02 -6.37932412e+00] [-5.67434557e-02 -7.55006847e-04 9.98388507e-01 -4.50412993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754000006 meters 0.017458497341088727 Centerline is valid? [True, True] Translation: X:55.51, Y:-6.39, Z:-4.51 [[ 9.78548271e-01 1.98436321e-01 5.53742467e-02 5.55135402e+01] [-1.98165526e-01 9.80113454e-01 -1.03942826e-02 -6.38975587e+00] [-5.63356474e-02 -8.01959503e-04 9.98411564e-01 -4.50730637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96105275400001 meters 0.016983783438256864 Centerline is valid? [True, True] Translation: X:55.57, Y:-6.40, Z:-4.51 [[ 9.78528454e-01 1.97593261e-01 5.86427129e-02 5.55743554e+01] [-1.97286833e-01 9.80283784e-01 -1.10276284e-02 -6.40181079e+00] [-5.96654855e-02 -7.78586884e-04 9.98218124e-01 -4.50882639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02105275400001 meters 0.016614643027735347 Centerline is valid? [True, True] Translation: X:55.63, Y:-6.42, Z:-4.51 [[ 9.78909125e-01 1.95004358e-01 6.09116161e-02 5.56347960e+01] [-1.94668742e-01 9.80802164e-01 -1.14541086e-02 -6.41821977e+00] [-6.19758460e-02 -6.45056300e-04 9.98077441e-01 -4.50912084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754000005 meters 0.01594824807554296 Centerline is valid? [True, True] Translation: X:55.69, Y:-6.43, Z:-4.51 [[ 9.79175182e-01 1.92230822e-01 6.52937485e-02 5.56938482e+01] [-1.91837596e-01 9.81349620e-01 -1.22987563e-02 -6.43258113e+00] [-6.64401953e-02 -4.83158748e-04 9.97790292e-01 -4.51028198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14105275400001 meters 0.015806038211700398 Centerline is valid? [True, True] Translation: X:55.75, Y:-6.45, Z:-4.51 [[ 9.79362823e-01 1.91081691e-01 6.58501976e-02 5.57539231e+01] [-1.90679262e-01 9.81574052e-01 -1.24016307e-02 -6.44615039e+00] [-6.70065698e-02 -4.10571030e-04 9.97752450e-01 -4.51427833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20105275400001 meters 0.015712878819545126 Centerline is valid? [True, True] Translation: X:55.81, Y:-6.46, Z:-4.52 [[ 9.79482567e-01 1.90927840e-01 6.45016414e-02 5.58147612e+01] [-1.90540413e-01 9.81604003e-01 -1.21627775e-02 -6.45883940e+00] [-6.56372822e-02 -3.76940871e-04 9.97843477e-01 -4.52076664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754000005 meters 0.016401896142734892 Centerline is valid? [True, True] Translation: X:55.88, Y:-6.47, Z:-4.53 [[ 9.79358388e-01 1.93297551e-01 5.91033375e-02 5.58753754e+01] [-1.92975597e-01 9.81140067e-01 -1.11618621e-02 -6.46813330e+00] [-6.01462131e-02 -4.74038498e-04 9.98189465e-01 -4.53166705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32105275400001 meters 0.01746110449517233 Centerline is valid? [True, True] Translation: X:55.94, Y:-6.47, Z:-4.54 [[ 9.77941196e-01 2.00825539e-01 5.74466667e-02 5.59370266e+01] [-2.00534161e-01 9.79626602e-01 -1.08522037e-02 -6.47109458e+00] [-5.84556825e-02 -9.07202029e-04 9.98289592e-01 -4.53871210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38105275400001 meters 0.018182247180867066 Centerline is valid? [True, True] Translation: X:56.00, Y:-6.48, Z:-4.54 [[ 9.77319993e-01 2.03929242e-01 5.70832279e-02 5.59982308e+01] [-2.03646986e-01 9.78985025e-01 -1.07808091e-02 -6.47822689e+00] [-5.80821475e-02 -1.08852705e-03 9.98311214e-01 -4.54458430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754000005 meters 0.018395010581447407 Centerline is valid? [True, True] Translation: X:56.06, Y:-6.49, Z:-4.55 [[ 9.76807324e-01 2.05597161e-01 5.98101912e-02 5.60594159e+01] [-2.05289440e-01 9.78635937e-01 -1.13114883e-02 -6.48870791e+00] [-6.08580124e-02 -1.22925606e-03 9.98145676e-01 -4.54558456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50105275400001 meters 0.017226181072173174 Centerline is valid? [True, True] Translation: X:56.12, Y:-6.50, Z:-4.55 [[ 9.77898060e-01 2.00008543e-01 6.09259219e-02 5.61175921e+01] [-1.99677174e-01 9.79793759e-01 -1.15418943e-02 -6.50493687e+00] [-6.20033155e-02 -8.78719828e-04 9.98075557e-01 -4.55096259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56105275400001 meters 0.016505211529202393 Centerline is valid? [True, True] Translation: X:56.18, Y:-6.52, Z:-4.56 [[ 9.78499244e-01 1.96855112e-01 6.15410012e-02 5.61778633e+01] [-1.96510962e-01 9.80432349e-01 -1.16555189e-02 -6.51960934e+00] [-6.26312368e-02 -6.88564896e-04 9.98036499e-01 -4.55511085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754000004 meters 0.015752317825067284 Centerline is valid? [True, True] Translation: X:56.24, Y:-6.53, Z:-4.56 [[ 9.78995667e-01 1.94828367e-01 6.00782171e-02 5.62384595e+01] [-1.94495784e-01 9.80837205e-01 -1.13915044e-02 -6.53422456e+00] [-6.11463387e-02 -5.32726506e-04 9.98128670e-01 -4.55923852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68105275400001 meters 0.01574918588249187 Centerline is valid? [True, True] Translation: X:56.30, Y:-6.55, Z:-4.56 [[ 9.78761112e-01 1.95998782e-01 6.00929510e-02 5.63002691e+01] [-1.95667251e-01 9.80603961e-01 -1.14104209e-02 -6.54529606e+00] [-6.11638144e-02 -5.90146264e-04 9.98127567e-01 -4.56385954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74105275400001 meters 0.016062305505045376 Centerline is valid? [True, True] Translation: X:56.36, Y:-6.55, Z:-4.57 [[ 9.78024458e-01 1.99602493e-01 6.02246234e-02 5.63623236e+01] [-1.99275203e-01 9.79876628e-01 -1.14537064e-02 -6.55072994e+00] [-6.12988892e-02 -7.99269008e-04 9.98119135e-01 -4.57081011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters 0.016951242477571397 Centerline is valid? [True, True] Translation: X:56.42, Y:-6.56, Z:-4.58 [[ 9.77251280e-01 2.03690778e-01 5.90762448e-02 5.64227244e+01] [-2.03382418e-01 9.79034742e-01 -1.12501944e-02 -6.55646007e+00] [-6.01292569e-02 -1.02080263e-03 9.98190077e-01 -4.57926738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754000006 meters 0.01676802457265689 Centerline is valid? [True, True] Translation: X:56.48, Y:-6.57, Z:-4.59 [[ 9.77155427e-01 2.04521477e-01 5.77774790e-02 5.64832111e+01] [-2.04227256e-01 9.78861529e-01 -1.10152482e-02 -6.56851815e+00] [-5.88090062e-02 -1.03612642e-03 9.98268715e-01 -4.58620386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92105275400001 meters 0.016107968005753006 Centerline is valid? [True, True] Translation: X:56.54, Y:-6.59, Z:-4.59 [[ 9.77702966e-01 2.01346500e-01 5.96363692e-02 5.65422777e+01] [-2.01025911e-01 9.79519709e-01 -1.13896154e-02 -6.58588159e+00] [-6.07082582e-02 -8.52794647e-04 9.98155188e-01 -4.58838069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98105275400001 meters 0.015623238898103223 Centerline is valid? [True, True] Translation: X:56.60, Y:-6.60, Z:-4.59 [[ 9.78178789e-01 1.98017934e-01 6.28900115e-02 5.66017038e+01] [-1.97654345e-01 9.80198162e-01 -1.20134671e-02 -6.60158376e+00] [-6.40235557e-02 -6.79165314e-04 9.97948157e-01 -4.59147473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754000006 meters 0.015498585392888661 Centerline is valid? [True, True] Translation: X:56.66, Y:-6.61, Z:-4.60 [[ 9.78426095e-01 1.96225892e-01 6.46357123e-02 5.66614279e+01] [-1.95837858e-01 9.80558548e-01 -1.23477361e-02 -6.61481559e+00] [-6.58020457e-02 -5.76772191e-04 9.97832530e-01 -4.59777009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10105275400001 meters 0.015208326880506714 Centerline is valid? [True, True] Translation: X:56.72, Y:-6.63, Z:-4.60 [[ 9.78705244e-01 1.94262901e-01 6.63172026e-02 5.67218726e+01] [-1.93849326e-01 9.80949400e-01 -1.26773101e-02 -6.62992322e+00] [-6.75165511e-02 -4.48195232e-04 9.97718054e-01 -4.60234041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16105275400001 meters 0.015114994688972249 Centerline is valid? [True, True] Translation: X:56.78, Y:-6.64, Z:-4.61 [[ 9.78502039e-01 1.95180731e-01 6.66201309e-02 5.67837747e+01] [-1.94764404e-01 9.80767166e-01 -1.27511989e-02 -6.64136201e+00] [-6.78276253e-02 -4.98155984e-04 9.97696930e-01 -4.60747388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754000006 meters 0.01554471227067342 Centerline is valid? [True, True] Translation: X:56.84, Y:-6.65, Z:-4.61 [[ 9.77930858e-01 1.98148793e-01 6.62441874e-02 5.68436143e+01] [-1.97742625e-01 9.80171716e-01 -1.26988824e-02 -6.65054141e+00] [-6.74469471e-02 -6.80670575e-04 9.97722630e-01 -4.61373534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28105275400001 meters 0.015534724375423734 Centerline is valid? [True, True] Translation: X:56.90, Y:-6.66, Z:-4.62 [[ 9.77153191e-01 2.01885355e-01 6.64375190e-02 5.69043591e+01] [-2.01484410e-01 9.79408722e-01 -1.27509827e-02 -6.65915700e+00] [-6.76437223e-02 -9.26460859e-04 9.97709110e-01 -4.61974061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34105275400001 meters 0.015631988461645843 Centerline is valid? [True, True] Translation: X:56.97, Y:-6.67, Z:-4.63 [[ 9.76834048e-01 2.03236127e-01 6.70098491e-02 5.69656289e+01] [-2.02830371e-01 9.79129230e-01 -1.28760179e-02 -6.66974519e+00] [-6.82281740e-02 -1.01389987e-03 9.97669228e-01 -4.62630616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754000006 meters 0.015266946788662387 Centerline is valid? [True, True] Translation: X:57.03, Y:-6.68, Z:-4.63 [[ 9.76879783e-01 2.02408127e-01 6.88247082e-02 5.70250817e+01] [-2.01976534e-01 9.79300784e-01 -1.32458969e-02 -6.68197257e+00] [-7.00811679e-02 -9.61327126e-04 9.97540829e-01 -4.62933915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46105275400001 meters 0.014959818189701572 Centerline is valid? [True, True] Translation: X:57.09, Y:-6.69, Z:-4.64 [[ 9.76759650e-01 2.02555961e-01 7.00832968e-02 5.70859681e+01] [-2.02107624e-01 9.79270205e-01 -1.35045718e-02 -6.69244863e+00] [-7.13659159e-02 -9.73647777e-04 9.97449727e-01 -4.63610629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52105275400001 meters 0.014881750536486549 Centerline is valid? [True, True] Translation: X:57.15, Y:-6.70, Z:-4.64 [[ 9.76606664e-01 2.03308360e-01 7.00366595e-02 5.71474824e+01] [-2.02861336e-01 9.79114236e-01 -1.35126023e-02 -6.70324668e+00] [-7.13211154e-02 -1.01123288e-03 9.97452894e-01 -4.64401811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754000005 meters 0.014563473655735508 Centerline is valid? [True, True] Translation: X:57.21, Y:-6.72, Z:-4.65 [[ 9.76637108e-01 2.02955351e-01 7.06334477e-02 5.72082522e+01] [-2.02498234e-01 9.79187509e-01 -1.36486979e-02 -6.71619102e+00] [-7.19334660e-02 -9.73323573e-04 9.97408958e-01 -4.64715706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64105275400001 meters 0.014412551393141158 Centerline is valid? [True, True] Translation: X:57.27, Y:-6.73, Z:-4.65 [[ 9.76753781e-01 2.02539083e-01 7.02137536e-02 5.72684804e+01] [-2.02085044e-01 9.79273748e-01 -1.35853143e-02 -6.72845432e+00] [-7.15100428e-02 -9.19642390e-04 9.97439456e-01 -4.65281638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70105275400001 meters 0.014378704673724525 Centerline is valid? [True, True] Translation: X:57.33, Y:-6.74, Z:-4.66 [[ 9.76763432e-01 2.02494053e-01 7.02093748e-02 5.73305491e+01] [-2.02038620e-01 9.79283081e-01 -1.36030817e-02 -6.73755633e+00] [-7.15093960e-02 -8.98012471e-04 9.97439522e-01 -4.66247939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754000005 meters 0.014163139916141022 Centerline is valid? [True, True] Translation: X:57.39, Y:-6.75, Z:-4.67 [[ 9.76592540e-01 2.03691748e-01 6.91135447e-02 5.73913014e+01] [-2.03252074e-01 9.79034610e-01 -1.34099849e-02 -6.74834808e+00] [-7.03960555e-02 -9.51380077e-04 9.97518667e-01 -4.66812736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82105275400001 meters 0.01356187925665039 Centerline is valid? [True, True] Translation: X:57.45, Y:-6.76, Z:-4.67 [[ 9.77359101e-01 2.00338074e-01 6.80723440e-02 5.74514715e+01] [-1.99902267e-01 9.79726590e-01 -1.32247163e-02 -6.76314723e+00] [-6.93416996e-02 -6.82519023e-04 9.97592734e-01 -4.67165626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88105275400001 meters 0.013148822053480542 Centerline is valid? [True, True] Translation: X:57.51, Y:-6.78, Z:-4.68 [[ 9.78860964e-01 1.92604610e-01 6.88089968e-02 5.75110213e+01] [-1.92138968e-01 9.81276439e-01 -1.33853215e-02 -6.78006153e+00] [-7.00987220e-02 -1.18520883e-04 9.97540052e-01 -4.67703635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754000005 meters 0.013055429199670291 Centerline is valid? [True, True] Translation: X:57.57, Y:-6.79, Z:-4.68 [[ 9.79119842e-01 1.90463640e-01 7.10488349e-02 5.75707031e+01] [-1.89960173e-01 9.81694249e-01 -1.38395727e-02 -6.79457009e+00] [-7.23841680e-02 5.41512249e-05 9.97376824e-01 -4.67718432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00105275400001 meters 0.013020760805566124 Centerline is valid? [True, True] Translation: X:57.63, Y:-6.81, Z:-4.68 [[ 9.79152282e-01 1.89465037e-01 7.32380308e-02 5.76313856e+01] [-1.88925955e-01 9.81887457e-01 -1.42830549e-02 -6.80647064e+00] [-7.46176433e-02 1.48720811e-04 9.97212207e-01 -4.67867581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06105275400001 meters 0.012967829945770889 Centerline is valid? [True, True] Translation: X:57.69, Y:-6.81, Z:-4.68 [[ 9.78123016e-01 1.93853952e-01 7.54719235e-02 5.76931091e+01] [-1.93292995e-01 9.81030385e-01 -1.47378005e-02 -6.81378670e+00] [-7.68972310e-02 -1.72812217e-04 9.97039009e-01 -4.68183403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754000004 meters 0.013280110050361603 Centerline is valid? [True, True] Translation: X:57.75, Y:-6.83, Z:-4.69 [[ 9.77613720e-01 1.97408213e-01 7.28108004e-02 5.77538418e+01] [-1.96894728e-01 9.80321285e-01 -1.42353233e-02 -6.82505723e+00] [-7.41881472e-02 -4.19415366e-04 9.97244174e-01 -4.68778628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18105275400001 meters 0.013786526534816539 Centerline is valid? [True, True] Translation: X:57.81, Y:-6.83, Z:-4.70 [[ 9.76907390e-01 2.01561323e-01 7.08871314e-02 5.78147831e+01] [-2.01084323e-01 9.79475648e-01 -1.38762268e-02 -6.83140738e+00] [-7.22291296e-02 -6.98502335e-04 9.97387821e-01 -4.69740856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24105275400001 meters 0.01483076053777504 Centerline is valid? [True, True] Translation: X:57.88, Y:-6.84, Z:-4.71 [[ 9.76309166e-01 2.06171276e-01 6.56796587e-02 5.78750554e+01] [-2.05771192e-01 9.78515461e-01 -1.28727861e-02 -6.83936581e+00] [-6.69225603e-02 -9.47162639e-04 9.97757723e-01 -4.70645868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters 0.014964417785614173 Centerline is valid? [True, True] Translation: X:57.94, Y:-6.85, Z:-4.71 [[ 9.76258883e-01 2.07115989e-01 6.34157823e-02 5.79352625e+01] [-2.06744929e-01 9.78315908e-01 -1.24305603e-02 -6.85211718e+00] [-6.46152364e-02 -9.75446479e-04 9.97909775e-01 -4.71219968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754000006 meters 0.014540768640450863 Centerline is valid? [True, True] Translation: X:58.00, Y:-6.87, Z:-4.72 [[ 9.76764661e-01 2.04887467e-01 6.28643277e-02 5.79961013e+01] [-2.04517064e-01 9.78785207e-01 -1.23405601e-02 -6.86555270e+00] [-6.40591000e-02 -8.03004756e-04 9.97945784e-01 -4.71898346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42105275400001 meters 0.014258220625750499 Centerline is valid? [True, True] Translation: X:58.06, Y:-6.88, Z:-4.72 [[ 9.76970571e-01 2.03961413e-01 6.26757174e-02 5.80564398e+01] [-2.03591150e-01 9.78978651e-01 -1.23063130e-02 -6.87900697e+00] [-6.38682022e-02 -7.37315806e-04 9.97958070e-01 -4.72302816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48105275400001 meters 0.013799462599089988 Centerline is valid? [True, True] Translation: X:58.12, Y:-6.89, Z:-4.72 [[ 9.77169448e-01 2.02683950e-01 6.37109664e-02 5.81174897e+01] [-2.02297588e-01 9.79243992e-01 -1.25255859e-02 -6.89207157e+00] [-6.49273163e-02 -6.48954950e-04 9.97889785e-01 -4.72301254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754000006 meters 0.013745238529496948 Centerline is valid? [True, True] Translation: X:58.18, Y:-6.90, Z:-4.73 [[ 9.77421549e-01 2.01255034e-01 6.43702327e-02 5.81773050e+01] [-2.00856423e-01 9.79538726e-01 -1.26720686e-02 -6.90013741e+00] [-6.56034533e-02 -5.43221762e-04 9.97845625e-01 -4.73033464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60105275400001 meters 0.013666387647086347 Centerline is valid? [True, True] Translation: X:58.24, Y:-6.91, Z:-4.74 [[ 9.77720987e-01 2.00454965e-01 6.22854607e-02 5.82374181e+01] [-2.00079298e-01 9.79702810e-01 -1.22751484e-02 -6.91406802e+00] [-6.34818553e-02 -4.60361059e-04 9.97982887e-01 -4.73562367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66105275400001 meters 0.013840833314844564 Centerline is valid? [True, True] Translation: X:58.30, Y:-6.93, Z:-4.74 [[ 9.77944581e-01 2.00302573e-01 5.91884691e-02 5.82974838e+01] [-1.99962250e-01 9.79733998e-01 -1.16786632e-02 -6.92717861e+00] [-6.03282218e-02 -4.14374032e-04 9.98178508e-01 -4.74094293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754000006 meters 0.014203307564165714 Centerline is valid? [True, True] Translation: X:58.36, Y:-6.94, Z:-4.75 [[ 9.77932770e-01 2.01118781e-01 5.65573522e-02 5.83575459e+01] [-2.00808714e-01 9.79566766e-01 -1.11718708e-02 -6.93817321e+00] [-5.76485756e-02 -4.31870588e-04 9.98336845e-01 -4.74924543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78105275400001 meters 0.014100459952150831 Centerline is valid? [True, True] Translation: X:58.42, Y:-6.95, Z:-4.75 [[ 9.77853558e-01 2.00883142e-01 5.87229336e-02 5.84167225e+01] [-2.00547572e-01 9.79615122e-01 -1.16139741e-02 -6.95270042e+00] [-5.98589254e-02 -4.19975874e-04 9.98206758e-01 -4.75101084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84105275400001 meters 0.013778358001655777 Centerline is valid? [True, True] Translation: X:58.48, Y:-6.97, Z:-4.75 [[ 9.77283947e-01 2.02789050e-01 6.15848028e-02 5.84773193e+01] [-2.02422807e-01 9.79222294e-01 -1.21945459e-02 -6.96562057e+00] [-6.27781322e-02 -5.48634759e-04 9.98027357e-01 -4.74970033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754000006 meters 0.014420050793665661 Centerline is valid? [True, True] Translation: X:58.54, Y:-6.97, Z:-4.75 [[ 9.76689464e-01 2.05930558e-01 6.05829788e-02 5.85378606e+01] [-2.05581259e-01 9.78566340e-01 -1.20109980e-02 -6.97472623e+00] [-6.17578954e-02 -7.23709915e-04 9.98090897e-01 -4.75453173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96105275400001 meters 0.01435730447255081 Centerline is valid? [True, True] Translation: X:58.60, Y:-6.99, Z:-4.76 [[ 9.77261627e-01 2.03746425e-01 5.87120675e-02 5.85983998e+01] [-2.03413706e-01 9.79023537e-01 -1.16523929e-02 -6.98604439e+00] [-5.98546294e-02 -5.55402832e-04 9.98206950e-01 -4.76473936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02105275400001 meters 0.013403399789011186 Centerline is valid? [True, True] Translation: X:58.66, Y:-7.01, Z:-4.76 [[ 9.78504042e-01 1.97434885e-01 5.95760616e-02 5.86585962e+01] [-1.97079533e-01 9.80315991e-01 -1.18412506e-02 -7.00587973e+00] [-6.07412418e-02 -1.54510779e-04 9.98153534e-01 -4.76422288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754000005 meters 0.013607710053319132 Centerline is valid? [True, True] Translation: X:58.72, Y:-7.02, Z:-4.77 [[ 9.79125525e-01 1.93913972e-01 6.09145067e-02 5.87180465e+01] [-1.93535462e-01 9.81018535e-01 -1.21102515e-02 -7.02110141e+00] [-6.21066071e-02 6.83391775e-05 9.98069519e-01 -4.76861112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14105275400001 meters 0.013278043497799081 Centerline is valid? [True, True] Translation: X:58.78, Y:-7.03, Z:-4.77 [[ 9.79341544e-01 1.93102503e-01 6.00130250e-02 5.87788511e+01] [-1.92732820e-01 9.81178580e-01 -1.19437793e-02 -7.03126754e+00] [-6.11898684e-02 1.30559686e-04 9.98126136e-01 -4.77286194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20105275400001 meters 0.013553771985853315 Centerline is valid? [True, True] Translation: X:58.84, Y:-7.04, Z:-4.78 [[ 9.78615333e-01 1.97201048e-01 5.85130514e-02 5.88383452e+01] [-1.96855934e-01 9.80363063e-01 -1.16621559e-02 -7.04062635e+00] [-5.96638237e-02 -1.05876835e-04 9.98218522e-01 -4.78039259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754000005 meters 0.013567814378259024 Centerline is valid? [True, True] Translation: X:58.90, Y:-7.05, Z:-4.78 [[ 9.77713192e-01 2.01640221e-01 5.84648257e-02 5.88996980e+01] [-2.01303319e-01 9.79459587e-01 -1.16572231e-02 -7.05232438e+00] [-5.96144991e-02 -3.71742630e-04 9.98221405e-01 -4.78251008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32105275400001 meters 0.013930398956645674 Centerline is valid? [True, True] Translation: X:58.96, Y:-7.06, Z:-4.79 [[ 9.76424450e-01 2.07450246e-01 5.96631259e-02 5.89613830e+01] [-2.07109287e-01 9.78245300e-01 -1.19111475e-02 -7.05854472e+00] [-6.08361430e-02 -7.26451788e-04 9.98147502e-01 -4.78826159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38105275400001 meters 0.014786919585910602 Centerline is valid? [True, True] Translation: X:59.02, Y:-7.07, Z:-4.80 [[ 9.75782322e-01 2.10861454e-01 5.81919879e-02 5.90220218e+01] [-2.10542137e-01 9.77515544e-01 -1.16348238e-02 -7.06965891e+00] [-5.93369086e-02 -8.98810086e-04 9.98237609e-01 -4.79574220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754000005 meters 0.013929219548531517 Centerline is valid? [True, True] Translation: X:59.08, Y:-7.09, Z:-4.80 [[ 9.75936449e-01 2.10241901e-01 5.78479882e-02 5.90824194e+01] [-2.09925232e-01 9.77649022e-01 -1.15665930e-02 -7.08678261e+00] [-5.89868116e-02 -8.55492647e-04 9.98258396e-01 -4.79779461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50105275400001 meters 0.014458412975419225 Centerline is valid? [True, True] Translation: X:59.14, Y:-7.10, Z:-4.80 [[ 9.76014579e-01 2.09424545e-01 5.94718600e-02 5.91427782e+01] [-2.09087140e-01 9.77824475e-01 -1.19106631e-02 -7.09684201e+00] [-6.06474255e-02 -8.09820289e-04 9.98158922e-01 -4.80499378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56105275400001 meters 0.014329947149283604 Centerline is valid? [True, True] Translation: X:59.20, Y:-7.11, Z:-4.81 [[ 9.75529190e-01 2.11415707e-01 6.03837523e-02 5.92047976e+01] [-2.11070750e-01 9.77395789e-01 -1.21082815e-02 -7.10694086e+00] [-6.15787061e-02 -9.33261792e-04 9.98101794e-01 -4.80820503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754000004 meters 0.013939331169424899 Centerline is valid? [True, True] Translation: X:59.27, Y:-7.12, Z:-4.81 [[ 9.75510691e-01 2.11464502e-01 6.05116190e-02 5.92663455e+01] [-2.11117123e-01 9.77385244e-01 -1.21509528e-02 -7.12113100e+00] [-6.17126587e-02 -9.21654552e-04 9.98093532e-01 -4.81135495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68105275400001 meters 0.01380831807251972 Centerline is valid? [True, True] Translation: X:59.33, Y:-7.13, Z:-4.82 [[ 9.76083477e-01 2.09218257e-01 5.90657789e-02 5.93267638e+01] [-2.08882150e-01 9.77868686e-01 -1.18777268e-02 -7.13284138e+00] [-6.02436129e-02 -7.44133974e-04 9.98183427e-01 -4.82258044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74105275400001 meters 0.01401271024642861 Centerline is valid? [True, True] Translation: X:59.39, Y:-7.15, Z:-4.83 [[ 9.76165201e-01 2.09259053e-01 5.75512779e-02 5.93874972e+01] [-2.08939135e-01 9.77859980e-01 -1.15886286e-02 -7.14575165e+00] [-5.87021170e-02 -7.12298271e-04 9.98275290e-01 -4.82920904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80105275400001 meters 0.013584261216959196 Centerline is valid? [True, True] Translation: X:59.45, Y:-7.16, Z:-4.83 [[ 9.75936804e-01 2.09895976e-01 5.90849764e-02 5.94486859e+01] [-2.09559041e-01 9.77723431e-01 -1.19122211e-02 -7.15947315e+00] [-6.02690931e-02 -7.56215962e-04 9.98181880e-01 -4.82873818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754000006 meters 0.013428568605073627 Centerline is valid? [True, True] Translation: X:59.51, Y:-7.17, Z:-4.83 [[ 9.75759589e-01 2.09840321e-01 6.21310185e-02 5.95099431e+01] [-2.09466547e-01 9.77735362e-01 -1.25430273e-02 -7.17045388e+00] [-6.33797268e-02 -7.75390720e-04 9.97989183e-01 -4.83258618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92105275400001 meters 0.012773119376856618 Centerline is valid? [True, True] Translation: X:59.57, Y:-7.19, Z:-4.83 [[ 9.76229392e-01 2.06799748e-01 6.48848149e-02 5.95697754e+01] [-2.06384070e-01 9.78383116e-01 -1.31184334e-02 -7.18674779e+00] [-6.61950961e-02 -5.84591879e-04 9.97806528e-01 -4.83437859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98105275400001 meters 0.01231991915072614 Centerline is valid? [True, True] Translation: X:59.63, Y:-7.20, Z:-4.84 [[ 9.76338194e-01 2.05259182e-01 6.80617272e-02 5.96292314e+01] [-2.04797891e-01 9.78707523e-01 -1.37625518e-02 -7.20005981e+00] [-6.94374146e-02 -5.01993168e-04 9.97586183e-01 -4.83704325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754000006 meters 0.01223991441380767 Centerline is valid? [True, True] Translation: X:59.69, Y:-7.21, Z:-4.84 [[ 9.76609313e-01 2.04383778e-01 6.67946249e-02 5.96905886e+01] [-2.03936541e-01 9.78890748e-01 -1.35200231e-02 -7.21458321e+00] [-6.81479137e-02 -4.18084291e-04 9.97675141e-01 -4.84283059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10105275400001 meters 0.01213090293853046 Centerline is valid? [True, True] Translation: X:59.75, Y:-7.23, Z:-4.85 [[ 9.76449379e-01 2.05132892e-01 6.68364178e-02 5.97522087e+01] [-2.04685589e-01 9.78734025e-01 -1.35468895e-02 -7.22737600e+00] [-6.81939888e-02 -4.52599681e-04 9.97671978e-01 -4.84638537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16105275400001 meters 0.011975975788745019 Centerline is valid? [True, True] Translation: X:59.81, Y:-7.24, Z:-4.85 [[ 9.76595543e-01 2.04200408e-01 6.75524849e-02 5.98130519e+01] [-2.03739868e-01 9.78929035e-01 -1.37117250e-02 -7.23918827e+00] [-6.89290286e-02 -3.72324786e-04 9.97621497e-01 -4.85161024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754000006 meters 0.011814646966232325 Centerline is valid? [True, True] Translation: X:59.87, Y:-7.25, Z:-4.86 [[ 9.76785163e-01 2.03711567e-01 6.62747473e-02 5.98733073e+01] [-2.03266098e-01 9.79030897e-01 -1.34683242e-02 -7.25212734e+00] [-6.76286787e-02 -3.15750011e-04 9.97710510e-01 -4.85801683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28105275400001 meters 0.012318767724928478 Centerline is valid? [True, True] Translation: X:59.93, Y:-7.26, Z:-4.87 [[ 9.76663267e-01 2.05231034e-01 6.33173408e-02 5.99327701e+01] [-2.04826660e-01 9.78713479e-01 -1.28827798e-02 -7.26295256e+00] [-6.46134811e-02 -3.86941675e-04 9.97910291e-01 -4.86750086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34105275400001 meters 0.01239518084898984 Centerline is valid? [True, True] Translation: X:59.99, Y:-7.27, Z:-4.87 [[ 9.76299894e-01 2.07005914e-01 6.31432459e-02 5.99935845e+01] [-2.06606551e-01 9.78339569e-01 -1.28615889e-02 -7.27334888e+00] [-6.44379610e-02 -4.89040405e-04 9.97921595e-01 -4.87288701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754000006 meters 0.012632370529559272 Centerline is valid? [True, True] Translation: X:60.06, Y:-7.28, Z:-4.88 [[ 9.75426066e-01 2.10605664e-01 6.47243668e-02 6.00560954e+01] [-2.10192881e-01 9.77570827e-01 -1.31996471e-02 -7.28181549e+00] [-6.60525732e-02 -7.29321282e-04 9.97815878e-01 -4.87538034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46105275400001 meters 0.012622130209424001 Centerline is valid? [True, True] Translation: X:60.12, Y:-7.29, Z:-4.88 [[ 9.75367090e-01 2.10795285e-01 6.49952835e-02 6.01173983e+01] [-2.10378212e-01 9.77529958e-01 -1.32736028e-02 -7.29491003e+00] [-6.63328496e-02 -7.26956198e-04 9.97797286e-01 -4.88153891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52105275400001 meters 0.012323630716882432 Centerline is valid? [True, True] Translation: X:60.18, Y:-7.31, Z:-4.88 [[ 9.75449071e-01 2.09609332e-01 6.75502589e-02 6.01775021e+01] [-2.09154522e-01 9.77784999e-01 -1.38160181e-02 -7.31000813e+00] [-6.89455961e-02 -6.51620068e-04 9.97620208e-01 -4.88340284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754000005 meters 0.012685070766718891 Centerline is valid? [True, True] Translation: X:60.24, Y:-7.32, Z:-4.89 [[ 9.74830425e-01 2.12445170e-01 6.76216883e-02 6.02378826e+01] [-2.11995047e-01 9.77172630e-01 -1.38473851e-02 -7.32260292e+00] [-6.90198732e-02 -8.36610772e-04 9.97614934e-01 -4.88583759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64105275400001 meters 0.012417995881047332 Centerline is valid? [True, True] Translation: X:60.30, Y:-7.34, Z:-4.89 [[ 9.75351672e-01 2.10497439e-01 6.61811420e-02 6.02983565e+01] [-2.10060764e-01 9.77594180e-01 -1.35681216e-02 -7.33956607e+00] [-6.75543541e-02 -6.68371147e-04 9.97715371e-01 -4.89210215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70105275400001 meters 0.012546135488914924 Centerline is valid? [True, True] Translation: X:60.36, Y:-7.36, Z:-4.90 [[ 9.75808983e-01 2.09047857e-01 6.39986109e-02 6.03571900e+01] [-2.08635220e-01 9.77905267e-01 -1.31390132e-02 -7.35518770e+00] [-6.53312613e-02 -5.31197154e-04 9.97863490e-01 -4.89885475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754000005 meters 0.012604846764532704 Centerline is valid? [True, True] Translation: X:60.42, Y:-7.37, Z:-4.90 [[ 9.75624781e-01 2.10255002e-01 6.28420357e-02 6.04175551e+01] [-2.09858778e-01 9.77646403e-01 -1.29152671e-02 -7.36696983e+00] [-6.41527897e-02 -5.87498187e-04 9.97939915e-01 -4.90315174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82105275400001 meters 0.012657177106445944 Centerline is valid? [True, True] Translation: X:60.48, Y:-7.37, Z:-4.91 [[ 9.74862315e-01 2.13277586e-01 6.44681095e-02 6.04802632e+01] [-2.12866127e-01 9.76991323e-01 -1.32652526e-02 -7.37468818e+00] [-6.58139646e-02 -7.91281949e-04 9.97831597e-01 -4.90675074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88105275400001 meters 0.012946456204248087 Centerline is valid? [True, True] Translation: X:60.54, Y:-7.39, Z:-4.91 [[ 9.75161822e-01 2.11646348e-01 6.53088300e-02 6.05398630e+01] [-2.11219065e-01 9.77346087e-01 -1.34585458e-02 -7.38779821e+00] [-6.66777816e-02 -6.70209964e-04 9.97774335e-01 -4.91131438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754000005 meters 0.01279106589851324 Centerline is valid? [True, True] Translation: X:60.60, Y:-7.40, Z:-4.91 [[ 9.75208527e-01 2.11272722e-01 6.58191854e-02 6.06005575e+01] [-2.10836839e-01 9.77426946e-01 -1.35791367e-02 -7.40174808e+00] [-6.72023466e-02 -6.34619156e-04 9.97739165e-01 -4.91460753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00105275400001 meters 0.012327265436270498 Centerline is valid? [True, True] Translation: X:60.66, Y:-7.42, Z:-4.91 [[ 9.74887460e-01 2.12204445e-01 6.75552628e-02 6.06611711e+01] [-2.11746315e-01 9.77225042e-01 -1.39540637e-02 -7.41546509e+00] [-6.89778089e-02 -7.00936259e-04 9.97617948e-01 -4.91499956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06105275400001 meters 0.013131420219974075 Centerline is valid? [True, True] Translation: X:60.72, Y:-7.42, Z:-4.92 [[ 9.74308799e-01 2.14652069e-01 6.81678401e-02 6.07211998e+01] [-2.14190289e-01 9.76690198e-01 -1.40988579e-02 -7.42415842e+00] [-6.96052102e-02 -8.64248017e-04 9.97574242e-01 -4.92276443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754000004 meters 0.01317867674562521 Centerline is valid? [True, True] Translation: X:60.78, Y:-7.44, Z:-4.93 [[ 9.73977702e-01 2.16706773e-01 6.63747733e-02 6.07808469e+01] [-2.16272725e-01 9.76236260e-01 -1.37431354e-02 -7.43842851e+00] [-6.77756909e-02 -9.69545692e-04 9.97700113e-01 -4.92938630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18105275400001 meters 0.013795792037436106 Centerline is valid? [True, True] Translation: X:60.84, Y:-7.45, Z:-4.94 [[ 9.73259452e-01 2.20696816e-01 6.37099267e-02 6.08410298e+01] [-2.20304397e-01 9.75341746e-01 -1.32080102e-02 -7.45174843e+00] [-6.50539169e-02 -1.18075621e-03 9.97881052e-01 -4.93527688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24105275400001 meters 0.014817418156589109 Centerline is valid? [True, True] Translation: X:60.90, Y:-7.46, Z:-4.94 [[ 9.72564816e-01 2.24574445e-01 6.06959346e-02 6.09010497e+01] [-2.24225695e-01 9.74455973e-01 -1.25854740e-02 -7.45880657e+00] [-6.19718918e-02 -1.36939892e-03 9.98076956e-01 -4.94394518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30105275400001 meters 0.015607605439057072 Centerline is valid? [True, True] Translation: X:60.96, Y:-7.47, Z:-4.95 [[ 9.72001441e-01 2.27239202e-01 5.97958433e-02 6.09629574e+01] [-2.26905013e-01 9.73837811e-01 -1.24110254e-02 -7.46524159e+00] [-6.10517246e-02 -1.50444203e-03 9.98133470e-01 -4.95221328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754000006 meters 0.015619324554466688 Centerline is valid? [True, True] Translation: X:61.02, Y:-7.48, Z:-4.95 [[ 9.72193595e-01 2.26783979e-01 5.83835671e-02 6.10231552e+01] [-2.26464560e-01 9.73944019e-01 -1.21182296e-02 -7.48023841e+00] [-5.96105462e-02 -1.44054366e-03 9.98220671e-01 -4.95491858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42105275400001 meters 0.015596612980118286 Centerline is valid? [True, True] Translation: X:61.08, Y:-7.49, Z:-4.96 [[ 9.72185262e-01 2.27005461e-01 5.76570683e-02 6.10831629e+01] [-2.26693478e-01 9.73892448e-01 -1.19819681e-02 -7.49409485e+00] [-5.88717555e-02 -1.42178859e-03 9.98264542e-01 -4.96035153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48105275400001 meters 0.015321880991245315 Centerline is valid? [True, True] Translation: X:61.14, Y:-7.51, Z:-4.97 [[ 9.72674472e-01 2.24751129e-01 5.82348779e-02 6.11431257e+01] [-2.24427910e-01 9.74415355e-01 -1.21173423e-02 -7.50711039e+00] [-5.94683455e-02 -1.28330239e-03 9.98229367e-01 -4.96644331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754000006 meters 0.014542527617613312 Centerline is valid? [True, True] Translation: X:61.20, Y:-7.52, Z:-4.97 [[ 9.73343575e-01 2.21701626e-01 5.87424322e-02 6.12036203e+01] [-2.21366081e-01 9.75113944e-01 -1.22414762e-02 -7.52322848e+00] [-5.99945200e-02 -1.08841984e-03 9.98198113e-01 -4.96986194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60105275400001 meters 0.0146587486441601 Centerline is valid? [True, True] Translation: X:61.26, Y:-7.54, Z:-4.97 [[ 9.73450854e-01 2.20968912e-01 5.97174530e-02 6.12633361e+01] [-2.20620581e-01 9.75280278e-01 -1.24474299e-02 -7.53662781e+00] [-6.09917492e-02 -1.05793790e-03 9.98137710e-01 -4.97343750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66105275400001 meters 0.013517784718499614 Centerline is valid? [True, True] Translation: X:61.32, Y:-7.55, Z:-4.97 [[ 9.73363902e-01 2.20485316e-01 6.28405937e-02 6.13241641e+01] [-2.20097608e-01 9.75389710e-01 -1.31132060e-02 -7.54993958e+00] [-6.41853378e-02 -1.06714304e-03 9.97937425e-01 -4.97425196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754000006 meters 0.01347941590787276 Centerline is valid? [True, True] Translation: X:61.38, Y:-7.56, Z:-4.98 [[ 9.73656111e-01 2.19209082e-01 6.27786268e-02 6.13843423e+01] [-2.18818455e-01 9.75677429e-01 -1.31163609e-02 -7.56320463e+00] [-6.41269146e-02 -9.66297227e-04 9.97941283e-01 -4.98027821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78105275400001 meters 0.013031275637413589 Centerline is valid? [True, True] Translation: X:61.44, Y:-7.58, Z:-4.99 [[ 9.73999811e-01 2.17770124e-01 6.24543202e-02 6.14446427e+01] [-2.17379572e-01 9.75999717e-01 -1.30642339e-02 -7.57797972e+00] [-6.38003987e-02 -8.51732040e-04 9.97962316e-01 -4.98607915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84105275400001 meters 0.01324278975195449 Centerline is valid? [True, True] Translation: X:61.50, Y:-7.59, Z:-4.99 [[ 9.74077733e-01 2.17005628e-01 6.38836972e-02 6.15046405e+01] [-2.16594225e-01 9.76170022e-01 -1.33801995e-02 -7.59170170e+00] [-6.52649286e-02 -8.03485508e-04 9.97867648e-01 -4.98875718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754000006 meters 0.012543212585862825 Centerline is valid? [True, True] Translation: X:61.57, Y:-7.60, Z:-4.99 [[ 9.74228861e-01 2.15296093e-01 6.72734594e-02 6.15652188e+01] [-2.14834510e-01 9.76548561e-01 -1.41082313e-02 -7.60450594e+00] [-6.87332470e-02 -7.08014598e-04 9.97634823e-01 -4.99128110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96105275400001 meters 0.01196378885959673 Centerline is valid? [True, True] Translation: X:61.63, Y:-7.62, Z:-5.00 [[ 9.74676268e-01 2.13053570e-01 6.79289967e-02 6.16253302e+01] [-2.12576317e-01 9.77040371e-01 -1.42626594e-02 -7.61908169e+00] [-6.94080826e-02 -5.38620256e-04 9.97588206e-01 -4.99692133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02105275400001 meters 0.012047960941123334 Centerline is valid? [True, True] Translation: X:61.69, Y:-7.63, Z:-5.00 [[ 9.74724736e-01 2.13308889e-01 6.64154087e-02 6.16850372e+01] [-2.12852137e-01 9.76984667e-01 -1.39616840e-02 -7.63220722e+00] [-6.78649873e-02 -5.27862883e-04 9.97694374e-01 -5.00481841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754000005 meters 0.012140056850278686 Centerline is valid? [True, True] Translation: X:61.75, Y:-7.64, Z:-5.01 [[ 9.74304828e-01 2.15054454e-01 6.69453833e-02 6.17461702e+01] [-2.14593451e-01 9.76601850e-01 -1.40882380e-02 -7.64448960e+00] [-6.84087234e-02 -6.39802544e-04 9.97657174e-01 -5.00916857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14105275400001 meters 0.01278149586824271 Centerline is valid? [True, True] Translation: X:61.81, Y:-7.65, Z:-5.01 [[ 9.73215800e-01 2.19740686e-01 6.75650640e-02 6.18076810e+01] [-2.19280909e-01 9.75557848e-01 -1.42396875e-02 -7.65019615e+00] [-6.90426671e-02 -9.57439814e-04 9.97613248e-01 -5.01421669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20105275400001 meters 0.013559870238040056 Centerline is valid? [True, True] Translation: X:61.87, Y:-7.66, Z:-5.02 [[ 9.72500566e-01 2.22805538e-01 6.78258130e-02 6.18686773e+01] [-2.22349101e-01 9.74862205e-01 -1.43023834e-02 -7.65834022e+00] [-6.93074719e-02 -1.17193258e-03 9.97594658e-01 -5.02093150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754000005 meters 0.013163519457250443 Centerline is valid? [True, True] Translation: X:61.93, Y:-7.67, Z:-5.03 [[ 9.72947099e-01 2.20750762e-01 6.81398879e-02 6.19277158e+01] [-2.20283837e-01 9.75329726e-01 -1.43860019e-02 -7.67464614e+00] [-6.96345791e-02 -1.01329711e-03 9.97572052e-01 -5.02581175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32105275400001 meters 0.01321453069618614 Centerline is valid? [True, True] Translation: X:61.99, Y:-7.69, Z:-5.03 [[ 9.73401567e-01 2.19549805e-01 6.54772644e-02 6.19870418e+01] [-2.19115032e-01 9.75600899e-01 -1.38379616e-02 -7.69109179e+00] [-6.69177998e-02 -8.77159339e-04 9.97758106e-01 -5.03380786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38105275400001 meters 0.01310276920349602 Centerline is valid? [True, True] Translation: X:62.05, Y:-7.71, Z:-5.04 [[ 9.73267535e-01 2.20089168e-01 6.56586827e-02 6.20480086e+01] [-2.19652170e-01 9.75479341e-01 -1.38917066e-02 -7.70521140e+00] [-6.71061027e-02 -9.01725068e-04 9.97745437e-01 -5.03726906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754000005 meters 0.014041681590123216 Centerline is valid? [True, True] Translation: X:62.11, Y:-7.71, Z:-5.05 [[ 9.73019605e-01 2.21470099e-01 6.46826368e-02 6.21080691e+01] [-2.21047800e-01 9.75166687e-01 -1.37041403e-02 -7.71240236e+00] [-6.61114099e-02 -9.63557405e-04 9.97811782e-01 -5.04748789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50105275400001 meters 0.013824156620538324 Centerline is valid? [True, True] Translation: X:62.17, Y:-7.73, Z:-5.05 [[ 9.73094308e-01 2.21897693e-01 6.20393504e-02 6.21677329e+01] [-2.21509268e-01 9.75069501e-01 -1.31572177e-02 -7.72721435e+00] [-6.34122347e-02 -9.39077422e-04 9.97986977e-01 -5.05384195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56105275400001 meters 0.012884964858204298 Centerline is valid? [True, True] Translation: X:62.23, Y:-7.74, Z:-5.05 [[ 9.73263245e-01 2.20622854e-01 6.39078425e-02 6.22275683e+01] [-2.20206851e-01 9.75358809e-01 -1.35696962e-02 -7.74469291e+00] [-6.53268622e-02 -8.66058223e-04 9.97863543e-01 -5.05352646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62105275400001 meters 0.013011375060778561 Centerline is valid? [True, True] Translation: X:62.29, Y:-7.75, Z:-5.06 [[ 9.72869331e-01 2.21389604e-01 6.71707359e-02 6.22890290e+01] [-2.20930547e-01 9.75184981e-01 -1.42809721e-02 -7.75396110e+00] [-6.86655516e-02 -9.46547651e-04 9.97639287e-01 -5.06043184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68105275400001 meters 0.013273968296900597 Centerline is valid? [True, True] Translation: X:62.35, Y:-7.77, Z:-5.07 [[ 9.72822710e-01 2.21682805e-01 6.68783192e-02 6.23491974e+01] [-2.21227219e-01 9.75118372e-01 -1.42364928e-02 -7.76503909e+00] [-6.83702634e-02 -9.45721046e-04 9.97659568e-01 -5.06711765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74105275400001 meters 0.012367930752191263 Centerline is valid? [True, True] Translation: X:62.41, Y:-7.78, Z:-5.07 [[ 9.73313974e-01 2.19469805e-01 6.70291920e-02 6.24086500e+01] [-2.19006163e-01 9.75618980e-01 -1.42795805e-02 -7.78252044e+00] [-6.85288887e-02 -7.81290860e-04 9.97648826e-01 -5.06936565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80105275400001 meters 0.011710163704903276 Centerline is valid? [True, True] Translation: X:62.47, Y:-7.79, Z:-5.08 [[ 9.73675571e-01 2.17158857e-01 6.92669638e-02 6.24691904e+01] [-2.16656542e-01 9.76136079e-01 -1.47749107e-02 -7.79480252e+00] [-7.08224852e-02 -6.21171209e-04 9.97488742e-01 -5.07611014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754000006 meters 0.011349968628618907 Centerline is valid? [True, True] Translation: X:62.53, Y:-7.81, Z:-5.08 [[ 9.74387026e-01 2.13805411e-01 6.96933930e-02 6.25293970e+01] [-2.13287043e-01 9.76876202e-01 -1.48836361e-02 -7.81095148e+00] [-7.12640190e-02 -3.62275723e-04 9.97457422e-01 -5.08084507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92105275400001 meters 0.010924980718988326 Centerline is valid? [True, True] Translation: X:62.59, Y:-7.83, Z:-5.08 [[ 9.75149782e-01 2.09860722e-01 7.10026821e-02 6.25889804e+01] [-2.09310905e-01 9.77731289e-01 -1.51812681e-02 -7.82793892e+00] [-7.26074958e-02 -5.76253657e-05 9.97360591e-01 -5.08435256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98105275400001 meters 0.010735674246888087 Centerline is valid? [True, True] Translation: X:62.65, Y:-7.84, Z:-5.09 [[ 9.75352355e-01 2.08377268e-01 7.25720132e-02 6.26496824e+01] [-2.07797352e-01 9.78048521e-01 -1.55354884e-02 -7.84183520e+00] [-7.42161928e-02 7.23030285e-05 9.97242173e-01 -5.08854326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.041052754 meters 0.010706794955017218 Centerline is valid? [True, True] Translation: X:62.71, Y:-7.86, Z:-5.09 [[ 9.75636210e-01 2.06623021e-01 7.37625428e-02 6.27102869e+01] [-2.06017460e-01 9.78420602e-01 -1.58091991e-02 -7.85557179e+00] [-7.54373360e-02 2.27655324e-04 9.97150518e-01 -5.09408272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters 0.010576548023496106 Centerline is valid? [True, True] Translation: X:62.77, Y:-7.87, Z:-5.10 [[ 9.75512340e-01 2.06331332e-01 7.61777865e-02 6.27702254e+01] [-2.05682757e-01 9.78482142e-01 -1.63493396e-02 -7.87017546e+00] [-7.79119847e-02 2.80525408e-04 9.96960202e-01 -5.09623735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters 0.010421947945935102 Centerline is valid? [True, True] Translation: X:62.83, Y:-7.88, Z:-5.10 [[ 9.75178678e-01 2.07793834e-01 7.64739797e-02 6.28314715e+01] [-2.07143219e-01 9.78172628e-01 -1.64316011e-02 -7.88316402e+00] [-7.82191391e-02 1.82680707e-04 9.96936173e-01 -5.10019957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters 0.010443047403434238 Centerline is valid? [True, True] Translation: X:62.89, Y:-7.89, Z:-5.11 [[ 9.74372715e-01 2.12488821e-01 7.37991442e-02 6.28927176e+01] [-2.11894864e-01 9.77163483e-01 -1.58774595e-02 -7.89048136e+00] [-7.54876114e-02 -1.67096279e-04 9.97146726e-01 -5.11144040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.281052754 meters 0.010952896922205356 Centerline is valid? [True, True] Translation: X:62.95, Y:-7.90, Z:-5.12 [[ 9.73305692e-01 2.18573410e-01 7.00120999e-02 6.29538022e+01] [-2.18053347e-01 9.75820331e-01 -1.50804422e-02 -7.90068353e+00] [-7.16154141e-02 -5.88492444e-04 9.97432146e-01 -5.11800942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341052754 meters 0.01193866017380184 Centerline is valid? [True, True] Translation: X:63.01, Y:-7.91, Z:-5.13 [[ 9.72370020e-01 2.23577189e-01 6.71549369e-02 6.30147678e+01] [-2.23109401e-01 9.74685811e-01 -1.44832388e-02 -7.91047180e+00] [-6.86930860e-02 -8.99830527e-04 9.97637434e-01 -5.12676083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.401052754 meters 0.01305757853849311 Centerline is valid? [True, True] Translation: X:63.08, Y:-7.92, Z:-5.13 [[ 9.71348600e-01 2.28080064e-01 6.67935797e-02 6.30757230e+01] [-2.27627743e-01 9.73641630e-01 -1.44079076e-02 -7.91927661e+00] [-6.83191663e-02 -1.20897087e-03 9.97662784e-01 -5.13429601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46105275400001 meters 0.013250472801852702 Centerline is valid? [True, True] Translation: X:63.14, Y:-7.93, Z:-5.14 [[ 9.70949084e-01 2.29391816e-01 6.80975133e-02 6.31367893e+01] [-2.28923722e-01 9.73333281e-01 -1.47055385e-02 -7.93213235e+00] [-6.96549062e-02 -1.31080706e-03 9.97570286e-01 -5.13857745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters 0.012128353299024333 Centerline is valid? [True, True] Translation: X:63.20, Y:-7.95, Z:-5.14 [[ 9.71682842e-01 2.25866841e-01 6.94019045e-02 6.31964276e+01] [-2.25370161e-01 9.74157611e-01 -1.50080059e-02 -7.95050884e+00] [-7.09982043e-02 -1.05809652e-03 9.97475882e-01 -5.13934805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters 0.01172283194754942 Centerline is valid? [True, True] Translation: X:63.26, Y:-7.97, Z:-5.14 [[ 9.72264139e-01 2.23209209e-01 6.98576615e-02 6.32551517e+01] [-2.22697820e-01 9.74770190e-01 -1.51247424e-02 -7.96517020e+00] [-7.14711478e-02 -8.51904243e-04 9.97442304e-01 -5.14475080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters 0.011818637407306116 Centerline is valid? [True, True] Translation: X:63.32, Y:-7.98, Z:-5.15 [[ 9.72161051e-01 2.23847004e-01 6.92488937e-02 6.33160378e+01] [-2.23345021e-01 9.74623903e-01 -1.50083263e-02 -7.97743066e+00] [-7.08511959e-02 -8.75885318e-04 9.97486512e-01 -5.15103751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.701052754 meters 0.011928157081625607 Centerline is valid? [True, True] Translation: X:63.38, Y:-7.99, Z:-5.16 [[ 9.72273932e-01 2.24035541e-01 6.70184912e-02 6.33770417e+01] [-2.23564543e-01 9.74580611e-01 -1.45440107e-02 -7.98895220e+00] [-6.85732974e-02 -8.42195867e-04 9.97645725e-01 -5.15772069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.761052754 meters 0.011818329479812964 Centerline is valid? [True, True] Translation: X:63.44, Y:-8.00, Z:-5.16 [[ 9.72738766e-01 2.22115539e-01 6.66631931e-02 6.34375769e+01] [-2.21643878e-01 9.75020110e-01 -1.44836405e-02 -8.00193763e+00] [-6.82149956e-02 -6.86690036e-04 9.97670408e-01 -5.16223142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82105275400001 meters 0.011286598147569648 Centerline is valid? [True, True] Translation: X:63.50, Y:-8.02, Z:-5.16 [[ 9.73537042e-01 2.18128883e-01 6.81573037e-02 6.34975306e+01] [-2.17624839e-01 9.75919890e-01 -1.48256022e-02 -8.01962146e+00] [-6.97499604e-02 -3.99449353e-04 9.97564426e-01 -5.16358068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters 0.011140231014963576 Centerline is valid? [True, True] Translation: X:63.56, Y:-8.04, Z:-5.16 [[ 9.74271676e-01 2.13419946e-01 7.24336143e-02 6.35566438e+01] [-2.12836096e-01 9.76960554e-01 -1.57756639e-02 -8.03615491e+00] [-7.41316253e-02 -4.67052458e-05 9.97248465e-01 -5.16311442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters 0.01175160632773839 Centerline is valid? [True, True] Translation: X:63.62, Y:-8.05, Z:-5.17 [[ 9.75383357e-01 2.08089407e-01 7.29801651e-02 6.36164560e+01] [-2.07480528e-01 9.78109736e-01 -1.59114714e-02 -8.05415278e+00] [-7.46936186e-02 3.77821263e-04 9.97206458e-01 -5.16727924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters 0.012700779276760171 Centerline is valid? [True, True] Translation: X:63.68, Y:-8.07, Z:-5.17 [[ 9.76470093e-01 2.02971179e-01 7.28619076e-02 6.36758293e+01] [-2.02348582e-01 9.79184396e-01 -1.59050639e-02 -8.07129687e+00] [-7.45735125e-02 7.87315526e-04 9.97215208e-01 -5.17141498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.061052754 meters 0.014200852107924768 Centerline is valid? [True, True] Translation: X:63.74, Y:-8.09, Z:-5.17 [[ 9.77749963e-01 1.95504955e-01 7.60448660e-02 6.37351385e+01] [-1.94802563e-01 9.80701662e-01 -1.66196061e-02 -8.08950769e+00] [-7.78265418e-02 1.43608444e-03 9.96965881e-01 -5.17136826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.121052754 meters 0.015168364126748934 Centerline is valid? [True, True] Translation: X:63.80, Y:-8.10, Z:-5.18 [[ 9.78523142e-01 1.91705158e-01 7.57732946e-02 6.37951035e+01] [-1.90995040e-01 9.81451003e-01 -1.65777725e-02 -8.10150654e+00] [-7.75458205e-02 1.74941062e-03 9.96987254e-01 -5.17812293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.181052754 meters 0.014806118169960162 Centerline is valid? [True, True] Translation: X:63.86, Y:-8.11, Z:-5.19 [[ 9.78914589e-01 1.91750401e-01 7.04131522e-02 6.38562322e+01] [-1.91136383e-01 9.81442360e-01 -1.54200245e-02 -8.11123397e+00] [-7.20632462e-02 1.63637170e-03 9.97398722e-01 -5.18767571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters 0.016635737814855306 Centerline is valid? [True, True] Translation: X:63.92, Y:-8.13, Z:-5.19 [[ 9.79345451e-01 1.90523866e-01 6.76989174e-02 6.39150493e+01] [-1.89952221e-01 9.81681132e-01 -1.48427925e-02 -8.12514578e+00] [-6.92866561e-02 1.67666157e-03 9.97595383e-01 -5.19493306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters 0.016121304271170946 Centerline is valid? [True, True] Translation: X:63.98, Y:-8.13, Z:-5.20 [[ 9.79083048e-01 1.91691152e-01 6.81974143e-02 6.39769956e+01] [-1.91112609e-01 9.81453955e-01 -1.49701153e-02 -8.13469537e+00] [-6.98022607e-02 1.62360031e-03 9.97559526e-01 -5.19864784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters 0.014939740714988664 Centerline is valid? [True, True] Translation: X:64.04, Y:-8.14, Z:-5.20 [[ 9.78418738e-01 1.94719287e-01 6.91460188e-02 6.40383279e+01] [-1.94131732e-01 9.80857966e-01 -1.51829288e-02 -8.14316369e+00] [-7.07788324e-02 1.43182563e-03 9.97491006e-01 -5.20183726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.421052754 meters 0.014817529949977457 Centerline is valid? [True, True] Translation: X:64.10, Y:-8.15, Z:-5.20 [[ 9.77806294e-01 1.97160918e-01 7.08690633e-02 6.40984875e+01] [-1.96548705e-01 9.80370271e-01 -1.55800358e-02 -8.15407030e+00] [-7.25496970e-02 1.30503446e-03 9.97363945e-01 -5.20485944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481052754 meters 0.015142008181636744 Centerline is valid? [True, True] Translation: X:64.16, Y:-8.17, Z:-5.21 [[ 9.77634744e-01 1.97002532e-01 7.36227533e-02 6.41593292e+01] [-1.96339940e-01 9.80402000e-01 -1.62032630e-02 -8.16776383e+00] [-7.53719784e-02 1.38578586e-03 9.97154524e-01 -5.20582647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.541052754 meters 0.015303669601350002 Centerline is valid? [True, True] Translation: X:64.22, Y:-8.18, Z:-5.21 [[ 9.77775369e-01 1.96639723e-01 7.27196496e-02 6.42200654e+01] [-1.95990995e-01 9.80474794e-01 -1.60221317e-02 -8.18083277e+00] [-7.44503710e-02 1.41364922e-03 9.97223718e-01 -5.21174719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters 0.015086910268755584 Centerline is valid? [True, True] Translation: X:64.28, Y:-8.19, Z:-5.22 [[ 9.77764325e-01 1.96965918e-01 7.19816045e-02 6.42818182e+01] [-1.96329924e-01 9.80409349e-01 -1.58767205e-02 -8.19119739e+00] [-7.36986108e-02 1.39154797e-03 9.97279589e-01 -5.21823977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters 0.01465197305130798 Centerline is valid? [True, True] Translation: X:64.34, Y:-8.20, Z:-5.22 [[ 9.77212672e-01 1.99554458e-01 7.23423224e-02 6.43430369e+01] [-1.98917492e-01 9.79885973e-01 -1.59784735e-02 -8.20490222e+00] [-7.40758025e-02 1.22421345e-03 9.97251862e-01 -5.22045629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters 0.01420792776831375 Centerline is valid? [True, True] Translation: X:64.40, Y:-8.22, Z:-5.22 [[ 9.76859622e-01 2.00508084e-01 7.44431853e-02 6.44034092e+01] [-1.99835826e-01 9.79691323e-01 -1.64485254e-02 -8.21793078e+00] [-7.62294051e-02 1.19148487e-03 9.97089594e-01 -5.22313045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781052754 meters 0.014513665412448674 Centerline is valid? [True, True] Translation: X:64.46, Y:-8.23, Z:-5.23 [[ 9.77087026e-01 1.99444719e-01 7.43151968e-02 6.44634586e+01] [-1.98770285e-01 9.79908230e-01 -1.64388249e-02 -8.23199347e+00] [-7.61007098e-02 1.29050967e-03 9.97099301e-01 -5.22855570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841052754 meters 0.01589059081914777 Centerline is valid? [True, True] Translation: X:64.52, Y:-8.25, Z:-5.23 [[ 9.78322835e-01 1.93628857e-01 7.34322624e-02 6.45222136e+01] [-1.92952544e-01 9.81073307e-01 -1.62629247e-02 -8.25025390e+00] [-7.51914040e-02 1.74144874e-03 9.97167599e-01 -5.23263058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.901052754 meters 0.019452191411750606 Centerline is valid? [True, True] Translation: X:64.58, Y:-8.27, Z:-5.23 [[ 9.80745452e-01 1.80916591e-01 7.35360076e-02 6.45797561e+01] [-1.80202416e-01 9.83494671e-01 -1.62886619e-02 -8.27294494e+00] [-7.52691608e-02 2.72366480e-03 9.97159533e-01 -5.23493883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96105275400001 meters 0.022561551138229687 Centerline is valid? [True, True] Translation: X:64.64, Y:-8.29, Z:-5.24 [[ 9.83568035e-01 1.65595647e-01 7.19166371e-02 6.46380713e+01] [-1.64871624e-01 9.86186366e-01 -1.59310858e-02 -8.29328513e+00] [-7.35613255e-02 3.81229396e-03 9.97283409e-01 -5.23918048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters 0.028709654969029667 Centerline is valid? [True, True] Translation: X:64.69, Y:-8.32, Z:-5.24 [[ 9.85936397e-01 1.50856808e-01 7.19141474e-02 6.46943736e+01] [-1.50093517e-01 9.88543404e-01 -1.59334616e-02 -8.31534213e+00] [-7.34939272e-02 4.91553248e-03 9.97283551e-01 -5.24310089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters 0.03314429439944468 Centerline is valid? [True, True] Translation: X:64.75, Y:-8.33, Z:-5.25 [[ 9.87121676e-01 1.41870393e-01 7.39160910e-02 6.47529130e+01] [-1.41038351e-01 9.89868554e-01 -1.63838078e-02 -8.32704010e+00] [-7.54915914e-02 5.74780824e-03 9.97129872e-01 -5.24698152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters 0.031992037603825005 Centerline is valid? [True, True] Translation: X:64.82, Y:-8.33, Z:-5.25 [[ 9.86644143e-01 1.42206028e-01 7.94404171e-02 6.48161068e+01] [-1.41245157e-01 9.89817916e-01 -1.76153160e-02 -8.32966181e+00] [-8.11365522e-02 6.15947423e-03 9.96683962e-01 -5.24626584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201052754 meters 0.027724861597816616 Centerline is valid? [True, True] Translation: X:64.88, Y:-8.32, Z:-5.25 [[ 9.85156257e-01 1.51522016e-01 8.06735937e-02 6.48800526e+01] [-1.50560336e-01 9.88438600e-01 -1.79086072e-02 -8.32267996e+00] [-8.24544423e-02 5.49653302e-03 9.96579677e-01 -5.25267776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261052754 meters 0.02062357064843656 Centerline is valid? [True, True] Translation: X:64.94, Y:-8.31, Z:-5.26 [[ 9.82092058e-01 1.72006932e-01 7.68687575e-02 6.49449269e+01] [-1.71196028e-01 9.85089156e-01 -1.70667977e-02 -8.31074567e+00] [-7.86581869e-02 3.60154052e-03 9.96895139e-01 -5.26085247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32105275400001 meters 0.01931441081251576 Centerline is valid? [True, True] Translation: X:65.01, Y:-8.31, Z:-5.27 [[ 9.80576207e-01 1.81148779e-01 7.52025465e-02 6.50056556e+01] [-1.80399248e-01 9.83451692e-01 -1.66997383e-02 -8.31343395e+00] [-7.69832088e-02 2.80888320e-03 9.97028433e-01 -5.26902217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters 0.01572655743987376 Centerline is valid? [True, True] Translation: X:65.07, Y:-8.31, Z:-5.28 [[ 9.77848952e-01 1.96922023e-01 7.09446512e-02 6.50685041e+01] [-1.96296190e-01 9.80418034e-01 -1.57570474e-02 -8.30888063e+00] [-7.26583251e-02 1.48184749e-03 9.97355790e-01 -5.28167575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters 0.01453262499796484 Centerline is valid? [True, True] Translation: X:65.13, Y:-8.32, Z:-5.29 [[ 9.76723410e-01 2.02731375e-01 7.00811713e-02 6.51287407e+01] [-2.02135478e-01 9.79233838e-01 -1.55672225e-02 -8.31850700e+00] [-7.17818188e-02 1.03897958e-03 9.97419817e-01 -5.28775343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters 0.013752397986257459 Centerline is valid? [True, True] Translation: X:65.19, Y:-8.33, Z:-5.29 [[ 9.75912025e-01 2.05789916e-01 7.24308656e-02 6.51900208e+01] [-2.05161561e-01 9.78595830e-01 -1.60914686e-02 -8.33124658e+00] [-7.41920050e-02 8.43828276e-04 9.97243618e-01 -5.28994474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561052754 meters 0.01258109196235304 Centerline is valid? [True, True] Translation: X:65.25, Y:-8.34, Z:-5.29 [[ 9.73762739e-01 2.15173391e-01 7.40711816e-02 6.52502870e+01] [-2.14542804e-01 9.76575851e-01 -1.64618550e-02 -8.34029935e+00] [-7.58782803e-02 1.38502010e-04 9.97117078e-01 -5.29370737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.621052754 meters 0.012522478452382541 Centerline is valid? [True, True] Translation: X:65.31, Y:-8.35, Z:-5.30 [[ 9.73252354e-01 2.18249200e-01 7.17435877e-02 6.53100615e+01] [-2.17664814e-01 9.75893068e-01 -1.59608473e-02 -8.35350108e+00] [-7.34975120e-02 -8.21224650e-05 9.97295397e-01 -5.30130731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.681052754 meters 0.012705160153681654 Centerline is valid? [True, True] Translation: X:65.37, Y:-8.38, Z:-5.30 [[ 9.73980294e-01 2.14788034e-01 7.23082856e-02 6.53676314e+01] [-2.14184211e-01 9.76660670e-01 -1.60953146e-02 -8.37974329e+00] [-7.40777396e-02 1.89226114e-04 9.97252452e-01 -5.30402435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters 0.013845863210625349 Centerline is valid? [True, True] Translation: X:65.43, Y:-8.41, Z:-5.31 [[ 9.75970519e-01 2.04984910e-01 7.39102984e-02 6.54254226e+01] [-2.04324391e-01 9.78764649e-01 -1.64713373e-02 -8.40714113e+00] [-7.57171629e-02 9.73862914e-04 9.97128860e-01 -5.30668652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters 0.016339446672700285 Centerline is valid? [True, True] Translation: X:65.48, Y:-8.43, Z:-5.31 [[ 9.77847337e-01 1.95289592e-01 7.53429506e-02 6.54812507e+01] [-1.94572897e-01 9.80744011e-01 -1.68099140e-02 -8.43437201e+00] [-7.71749488e-02 1.77783344e-03 9.97015981e-01 -5.30893140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters 0.018338049369526505 Centerline is valid? [True, True] Translation: X:65.54, Y:-8.47, Z:-5.31 [[ 9.80372450e-01 1.80855012e-01 7.84941074e-02 6.55365740e+01] [-1.80030402e-01 9.83505065e-01 -1.75169080e-02 -8.46596272e+00] [-8.03673728e-02 3.04176833e-03 9.96760670e-01 -5.30859769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.921052754 meters 0.01875333356428079 Centerline is valid? [True, True] Translation: X:65.59, Y:-8.49, Z:-5.31 [[ 9.80825178e-01 1.78401322e-01 7.84534128e-02 6.55946073e+01] [-1.77569614e-01 9.83952465e-01 -1.75094018e-02 -8.48740022e+00] [-8.03181294e-02 3.24271997e-03 9.96764006e-01 -5.31435066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.981052754 meters 0.019495255960415975 Centerline is valid? [True, True] Translation: X:65.65, Y:-8.51, Z:-5.32 [[ 9.81185991e-01 1.76287996e-01 7.87184425e-02 6.56532278e+01] [-1.75442327e-01 9.84332600e-01 -1.75875909e-02 -8.50892790e+00] [-8.05856103e-02 3.44615105e-03 9.96741734e-01 -5.31939375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.041052754 meters 0.023704215185692767 Centerline is valid? [True, True] Translation: X:65.71, Y:-8.53, Z:-5.33 [[ 9.81716408e-01 1.74364064e-01 7.63548829e-02 6.57101238e+01] [-1.73562325e-01 9.84675034e-01 -1.70645106e-02 -8.53287700e+00] [-7.81601843e-02 3.50017907e-03 9.96934669e-01 -5.32500098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters 0.02228422496331984 Centerline is valid? [True, True] Translation: X:65.77, Y:-8.55, Z:-5.33 [[ 9.82566540e-01 1.70018653e-01 7.52107235e-02 6.57683901e+01] [-1.69226707e-01 9.85433494e-01 -1.68270550e-02 -8.55085290e+00] [-7.69760793e-02 3.80603809e-03 9.97025675e-01 -5.33046843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters 0.02319217603983743 Centerline is valid? [True, True] Translation: X:65.83, Y:-8.57, Z:-5.34 [[ 9.83372336e-01 1.66352079e-01 7.28411558e-02 6.58269611e+01] [-1.65599192e-01 9.86058448e-01 -1.62985920e-02 -8.56931081e+00] [-7.45369417e-02 3.96514791e-03 9.97210370e-01 -5.33707654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters 0.021955532425737397 Centerline is valid? [True, True] Translation: X:65.89, Y:-8.58, Z:-5.34 [[ 9.83276553e-01 1.67085330e-01 7.24549016e-02 6.58872994e+01] [-1.66342296e-01 9.85934764e-01 -1.62136094e-02 -8.58205508e+00] [-7.41448626e-02 3.89014723e-03 9.97239894e-01 -5.34343660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.281052754 meters 0.025038475529741238 Centerline is valid? [True, True] Translation: X:65.95, Y:-8.60, Z:-5.35 [[ 9.83136831e-01 1.67175091e-01 7.41246240e-02 6.59462695e+01] [-1.66396114e-01 9.85919138e-01 -1.66068079e-02 -8.59936093e+00] [-7.58571301e-02 3.99271509e-03 9.97110703e-01 -5.34779600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341052754 meters 0.024910101790663552 Centerline is valid? [True, True] Translation: X:66.01, Y:-8.61, Z:-5.35 [[ 9.83590723e-01 1.63431433e-01 7.64163402e-02 6.60064828e+01] [-1.62590444e-01 9.86544719e-01 -1.71424659e-02 -8.61253983e+00] [-7.81897547e-02 4.43660375e-03 9.96928623e-01 -5.34947231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401052754 meters 0.02433691668889617 Centerline is valid? [True, True] Translation: X:66.07, Y:-8.62, Z:-5.35 [[ 9.84402844e-01 1.56373529e-01 8.06124073e-02 6.60667767e+01] [-1.55413577e-01 9.87683894e-01 -1.80871486e-02 -8.62296564e+00] [-8.24479276e-02 5.27677791e-03 9.96581404e-01 -5.35047226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46105275400001 meters 0.026811795862981703 Centerline is valid? [True, True] Translation: X:66.12, Y:-8.64, Z:-5.35 [[ 9.85004787e-01 1.52193779e-01 8.12565239e-02 6.61247139e+01] [-1.51203896e-01 9.88334374e-01 -1.82358544e-02 -8.63645146e+00] [-8.30839993e-02 5.67610085e-03 9.96526382e-01 -5.35451656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters 0.026487210490088012 Centerline is valid? [True, True] Translation: X:66.19, Y:-8.64, Z:-5.36 [[ 9.84896898e-01 1.52500065e-01 8.19867678e-02 6.61872389e+01] [-1.51492684e-01 9.88286972e-01 -1.84072786e-02 -8.64495736e+00] [-8.38335656e-02 5.70887609e-03 9.96463417e-01 -5.35877353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters 0.02711075521976185 Centerline is valid? [True, True] Translation: X:66.25, Y:-8.65, Z:-5.36 [[ 9.84564637e-01 1.54087732e-01 8.30026837e-02 6.62484619e+01] [-1.53058751e-01 9.88040919e-01 -1.86590513e-02 -8.65386186e+00] [-8.48851788e-02 5.66675497e-03 9.96374625e-01 -5.36266183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters 0.026805837007259158 Centerline is valid? [True, True] Translation: X:66.31, Y:-8.67, Z:-5.37 [[ 9.84433883e-01 1.54641564e-01 8.35219499e-02 6.63090365e+01] [-1.53601147e-01 9.87954429e-01 -1.87812193e-02 -8.66523240e+00] [-8.54202375e-02 5.65980133e-03 9.96328936e-01 -5.36753957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701052754 meters 0.024876646733703996 Centerline is valid? [True, True] Translation: X:66.37, Y:-8.67, Z:-5.38 [[ 9.84077606e-01 1.56648583e-01 8.39790808e-02 6.63710781e+01] [-1.55602224e-01 9.87638888e-01 -1.89043349e-02 -8.66691427e+00] [-8.59023433e-02 5.53600086e-03 9.96288181e-01 -5.37618656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.761052754 meters 0.025047613474033094 Centerline is valid? [True, True] Translation: X:66.43, Y:-8.68, Z:-5.38 [[ 9.82824491e-01 1.65837911e-01 8.09555822e-02 6.64302305e+01] [-1.64896444e-01 9.86142462e-01 -1.82265652e-02 -8.67572410e+00] [-8.28563926e-02 4.56422707e-03 9.96551045e-01 -5.38251286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82105275400001 meters 0.023329766327118414 Centerline is valid? [True, True] Translation: X:66.49, Y:-8.68, Z:-5.39 [[ 9.80556289e-01 1.79544175e-01 7.92038697e-02 6.64905938e+01] [-1.78687487e-01 9.83744265e-01 -1.78326330e-02 -8.68028780e+00] [-8.11180980e-02 3.33315997e-03 9.96698924e-01 -5.38988217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters 0.017704536356434968 Centerline is valid? [True, True] Translation: X:66.55, Y:-8.68, Z:-5.40 [[ 9.78123145e-01 1.93462616e-01 7.64678332e-02 6.65524784e+01] [-1.92706433e-01 9.81105389e-01 -1.72175942e-02 -8.68080814e+00] [-7.83539640e-02 2.10508401e-03 9.96923380e-01 -5.39900788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters 0.01502284726163645 Centerline is valid? [True, True] Translation: X:66.61, Y:-8.69, Z:-5.40 [[ 9.75772475e-01 2.05176379e-01 7.59653232e-02 6.66127991e+01] [-2.04465304e-01 9.78724327e-01 -1.71064654e-02 -8.68894070e+00] [-7.78589524e-02 1.15974520e-03 9.96963710e-01 -5.40428049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters 0.01375928251649877 Centerline is valid? [True, True] Translation: X:66.67, Y:-8.70, Z:-5.41 [[ 9.73717042e-01 2.15000028e-01 7.51672206e-02 6.66724472e+01] [-2.14332745e-01 9.76613971e-01 -1.69300433e-02 -8.69770177e+00] [-7.70493176e-02 3.74274895e-04 9.97027213e-01 -5.41151254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.061052754 meters 0.01373606118213088 Centerline is valid? [True, True] Translation: X:66.73, Y:-8.71, Z:-5.42 [[ 9.72860522e-01 2.19764993e-01 7.24275630e-02 6.67326509e+01] [-2.19158751e-01 9.75552842e-01 -1.63123909e-02 -8.71400694e+00] [-7.42418074e-02 -3.45316217e-06 9.97240269e-01 -5.41943626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.121052754 meters 0.013848686066184526 Centerline is valid? [True, True] Translation: X:66.79, Y:-8.74, Z:-5.42 [[ 9.72797015e-01 2.20342519e-01 7.15202270e-02 6.67921662e+01] [-2.19751456e-01 9.75422562e-01 -1.61283548e-02 -8.73522857e+00] [-7.33162053e-02 -2.70586723e-05 9.97308745e-01 -5.42349635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.181052754 meters 0.013789479310932032 Centerline is valid? [True, True] Translation: X:66.85, Y:-8.75, Z:-5.43 [[ 9.72863173e-01 2.20469205e-01 7.02180615e-02 6.68512924e+01] [-2.19898382e-01 9.75393935e-01 -1.58547208e-02 -8.75469592e+00] [-7.19857491e-02 -1.63641680e-05 9.97405661e-01 -5.43115760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters 0.014010286309243678 Centerline is valid? [True, True] Translation: X:66.91, Y:-8.78, Z:-5.44 [[ 9.74002857e-01 2.16394250e-01 6.70221019e-02 6.69090764e+01] [-2.15863444e-01 9.76306020e-01 -1.51501930e-02 -8.78033210e+00] [-6.87124962e-02 2.88709561e-04 9.97636462e-01 -5.43827728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters 0.014687922415562807 Centerline is valid? [True, True] Translation: X:66.97, Y:-8.80, Z:-5.44 [[ 9.75306866e-01 2.11441231e-01 6.37896746e-02 6.69668571e+01] [-2.10948824e-01 9.77390515e-01 -1.44351983e-02 -8.80344397e+00] [-6.53996190e-02 6.22391165e-04 9.97858959e-01 -5.44411236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters 0.014445814964980094 Centerline is valid? [True, True] Translation: X:67.03, Y:-8.82, Z:-5.45 [[ 9.75313836e-01 2.11564246e-01 6.32731442e-02 6.70280332e+01] [-2.11079148e-01 9.77363894e-01 -1.43321883e-02 -8.81832902e+00] [-6.48730653e-02 6.22740251e-04 9.97893330e-01 -5.44682463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.421052754 meters 0.014264535214195217 Centerline is valid? [True, True] Translation: X:67.09, Y:-8.83, Z:-5.46 [[ 9.74644794e-01 2.15030822e-01 6.18811074e-02 6.70896143e+01] [-2.14572709e-01 9.76607180e-01 -1.40345202e-02 -8.82698934e+00] [-6.34513883e-02 4.00675236e-04 9.97984850e-01 -5.45504427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.481052754 meters 0.01444916605274479 Centerline is valid? [True, True] Translation: X:67.15, Y:-8.83, Z:-5.47 [[ 9.74180794e-01 2.18139036e-01 5.81991496e-02 6.71497414e+01] [-2.17738403e-01 9.75917681e-01 -1.32162053e-02 -8.83443744e+00] [-5.96805494e-02 2.02783429e-04 9.98217507e-01 -5.46731821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.541052754 meters 0.014598645925175928 Centerline is valid? [True, True] Translation: X:67.21, Y:-8.85, Z:-5.47 [[ 9.74033675e-01 2.19100239e-01 5.70393381e-02 6.72098730e+01] [-2.18716330e-01 9.75702343e-01 -1.29655365e-02 -8.84858096e+00] [-5.84941680e-02 1.53434477e-04 9.98287738e-01 -5.47259087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters 0.014393053292877954 Centerline is valid? [True, True] Translation: X:67.27, Y:-8.86, Z:-5.47 [[ 9.73103345e-01 2.23088380e-01 5.74582834e-02 6.72711425e+01] [-2.22704899e-01 9.74798220e-01 -1.30751005e-02 -8.86108597e+00] [-5.89271354e-02 -7.28172372e-05 9.98262284e-01 -5.47385250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters 0.014534655120549796 Centerline is valid? [True, True] Translation: X:67.33, Y:-8.87, Z:-5.48 [[ 9.71247722e-01 2.31170176e-01 5.69052918e-02 6.73326787e+01] [-2.30807082e-01 9.72913179e-01 -1.29629121e-02 -8.87031347e+00] [-5.83605471e-02 -5.43945500e-04 9.98295423e-01 -5.47809121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters 0.01574352307004822 Centerline is valid? [True, True] Translation: X:67.39, Y:-8.88, Z:-5.48 [[ 9.69365992e-01 2.39003383e-01 5.66299957e-02 6.73938295e+01] [-2.38656044e-01 9.71018228e-01 -1.29187424e-02 -8.87976864e+00] [-5.80763812e-02 -9.92101191e-04 9.98311650e-01 -5.48490097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.781052754 meters 0.015896849430164017 Centerline is valid? [True, True] Translation: X:67.45, Y:-8.89, Z:-5.49 [[ 9.68650085e-01 2.41697829e-01 5.74384187e-02 6.74540032e+01] [-2.41345209e-01 9.70350860e-01 -1.31033904e-02 -8.89447953e+00] [-5.89024799e-02 -1.16988700e-03 9.98263056e-01 -5.48535139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.841052754 meters 0.01634609835912745 Centerline is valid? [True, True] Translation: X:67.51, Y:-8.91, Z:-5.49 [[ 9.68462380e-01 2.42600511e-01 5.67944539e-02 6.75131420e+01] [-2.42256308e-01 9.70125541e-01 -1.29736486e-02 -8.90697125e+00] [-5.82451641e-02 -1.19432412e-03 9.98301595e-01 -5.49182296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901052754 meters 0.016400131985396117 Centerline is valid? [True, True] Translation: X:67.57, Y:-8.92, Z:-5.50 [[ 9.69103018e-01 2.40349395e-01 5.54212021e-02 6.75712030e+01] [-2.40017671e-01 9.70685897e-01 -1.26651568e-02 -8.92418001e+00] [-5.68406421e-02 -1.02822616e-03 9.98382734e-01 -5.49876643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96105275400001 meters 0.01592414146323795 Centerline is valid? [True, True] Translation: X:67.63, Y:-8.94, Z:-5.50 [[ 9.69305162e-01 2.39569278e-01 5.52635893e-02 6.76310917e+01] [-2.39237255e-01 9.70878794e-01 -1.26453213e-02 -8.94282884e+00] [-5.66836774e-02 -9.63934147e-04 9.98391722e-01 -5.50223383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters 0.016121510090940948 Centerline is valid? [True, True] Translation: X:67.69, Y:-8.96, Z:-5.51 [[ 9.69159640e-01 2.40079749e-01 5.55995132e-02 6.76920644e+01] [-2.39744484e-01 9.70752654e-01 -1.27226931e-02 -8.95859718e+00] [-5.70278360e-02 -9.99355962e-04 9.98372089e-01 -5.50625911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters 0.015851300095011744 Centerline is valid? [True, True] Translation: X:67.75, Y:-8.97, Z:-5.51 [[ 9.69019529e-01 2.40519882e-01 5.61367798e-02 6.77522322e+01] [-2.40177849e-01 9.70643678e-01 -1.28628193e-02 -8.97356615e+00] [-5.75825742e-02 -1.01848788e-03 9.98340227e-01 -5.50969200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters 0.016481466366481637 Centerline is valid? [True, True] Translation: X:67.81, Y:-8.98, Z:-5.52 [[ 9.68753423e-01 2.41662961e-01 5.58195189e-02 6.78120689e+01] [-2.41325833e-01 9.70359664e-01 -1.28048880e-02 -8.98345434e+00] [-5.72594767e-02 -1.06591275e-03 9.98358761e-01 -5.52084271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.201052754 meters 0.016483797388667662 Centerline is valid? [True, True] Translation: X:67.87, Y:-9.00, Z:-5.53 [[ 9.68491286e-01 2.42501961e-01 5.67223812e-02 6.78721606e+01] [-2.42154487e-01 9.70150268e-01 -1.30254054e-02 -8.99740737e+00] [-5.81879197e-02 -1.12058755e-03 9.98305019e-01 -5.52516512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.261052754 meters 0.016770674952004953 Centerline is valid? [True, True] Translation: X:67.93, Y:-9.01, Z:-5.53 [[ 9.68173845e-01 2.43280555e-01 5.87705531e-02 6.79315818e+01] [-2.42908000e-01 9.69955228e-01 -1.35114266e-02 -9.01085950e+00] [-6.02918726e-02 -1.19442770e-03 9.98180076e-01 -5.52662935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32105275400001 meters 0.016344417100626403 Centerline is valid? [True, True] Translation: X:67.99, Y:-9.02, Z:-5.53 [[ 9.67824630e-01 2.44782274e-01 5.82848491e-02 6.79915906e+01] [-2.44417677e-01 9.69577250e-01 -1.34147480e-02 -9.02438632e+00] [-5.97953562e-02 -1.26272386e-03 9.98209858e-01 -5.53112422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters 0.01632474974812845 Centerline is valid? [True, True] Translation: X:68.05, Y:-9.04, Z:-5.54 [[ 9.67864762e-01 2.44972118e-01 5.68019778e-02 6.80516118e+01] [-2.44625896e-01 9.69529335e-01 -1.30782272e-02 -9.04029623e+00] [-5.82749847e-02 -1.23727949e-03 9.98299802e-01 -5.53881808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters 0.014763688277747853 Centerline is valid? [True, True] Translation: X:68.11, Y:-9.06, Z:-5.54 [[ 9.68764772e-01 2.40790479e-01 5.92854268e-02 6.81103076e+01] [-2.40404237e-01 9.70576595e-01 -1.36702576e-02 -9.06003554e+00] [-6.08327155e-02 -1.00920379e-03 9.98147465e-01 -5.54241274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters 0.014459106051232039 Centerline is valid? [True, True] Translation: X:68.17, Y:-9.08, Z:-5.54 [[ 9.69390849e-01 2.37646555e-01 6.16887088e-02 6.81686799e+01] [-2.37221723e-01 9.71351331e-01 -1.42283675e-02 -9.07789793e+00] [-6.33027319e-02 -8.41052586e-04 9.97994016e-01 -5.54370071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561052754 meters 0.014022095141043559 Centerline is valid? [True, True] Translation: X:68.23, Y:-9.09, Z:-5.55 [[ 9.69297693e-01 2.37951943e-01 6.19746345e-02 6.82299968e+01] [-2.37523917e-01 9.71276542e-01 -1.42922332e-02 -9.09206260e+00] [-6.35953734e-02 -8.67029286e-04 9.97975389e-01 -5.54856221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.621052754 meters 0.01427330657200348 Centerline is valid? [True, True] Translation: X:68.29, Y:-9.10, Z:-5.56 [[ 9.68609428e-01 2.40794903e-01 6.17542721e-02 6.82908166e+01] [-2.40374494e-01 9.70575474e-01 -1.42601574e-02 -9.09991322e+00] [-6.33709551e-02 -1.03162897e-03 9.97989508e-01 -5.55784470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.681052754 meters 0.013285895472235304 Centerline is valid? [True, True] Translation: X:68.35, Y:-9.12, Z:-5.56 [[ 9.68839619e-01 2.39235400e-01 6.41577443e-02 6.83508523e+01] [-2.38777159e-01 9.70961132e-01 -1.48306738e-02 -9.11552994e+00] [-6.58426982e-02 -9.50859543e-04 9.97829562e-01 -5.56161768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters 0.012965120308131774 Centerline is valid? [True, True] Translation: X:68.41, Y:-9.13, Z:-5.57 [[ 9.68980123e-01 2.38429980e-01 6.50281919e-02 6.84110204e+01] [-2.37956241e-01 9.71159281e-01 -1.50491644e-02 -9.12956048e+00] [-6.67409041e-02 -8.91522985e-04 9.97769942e-01 -5.56590948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters 0.012359886969353934 Centerline is valid? [True, True] Translation: X:68.47, Y:-9.15, Z:-5.57 [[ 9.69761802e-01 2.34862323e-01 6.63455874e-02 6.84693883e+01] [-2.34359600e-01 9.72028435e-01 -1.53720600e-02 -9.14615341e+00] [-6.81001152e-02 -6.41488682e-04 9.97678286e-01 -5.57189564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters 0.012264418050869056 Centerline is valid? [True, True] Translation: X:68.53, Y:-9.16, Z:-5.58 [[ 9.69544851e-01 2.35056226e-01 6.87848228e-02 6.85305041e+01] [-2.34515117e-01 9.71981549e-01 -1.59539714e-02 -9.15698886e+00] [-7.06076589e-02 -6.62989926e-04 9.97503944e-01 -5.57844536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.921052754 meters 0.012347408628918899 Centerline is valid? [True, True] Translation: X:68.59, Y:-9.17, Z:-5.59 [[ 9.69132425e-01 2.36682453e-01 6.90199919e-02 6.85926311e+01] [-2.36140533e-01 9.71586757e-01 -1.60256477e-02 -9.16767056e+00] [-7.08518997e-02 -7.67442814e-04 9.97486551e-01 -5.58551859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981052754 meters 0.012548484185163541 Centerline is valid? [True, True] Translation: X:68.65, Y:-9.18, Z:-5.59 [[ 9.68711629e-01 2.38649620e-01 6.81479187e-02 6.86532420e+01] [-2.38124798e-01 9.71105341e-01 -1.58428815e-02 -9.17964747e+00] [-6.99597054e-02 -8.80525839e-04 9.97549430e-01 -5.59183572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041052754 meters 0.012978049843305226 Centerline is valid? [True, True] Translation: X:68.71, Y:-9.19, Z:-5.60 [[ 9.67871208e-01 2.42045815e-01 6.81112882e-02 6.87146419e+01] [-2.41528728e-01 9.70264188e-01 -1.58517699e-02 -9.18889493e+00] [-6.99227984e-02 -1.10836106e-03 9.97551790e-01 -5.59608667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10105275400001 meters 0.013165581452336612 Centerline is valid? [True, True] Translation: X:68.78, Y:-9.20, Z:-5.60 [[ 9.67464797e-01 2.43430672e-01 6.89447164e-02 6.87762449e+01] [-2.42903088e-01 9.69917550e-01 -1.60635027e-02 -9.19977388e+00] [-7.07810397e-02 -1.20601115e-03 9.97491148e-01 -5.60211786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters 0.012857071589842532 Centerline is valid? [True, True] Translation: X:68.84, Y:-9.21, Z:-5.61 [[ 9.67739503e-01 2.42509897e-01 6.83315766e-02 6.88362536e+01] [-2.41987931e-01 9.70148299e-01 -1.59411495e-02 -9.21417328e+00] [-7.01576493e-02 -1.10853671e-03 9.97535300e-01 -5.60789879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters 0.012499554329942255 Centerline is valid? [True, True] Translation: X:68.90, Y:-9.23, Z:-5.61 [[ 9.68176232e-01 2.40825892e-01 6.81004737e-02 6.88968232e+01] [-2.40302050e-01 9.70567853e-01 -1.59049676e-02 -9.22818784e+00] [-6.99264585e-02 -9.65871763e-04 9.97551682e-01 -5.61443890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281052754 meters 0.012788806729437142 Centerline is valid? [True, True] Translation: X:68.96, Y:-9.24, Z:-5.62 [[ 9.68344713e-01 2.40453434e-01 6.70124101e-02 6.89567004e+01] [-2.39944171e-01 9.70660251e-01 -1.56675529e-02 -9.24418282e+00] [-6.88135996e-02 -9.07645208e-04 9.97629122e-01 -5.61921489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341052754 meters 0.01248885726406988 Centerline is valid? [True, True] Translation: X:69.02, Y:-9.26, Z:-5.62 [[ 9.68377386e-01 2.40059384e-01 6.79465339e-02 6.90166668e+01] [-2.39533504e-01 9.70757812e-01 -1.59050563e-02 -9.26057860e+00] [-6.97777866e-02 -8.73374512e-04 9.97562177e-01 -5.62355493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401052754 meters 0.011998743049989262 Centerline is valid? [True, True] Translation: X:69.08, Y:-9.28, Z:-5.63 [[ 9.68348739e-01 2.39108042e-01 7.16104974e-02 6.90759250e+01] [-2.38519854e-01 9.70992613e-01 -1.67816497e-02 -9.27824993e+00] [-7.35458914e-02 -8.30036046e-04 9.97291488e-01 -5.62563240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46105275400001 meters 0.011861173434449175 Centerline is valid? [True, True] Translation: X:69.14, Y:-9.29, Z:-5.63 [[ 9.68481799e-01 2.38594884e-01 7.15226291e-02 6.91365232e+01] [-2.38005430e-01 9.71118883e-01 -1.67788951e-02 -9.29421912e+00] [-7.34603342e-02 -7.72719562e-04 9.97297840e-01 -5.63002518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters 0.012317281601016304 Centerline is valid? [True, True] Translation: X:69.20, Y:-9.30, Z:-5.64 [[ 9.68169785e-01 2.39964721e-01 7.11631862e-02 6.91973774e+01] [-2.39383367e-01 9.70781235e-01 -1.67151832e-02 -9.30486622e+00] [-7.30949400e-02 -8.52147811e-04 9.97324623e-01 -5.63725040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters 0.013181283135139086 Centerline is valid? [True, True] Translation: X:69.26, Y:-9.31, Z:-5.65 [[ 9.67459004e-01 2.43213364e-01 6.97877939e-02 6.92590507e+01] [-2.42661502e-01 9.69972235e-01 -1.64091012e-02 -9.31340681e+00] [-7.16831352e-02 -1.05967822e-03 9.97426892e-01 -5.64537078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641052754 meters 0.014025816205537119 Centerline is valid? [True, True] Translation: X:69.32, Y:-9.33, Z:-5.65 [[ 9.67052742e-01 2.45359353e-01 6.78806516e-02 6.93196125e+01] [-2.44841409e-01 9.69431493e-01 -1.59769890e-02 -9.32649310e+00] [-6.97257451e-02 -1.16940332e-03 9.97565513e-01 -5.65097296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.701052754 meters 0.012606109827837038 Centerline is valid? [True, True] Translation: X:69.38, Y:-9.35, Z:-5.65 [[ 9.67599888e-01 2.42514237e-01 7.02659385e-02 6.93790839e+01] [-2.41950425e-01 9.70147351e-01 -1.65562460e-02 -9.34626473e+00] [-7.21834395e-02 -9.81051953e-04 9.97390891e-01 -5.65184979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.761052754 meters 0.012495274992640113 Centerline is valid? [True, True] Translation: X:69.44, Y:-9.36, Z:-5.66 [[ 9.67779208e-01 2.41409430e-01 7.15883489e-02 6.94377934e+01] [-2.40819692e-01 9.70422941e-01 -1.68876359e-02 -9.36098026e+00] [-7.35478106e-02 -8.96381214e-04 9.97291289e-01 -5.65601767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82105275400001 meters 0.012603704886888497 Centerline is valid? [True, True] Translation: X:69.50, Y:-9.38, Z:-5.66 [[ 9.67804350e-01 2.40951663e-01 7.27807394e-02 6.94975608e+01] [-2.40340031e-01 9.70536731e-01 -1.71791609e-02 -9.37529091e+00] [-7.47757283e-02 -8.66058535e-04 9.97200000e-01 -5.65948572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters 0.012645945069372562 Centerline is valid? [True, True] Translation: X:69.56, Y:-9.39, Z:-5.67 [[ 9.67662989e-01 2.42073547e-01 7.09136002e-02 6.95585444e+01] [-2.41494675e-01 9.70257475e-01 -1.67557340e-02 -9.38629427e+00] [-7.28605706e-02 -9.11353141e-04 9.97341720e-01 -5.66778006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters 0.012868248930713743 Centerline is valid? [True, True] Translation: X:69.62, Y:-9.40, Z:-5.67 [[ 9.67431170e-01 2.43154368e-01 7.03767299e-02 6.96186670e+01] [-2.42585789e-01 9.69987122e-01 -1.66468750e-02 -9.40011089e+00] [-7.23122820e-02 -9.67688756e-04 9.97381571e-01 -5.67175770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters 0.012853205063971366 Centerline is valid? [True, True] Translation: X:69.68, Y:-9.41, Z:-5.68 [[ 9.67806689e-01 2.41982316e-01 6.92442885e-02 6.96799732e+01] [-2.41427682e-01 9.70280288e-01 -1.63962416e-02 -9.41485527e+00] [-7.11539687e-02 -8.49095737e-04 9.97464983e-01 -5.67739409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.061052754 meters 0.012787506587868362 Centerline is valid? [True, True] Translation: X:69.74, Y:-9.43, Z:-5.68 [[ 9.68166038e-01 2.40838305e-01 6.82014268e-02 6.97399684e+01] [-2.40296045e-01 9.70564976e-01 -1.61690759e-02 -9.43224341e+00] [-7.00880490e-02 -7.34183008e-04 9.97540539e-01 -5.68113708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121052754 meters 0.0129440535739167 Centerline is valid? [True, True] Translation: X:69.80, Y:-9.45, Z:-5.69 [[ 9.67951006e-01 2.41714444e-01 6.81540787e-02 6.98012112e+01] [-2.41173721e-01 9.70347114e-01 -1.61775762e-02 -9.44649984e+00] [-7.00434675e-02 -7.77871589e-04 9.97543637e-01 -5.68759773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.181052754 meters 0.013499140960888358 Centerline is valid? [True, True] Translation: X:69.86, Y:-9.46, Z:-5.69 [[ 9.67746405e-01 2.42547974e-01 6.80982782e-02 6.98613631e+01] [-2.42008786e-01 9.70139068e-01 -1.61844427e-02 -9.45882059e+00] [-6.99903039e-02 -8.17945396e-04 9.97547336e-01 -5.69365017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters 0.013218864697105925 Centerline is valid? [True, True] Translation: X:69.92, Y:-9.47, Z:-5.69 [[ 9.67447432e-01 2.42911640e-01 7.09887476e-02 6.99217030e+01] [-2.42325153e-01 9.70048037e-01 -1.68915840e-02 -9.47394914e+00] [-7.29656577e-02 -8.60639558e-04 9.97334082e-01 -5.69340693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters 0.013401477406384275 Centerline is valid? [True, True] Translation: X:69.98, Y:-9.49, Z:-5.70 [[ 9.67112574e-01 2.44293297e-01 7.08099864e-02 6.99825210e+01] [-2.43712188e-01 9.69700929e-01 -1.68664734e-02 -9.48627129e+00] [-7.27848759e-02 -9.45478261e-04 9.97347215e-01 -5.69907518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters 0.013372077595154328 Centerline is valid? [True, True] Translation: X:70.04, Y:-9.50, Z:-5.71 [[ 9.67259867e-01 2.44142178e-01 6.93033010e-02 7.00435559e+01] [-2.43583973e-01 9.69739032e-01 -1.65244342e-02 -9.50105239e+00] [-7.12404274e-02 -8.97751345e-04 9.97458769e-01 -5.70776913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.421052754 meters 0.013287087451955447 Centerline is valid? [True, True] Translation: X:70.10, Y:-9.52, Z:-5.71 [[ 9.67379301e-01 2.43778953e-01 6.89137826e-02 7.01045588e+01] [-2.43224670e-01 9.69830452e-01 -1.64515754e-02 -9.51804039e+00] [-7.08452328e-02 -8.46618587e-04 9.97486960e-01 -5.71009152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.481052754 meters 0.013750967778952673 Centerline is valid? [True, True] Translation: X:70.16, Y:-9.53, Z:-5.72 [[ 9.67087500e-01 2.45167400e-01 6.80787347e-02 7.01647840e+01] [-2.44628400e-01 9.69480329e-01 -1.62738548e-02 -9.52915310e+00] [-6.99908127e-02 -9.15750439e-04 9.97547216e-01 -5.71639620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.541052754 meters 0.01445372083272545 Centerline is valid? [True, True] Translation: X:70.23, Y:-9.54, Z:-5.72 [[ 9.66594088e-01 2.47852895e-01 6.53055300e-02 7.02252785e+01] [-2.47362432e-01 9.68797104e-01 -1.56204576e-02 -9.54199048e+00] [-6.71393840e-02 -1.05549282e-03 9.97743048e-01 -5.72386462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60105275400001 meters 0.014574019172261294 Centerline is valid? [True, True] Translation: X:70.29, Y:-9.56, Z:-5.73 [[ 9.66532890e-01 2.47994113e-01 6.56741347e-02 7.02867058e+01] [-2.47498284e-01 9.68760949e-01 -1.57106048e-02 -9.55677498e+00] [-6.75186746e-02 -1.06941933e-03 9.97717437e-01 -5.72869700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters 0.014488859403021227 Centerline is valid? [True, True] Translation: X:70.35, Y:-9.57, Z:-5.73 [[ 9.66370831e-01 2.48425526e-01 6.64242132e-02 7.03473795e+01] [-2.47917982e-01 9.68650382e-01 -1.59094755e-02 -9.57283065e+00] [-6.82941593e-02 -1.09330381e-03 9.97664629e-01 -5.73146671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters 0.014979056775147838 Centerline is valid? [True, True] Translation: X:70.41, Y:-9.59, Z:-5.74 [[ 9.66373128e-01 2.48500608e-01 6.61091975e-02 7.04076782e+01] [-2.47996716e-01 9.68631144e-01 -1.58535476e-02 -9.58715036e+00] [-6.79750438e-02 -1.07442156e-03 9.97686443e-01 -5.73568219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.781052754 meters 0.014436140945890122 Centerline is valid? [True, True] Translation: X:70.47, Y:-9.60, Z:-5.74 [[ 9.66431250e-01 2.48351888e-01 6.58177708e-02 7.04678872e+01] [-2.47850914e-01 9.68669321e-01 -1.58009956e-02 -9.60267767e+00] [-6.76798624e-02 -1.04241868e-03 9.97706545e-01 -5.74099926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.841052754 meters 0.01519702600252669 Centerline is valid? [True, True] Translation: X:70.53, Y:-9.61, Z:-5.75 [[ 9.66202024e-01 2.49612159e-01 6.44004627e-02 7.05274822e+01] [-2.49134064e-01 9.68345283e-01 -1.54800031e-02 -9.61468943e+00] [-6.62258813e-02 -1.08753870e-03 9.97804064e-01 -5.74866397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.901052754 meters 0.015293036046317182 Centerline is valid? [True, True] Translation: X:70.59, Y:-9.63, Z:-5.75 [[ 9.65844855e-01 2.51236862e-01 6.34330713e-02 7.05881748e+01] [-2.50775607e-01 9.67924934e-01 -1.52616468e-02 -9.62901257e+00] [-6.52327396e-02 -1.16708391e-03 9.97869394e-01 -5.75269149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96105275400001 meters 0.015317324631604777 Centerline is valid? [True, True] Translation: X:70.65, Y:-9.64, Z:-5.76 [[ 9.65554599e-01 2.51613024e-01 6.62963250e-02 7.06493392e+01] [-2.51108801e-01 9.67827141e-01 -1.59685511e-02 -9.64088482e+00] [-6.81812782e-02 -1.22908272e-03 9.97672192e-01 -5.75683012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters 0.015439535368362333 Centerline is valid? [True, True] Translation: X:70.71, Y:-9.65, Z:-5.76 [[ 9.65405399e-01 2.52009310e-01 6.69606039e-02 7.07099239e+01] [-2.51494607e-01 9.67724000e-01 -1.61468978e-02 -9.65445232e+00] [-6.88685520e-02 -1.25192846e-03 9.97624957e-01 -5.76194036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters 0.015617823416865186 Centerline is valid? [True, True] Translation: X:70.77, Y:-9.67, Z:-5.77 [[ 9.64918149e-01 2.54245633e-01 6.55143059e-02 7.07705738e+01] [-2.53757365e-01 9.67138708e-01 -1.58088467e-02 -9.66898034e+00] [-6.73807513e-02 -1.37049455e-03 9.97726393e-01 -5.76550333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141052754 meters 0.01577546352257583 Centerline is valid? [True, True] Translation: X:70.83, Y:-9.68, Z:-5.77 [[ 9.65037907e-01 2.54387199e-01 6.31584676e-02 7.08308804e+01] [-2.53932728e-01 9.67101558e-01 -1.52560358e-02 -9.68367493e+00] [-6.49615926e-02 -1.31534915e-03 9.97886898e-01 -5.77213973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.201052754 meters 0.015355599930048794 Centerline is valid? [True, True] Translation: X:70.89, Y:-9.70, Z:-5.78 [[ 9.65938557e-01 2.51364566e-01 6.14699860e-02 7.08894782e+01] [-2.50926997e-01 9.67891893e-01 -1.48635839e-02 -9.70161912e+00] [-6.32324794e-02 -1.06717022e-03 9.97998254e-01 -5.78010607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.261052754 meters 0.014560227859795473 Centerline is valid? [True, True] Translation: X:70.95, Y:-9.72, Z:-5.78 [[ 9.67139337e-01 2.46480640e-01 6.23602173e-02 7.09479630e+01] [-2.46018884e-01 9.69147433e-01 -1.50984026e-02 -9.72306642e+00] [-6.41577085e-02 -7.39531981e-04 9.97939498e-01 -5.78264590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32105275400001 meters 0.014523291072750383 Centerline is valid? [True, True] Translation: X:71.01, Y:-9.74, Z:-5.78 [[ 9.67219626e-01 2.45679706e-01 6.42470007e-02 7.10073391e+01] [-2.45187723e-01 9.69350805e-01 -1.55562484e-02 -9.73888520e+00] [-6.60997364e-02 -7.06267065e-04 9.97812771e-01 -5.78417056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters 0.014424696846386798 Centerline is valid? [True, True] Translation: X:71.07, Y:-9.75, Z:-5.79 [[ 9.66646609e-01 2.47379372e-01 6.63157514e-02 7.10685825e+01] [-2.46858077e-01 9.68918341e-01 -1.60729143e-02 -9.74852609e+00] [-6.82306553e-02 -8.33750736e-04 9.97669225e-01 -5.78814184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters 0.014731671766018913 Centerline is valid? [True, True] Translation: X:71.13, Y:-9.76, Z:-5.80 [[ 9.66208045e-01 2.49812491e-01 6.35274173e-02 7.11295028e+01] [-2.49338405e-01 9.68293767e-01 -1.54123283e-02 -9.75849112e+00] [-6.53633943e-02 -9.48309343e-04 9.97861076e-01 -5.79770909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters 0.015724663051559604 Centerline is valid? [True, True] Translation: X:71.19, Y:-9.77, Z:-5.80 [[ 9.65237552e-01 2.53708334e-01 6.28374862e-02 7.11895380e+01] [-2.53251684e-01 9.67280043e-01 -1.52611571e-02 -9.77464516e+00] [-6.46533291e-02 -1.18305728e-03 9.97907084e-01 -5.79749850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.561052754 meters 0.016023863531779346 Centerline is valid? [True, True] Translation: X:71.25, Y:-9.79, Z:-5.80 [[ 9.64890142e-01 2.54803483e-01 6.37353798e-02 7.12509643e+01] [-2.54335033e-01 9.66992037e-01 -1.54948827e-02 -9.78660038e+00] [-6.55797548e-02 -1.25928036e-03 9.97846536e-01 -5.80329087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.621052754 meters 0.015455619325301925 Centerline is valid? [True, True] Translation: X:71.31, Y:-9.80, Z:-5.81 [[ 9.65053078e-01 2.54315490e-01 6.32154176e-02 7.13112367e+01] [-2.53852427e-01 9.67120569e-01 -1.53866865e-02 -9.80162951e+00] [-6.50500034e-02 -1.19841797e-03 9.97881286e-01 -5.81106328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.681052754 meters 0.014780256662601961 Centerline is valid? [True, True] Translation: X:71.37, Y:-9.82, Z:-5.82 [[ 9.66162135e-01 2.50081723e-01 6.31653358e-02 7.13691548e+01] [-2.49609070e-01 9.68224320e-01 -1.53941091e-02 -9.82277957e+00] [-6.50079996e-02 -8.93435417e-04 9.97884343e-01 -5.81622874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters 0.015015129882693747 Centerline is valid? [True, True] Translation: X:71.43, Y:-9.84, Z:-5.82 [[ 9.66045871e-01 2.50633887e-01 6.27537236e-02 7.14298407e+01] [-2.50167533e-01 9.68081519e-01 -1.53094052e-02 -9.83675297e+00] [-6.45877758e-02 -9.09356577e-04 9.97911615e-01 -5.82131377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters 0.015098041628900457 Centerline is valid? [True, True] Translation: X:71.49, Y:-9.85, Z:-5.82 [[ 9.65160461e-01 2.53490441e-01 6.48681769e-02 7.14917778e+01] [-2.52997241e-01 9.67337244e-01 -1.58446081e-02 -9.84735176e+00] [-6.67658602e-02 -1.11888051e-03 9.97768043e-01 -5.82383190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters 0.015505450775394624 Centerline is valid? [True, True] Translation: X:71.55, Y:-9.86, Z:-5.83 [[ 9.64496053e-01 2.55452612e-01 6.70173598e-02 7.15537343e+01] [-2.54929455e-01 9.66820735e-01 -1.63902085e-02 -9.85811287e+00] [-6.89806946e-02 -1.27640765e-03 9.97617178e-01 -5.82799761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.921052754 meters 0.015640646847721 Centerline is valid? [True, True] Translation: X:71.61, Y:-9.87, Z:-5.83 [[ 9.64304601e-01 2.56251977e-01 6.67200121e-02 7.16134892e+01] [-2.55734001e-01 9.66609131e-01 -1.63373344e-02 -9.87280711e+00] [-6.86786472e-02 -1.30840886e-03 9.97637976e-01 -5.83178999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.981052754 meters 0.015046635843807731 Centerline is valid? [True, True] Translation: X:71.67, Y:-9.89, Z:-5.84 [[ 9.64852123e-01 2.54710595e-01 6.46752962e-02 7.16740034e+01] [-2.54219419e-01 9.67016648e-01 -1.58521022e-02 -9.88755936e+00] [-6.65797866e-02 -1.14678179e-03 9.97780445e-01 -5.84012748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.041052754 meters 0.014578045242240401 Centerline is valid? [True, True] Translation: X:71.73, Y:-9.91, Z:-5.85 [[ 9.66253541e-01 2.49937661e-01 6.23318570e-02 7.17320732e+01] [-2.49470331e-01 9.68261624e-01 -1.52964338e-02 -9.90704190e+00] [-6.41767000e-02 -7.69715662e-04 9.97938254e-01 -5.84887339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10105275400001 meters 0.014045753177636717 Centerline is valid? [True, True] Translation: X:71.79, Y:-9.93, Z:-5.85 [[ 9.67830441e-01 2.44125130e-01 6.08864307e-02 7.17909514e+01] [-2.43666586e-01 9.69743674e-01 -1.49599951e-02 -9.92922998e+00] [-6.26963418e-02 -3.57250019e-04 9.98032585e-01 -5.85347100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters 0.014077487923124746 Centerline is valid? [True, True] Translation: X:71.85, Y:-9.94, Z:-5.86 [[ 9.67322940e-01 2.46292050e-01 6.02208865e-02 7.18514358e+01] [-2.45847531e-01 9.69195535e-01 -1.47988371e-02 -9.94149405e+00] [-6.20106503e-02 -4.89901654e-04 9.98075368e-01 -5.85878935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters 0.014805631537900384 Centerline is valid? [True, True] Translation: X:71.91, Y:-9.95, Z:-5.86 [[ 9.65751663e-01 2.52637932e-01 5.91422072e-02 7.19125752e+01] [-2.52220160e-01 9.67560502e-01 -1.45487383e-02 -9.95043068e+00] [-6.08992268e-02 -8.66388734e-04 9.98143544e-01 -5.86220333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.281052754 meters 0.014838343215765234 Centerline is valid? [True, True] Translation: X:71.97, Y:-9.97, Z:-5.87 [[ 9.65376699e-01 2.53927168e-01 5.97396202e-02 7.19733435e+01] [-2.53502559e-01 9.67222881e-01 -1.47088815e-02 -9.96527503e+00] [-6.15165122e-02 -9.44535149e-04 9.98105619e-01 -5.86616688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.341052754 meters 0.014337883137409618 Centerline is valid? [True, True] Translation: X:72.03, Y:-9.98, Z:-5.87 [[ 9.65527017e-01 2.52520984e-01 6.31722441e-02 7.20328672e+01] [-2.52041592e-01 9.67591017e-01 -1.55775675e-02 -9.98166156e+00] [-6.50585586e-02 -8.81470717e-04 9.97881059e-01 -5.86839875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.401052754 meters 0.014311323759951648 Centerline is valid? [True, True] Translation: X:72.09, Y:-10.00, Z:-5.87 [[ 9.65411763e-01 2.52593792e-01 6.46258786e-02 7.20928807e+01] [-2.52092168e-01 9.67571990e-01 -1.59368709e-02 -9.99657994e+00] [-6.65557446e-02 -9.06035191e-04 9.97782297e-01 -5.87268110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46105275400001 meters 0.014014299688496958 Centerline is valid? [True, True] Translation: X:72.15, Y:-10.01, Z:-5.87 [[ 9.64963319e-01 2.53425669e-01 6.79795876e-02 7.21528475e+01] [-2.52871362e-01 9.67354350e-01 -1.67820065e-02 -1.00128277e+01] [-7.00133410e-02 -9.96070217e-04 9.97545558e-01 -5.87321164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters 0.013992509836098043 Centerline is valid? [True, True] Translation: X:72.21, Y:-10.03, Z:-5.88 [[ 9.64808932e-01 2.53740062e-01 6.89906254e-02 7.22129371e+01] [-2.53168544e-01 9.67271911e-01 -1.70510425e-02 -1.00301250e+01] [-7.10592267e-02 -1.01525805e-03 9.97471581e-01 -5.87734191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters 0.013775828111733756 Centerline is valid? [True, True] Translation: X:72.27, Y:-10.05, Z:-5.89 [[ 9.64982747e-01 2.53350429e-01 6.79842448e-02 7.22729144e+01] [-2.52794239e-01 9.67374086e-01 -1.68062436e-02 -1.00459727e+01] [-7.00240657e-02 -9.68290339e-04 9.97544832e-01 -5.88691692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.641052754 meters 0.014567053408502758 Centerline is valid? [True, True] Translation: X:72.33, Y:-10.06, Z:-5.90 [[ 9.64555748e-01 2.56071410e-01 6.37153142e-02 7.23332295e+01] [-2.55587486e-01 9.66657273e-01 -1.57719011e-02 -1.00597719e+01] [-6.56296049e-02 -1.07195912e-03 9.97843478e-01 -5.89538310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.701052754 meters 0.016039479857753863 Centerline is valid? [True, True] Translation: X:72.39, Y:-10.07, Z:-5.90 [[ 9.63617929e-01 2.60471463e-01 5.99591929e-02 7.23922890e+01] [-2.60051138e-01 9.65480691e-01 -1.48472458e-02 -1.00688842e+01] [-6.17567268e-02 -1.28538416e-03 9.98090404e-01 -5.90452462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.761052754 meters 0.01655194025278285 Centerline is valid? [True, True] Translation: X:72.45, Y:-10.08, Z:-5.91 [[ 9.62915111e-01 2.63240595e-01 5.91513156e-02 7.24527186e+01] [-2.62836733e-01 9.64729137e-01 -1.46473529e-02 -1.00811431e+01] [-6.09207755e-02 -1.44298106e-03 9.98141562e-01 -5.91165510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82105275400001 meters 0.015665843670488542 Centerline is valid? [True, True] Translation: X:72.51, Y:-10.10, Z:-5.91 [[ 9.63576609e-01 2.60006861e-01 6.25823484e-02 7.25109395e+01] [-2.59547626e-01 9.65605886e-01 -1.55017168e-02 -1.01007629e+01] [-6.44604367e-02 -1.30600824e-03 9.97919409e-01 -5.91310296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters 0.015521993079295466 Centerline is valid? [True, True] Translation: X:72.57, Y:-10.12, Z:-5.91 [[ 9.64216728e-01 2.56933405e-01 6.53553851e-02 7.25690312e+01] [-2.56425082e-01 9.66428434e-01 -1.61944478e-02 -1.01188883e+01] [-6.73221970e-02 -1.14380251e-03 9.97730632e-01 -5.91305684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters 0.01407570760944235 Centerline is valid? [True, True] Translation: X:72.63, Y:-10.13, Z:-5.92 [[ 9.64749232e-01 2.53938813e-01 6.90941314e-02 7.26287803e+01] [-2.53362323e-01 9.67219788e-01 -1.71293640e-02 -1.01344042e+01] [-7.11790215e-02 -9.80308888e-04 9.97463075e-01 -5.91794433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters 0.013874997132200625 Centerline is valid? [True, True] Translation: X:72.69, Y:-10.15, Z:-5.92 [[ 9.65454048e-01 2.51975559e-01 6.63837316e-02 7.26888026e+01] [-2.51438779e-01 9.67733266e-01 -1.64579993e-02 -1.01530276e+01] [-6.83887590e-02 -8.02002398e-04 9.97658426e-01 -5.92405561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.061052754 meters 0.013545892233608019 Centerline is valid? [True, True] Translation: X:72.75, Y:-10.17, Z:-5.93 [[ 9.66267145e-01 2.49036353e-01 6.56406846e-02 7.27481903e+01] [-2.48503455e-01 9.68493971e-01 -1.62929745e-02 -1.01697464e+01] [-6.76301502e-02 -5.68570962e-04 9.97710298e-01 -5.92986575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.121052754 meters 0.013404816528227878 Centerline is valid? [True, True] Translation: X:72.81, Y:-10.18, Z:-5.93 [[ 9.66252535e-01 2.48464315e-01 6.79817788e-02 7.28077943e+01] [-2.47889996e-01 9.68640905e-01 -1.68921978e-02 -1.01829120e+01] [-7.00470402e-02 -5.29873928e-04 9.97543549e-01 -5.93387305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.181052754 meters 0.01322749296856443 Centerline is valid? [True, True] Translation: X:72.87, Y:-10.20, Z:-5.94 [[ 9.66172088e-01 2.48699447e-01 6.82647945e-02 7.28684727e+01] [-2.48119833e-01 9.68580559e-01 -1.69779011e-02 -1.01975310e+01] [-7.03423475e-02 -5.34275239e-04 9.97522766e-01 -5.93710423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters 0.012889228392347024 Centerline is valid? [True, True] Translation: X:72.93, Y:-10.22, Z:-5.94 [[ 9.66541966e-01 2.46550672e-01 7.07770710e-02 7.29285595e+01] [-2.45920153e-01 9.69129831e-01 -1.76252379e-02 -1.02156096e+01] [-7.29376851e-02 -3.69976065e-04 9.97336431e-01 -5.93825965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters 0.012778141294675988 Centerline is valid? [True, True] Translation: X:72.99, Y:-10.23, Z:-5.94 [[ 9.66544595e-01 2.45965324e-01 7.27502905e-02 7.29885948e+01] [-2.45296736e-01 9.69278574e-01 -1.81261634e-02 -1.02306907e+01] [-7.49737054e-02 -3.25663522e-04 9.97185458e-01 -5.94408401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters 0.013012888259049131 Centerline is valid? [True, True] Translation: X:73.05, Y:-10.24, Z:-5.95 [[ 9.65677189e-01 2.49129948e-01 7.34971841e-02 7.30480924e+01] [-2.48455260e-01 9.68469905e-01 -1.83310460e-02 -1.02436788e+01] [-7.57466235e-02 -5.58888985e-04 9.97126941e-01 -5.95007682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.421052754 meters 0.013338393407631158 Centerline is valid? [True, True] Translation: X:73.11, Y:-10.26, Z:-5.95 [[ 9.64913084e-01 2.52650340e-01 7.14880754e-02 7.31073851e+01] [-2.52020548e-01 9.67557322e-01 -1.78458015e-02 -1.02600404e+01] [-7.36775586e-02 -7.96816600e-04 9.97281797e-01 -5.95389453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.481052754 meters 0.014048527746191263 Centerline is valid? [True, True] Translation: X:73.17, Y:-10.27, Z:-5.97 [[ 9.64504548e-01 2.55469297e-01 6.68312440e-02 7.31676883e+01] [-2.54924556e-01 9.66816722e-01 -1.67001885e-02 -1.02705717e+01] [-6.88799496e-02 -9.29517475e-04 9.97624523e-01 -5.96614328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.541052754 meters 0.014734433526592594 Centerline is valid? [True, True] Translation: X:73.23, Y:-10.28, Z:-5.98 [[ 9.63933256e-01 2.58553354e-01 6.31097606e-02 7.32284155e+01] [-2.58073965e-01 9.65996374e-01 -1.57745011e-02 -1.02828899e+01] [-6.50423500e-02 -1.08141990e-03 9.97881918e-01 -5.97558466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60105275400001 meters 0.014744003139601143 Centerline is valid? [True, True] Translation: X:73.29, Y:-10.30, Z:-5.98 [[ 9.63922979e-01 2.58262240e-01 6.44445979e-02 7.32891307e+01] [-2.57761532e-01 9.66074244e-01 -1.61104908e-02 -1.02968658e+01] [-6.64189977e-02 -1.08206601e-03 9.97791234e-01 -5.98052061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters 0.014751725238618105 Centerline is valid? [True, True] Translation: X:73.35, Y:-10.31, Z:-5.99 [[ 9.64323942e-01 2.56468785e-01 6.55979949e-02 7.33476738e+01] [-2.55944649e-01 9.66552038e-01 -1.64162730e-02 -1.03119653e+01] [-6.76141373e-02 -9.58850631e-04 9.97711085e-01 -5.98559426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters 0.01454374859595854 Centerline is valid? [True, True] Translation: X:73.41, Y:-10.33, Z:-5.99 [[ 9.64175932e-01 2.56997690e-01 6.57035727e-02 7.34074388e+01] [-2.56472080e-01 9.66411517e-01 -1.64575611e-02 -1.03304331e+01] [-6.77262446e-02 -9.83147599e-04 9.97703458e-01 -5.98897929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.781052754 meters 0.01437960260325247 Centerline is valid? [True, True] Translation: X:73.47, Y:-10.35, Z:-5.99 [[ 9.64210462e-01 2.55868276e-01 6.94953937e-02 7.34673410e+01] [-2.55275663e-01 9.66711204e-01 -1.74294225e-02 -1.03482926e+01] [-7.16416120e-02 -9.34851145e-04 9.97430000e-01 -5.98797769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.841052754 meters 0.014389165870794796 Centerline is valid? [True, True] Translation: X:73.53, Y:-10.36, Z:-6.00 [[ 9.64627088e-01 2.54315877e-01 6.94119260e-02 7.35269447e+01] [-2.53719409e-01 9.67120878e-01 -1.74261031e-02 -1.03635428e+01] [-7.15614575e-02 -8.01461766e-04 9.97435870e-01 -5.99692208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.901052754 meters 0.014606938652651877 Centerline is valid? [True, True] Translation: X:73.59, Y:-10.38, Z:-6.00 [[ 9.64894659e-01 2.53835796e-01 6.74216955e-02 7.35858229e+01] [-2.53270731e-01 9.67247052e-01 -1.69433472e-02 -1.03803894e+01] [-6.95142642e-02 -7.27396849e-04 9.97580692e-01 -6.00288856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96105275400001 meters 0.015084753328630822 Centerline is valid? [True, True] Translation: X:73.65, Y:-10.39, Z:-6.00 [[ 9.63762630e-01 2.57731892e-01 6.88176154e-02 7.36473863e+01] [-2.57151909e-01 9.66215941e-01 -1.73104361e-02 -1.03908558e+01] [-7.09541285e-02 -1.01342972e-03 9.97479065e-01 -6.00456244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters 0.015605387886326764 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.40, Z:-6.01 [[ 9.62682105e-01 2.61882750e-01 6.82685081e-02 7.37081229e+01] [-2.61321182e-01 9.65098833e-01 -1.71896224e-02 -1.04007637e+01] [-7.03875231e-02 -1.29186542e-03 9.97518886e-01 -6.00885169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters 0.015807519074626845 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.42, Z:-6.01 [[ 9.62703682e-01 2.62119083e-01 6.70463058e-02 7.37672208e+01] [-2.61576923e-01 9.65034700e-01 -1.68979356e-02 -1.04173884e+01] [-6.91312830e-02 -1.27006154e-03 9.97606763e-01 -6.01390244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141052754 meters 0.015585265767463623 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.44, Z:-6.02 [[ 9.63208032e-01 2.59567690e-01 6.96771237e-02 7.38255798e+01] [-2.58974092e-01 9.65724277e-01 -1.75795741e-02 -1.04353115e+01] [-7.18519793e-02 -1.11178291e-03 9.97414687e-01 -6.01684205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201052754 meters 0.01589487569535969 Centerline is valid? [True, True] Translation: X:73.89, Y:-10.45, Z:-6.02 [[ 9.62891099e-01 2.60378298e-01 7.10202307e-02 7.38866557e+01] [-2.59763062e-01 9.65505948e-01 -1.79280749e-02 -1.04516527e+01] [-7.32385368e-02 -1.18564881e-03 9.97313748e-01 -6.01967544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261052754 meters 0.016551559529831908 Centerline is valid? [True, True] Translation: X:73.95, Y:-10.47, Z:-6.03 [[ 9.62887426e-01 2.61163635e-01 6.81275345e-02 7.39467608e+01] [-2.60598142e-01 9.65293828e-01 -1.72172847e-02 -1.04672175e+01] [-7.02596173e-02 -1.17560194e-03 9.97528047e-01 -6.02603396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32105275400001 meters 0.01668221236838553 Centerline is valid? [True, True] Translation: X:74.01, Y:-10.48, Z:-6.03 [[ 9.62758063e-01 2.61666313e-01 6.80268478e-02 7.40074648e+01] [-2.61102563e-01 9.65157663e-01 -1.72086322e-02 -1.04815304e+01] [-7.01595528e-02 -1.19423494e-03 9.97535068e-01 -6.03267812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters 0.01704351646437266 Centerline is valid? [True, True] Translation: X:74.07, Y:-10.49, Z:-6.04 [[ 9.62217484e-01 2.63880371e-01 6.71167868e-02 7.40680574e+01] [-2.63335627e-01 9.64554515e-01 -1.69981064e-02 -1.04938390e+01] [-6.92232663e-02 -1.31836596e-03 9.97600321e-01 -6.04017748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters 0.016792533718113876 Centerline is valid? [True, True] Translation: X:74.13, Y:-10.51, Z:-6.04 [[ 9.62405618e-01 2.62953979e-01 6.80487485e-02 7.41283119e+01] [-2.62390415e-01 9.64807565e-01 -1.72520251e-02 -1.05095049e+01] [-7.01904360e-02 -1.25189350e-03 9.97532824e-01 -6.04334693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters 0.017057774621593826 Centerline is valid? [True, True] Translation: X:74.19, Y:-10.52, Z:-6.05 [[ 9.62642485e-01 2.61481954e-01 7.03323153e-02 7.41883977e+01] [-2.60874568e-01 9.65207662e-01 -1.78501631e-02 -1.05245741e+01] [-7.25527852e-02 -1.16458697e-03 9.97363894e-01 -6.04862941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.561052754 meters 0.017323193440080722 Centerline is valid? [True, True] Translation: X:74.25, Y:-10.54, Z:-6.05 [[ 9.62741880e-01 2.60954743e-01 7.09273817e-02 7.42469375e+01] [-2.60334224e-01 9.65350390e-01 -1.80198756e-02 -1.05391635e+01] [-7.31721476e-02 -1.11633602e-03 9.97318701e-01 -6.05481576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.621052754 meters 0.017418116264102026 Centerline is valid? [True, True] Translation: X:74.31, Y:-10.56, Z:-6.06 [[ 9.62550382e-01 2.61708745e-01 7.07481081e-02 7.43079921e+01] [-2.61092204e-01 9.65146206e-01 -1.79906059e-02 -1.05552544e+01] [-7.29905670e-02 -1.15491488e-03 9.97331962e-01 -6.05732981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.681052754 meters 0.01773817658775089 Centerline is valid? [True, True] Translation: X:74.37, Y:-10.57, Z:-6.07 [[ 9.62356235e-01 2.62512262e-01 7.04115749e-02 7.43678740e+01] [-2.61902191e-01 9.64927923e-01 -1.79261073e-02 -1.05665722e+01] [-7.26479177e-02 -1.18964467e-03 9.97356940e-01 -6.06613868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters 0.01712326655275816 Centerline is valid? [True, True] Translation: X:74.43, Y:-10.59, Z:-6.07 [[ 9.62959060e-01 2.60059174e-01 7.12676217e-02 7.44268102e+01] [-2.59426208e-01 9.65592163e-01 -1.81608866e-02 -1.05854419e+01] [-7.35383621e-02 -1.00049854e-03 9.97291887e-01 -6.07098588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters 0.01654333412921596 Centerline is valid? [True, True] Translation: X:74.49, Y:-10.61, Z:-6.07 [[ 9.63853079e-01 2.56145339e-01 7.33267217e-02 7.44856642e+01] [-2.55462365e-01 9.66638025e-01 -1.87058402e-02 -1.06094708e+01] [-7.56718112e-02 -7.02536036e-04 9.97132531e-01 -6.06687013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters 0.016494586158573927 Centerline is valid? [True, True] Translation: X:74.55, Y:-10.62, Z:-6.07 [[ 9.64027159e-01 2.54894589e-01 7.53683313e-02 7.45457718e+01] [-2.54168648e-01 9.66968650e-01 -1.92335026e-02 -1.06213596e+01] [-7.77813293e-02 -6.14647989e-04 9.96970254e-01 -6.07233000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.921052754 meters 0.01634685706531902 Centerline is valid? [True, True] Translation: X:74.61, Y:-10.64, Z:-6.08 [[ 9.64930345e-01 2.51426401e-01 7.54598845e-02 7.46062085e+01] [-2.50686649e-01 9.67876368e-01 -1.92753782e-02 -1.06356726e+01] [-7.78821780e-02 -3.17388246e-04 9.96962520e-01 -6.07977494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.981052754 meters 0.0168205831016877 Centerline is valid? [True, True] Translation: X:74.66, Y:-10.66, Z:-6.08 [[ 9.67638648e-01 2.41331401e-01 7.37197475e-02 7.46640226e+01] [-2.40594697e-01 9.70442632e-01 -1.88491192e-02 -1.06602652e+01] [-7.60896702e-02 5.02555959e-04 9.97100852e-01 -6.08239142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.041052754 meters 0.0173217016422101 Centerline is valid? [True, True] Translation: X:74.72, Y:-10.67, Z:-6.09 [[ 9.68631744e-01 2.37498236e-01 7.31240942e-02 7.47235626e+01] [-2.36761110e-01 9.71387628e-01 -1.87150606e-02 -1.06746041e+01] [-7.54766343e-02 8.15060055e-04 9.97147238e-01 -6.08856584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10105275400001 meters 0.017330342001446588 Centerline is valid? [True, True] Translation: X:74.79, Y:-10.69, Z:-6.09 [[ 9.68775246e-01 2.36637586e-01 7.40079376e-02 7.47855672e+01] [-2.35878642e-01 9.71597563e-01 -1.89589446e-02 -1.06866333e+01] [-7.63923307e-02 9.10064346e-04 9.97077421e-01 -6.09453487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters 0.01703842647578417 Centerline is valid? [True, True] Translation: X:74.85, Y:-10.70, Z:-6.10 [[ 9.67189926e-01 2.43092304e-01 7.38226126e-02 7.48457670e+01] [-2.42354194e-01 9.70003069e-01 -1.89338475e-02 -1.06961111e+01] [-7.62108334e-02 4.21406742e-04 9.97091636e-01 -6.10020272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters 0.016797021945035292 Centerline is valid? [True, True] Translation: X:74.91, Y:-10.70, Z:-6.10 [[ 9.64346725e-01 2.53402410e-01 7.63060507e-02 7.49076015e+01] [-2.52644372e-01 9.67360878e-01 -1.95896076e-02 -1.07045614e+01] [-7.87795420e-02 -3.87120277e-04 9.96891987e-01 -6.10197635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.281052754 meters 0.018053968540169676 Centerline is valid? [True, True] Translation: X:74.97, Y:-10.71, Z:-6.11 [[ 9.61512045e-01 2.63636474e-01 7.73976568e-02 7.49682510e+01] [-2.62887890e-01 9.64621333e-01 -1.98907075e-02 -1.07114633e+01] [-7.99033469e-02 -1.22175183e-03 9.96801867e-01 -6.10759774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.341052754 meters 0.01947885346873136 Centerline is valid? [True, True] Translation: X:75.03, Y:-10.72, Z:-6.11 [[ 9.59748485e-01 2.70530759e-01 7.54715497e-02 7.50277118e+01] [-2.69839721e-01 9.62709753e-01 -1.94024963e-02 -1.07240250e+01] [-7.79061690e-02 -1.74370553e-03 9.96959171e-01 -6.11413374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.401052754 meters 0.019524909646689178 Centerline is valid? [True, True] Translation: X:75.09, Y:-10.74, Z:-6.12 [[ 9.60158295e-01 2.69728640e-01 7.30924721e-02 7.50872043e+01] [-2.69077114e-01 9.62935026e-01 -1.88053931e-02 -1.07392426e+01] [-7.54556546e-02 -1.61135728e-03 9.97147857e-01 -6.12221458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46105275400001 meters 0.018765543746920185 Centerline is valid? [True, True] Translation: X:75.15, Y:-10.76, Z:-6.12 [[ 9.61256725e-01 2.65631596e-01 7.36570726e-02 7.51455043e+01] [-2.64956401e-01 9.64073761e-01 -1.89707469e-02 -1.07612251e+01] [-7.60500808e-02 -1.28015483e-03 9.97103177e-01 -6.12400552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters 0.018442289302194763 Centerline is valid? [True, True] Translation: X:75.20, Y:-10.78, Z:-6.13 [[ 9.61741359e-01 2.63680669e-01 7.43374881e-02 7.52047892e+01] [-2.62986850e-01 9.64609362e-01 -1.91493106e-02 -1.07786877e+01] [-7.67559400e-02 -1.13309785e-03 9.97049267e-01 -6.12940874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters 0.018356354938516294 Centerline is valid? [True, True] Translation: X:75.26, Y:-10.80, Z:-6.14 [[ 9.62637138e-01 2.61303034e-01 7.10666265e-02 7.52628317e+01] [-2.60661232e-01 9.65256412e-01 -1.83243072e-02 -1.07982772e+01] [-7.33857140e-02 -8.84655850e-04 9.97303241e-01 -6.13634663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.641052754 meters 0.018744376946060935 Centerline is valid? [True, True] Translation: X:75.32, Y:-10.81, Z:-6.15 [[ 9.62462458e-01 2.62881647e-01 6.75222653e-02 7.53222935e+01] [-2.62305177e-01 9.64827630e-01 -1.74252274e-02 -1.08120525e+01] [-6.97281197e-02 -9.40312544e-04 9.97565589e-01 -6.14732039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.701052754 meters 0.018548815261650167 Centerline is valid? [True, True] Translation: X:75.38, Y:-10.83, Z:-6.15 [[ 9.62540160e-01 2.63006696e-01 6.59084120e-02 7.53820187e+01] [-2.62456680e-01 9.64793578e-01 -1.70247748e-02 -1.08284064e+01] [-6.80656424e-02 -9.11073534e-04 9.97680429e-01 -6.15142506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.761052754 meters 0.0184898317820539 Centerline is valid? [True, True] Translation: X:75.44, Y:-10.84, Z:-6.15 [[ 9.62413621e-01 2.63338279e-01 6.64302043e-02 7.54430953e+01] [-2.62779141e-01 9.64703112e-01 -1.71764098e-02 -1.08427001e+01] [-6.86086310e-02 -9.25661269e-04 9.97643222e-01 -6.15421829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82105275400001 meters 0.018424754588172672 Centerline is valid? [True, True] Translation: X:75.50, Y:-10.86, Z:-6.16 [[ 9.62229808e-01 2.64041600e-01 6.63010591e-02 7.55042687e+01] [-2.63484985e-01 9.64510820e-01 -1.71622114e-02 -1.08575392e+01] [-6.84796266e-02 -9.55342222e-04 9.97652058e-01 -6.15879288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters 0.018257949187394443 Centerline is valid? [True, True] Translation: X:75.56, Y:-10.87, Z:-6.17 [[ 9.61984958e-01 2.65215330e-01 6.51595756e-02 7.55638467e+01] [-2.64679145e-01 9.64188687e-01 -1.68856893e-02 -1.08734455e+01] [-6.73044692e-02 -1.00260168e-03 9.97731980e-01 -6.16553987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters 0.0174630162320632 Centerline is valid? [True, True] Translation: X:75.62, Y:-10.89, Z:-6.17 [[ 9.62899196e-01 2.61505080e-01 6.66350640e-02 7.56232734e+01] [-2.60934105e-01 9.65201815e-01 -1.72872621e-02 -1.08946690e+01] [-6.88369916e-02 -7.41470016e-04 9.97627645e-01 -6.16603268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters 0.01709032972242197 Centerline is valid? [True, True] Translation: X:75.68, Y:-10.91, Z:-6.16 [[ 9.62988880e-01 2.60208578e-01 7.03129628e-02 7.56825192e+01] [-2.59568577e-01 9.65552195e-01 -1.82514015e-02 -1.09112812e+01] [-7.26400067e-02 -6.75138962e-04 9.97357997e-01 -6.16453838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.061052754 meters 0.017268824237031192 Centerline is valid? [True, True] Translation: X:75.74, Y:-10.92, Z:-6.17 [[ 9.62472011e-01 2.62669461e-01 6.82083811e-02 7.57435728e+01] [-2.62072289e-01 9.64885528e-01 -1.77209672e-02 -1.09219692e+01] [-7.04680367e-02 -8.19591657e-04 9.97513701e-01 -6.17396872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.121052754 meters 0.01715382068435072 Centerline is valid? [True, True] Translation: X:75.80, Y:-10.94, Z:-6.18 [[ 9.62990269e-01 2.61171081e-01 6.66288892e-02 7.58040737e+01] [-2.60596576e-01 9.65292291e-01 -1.73267793e-02 -1.09385509e+01] [-6.88416068e-02 -6.77740500e-04 9.97627372e-01 -6.18261092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.181052754 meters 0.01692185338165539 Centerline is valid? [True, True] Translation: X:75.86, Y:-10.96, Z:-6.19 [[ 9.63333954e-01 2.59670107e-01 6.75213168e-02 7.58635324e+01] [-2.59074993e-01 9.65697221e-01 -1.75790972e-02 -1.09562393e+01] [-6.97699141e-02 -5.58543484e-04 9.97562954e-01 -6.18603796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24105275400001 meters 0.016929354801887023 Centerline is valid? [True, True] Translation: X:75.92, Y:-10.97, Z:-6.19 [[ 9.63182031e-01 2.60164502e-01 6.77850066e-02 7.59239390e+01] [-2.59564781e-01 9.65564133e-01 -1.76643716e-02 -1.09711047e+01] [-7.00464136e-02 -5.80595095e-04 9.97543564e-01 -6.19093611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters 0.01699438047194956 Centerline is valid? [True, True] Translation: X:75.99, Y:-10.98, Z:-6.20 [[ 9.62675134e-01 2.61943504e-01 6.81335950e-02 7.59855217e+01] [-2.61340633e-01 9.65082959e-01 -1.77751229e-02 -1.09838704e+01] [-7.04106494e-02 -6.94408002e-04 9.97517849e-01 -6.19784182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters 0.017071925796775272 Centerline is valid? [True, True] Translation: X:76.05, Y:-11.00, Z:-6.20 [[ 9.62448969e-01 2.63036152e-01 6.71115864e-02 7.60453662e+01] [-2.62452535e-01 9.64785691e-01 -1.75281885e-02 -1.09974429e+01] [-6.93588455e-02 -7.43619002e-04 9.97591498e-01 -6.20413748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.421052754 meters 0.017403845083267627 Centerline is valid? [True, True] Translation: X:76.10, Y:-11.01, Z:-6.21 [[ 9.62202040e-01 2.64344051e-01 6.54939419e-02 7.61042008e+01] [-2.63790173e-01 9.64428110e-01 -1.71220452e-02 -1.10101285e+01] [-6.76903094e-02 -8.01791420e-04 9.97706058e-01 -6.21372672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.481052754 meters 0.01726669731686511 Centerline is valid? [True, True] Translation: X:76.16, Y:-11.03, Z:-6.22 [[ 9.62238300e-01 2.64488002e-01 6.43704157e-02 7.61634627e+01] [-2.63952348e-01 9.64388657e-01 -1.68426934e-02 -1.10268553e+01] [-6.65327891e-02 -7.84037674e-04 9.97783931e-01 -6.21790678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.541052754 meters 0.017316972381265835 Centerline is valid? [True, True] Translation: X:76.22, Y:-11.04, Z:-6.23 [[ 9.62201750e-01 2.64649027e-01 6.42548371e-02 7.62238972e+01] [-2.64114607e-01 9.64344485e-01 -1.68282034e-02 -1.10409642e+01] [-6.64173655e-02 -7.78514245e-04 9.97791625e-01 -6.22679675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60105275400001 meters 0.017832208941660013 Centerline is valid? [True, True] Translation: X:76.28, Y:-11.06, Z:-6.24 [[ 9.61839677e-01 2.66611005e-01 6.15061566e-02 7.62840013e+01] [-2.66124118e-01 9.63803839e-01 -1.61280432e-02 -1.10552691e+01] [-6.35797837e-02 -8.55679852e-04 9.97976392e-01 -6.23512059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters 0.018257684016765488 Centerline is valid? [True, True] Translation: X:76.34, Y:-11.07, Z:-6.24 [[ 9.61242235e-01 2.68831518e-01 6.11799062e-02 7.63428465e+01] [-2.68353976e-01 9.63186706e-01 -1.60472426e-02 -1.10696706e+01] [-6.32416769e-02 -9.92583696e-04 9.97997748e-01 -6.23816901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters 0.01867474643548984 Centerline is valid? [True, True] Translation: X:76.40, Y:-11.08, Z:-6.25 [[ 9.60790812e-01 2.70340924e-01 6.16181838e-02 7.64034551e+01] [-2.69859244e-01 9.62764035e-01 -1.61679093e-02 -1.10828464e+01] [-6.36946188e-02 -1.09425773e-03 9.97968836e-01 -6.24628487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.781052754 meters 0.01911910441696139 Centerline is valid? [True, True] Translation: X:76.46, Y:-11.10, Z:-6.25 [[ 9.60727528e-01 2.70704573e-01 6.10053381e-02 7.64632226e+01] [-2.70232248e-01 9.62661851e-01 -1.60216433e-02 -1.11003312e+01] [-6.30646438e-02 -1.09317592e-03 9.98008845e-01 -6.25115608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.841052754 meters 0.018584434664862624 Centerline is valid? [True, True] Translation: X:76.52, Y:-11.12, Z:-6.25 [[ 9.61015444e-01 2.69158745e-01 6.32683715e-02 7.65212602e+01] [-2.68646303e-01 9.63095293e-01 -1.66319207e-02 -1.11194991e+01] [-6.54100977e-02 -1.01328144e-03 9.97857952e-01 -6.25266838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.901052754 meters 0.017441685959193938 Centerline is valid? [True, True] Translation: X:76.58, Y:-11.14, Z:-6.25 [[ 9.60922209e-01 2.69470491e-01 6.33574209e-02 7.65811756e+01] [-2.68956449e-01 9.63008103e-01 -1.66679839e-02 -1.11402563e+01] [-6.55052395e-02 -1.02375106e-03 9.97851700e-01 -6.25426307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96105275400001 meters 0.017640717964646523 Centerline is valid? [True, True] Translation: X:76.64, Y:-11.16, Z:-6.26 [[ 9.61130897e-01 2.69534281e-01 5.98219871e-02 7.66404432e+01] [-2.69075130e-01 9.62990322e-01 -1.57547867e-02 -1.11558287e+01] [-6.18544497e-02 -9.54196664e-04 9.98084724e-01 -6.26432145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters 0.017870127800541376 Centerline is valid? [True, True] Translation: X:76.70, Y:-11.17, Z:-6.27 [[ 9.61372478e-01 2.69072778e-01 5.79896439e-02 7.66988168e+01] [-2.68639511e-01 9.63119445e-01 -1.52888146e-02 -1.11724826e+01] [-5.99647575e-02 -8.80063955e-04 9.98200107e-01 -6.27160121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters 0.018115077998653424 Centerline is valid? [True, True] Translation: X:76.76, Y:-11.19, Z:-6.27 [[ 9.60753326e-01 2.70908430e-01 5.96797215e-02 7.67588164e+01] [-2.70452659e-01 9.62604585e-01 -1.57407680e-02 -1.11872292e+01] [-6.17122803e-02 -1.01754422e-03 9.98093462e-01 -6.27301968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.141052754 meters 0.017368198819338522 Centerline is valid? [True, True] Translation: X:76.82, Y:-11.20, Z:-6.28 [[ 9.60385640e-01 2.71987831e-01 6.06798364e-02 7.68191759e+01] [-2.71517886e-01 9.62300072e-01 -1.60190012e-02 -1.12030342e+01] [-6.27491843e-02 -1.09124220e-03 9.98028732e-01 -6.27753395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.201052754 meters 0.017484433406856785 Centerline is valid? [True, True] Translation: X:76.88, Y:-11.22, Z:-6.28 [[ 9.60467356e-01 2.71374027e-01 6.21176016e-02 7.68774989e+01] [-2.70878943e-01 9.62473387e-01 -1.64188054e-02 -1.12214396e+01] [-6.42421758e-02 -1.05662369e-03 9.97933779e-01 -6.28116694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.261052754 meters 0.017563828985884093 Centerline is valid? [True, True] Translation: X:76.94, Y:-11.24, Z:-6.29 [[ 9.59948627e-01 2.73402297e-01 6.12357469e-02 7.69367946e+01] [-2.72924377e-01 9.61899078e-01 -1.62002864e-02 -1.12376325e+01] [-6.33318040e-02 -1.16128539e-03 9.97991851e-01 -6.28578282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32105275400001 meters 0.01855942533732649 Centerline is valid? [True, True] Translation: X:77.00, Y:-11.25, Z:-6.30 [[ 9.59566716e-01 2.75515566e-01 5.76445251e-02 7.69955456e+01] [-2.75094925e-01 9.61295851e-01 -1.52666039e-02 -1.12494711e+01] [-5.96196298e-02 -1.20839140e-03 9.98220436e-01 -6.29898552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters 0.01851087392864599 Centerline is valid? [True, True] Translation: X:77.06, Y:-11.27, Z:-6.30 [[ 9.59320124e-01 2.76237331e-01 5.82909708e-02 7.70554934e+01] [-2.75808502e-01 9.61088618e-01 -1.54381982e-02 -1.12666831e+01] [-6.02873953e-02 -1.26697116e-03 9.98180257e-01 -6.30302949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters 0.017476997130791205 Centerline is valid? [True, True] Translation: X:77.11, Y:-11.29, Z:-6.30 [[ 9.59150724e-01 2.76131001e-01 6.14943876e-02 7.71144638e+01] [-2.75652246e-01 9.61119114e-01 -1.63060679e-02 -1.12863178e+01] [-6.36060422e-02 -1.31108924e-03 9.97974224e-01 -6.30206555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters 0.018077069817241314 Centerline is valid? [True, True] Translation: X:77.17, Y:-11.30, Z:-6.31 [[ 9.59222256e-01 2.75661380e-01 6.24777320e-02 7.71730113e+01] [-2.75165085e-01 9.61253949e-01 -1.65837788e-02 -1.12996713e+01] [-6.46284739e-02 -1.28416074e-03 9.97908569e-01 -6.31222843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.561052754 meters 0.01692990029213886 Centerline is valid? [True, True] Translation: X:77.23, Y:-11.32, Z:-6.32 [[ 9.58929858e-01 2.76481064e-01 6.33383680e-02 7.72327171e+01] [-2.75971826e-01 9.61018426e-01 -1.68266586e-02 -1.13180075e+01] [-6.55215912e-02 -1.34401977e-03 9.97850247e-01 -6.31635664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.621052754 meters 0.018663664248564974 Centerline is valid? [True, True] Translation: X:77.29, Y:-11.33, Z:-6.32 [[ 9.58629826e-01 2.77491802e-01 6.34598872e-02 7.72922001e+01] [-2.76981483e-01 9.60726990e-01 -1.68792172e-02 -1.13307235e+01] [-6.56514708e-02 -1.39629264e-03 9.97841638e-01 -6.32296325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.681052754 meters 0.019470363747469417 Centerline is valid? [True, True] Translation: X:77.35, Y:-11.34, Z:-6.33 [[ 9.57967510e-01 2.79789673e-01 6.33718227e-02 7.73518987e+01] [-2.79284753e-01 9.60060091e-01 -1.68715346e-02 -1.13428773e+01] [-6.55612390e-02 -1.53640186e-03 9.97847365e-01 -6.32951184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74105275400001 meters 0.0167285031274663 Centerline is valid? [True, True] Translation: X:77.41, Y:-11.36, Z:-6.33 [[ 9.58000077e-01 2.79630686e-01 6.35809028e-02 7.74106049e+01] [-2.79121186e-01 9.60106440e-01 -1.69406992e-02 -1.13643478e+01] [-6.57815736e-02 -1.51758582e-03 9.97832893e-01 -6.33041992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters 0.016336289309679602 Centerline is valid? [True, True] Translation: X:77.47, Y:-11.38, Z:-6.34 [[ 9.58318788e-01 2.78282610e-01 6.46830012e-02 7.74699796e+01] [-2.77751041e-01 9.60498171e-01 -1.72517776e-02 -1.13815547e+01] [-6.69287740e-02 -1.43306830e-03 9.97756727e-01 -6.33551679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters 0.015605497555390698 Centerline is valid? [True, True] Translation: X:77.53, Y:-11.40, Z:-6.34 [[ 9.58910276e-01 2.75933411e-01 6.59684375e-02 7.75296921e+01] [-2.75373717e-01 9.61175906e-01 -1.76123423e-02 -1.13980806e+01] [-6.82671064e-02 -1.27731782e-03 9.97666262e-01 -6.34087340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921052754 meters 0.015097604440794657 Centerline is valid? [True, True] Translation: X:77.59, Y:-11.41, Z:-6.35 [[ 9.59132670e-01 2.74876196e-01 6.71386468e-02 7.75895818e+01] [-2.74292619e-01 9.61478872e-01 -1.79426276e-02 -1.14146935e+01] [-6.94843917e-02 -1.20627489e-03 9.97582309e-01 -6.34566820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981052754 meters 0.015238605459196072 Centerline is valid? [True, True] Translation: X:77.65, Y:-11.43, Z:-6.35 [[ 9.59112047e-01 2.74992641e-01 6.69561725e-02 7.76493611e+01] [-2.74411309e-01 9.61445589e-01 -1.79112657e-02 -1.14291397e+01] [-6.93001830e-02 -1.19462023e-03 9.97595137e-01 -6.35097760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041052754 meters 0.014670416271950431 Centerline is valid? [True, True] Translation: X:77.71, Y:-11.44, Z:-6.36 [[ 9.59888288e-01 2.72257134e-01 6.70113957e-02 7.77090250e+01] [-2.71666872e-01 9.62224035e-01 -1.79448553e-02 -1.14436811e+01] [-6.93655904e-02 -9.79719791e-04 9.97590825e-01 -6.35760877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10105275400001 meters 0.013889249220621966 Centerline is valid? [True, True] Translation: X:77.77, Y:-11.46, Z:-6.36 [[ 9.61255171e-01 2.67342950e-01 6.72029969e-02 7.77685397e+01] [-2.66736092e-01 9.63601253e-01 -1.80133874e-02 -1.14598118e+01] [-6.95726442e-02 -6.10002973e-04 9.97576701e-01 -6.36306527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters 0.013402960566224236 Centerline is valid? [True, True] Translation: X:77.83, Y:-11.48, Z:-6.37 [[ 9.62560492e-01 2.62406694e-01 6.79707701e-02 7.78278523e+01] [-2.61772315e-01 9.64957341e-01 -1.82369255e-02 -1.14784550e+01] [-7.03743849e-02 -2.38721855e-04 9.97520621e-01 -6.36750050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters 0.013542677306989926 Centerline is valid? [True, True] Translation: X:77.89, Y:-11.50, Z:-6.37 [[ 9.63638320e-01 2.58956065e-01 6.59010286e-02 7.78866468e+01] [-2.58350604e-01 9.65889101e-01 -1.76977328e-02 -1.14960887e+01] [-6.82360205e-02 2.86429386e-05 9.97669206e-01 -6.37477203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.281052754 meters 0.013251715133071206 Centerline is valid? [True, True] Translation: X:77.95, Y:-11.52, Z:-6.38 [[ 9.64094721e-01 2.56866534e-01 6.73865973e-02 7.79464296e+01] [-2.56226991e-01 9.66446866e-01 -1.81158717e-02 -1.15151768e+01] [-6.97789269e-02 1.99151225e-04 9.97562460e-01 -6.37638633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.341052754 meters 0.01297282046540218 Centerline is valid? [True, True] Translation: X:78.01, Y:-11.53, Z:-6.38 [[ 9.62684380e-01 2.61199437e-01 7.08070527e-02 7.80067803e+01] [-2.60504505e-01 9.65284850e-01 -1.90410690e-02 -1.15285028e+01] [-7.33224917e-02 -1.15016531e-04 9.97308277e-01 -6.37967173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.401052754 meters 0.013081677254098652 Centerline is valid? [True, True] Translation: X:78.07, Y:-11.54, Z:-6.38 [[ 9.61212800e-01 2.65986065e-01 7.29476943e-02 7.80679595e+01] [-2.65260716e-01 9.63976756e-01 -1.96358360e-02 -1.15408906e+01] [-7.55427405e-02 -4.75940719e-04 9.97142451e-01 -6.38443325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46105275400001 meters 0.013472815192137328 Centerline is valid? [True, True] Translation: X:78.13, Y:-11.55, Z:-6.39 [[ 9.59815423e-01 2.70834970e-01 7.35035541e-02 7.81283949e+01] [-2.70111018e-01 9.62625425e-01 -1.98073025e-02 -1.15536323e+01] [-7.61209002e-02 -8.42765402e-04 9.97098239e-01 -6.38692611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters 0.013859336143917279 Centerline is valid? [True, True] Translation: X:78.19, Y:-11.57, Z:-6.40 [[ 9.59365810e-01 2.73159340e-01 7.07192870e-02 7.81879503e+01] [-2.72494243e-01 9.61968312e-01 -1.90749829e-02 -1.15667361e+01] [-7.32402229e-02 -9.70712178e-04 9.97313856e-01 -6.39705143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters 0.014347315909395886 Centerline is valid? [True, True] Translation: X:78.25, Y:-11.58, Z:-6.40 [[ 9.59279938e-01 2.73517332e-01 7.05001351e-02 7.82479835e+01] [-2.72856021e-01 9.61866577e-01 -1.90336309e-02 -1.15803884e+01] [-7.30177516e-02 -9.77806019e-04 9.97330162e-01 -6.40448990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.641052754 meters 0.01419608740243384 Centerline is valid? [True, True] Translation: X:78.31, Y:-11.60, Z:-6.40 [[ 9.58708787e-01 2.75213629e-01 7.16583573e-02 7.83085448e+01] [-2.74534146e-01 9.61382453e-01 -1.93593014e-02 -1.15980047e+01] [-7.42190309e-02 -1.11273353e-03 9.97241344e-01 -6.40370277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701052754 meters 0.014828443965714415 Centerline is valid? [True, True] Translation: X:78.37, Y:-11.61, Z:-6.41 [[ 9.58343609e-01 2.76623799e-01 7.11111948e-02 7.83675457e+01] [-2.75956951e-01 9.60977551e-01 -1.92329783e-02 -1.16125712e+01] [-7.36565613e-02 -1.19182669e-03 9.97282954e-01 -6.40970020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761052754 meters 0.014376240258121117 Centerline is valid? [True, True] Translation: X:78.43, Y:-11.63, Z:-6.42 [[ 9.59100474e-01 2.73922980e-01 7.13616294e-02 7.84262046e+01] [-2.73242699e-01 9.61751141e-01 -1.93176207e-02 -1.16315424e+01] [-7.39236688e-02 -9.71505041e-04 9.97263429e-01 -6.41649378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82105275400001 meters 0.014483284572324479 Centerline is valid? [True, True] Translation: X:78.49, Y:-11.65, Z:-6.42 [[ 9.59655104e-01 2.72762469e-01 6.82840869e-02 7.84850032e+01] [-2.72135566e-01 9.62081052e-01 -1.85009070e-02 -1.16540287e+01] [-7.07411792e-02 -8.28038781e-04 9.97494361e-01 -6.42169123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters 0.015304282616295272 Centerline is valid? [True, True] Translation: X:78.54, Y:-11.67, Z:-6.43 [[ 9.59433020e-01 2.74399917e-01 6.47531168e-02 7.85444383e+01] [-2.73838673e-01 9.61615260e-01 -1.75633744e-02 -1.16708899e+01] [-6.70869738e-02 -8.81026202e-04 9.97746742e-01 -6.43019886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters 0.01616331425397479 Centerline is valid? [True, True] Translation: X:78.61, Y:-11.68, Z:-6.44 [[ 9.58396762e-01 2.78036591e-01 6.45856025e-02 7.86054000e+01] [-2.77485349e-01 9.60569835e-01 -1.75348933e-02 -1.16835114e+01] [-6.69143235e-02 -1.11617349e-03 9.97758101e-01 -6.43653709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters 0.01654934753234866 Centerline is valid? [True, True] Translation: X:78.67, Y:-11.70, Z:-6.44 [[ 9.57946572e-01 2.79546361e-01 6.47471769e-02 7.86654075e+01] [-2.78994665e-01 9.60131435e-01 -1.75955948e-02 -1.17013428e+01] [-6.70845844e-02 -1.20847718e-03 9.97746560e-01 -6.43820962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.061052754 meters 0.017019940508025633 Centerline is valid? [True, True] Translation: X:78.73, Y:-11.72, Z:-6.44 [[ 9.57627431e-01 2.80848307e-01 6.38273606e-02 7.87254723e+01] [-2.80313984e-01 9.59751336e-01 -1.73621080e-02 -1.17174148e+01] [-6.61345132e-02 -1.26527082e-03 9.97809914e-01 -6.44451704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121052754 meters 0.01743534722833427 Centerline is valid? [True, True] Translation: X:78.79, Y:-11.73, Z:-6.45 [[ 9.57124009e-01 2.82817672e-01 6.26721237e-02 7.87855427e+01] [-2.82305708e-01 9.59172723e-01 -1.70638120e-02 -1.17326299e+01] [-6.49393391e-02 -1.36051408e-03 9.97888286e-01 -6.45049747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.181052754 meters 0.017980236012817206 Centerline is valid? [True, True] Translation: X:78.84, Y:-11.75, Z:-6.45 [[ 9.56625928e-01 2.84328981e-01 6.34339357e-02 7.88448131e+01] [-2.83806675e-01 9.58725657e-01 -1.72882979e-02 -1.17481056e+01] [-6.57313058e-02 -1.46454033e-03 9.97836284e-01 -6.45365783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24105275400001 meters 0.018051508115140356 Centerline is valid? [True, True] Translation: X:78.90, Y:-11.76, Z:-6.46 [[ 9.56253726e-01 2.85911481e-01 6.19147438e-02 7.89044755e+01] [-2.85416329e-01 9.58254824e-01 -1.68881857e-02 -1.17645192e+01] [-6.41586281e-02 -1.52208843e-03 9.97938552e-01 -6.46043712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters 0.01845261792999613 Centerline is valid? [True, True] Translation: X:78.96, Y:-11.78, Z:-6.47 [[ 9.56248100e-01 2.86018733e-01 6.15049216e-02 7.89648605e+01] [-2.85529363e-01 9.58222845e-01 -1.67917259e-02 -1.17814438e+01] [-6.37381692e-02 -1.50440510e-03 9.97965522e-01 -6.46775023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters 0.018048340307976557 Centerline is valid? [True, True] Translation: X:79.03, Y:-11.80, Z:-6.47 [[ 9.55669459e-01 2.87055876e-01 6.55347989e-02 7.90252610e+01] [-2.86501100e-01 9.57912409e-01 -1.79146807e-02 -1.17985835e+01] [-6.79191114e-02 -1.65527873e-03 9.97689458e-01 -6.46853728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.421052754 meters 0.018274343606146316 Centerline is valid? [True, True] Translation: X:79.08, Y:-11.82, Z:-6.47 [[ 9.55523156e-01 2.87634618e-01 6.51292935e-02 7.90846511e+01] [-2.87087516e-01 9.57738748e-01 -1.78114933e-02 -1.18176994e+01] [-6.75000501e-02 -1.67851278e-03 9.97717859e-01 -6.46984755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.481052754 meters 0.01878702526301468 Centerline is valid? [True, True] Translation: X:79.14, Y:-11.83, Z:-6.48 [[ 9.55653823e-01 2.87794227e-01 6.24520113e-02 7.91432320e+01] [-2.87290523e-01 9.57690925e-01 -1.70952518e-02 -1.18308673e+01] [-6.47296393e-02 -1.60472825e-03 9.97901548e-01 -6.48280245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.541052754 meters 0.018241735447039466 Centerline is valid? [True, True] Translation: X:79.20, Y:-11.85, Z:-6.49 [[ 9.55876510e-01 2.87247650e-01 6.15539166e-02 7.92027532e+01] [-2.86756344e-01 9.57855125e-01 -1.68629550e-02 -1.18504738e+01] [-6.38035787e-02 -1.53207347e-03 9.97961300e-01 -6.48717444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60105275400001 meters 0.017253202615853606 Centerline is valid? [True, True] Translation: X:79.26, Y:-11.87, Z:-6.49 [[ 9.56997356e-01 2.83085440e-01 6.33931805e-02 7.92612516e+01] [-2.82553659e-01 9.59093854e-01 -1.73898999e-02 -1.18710735e+01] [-6.57228373e-02 -1.26988693e-03 9.97837109e-01 -6.48753451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters 0.015823712438614405 Centerline is valid? [True, True] Translation: X:79.32, Y:-11.89, Z:-6.49 [[ 9.58401420e-01 2.77302999e-01 6.76000324e-02 7.93201701e+01] [-2.76683551e-01 9.60782070e-01 -1.85479370e-02 -1.18889691e+01] [-7.00922976e-02 -9.27447854e-04 9.97540079e-01 -6.49261519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters 0.015015334497020796 Centerline is valid? [True, True] Translation: X:79.38, Y:-11.91, Z:-6.50 [[ 9.59700605e-01 2.72747937e-01 6.77001598e-02 7.93786442e+01] [-2.72115215e-01 9.62085344e-01 -1.85768654e-02 -1.19114165e+01] [-7.02001333e-02 -5.94014528e-04 9.97532751e-01 -6.49603982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.781052754 meters 0.014814003508931561 Centerline is valid? [True, True] Translation: X:79.44, Y:-11.93, Z:-6.50 [[ 9.59997220e-01 2.71693832e-01 6.77333013e-02 7.94379642e+01] [-2.71056663e-01 9.62383609e-01 -1.86030773e-02 -1.19305786e+01] [-7.02397603e-02 -5.00660121e-04 9.97530012e-01 -6.49951697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.841052754 meters 0.015261217160951131 Centerline is valid? [True, True] Translation: X:79.50, Y:-11.94, Z:-6.51 [[ 9.58901080e-01 2.75604715e-01 6.74593261e-02 7.94985267e+01] [-2.74981179e-01 9.61270748e-01 -1.85445281e-02 -1.19430270e+01] [-6.99576362e-02 -7.67676982e-04 9.97549668e-01 -6.50778569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.901052754 meters 0.018117751162788742 Centerline is valid? [True, True] Translation: X:79.56, Y:-11.95, Z:-6.52 [[ 9.56303876e-01 2.85175901e-01 6.44794771e-02 7.95581807e+01] [-2.84626733e-01 9.58474199e-01 -1.77435539e-02 -1.19514562e+01] [-6.68619491e-02 -1.38435355e-03 9.97761276e-01 -6.51621687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96105275400001 meters 0.020670524698958474 Centerline is valid? [True, True] Translation: X:79.62, Y:-11.96, Z:-6.52 [[ 9.54638831e-01 2.90823907e-01 6.39230565e-02 7.96183259e+01] [-2.90296920e-01 9.56774967e-01 -1.75886679e-02 -1.19625564e+01] [-6.62751854e-02 -1.76584104e-03 9.97799820e-01 -6.52133446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters 0.020794162899983305 Centerline is valid? [True, True] Translation: X:79.68, Y:-11.98, Z:-6.53 [[ 9.54542038e-01 2.91005725e-01 6.45380882e-02 7.96782455e+01] [-2.90468125e-01 9.56719649e-01 -1.77702657e-02 -1.19778866e+01] [-6.69161061e-02 -1.78379182e-03 9.97757011e-01 -6.52640854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters 0.020840979512913513 Centerline is valid? [True, True] Translation: X:79.74, Y:-11.99, Z:-6.53 [[ 9.54576610e-01 2.90457387e-01 6.64680513e-02 7.97370933e+01] [-2.89884586e-01 9.56886270e-01 -1.83191836e-02 -1.19934258e+01] [-6.89233079e-02 -1.78099942e-03 9.97620372e-01 -6.53031821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.141052754 meters 0.015839345173266867 Centerline is valid? [True, True] Translation: X:79.79, Y:-12.02, Z:-6.53 [[ 9.56816637e-01 2.82916162e-01 6.67859910e-02 7.97939997e+01] [-2.82318791e-01 9.59143849e-01 -1.84167414e-02 -1.20194156e+01] [-6.92677663e-02 -1.23349569e-03 9.97597341e-01 -6.53458067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.201052754 meters 0.016688186272993077 Centerline is valid? [True, True] Translation: X:79.85, Y:-12.03, Z:-6.54 [[ 9.58044261e-01 2.78763934e-01 6.66473076e-02 7.98531616e+01] [-2.78158916e-01 9.60359206e-01 -1.83796980e-02 -1.20322773e+01] [-6.91289524e-02 -9.29978601e-04 9.97607299e-01 -6.54412934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.261052754 meters 0.017201073543945577 Centerline is valid? [True, True] Translation: X:79.91, Y:-12.05, Z:-6.55 [[ 9.58060425e-01 2.79349151e-01 6.39083302e-02 7.99133272e+01] [-2.78793198e-01 9.60189153e-01 -1.76392469e-02 -1.20470036e+01] [-6.62915941e-02 -9.17743421e-04 9.97799871e-01 -6.55075697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32105275400001 meters 0.016037462046434678 Centerline is valid? [True, True] Translation: X:79.97, Y:-12.06, Z:-6.56 [[ 9.58068421e-01 2.80718224e-01 5.74645839e-02 7.99721440e+01] [-2.80270616e-01 9.59789805e-01 -1.58717389e-02 -1.20617041e+01] [-5.96094082e-02 -8.99422497e-04 9.98221373e-01 -6.56024474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters 0.01615402809799264 Centerline is valid? [True, True] Translation: X:80.03, Y:-12.08, Z:-6.56 [[ 9.58365725e-01 2.79997926e-01 5.60026607e-02 8.00298317e+01] [-2.79570838e-01 9.60000254e-01 -1.54808873e-02 -1.20800432e+01] [-5.80971848e-02 -8.20358969e-04 9.98310595e-01 -6.56385945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters 0.016559384190500397 Centerline is valid? [True, True] Translation: X:80.09, Y:-12.10, Z:-6.57 [[ 9.58791092e-01 2.78954178e-01 5.38907144e-02 8.00877025e+01] [-2.78556383e-01 9.60304146e-01 -1.49093445e-02 -1.20960075e+01] [-5.59105004e-02 -7.16655754e-04 9.98435527e-01 -6.57289151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters 0.01637169444299196 Centerline is valid? [True, True] Translation: X:80.15, Y:-12.11, Z:-6.58 [[ 9.58214089e-01 2.81029789e-01 5.33668225e-02 8.01473791e+01] [-2.80642739e-01 9.59698689e-01 -1.47674839e-02 -1.21115298e+01] [-5.53661725e-02 -8.26600153e-04 9.98465775e-01 -6.57831030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.561052754 meters 0.01767038094074981 Centerline is valid? [True, True] Translation: X:80.21, Y:-12.13, Z:-6.58 [[ 9.57385678e-01 2.84017521e-01 5.24090730e-02 8.02067873e+01] [-2.83647958e-01 9.58818602e-01 -1.45163649e-02 -1.21250671e+01] [-5.43736961e-02 -9.67966644e-04 9.98520187e-01 -6.58271145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.621052754 meters 0.01735541412113303 Centerline is valid? [True, True] Translation: X:80.27, Y:-12.14, Z:-6.58 [[ 9.57235266e-01 2.84001055e-01 5.51728754e-02 8.02667473e+01] [-2.83590636e-01 9.58823441e-01 -1.52957721e-02 -1.21417511e+01] [-5.72450616e-02 -1.00485832e-03 9.98359651e-01 -6.58338359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.681052754 meters 0.01659684898978769 Centerline is valid? [True, True] Translation: X:80.33, Y:-12.16, Z:-6.58 [[ 9.57444378e-01 2.82443642e-01 5.93788864e-02 8.03256347e+01] [-2.81963998e-01 9.59283411e-01 -1.64815406e-02 -1.21602944e+01] [-6.16162870e-02 -9.62549803e-04 9.98099447e-01 -6.58201693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74105275400001 meters 0.01627119679581187 Centerline is valid? [True, True] Translation: X:80.39, Y:-12.18, Z:-6.58 [[ 9.57598150e-01 2.81122507e-01 6.30548903e-02 8.03856650e+01] [-2.80578412e-01 9.59671442e-01 -1.75065424e-02 -1.21750447e+01] [-6.54334605e-02 -9.27608410e-04 9.97856504e-01 -6.58453745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters 0.01683173511440024 Centerline is valid? [True, True] Translation: X:80.45, Y:-12.19, Z:-6.59 [[ 9.56640402e-01 2.84219625e-01 6.37051466e-02 8.04463138e+01] [-2.83671049e-01 9.58758510e-01 -1.76877072e-02 -1.21894553e+01] [-6.61050449e-02 -1.15053040e-03 9.97812006e-01 -6.58660544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters 0.018730311153357885 Centerline is valid? [True, True] Translation: X:80.51, Y:-12.20, Z:-6.59 [[ 9.54724598e-01 2.90506643e-01 6.40845747e-02 8.05076569e+01] [-2.89964492e-01 9.56871673e-01 -1.78099675e-02 -1.21960814e+01] [-6.64946281e-02 -1.57863714e-03 9.97785534e-01 -6.59316479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.921052754 meters 0.01923572914731531 Centerline is valid? [True, True] Translation: X:80.57, Y:-12.21, Z:-6.60 [[ 9.53316115e-01 2.95266307e-01 6.32944873e-02 8.05680690e+01] [-2.94746888e-01 9.55413159e-01 -1.76059140e-02 -1.22073672e+01] [-6.56708193e-02 -1.87185160e-03 9.97839586e-01 -6.59918213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.981052754 meters 0.018669796441222877 Centerline is valid? [True, True] Translation: X:80.63, Y:-12.22, Z:-6.60 [[ 9.53646152e-01 2.93798397e-01 6.51269402e-02 8.06276539e+01] [-2.93244984e-01 9.55865672e-01 -1.81161854e-02 -1.22241850e+01] [-6.75751127e-02 -1.82171797e-03 9.97712526e-01 -6.60201019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.041052754 meters 0.018191166148444248 Centerline is valid? [True, True] Translation: X:80.69, Y:-12.24, Z:-6.61 [[ 9.54511302e-01 2.90854061e-01 6.56664971e-02 8.06854714e+01] [-2.90283224e-01 9.56766077e-01 -1.82845175e-02 -1.22416169e+01] [-6.81456030e-02 -1.60910389e-03 9.97674089e-01 -6.60695568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10105275400001 meters 0.01672455514320711 Centerline is valid? [True, True] Translation: X:80.74, Y:-12.26, Z:-6.61 [[ 9.55993086e-01 2.86585900e-01 6.28151403e-02 8.07438952e+01] [-2.86053562e-01 9.58053754e-01 -1.75032604e-02 -1.22638374e+01] [-6.51964686e-02 -1.23549868e-03 9.97871682e-01 -6.61413873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters 0.016471854540412355 Centerline is valid? [True, True] Translation: X:80.80, Y:-12.28, Z:-6.62 [[ 9.56164075e-01 2.85456262e-01 6.53068452e-02 8.08036408e+01] [-2.84877742e-01 9.58390988e-01 -1.82039999e-02 -1.22825526e+01] [-6.77859377e-02 -1.19845590e-03 9.97699168e-01 -6.61628944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters 0.017109329899317415 Centerline is valid? [True, True] Translation: X:80.86, Y:-12.30, Z:-6.62 [[ 9.55399370e-01 2.87898169e-01 6.57775711e-02 8.08636614e+01] [-2.87316763e-01 9.57660037e-01 -1.83393308e-02 -1.22972660e+01] [-6.82724109e-02 -1.37761376e-03 9.97665766e-01 -6.62137018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.281052754 meters 0.017617565337935126 Centerline is valid? [True, True] Translation: X:80.92, Y:-12.31, Z:-6.63 [[ 9.54188189e-01 2.92481810e-01 6.30816209e-02 8.09236256e+01] [-2.91955907e-01 9.56269719e-01 -1.76060692e-02 -1.23102390e+01] [-6.54724988e-02 -1.61754854e-03 9.97853063e-01 -6.63155633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.341052754 meters 0.018764205420638277 Centerline is valid? [True, True] Translation: X:80.98, Y:-12.33, Z:-6.64 [[ 9.53968402e-01 2.93680209e-01 6.07965733e-02 8.09826607e+01] [-2.93194025e-01 9.55902327e-01 -1.69706977e-02 -1.23254848e+01] [-6.30995439e-02 -1.63568269e-03 9.98005898e-01 -6.63838060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.401052754 meters 0.018368945988547228 Centerline is valid? [True, True] Translation: X:81.04, Y:-12.34, Z:-6.64 [[ 9.53994890e-01 2.93724004e-01 6.01660917e-02 8.10426215e+01] [-2.93247632e-01 9.55888904e-01 -1.67997105e-02 -1.23435631e+01] [-6.24465777e-02 -1.61672597e-03 9.98046998e-01 -6.64224211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46105275400001 meters 0.01777668955649303 Centerline is valid? [True, True] Translation: X:81.10, Y:-12.36, Z:-6.65 [[ 9.55037617e-01 2.90140423e-01 6.10056228e-02 8.10996221e+01] [-2.89641897e-01 9.56983088e-01 -1.70569744e-02 -1.23625248e+01] [-6.33302671e-02 -1.37973207e-03 9.97991670e-01 -6.64741198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters 0.016664877350224715 Centerline is valid? [True, True] Translation: X:81.16, Y:-12.38, Z:-6.65 [[ 9.56120090e-01 2.86122789e-01 6.29930459e-02 8.11579241e+01] [-2.85582336e-01 9.58192273e-01 -1.76152316e-02 -1.23839469e+01] [-6.53995690e-02 -1.14742439e-03 9.97858497e-01 -6.64999802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters 0.015130224727801844 Centerline is valid? [True, True] Translation: X:81.22, Y:-12.41, Z:-6.65 [[ 9.57548122e-01 2.80160301e-01 6.79102394e-02 8.12152586e+01] [-2.79516836e-01 9.59952902e-01 -1.89937898e-02 -1.24071467e+01] [-7.05119372e-02 -7.94587449e-04 9.97510619e-01 -6.65057535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.641052754 meters 0.014782470374943351 Centerline is valid? [True, True] Translation: X:81.27, Y:-12.43, Z:-6.65 [[ 9.57984060e-01 2.78191039e-01 6.98304080e-02 8.12730280e+01] [-2.77504941e-01 9.60525537e-01 -1.95371490e-02 -1.24282286e+01] [-7.25089500e-02 -6.62005902e-04 9.97367542e-01 -6.65351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701052754 meters 0.015026513486438535 Centerline is valid? [True, True] Translation: X:81.33, Y:-12.45, Z:-6.66 [[ 9.57793748e-01 2.79183418e-01 6.84671812e-02 8.13315181e+01] [-2.78525336e-01 9.60237532e-01 -1.91708036e-02 -1.24475650e+01] [-7.10969276e-02 -7.08168784e-04 9.97469160e-01 -6.66046924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.761052754 meters 0.014924256635094443 Centerline is valid? [True, True] Translation: X:81.39, Y:-12.47, Z:-6.67 [[ 9.58128343e-01 2.78360838e-01 6.71216942e-02 8.13912604e+01] [-2.77725295e-01 9.60476371e-01 -1.88095907e-02 -1.24673415e+01] [-6.97046547e-02 -6.19390357e-04 9.97567480e-01 -6.66687467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82105275400001 meters 0.015066873210122348 Centerline is valid? [True, True] Translation: X:81.45, Y:-12.49, Z:-6.67 [[ 9.58740928e-01 2.77248758e-01 6.28407421e-02 8.14493032e+01] [-2.76688313e-01 9.60798047e-01 -1.76263906e-02 -1.24873795e+01] [-6.52641572e-02 -4.88156785e-04 9.97867903e-01 -6.67498854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters 0.01533721485790889 Centerline is valid? [True, True] Translation: X:81.51, Y:-12.50, Z:-6.68 [[ 9.58583408e-01 2.78013775e-01 6.18562119e-02 8.15088193e+01] [-2.77471420e-01 9.60576948e-01 -1.73648602e-02 -1.25019007e+01] [-6.42453216e-02 -5.17664052e-04 9.97934001e-01 -6.68202160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters 0.01598695360030146 Centerline is valid? [True, True] Translation: X:81.57, Y:-12.51, Z:-6.69 [[ 9.58007627e-01 2.80443362e-01 5.97738065e-02 8.15702304e+01] [-2.79940902e-01 9.59870358e-01 -1.67924998e-02 -1.25095362e+01] [-6.20844502e-02 -6.45790400e-04 9.98070691e-01 -6.69123856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters 0.015487918569319822 Centerline is valid? [True, True] Translation: X:81.63, Y:-12.52, Z:-6.69 [[ 9.57514853e-01 2.82343074e-01 5.87170754e-02 8.16299941e+01] [-2.81861003e-01 9.59313211e-01 -1.65087155e-02 -1.25248493e+01] [-6.09891876e-02 -7.42713473e-04 9.98138150e-01 -6.69402792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061052754 meters 0.016598537152406573 Centerline is valid? [True, True] Translation: X:81.69, Y:-12.54, Z:-6.70 [[ 9.56986923e-01 2.83603290e-01 6.11980574e-02 8.16898661e+01] [-2.83081084e-01 9.58941325e-01 -1.72230845e-02 -1.25376650e+01] [-6.35698697e-02 -8.41745794e-04 9.97977035e-01 -6.70028267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.121052754 meters 0.015364442302541569 Centerline is valid? [True, True] Translation: X:81.75, Y:-12.55, Z:-6.69 [[ 9.55589821e-01 2.86939932e-01 6.71831024e-02 8.17501722e+01] [-2.86317488e-01 9.57947885e-01 -1.89247501e-02 -1.25547917e+01] [-6.97881774e-02 -1.15139858e-03 9.97561168e-01 -6.69427834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.181052754 meters 0.014869360457411869 Centerline is valid? [True, True] Translation: X:81.81, Y:-12.57, Z:-6.70 [[ 9.55105751e-01 2.87677000e-01 7.08163020e-02 8.18088997e+01] [-2.86985939e-01 9.57726670e-01 -1.99673536e-02 -1.25738902e+01] [-7.35668095e-02 -1.25234866e-03 9.97289505e-01 -6.69667237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24105275400001 meters 0.014406818074191358 Centerline is valid? [True, True] Translation: X:81.87, Y:-12.60, Z:-6.70 [[ 9.56063681e-01 2.84206024e-01 7.18969731e-02 8.18665093e+01] [-2.83482418e-01 9.58762730e-01 -2.02915259e-02 -1.25950985e+01] [-7.46991122e-02 -9.81536803e-04 9.97205635e-01 -6.70146813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters 0.014542973778785795 Centerline is valid? [True, True] Translation: X:81.93, Y:-12.61, Z:-6.71 [[ 9.56292747e-01 2.84028238e-01 6.95136126e-02 8.19255499e+01] [-2.83350233e-01 9.58815474e-01 -1.96349575e-02 -1.26145427e+01] [-7.22276098e-02 -9.19930929e-04 9.97387751e-01 -6.70677066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters 0.015326730738052666 Centerline is valid? [True, True] Translation: X:81.99, Y:-12.63, Z:-6.72 [[ 9.55593741e-01 2.86930165e-01 6.71690573e-02 8.19857613e+01] [-2.86303174e-01 9.57950888e-01 -1.89891807e-02 -1.26272123e+01] [-6.97932268e-02 -1.08477204e-03 9.97560890e-01 -6.71698944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.421052754 meters 0.015636900565069684 Centerline is valid? [True, True] Translation: X:82.05, Y:-12.64, Z:-6.72 [[ 9.55200828e-01 2.88204845e-01 6.73004127e-02 8.20461692e+01] [-2.87577345e-01 9.57568072e-01 -1.90435629e-02 -1.26419539e+01] [-6.99331736e-02 -1.16364697e-03 9.97551000e-01 -6.72378026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.481052754 meters 0.01619654080472994 Centerline is valid? [True, True] Translation: X:82.11, Y:-12.66, Z:-6.73 [[ 9.54872713e-01 2.89731644e-01 6.53733660e-02 8.21054998e+01] [-2.89142079e-01 9.57107140e-01 -1.85143389e-02 -1.26573714e+01] [-6.79335052e-02 -1.22335394e-03 9.97689101e-01 -6.72897556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.541052754 meters 0.01736985016673786 Centerline is valid? [True, True] Translation: X:82.16, Y:-12.67, Z:-6.74 [[ 9.54476986e-01 2.91691109e-01 6.23697004e-02 8.21644356e+01] [-2.91157730e-01 9.56511706e-01 -1.76785832e-02 -1.26697160e+01] [-6.48140341e-02 -1.28561961e-03 9.97896532e-01 -6.73954844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60105275400001 meters 0.016952026958261316 Centerline is valid? [True, True] Translation: X:82.22, Y:-12.69, Z:-6.74 [[ 9.54729708e-01 2.91013489e-01 6.16630725e-02 8.22237646e+01] [-2.90490333e-01 9.56718173e-01 -1.74844119e-02 -1.26914572e+01] [-6.40823818e-02 -1.21963901e-03 9.97943867e-01 -6.74257925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters 0.0167186045684656 Centerline is valid? [True, True] Translation: X:82.28, Y:-12.71, Z:-6.75 [[ 9.55224115e-01 2.88892212e-01 6.39388819e-02 8.22812694e+01] [-2.88323520e-01 9.57361001e-01 -1.81510685e-02 -1.27083642e+01] [-6.64562944e-02 -1.09674513e-03 9.97788734e-01 -6.74615099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters 0.016613492895734765 Centerline is valid? [True, True] Translation: X:82.34, Y:-12.73, Z:-6.75 [[ 9.55210100e-01 2.88947547e-01 6.38981918e-02 8.23411286e+01] [-2.88379427e-01 9.57344303e-01 -1.81436534e-02 -1.27268339e+01] [-6.64151340e-02 -1.09592296e-03 9.97791476e-01 -6.75016851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.781052754 meters 0.01621944618957663 Centerline is valid? [True, True] Translation: X:82.40, Y:-12.74, Z:-6.75 [[ 9.54568697e-01 2.91103517e-01 6.36972907e-02 8.24003895e+01] [-2.90542594e-01 9.56690776e-01 -1.81041256e-02 -1.27442432e+01] [-6.62087851e-02 -1.22514451e-03 9.97805039e-01 -6.75372889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.841052754 meters 0.016273106376082213 Centerline is valid? [True, True] Translation: X:82.46, Y:-12.76, Z:-6.76 [[ 9.54273000e-01 2.92101963e-01 6.35569379e-02 8.24596608e+01] [-2.91544675e-01 9.56386331e-01 -1.80800609e-02 -1.27614329e+01] [-6.60662079e-02 -1.27637287e-03 9.97814425e-01 -6.75813015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.901052754 meters 0.015988015675594536 Centerline is valid? [True, True] Translation: X:82.52, Y:-12.78, Z:-6.76 [[ 9.54064456e-01 2.92524333e-01 6.47342895e-02 8.25194344e+01] [-2.91946024e-01 9.56257177e-01 -1.84317856e-02 -1.27777852e+01] [-6.72943747e-02 -1.31380690e-03 9.97732299e-01 -6.76368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96105275400001 meters 0.016046247218010075 Centerline is valid? [True, True] Translation: X:82.58, Y:-12.80, Z:-6.77 [[ 9.53922005e-01 2.92813529e-01 6.55213420e-02 8.25788873e+01] [-2.92220561e-01 9.56168635e-01 -1.86731324e-02 -1.27957577e+01] [-6.81171979e-02 -1.33397137e-03 9.97676434e-01 -6.76818976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters 0.016624567482638884 Centerline is valid? [True, True] Translation: X:82.64, Y:-12.81, Z:-6.77 [[ 9.53950203e-01 2.92625941e-01 6.59474646e-02 8.26377877e+01] [-2.92023587e-01 9.56226090e-01 -1.88119351e-02 -1.28132565e+01] [-6.85655465e-02 -1.31256588e-03 9.97645750e-01 -6.77175613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters 0.015575858073952394 Centerline is valid? [True, True] Translation: X:82.70, Y:-12.83, Z:-6.77 [[ 9.53345075e-01 2.93998698e-01 6.85414675e-02 8.26982869e+01] [-2.93350349e-01 9.55804718e-01 -1.95681859e-02 -1.28312454e+01] [-7.12652792e-02 -1.45142976e-03 9.97456342e-01 -6.77227376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.141052754 meters 0.017106764487655034 Centerline is valid? [True, True] Translation: X:82.76, Y:-12.84, Z:-6.78 [[ 9.52937571e-01 2.95294832e-01 6.86363456e-02 8.27583010e+01] [-2.94646467e-01 9.55404952e-01 -1.96172540e-02 -1.28417685e+01] [-7.13683782e-02 -1.52943837e-03 9.97448854e-01 -6.78105030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.201052754 meters 0.01654148623674119 Centerline is valid? [True, True] Translation: X:82.82, Y:-12.86, Z:-6.79 [[ 9.53262897e-01 2.94586118e-01 6.71481100e-02 8.28173115e+01] [-2.93962764e-01 9.55623867e-01 -1.92072279e-02 -1.28617302e+01] [-6.98265192e-02 -1.42950632e-03 9.97558125e-01 -6.78783664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.261052754 meters 0.015857570716168046 Centerline is valid? [True, True] Translation: X:82.88, Y:-12.88, Z:-6.79 [[ 9.53632393e-01 2.93841918e-01 6.51320627e-02 8.28767257e+01] [-2.93252456e-01 9.55853125e-01 -1.86494104e-02 -1.28833393e+01] [-6.77366643e-02 -1.31545547e-03 9.97702367e-01 -6.79287624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32105275400001 meters 0.016494570655274706 Centerline is valid? [True, True] Translation: X:82.94, Y:-12.90, Z:-6.80 [[ 9.53385398e-01 2.95279123e-01 6.21813597e-02 8.29365422e+01] [-2.94743540e-01 9.55410103e-01 -1.78264043e-02 -1.28980819e+01] [-6.46724643e-02 -1.33212056e-03 9.97905656e-01 -6.80137434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38105275400001 meters 0.01744279707051716 Centerline is valid? [True, True] Translation: X:83.00, Y:-12.91, Z:-6.81 [[ 9.52734061e-01 2.97431551e-01 6.19054165e-02 8.29971823e+01] [-2.96905141e-01 9.54742013e-01 -1.77489631e-02 -1.29113278e+01] [-6.43828036e-02 -1.46999472e-03 9.97924192e-01 -6.81003822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters 0.016720100627770126 Centerline is valid? [True, True] Translation: X:83.06, Y:-12.93, Z:-6.81 [[ 9.52952894e-01 2.96048610e-01 6.50845802e-02 8.30558612e+01] [-2.95462098e-01 9.55171807e-01 -1.86806863e-02 -1.29322050e+01] [-6.76973473e-02 -1.42821252e-03 9.97704881e-01 -6.80963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.501052754 meters 0.015566052710236434 Centerline is valid? [True, True] Translation: X:83.11, Y:-12.95, Z:-6.81 [[ 9.53529087e-01 2.93470631e-01 6.82441849e-02 8.31142374e+01] [-2.92818724e-01 9.55967205e-01 -1.95933006e-02 -1.29534114e+01] [-7.09892610e-02 -1.30039308e-03 9.97476232e-01 -6.80904608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561052754 meters 0.015219574816042105 Centerline is valid? [True, True] Translation: X:83.17, Y:-12.97, Z:-6.82 [[ 9.54218690e-01 2.91034514e-01 6.90333466e-02 8.31736884e+01] [-2.90360676e-01 9.56711891e-01 -1.98251356e-02 -1.29717552e+01] [-7.18148223e-02 -1.12705433e-03 9.97417345e-01 -6.81620663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621052754 meters 0.015000624107705102 Centerline is valid? [True, True] Translation: X:83.23, Y:-12.99, Z:-6.82 [[ 9.55429698e-01 2.86906771e-01 6.95600256e-02 8.32315261e+01] [-2.86211223e-01 9.57958161e-01 -1.99824565e-02 -1.29916088e+01] [-7.23686962e-02 -8.17027654e-04 9.97377614e-01 -6.82119656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.681052754 meters 0.014070757305773783 Centerline is valid? [True, True] Translation: X:83.29, Y:-13.01, Z:-6.82 [[ 9.56325033e-01 2.83501755e-01 7.11982205e-02 8.32909806e+01] [-2.82762840e-01 9.58971552e-01 -2.04631050e-02 -1.30098778e+01] [-7.40783943e-02 -5.62831442e-04 9.97252262e-01 -6.82443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74105275400001 meters 0.013821726891180056 Centerline is valid? [True, True] Translation: X:83.35, Y:-13.03, Z:-6.83 [[ 9.57464173e-01 2.78795495e-01 7.44004654e-02 8.33510686e+01] [-2.77972754e-01 9.60350476e-01 -2.14035454e-02 -1.30262548e+01] [-7.74177344e-02 -1.88174323e-04 9.96998726e-01 -6.82858357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters 0.013716520343407286 Centerline is valid? [True, True] Translation: X:83.41, Y:-13.04, Z:-6.83 [[ 9.57914118e-01 2.77297876e-01 7.42053258e-02 8.34108037e+01] [-2.76473484e-01 9.60783995e-01 -2.13664839e-02 -1.30444752e+01] [-7.72201700e-02 -4.85483684e-05 9.97014064e-01 -6.83287455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters 0.013854267355479137 Centerline is valid? [True, True] Translation: X:83.47, Y:-13.06, Z:-6.84 [[ 9.58204292e-01 2.76785056e-01 7.23503158e-02 8.34705353e+01] [-2.75998314e-01 9.60931856e-01 -2.08542013e-02 -1.30599694e+01] [-7.52958546e-02 1.40199290e-05 9.97161238e-01 -6.83936488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921052754 meters 0.014140740755803662 Centerline is valid? [True, True] Translation: X:83.53, Y:-13.07, Z:-6.84 [[ 9.56625515e-01 2.82461735e-01 7.12951017e-02 8.35307758e+01] [-2.81712027e-01 9.59278480e-01 -2.05701566e-02 -1.30735852e+01] [-7.42021389e-02 -4.06750893e-04 9.97243138e-01 -6.84445216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.981052754 meters 0.015378067066836537 Centerline is valid? [True, True] Translation: X:83.59, Y:-13.08, Z:-6.85 [[ 9.53609906e-01 2.92551721e-01 7.10044888e-02 8.35920138e+01] [-2.91834519e-01 9.56248989e-01 -2.05057435e-02 -1.30829464e+01] [-7.38969612e-02 -1.16708070e-03 9.97265199e-01 -6.85130636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.041052754 meters 0.017746978528363058 Centerline is valid? [True, True] Translation: X:83.65, Y:-13.09, Z:-6.86 [[ 9.50476622e-01 3.02906404e-01 6.95837778e-02 8.36527862e+01] [-3.02244700e-01 9.53018368e-01 -2.01030430e-02 -1.30917340e+01] [-7.24039588e-02 -1.92385565e-03 9.97373534e-01 -6.86091399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10105275400001 meters 0.018020402987061455 Centerline is valid? [True, True] Translation: X:83.71, Y:-13.11, Z:-6.86 [[ 9.50949087e-01 3.01266142e-01 7.02463143e-02 8.37108015e+01] [-3.00586096e-01 9.53538394e-01 -2.03108124e-02 -1.31116734e+01] [-7.31015179e-02 -1.80051682e-03 9.97322880e-01 -6.86330937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters 0.01639085876303038 Centerline is valid? [True, True] Translation: X:83.77, Y:-13.14, Z:-6.86 [[ 9.51752221e-01 2.97848238e-01 7.38521289e-02 8.37686184e+01] [-2.97084688e-01 9.54611896e-01 -2.13732466e-02 -1.31353380e+01] [-7.68661047e-02 -1.59830176e-03 9.97040143e-01 -6.86162556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters 0.01677408935491662 Centerline is valid? [True, True] Translation: X:83.83, Y:-13.15, Z:-6.87 [[ 9.51939449e-01 2.97757610e-01 7.17752876e-02 8.38275509e+01] [-2.97035999e-01 9.54640259e-01 -2.07747896e-02 -1.31520382e+01] [-7.47054308e-02 -1.54350246e-03 9.97204451e-01 -6.87025514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.281052754 meters 0.01689033045037018 Centerline is valid? [True, True] Translation: X:83.89, Y:-13.17, Z:-6.88 [[ 9.52613667e-01 2.96470062e-01 6.80639730e-02 8.38866583e+01] [-2.95816676e-01 9.55041192e-01 -1.97184070e-02 -1.31713398e+01] [-7.08498153e-02 -1.35043432e-03 9.97486080e-01 -6.88066461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.341052754 meters 0.01615659102744269 Centerline is valid? [True, True] Translation: X:83.94, Y:-13.19, Z:-6.88 [[ 9.53102521e-01 2.95122350e-01 6.70699920e-02 8.39446109e+01] [-2.94483233e-01 9.55458700e-01 -1.94499129e-02 -1.31928725e+01] [-6.98227113e-02 -1.21322707e-03 9.97558679e-01 -6.88406686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.401052754 meters 0.016908404440182625 Centerline is valid? [True, True] Translation: X:84.00, Y:-13.21, Z:-6.89 [[ 9.52589529e-01 2.97113063e-01 6.55516350e-02 8.40041999e+01] [-2.96506108e-01 9.54841404e-01 -1.90268406e-02 -1.32079404e+01] [-6.82445381e-02 -1.31169104e-03 9.97667762e-01 -6.88795028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46105275400001 meters 0.017732125013039092 Centerline is valid? [True, True] Translation: X:84.06, Y:-13.22, Z:-6.90 [[ 9.52155053e-01 2.98645382e-01 6.48975452e-02 8.40642035e+01] [-2.98052890e-01 9.54363139e-01 -1.88540094e-02 -1.32195438e+01] [-6.75664878e-02 -1.39096063e-03 9.97713804e-01 -6.89894163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters 0.016470206439064734 Centerline is valid? [True, True] Translation: X:84.12, Y:-13.24, Z:-6.90 [[ 9.52727903e-01 2.96637206e-01 6.56955952e-02 8.41224341e+01] [-2.96024731e-01 9.54989418e-01 -1.90936955e-02 -1.32437420e+01] [-6.84024987e-02 -1.25642442e-03 9.97657015e-01 -6.89777440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters 0.01599880504584983 Centerline is valid? [True, True] Translation: X:84.18, Y:-13.27, Z:-6.90 [[ 9.53672061e-01 2.93556313e-01 6.58353355e-02 8.41811044e+01] [-2.92932674e-01 9.55941237e-01 -1.91520043e-02 -1.32656835e+01] [-6.85569039e-02 -1.02058943e-03 9.97646686e-01 -6.89949882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.641052754 meters 0.016510363112426277 Centerline is valid? [True, True] Translation: X:84.24, Y:-13.28, Z:-6.91 [[ 9.53660524e-01 2.93927257e-01 6.43301809e-02 8.42404778e+01] [-2.93331439e-01 9.55827263e-01 -1.87326077e-02 -1.32801790e+01] [-6.69945647e-02 -1.00551607e-03 9.97752834e-01 -6.90811558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.701052754 meters 0.01665480448698703 Centerline is valid? [True, True] Translation: X:84.30, Y:-13.30, Z:-6.91 [[ 9.53187220e-01 2.95669985e-01 6.33512792e-02 8.43000346e+01] [-2.95095542e-01 9.55289507e-01 -1.84547919e-02 -1.32970154e+01] [-6.59753403e-02 -1.10380830e-03 9.97820643e-01 -6.91258003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.761052754 meters 0.01723512100358719 Centerline is valid? [True, True] Translation: X:84.36, Y:-13.31, Z:-6.91 [[ 9.52435230e-01 2.97640531e-01 6.54006626e-02 8.43614828e+01] [-2.97031600e-01 9.54677182e-01 -1.90711111e-02 -1.33132270e+01] [-6.81128559e-02 -1.26206537e-03 9.97676824e-01 -6.91354941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82105275400001 meters 0.01782680725074867 Centerline is valid? [True, True] Translation: X:84.42, Y:-13.33, Z:-6.92 [[ 9.51375501e-01 3.00624771e-01 6.71520856e-02 8.44223176e+01] [-2.99989633e-01 9.53741303e-01 -1.95894656e-02 -1.33260351e+01] [-6.99347962e-02 -1.50799184e-03 9.97550425e-01 -6.91859685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88105275400001 meters 0.017178302732836624 Centerline is valid? [True, True] Translation: X:84.48, Y:-13.35, Z:-6.92 [[ 9.51280948e-01 3.01410932e-01 6.49307986e-02 8.44803393e+01] [-3.00817876e-01 9.53493160e-01 -1.89578501e-02 -1.33463276e+01] [-6.76251756e-02 -1.49810329e-03 9.97709673e-01 -6.92398696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters 0.016525284720602343 Centerline is valid? [True, True] Translation: X:84.54, Y:-13.37, Z:-6.93 [[ 9.52497823e-01 2.97754403e-01 6.39547663e-02 8.45380995e+01] [-2.97169784e-01 9.54641746e-01 -1.86883863e-02 -1.33689470e+01] [-6.66184391e-02 -1.20477675e-03 9.97777797e-01 -6.92813724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.001052754 meters 0.016286408091751324 Centerline is valid? [True, True] Translation: X:84.60, Y:-13.39, Z:-6.93 [[ 9.52845612e-01 2.96415873e-01 6.49836169e-02 8.45971852e+01] [-2.95807958e-01 9.55058319e-01 -1.90068149e-02 -1.33864632e+01] [-6.76970656e-02 -1.11211082e-03 9.97705302e-01 -6.93378168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.061052754 meters 0.01630830122106161 Centerline is valid? [True, True] Translation: X:84.66, Y:-13.40, Z:-6.94 [[ 9.52830674e-01 2.96176812e-01 6.62797302e-02 8.46572249e+01] [-2.95542411e-01 9.55132499e-01 -1.94059954e-02 -1.34037960e+01] [-6.90535302e-02 -1.09784355e-03 9.97612352e-01 -6.93827924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.121052754 meters 0.016532936233576313 Centerline is valid? [True, True] Translation: X:84.72, Y:-13.42, Z:-6.94 [[ 9.52433245e-01 2.97430504e-01 6.63777749e-02 8.47170091e+01] [-2.96796961e-01 9.54742734e-01 -1.94390323e-02 -1.34211656e+01] [-6.91554594e-02 -1.18634120e-03 9.97605190e-01 -6.94236395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.181052754 meters 0.01610374188374799 Centerline is valid? [True, True] Translation: X:84.78, Y:-13.44, Z:-6.95 [[ 9.53289556e-01 2.95185176e-01 6.40682015e-02 8.47758386e+01] [-2.94588846e-01 9.55439567e-01 -1.87788538e-02 -1.34413430e+01] [-6.67565340e-02 -9.72092311e-04 9.97768821e-01 -6.94941702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24105275400001 meters 0.015739572559730502 Centerline is valid? [True, True] Translation: X:84.84, Y:-13.46, Z:-6.96 [[ 9.53816458e-01 2.93781586e-01 6.26621430e-02 8.48352160e+01] [-2.93207139e-01 9.55872206e-01 -1.83820433e-02 -1.34592795e+01] [-6.52973067e-02 -8.39892212e-04 9.97865500e-01 -6.95778642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters 0.015961634739895304 Centerline is valid? [True, True] Translation: X:84.89, Y:-13.48, Z:-6.96 [[ 9.53877784e-01 2.93846200e-01 6.14132213e-02 8.48939493e+01] [-2.93293340e-01 9.55852372e-01 -1.80349710e-02 -1.34754790e+01] [-6.40014809e-02 -8.08930605e-04 9.97949476e-01 -6.96419115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters 0.015708340423157642 Centerline is valid? [True, True] Translation: X:84.95, Y:-13.49, Z:-6.96 [[ 9.53058674e-01 2.96585267e-01 6.09618246e-02 8.49534806e+01] [-2.96045187e-01 9.55005882e-01 -1.79168082e-02 -1.34923920e+01] [-6.35327625e-02 -9.71685282e-04 9.97979280e-01 -6.96441696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421052754 meters 0.016197636992851396 Centerline is valid? [True, True] Translation: X:85.01, Y:-13.51, Z:-6.97 [[ 9.52736669e-01 2.97279090e-01 6.25937885e-02 8.50121125e+01] [-2.96709912e-01 9.54790075e-01 -1.84157570e-02 -1.35084865e+01] [-6.52385476e-02 -1.02683047e-03 9.97869169e-01 -6.97002043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.481052754 meters 0.015856107413692956 Centerline is valid? [True, True] Translation: X:85.07, Y:-13.53, Z:-6.98 [[ 9.52841330e-01 2.96855536e-01 6.30094505e-02 8.50713034e+01] [-2.96277311e-01 9.54921880e-01 -1.85460939e-02 -1.35267076e+01] [-6.56746136e-02 -9.96785774e-04 9.97840594e-01 -6.97787857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541052754 meters 0.01509008999512423 Centerline is valid? [True, True] Translation: X:85.13, Y:-13.55, Z:-6.98 [[ 9.54052036e-01 2.92971124e-01 6.28699757e-02 8.51286963e+01] [-2.92385953e-01 9.56121024e-01 -1.85213692e-02 -1.35507732e+01] [-6.55375319e-02 -7.11947770e-04 9.97849851e-01 -6.98222032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60105275400001 meters 0.014719916075909091 Centerline is valid? [True, True] Translation: X:85.19, Y:-13.57, Z:-6.98 [[ 9.54415770e-01 2.91329911e-01 6.49416748e-02 8.51877069e+01] [-2.90700511e-01 9.56622454e-01 -1.91492258e-02 -1.35707207e+01] [-6.77034066e-02 -6.02254980e-04 9.97705310e-01 -6.98361151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters 0.01505670921364583 Centerline is valid? [True, True] Translation: X:85.25, Y:-13.58, Z:-6.99 [[ 9.53938909e-01 2.92729575e-01 6.56502429e-02 8.52476108e+01] [-2.92088374e-01 9.56195021e-01 -1.93768800e-02 -1.35849528e+01] [-6.84466213e-02 -6.91312905e-04 9.97654540e-01 -6.98794357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters 0.015018220407645926 Centerline is valid? [True, True] Translation: X:85.31, Y:-13.60, Z:-7.00 [[ 9.53416214e-01 2.94084185e-01 6.71715307e-02 8.53093237e+01] [-2.93415409e-01 9.55779190e-01 -1.98378014e-02 -1.35981117e+01] [-7.00351348e-02 -7.95480585e-04 9.97544208e-01 -6.99544206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781052754 meters 0.015078894928525313 Centerline is valid? [True, True] Translation: X:85.37, Y:-13.61, Z:-7.00 [[ 9.52913827e-01 2.95130507e-01 6.96650715e-02 8.53691401e+01] [-2.94412256e-01 9.55456542e-01 -2.05966098e-02 -1.36140829e+01] [-7.26406361e-02 -8.83456584e-04 9.97357788e-01 -6.99961808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.841052754 meters 0.015623290555151145 Centerline is valid? [True, True] Translation: X:85.43, Y:-13.63, Z:-7.00 [[ 9.52183763e-01 2.97440986e-01 6.98207862e-02 8.54286865e+01] [-2.96724361e-01 9.54739634e-01 -2.06611720e-02 -1.36302511e+01] [-7.28061512e-02 -1.04429568e-03 9.97345564e-01 -7.00321563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.901052754 meters 0.01715211245043819 Centerline is valid? [True, True] Translation: X:85.49, Y:-13.64, Z:-7.01 [[ 9.50849842e-01 3.01816835e-01 6.92183277e-02 8.54885449e+01] [-3.01122724e-01 9.53364977e-01 -2.05018710e-02 -1.36404155e+01] [-7.21781391e-02 -1.34901055e-03 9.97390844e-01 -7.01131839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96105275400001 meters 0.018029059293502944 Centerline is valid? [True, True] Translation: X:85.55, Y:-13.65, Z:-7.02 [[ 9.49860665e-01 3.05167232e-01 6.81004899e-02 8.55487427e+01] [-3.04503321e-01 9.52297485e-01 -2.01798907e-02 -1.36541363e+01] [-7.10101667e-02 -1.56874095e-03 9.97474358e-01 -7.01902749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters 0.01779834619224358 Centerline is valid? [True, True] Translation: X:85.61, Y:-13.67, Z:-7.03 [[ 9.49110911e-01 3.08045143e-01 6.55489725e-02 8.56080687e+01] [-3.07436631e-01 9.51370200e-01 -1.94283497e-02 -1.36717080e+01] [-6.83461479e-02 -1.71249662e-03 9.97660198e-01 -7.02674961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters 0.016947546177374317 Centerline is valid? [True, True] Translation: X:85.67, Y:-13.70, Z:-7.03 [[ 9.50201064e-01 3.04198722e-01 6.76836505e-02 8.56654470e+01] [-3.03539841e-01 9.52607449e-01 -2.00652386e-02 -1.36955231e+01] [-7.05797696e-02 -1.47867350e-03 9.97505042e-01 -7.02545433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.141052754 meters 0.016918220437368597 Centerline is valid? [True, True] Translation: X:85.72, Y:-13.71, Z:-7.03 [[ 9.50161403e-01 3.04043989e-01 6.89243157e-02 8.57248226e+01] [-3.03359322e-01 9.52656842e-01 -2.04465862e-02 -1.37127734e+01] [-7.18778825e-02 -1.48127665e-03 9.97412340e-01 -7.03168654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.201052754 meters 0.01737161373918132 Centerline is valid? [True, True] Translation: X:85.78, Y:-13.73, Z:-7.04 [[ 9.50029265e-01 3.04473838e-01 6.88482272e-02 8.57838276e+01] [-3.03790490e-01 9.52519527e-01 -2.04423555e-02 -1.37302111e+01] [-7.18034432e-02 -1.49460065e-03 9.97417682e-01 -7.03796333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.261052754 meters 0.016039163332217884 Centerline is valid? [True, True] Translation: X:85.84, Y:-13.76, Z:-7.04 [[ 9.52066817e-01 2.97513274e-01 7.10959111e-02 8.58404874e+01] [-2.96763512e-01 9.54717178e-01 -2.11311826e-02 -1.37553208e+01] [-7.41632950e-02 -9.80374500e-04 9.97245629e-01 -7.03871906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32105275400001 meters 0.015647886920993632 Centerline is valid? [True, True] Translation: X:85.90, Y:-13.78, Z:-7.04 [[ 9.53197717e-01 2.93396170e-01 7.30260148e-02 8.58986207e+01] [-2.92591883e-01 9.55990715e-01 -2.17196533e-02 -1.37756051e+01] [-7.61846552e-02 -6.63695270e-04 9.97093505e-01 -7.04173942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38105275400001 meters 0.01563148917794976 Centerline is valid? [True, True] Translation: X:85.96, Y:-13.79, Z:-7.05 [[ 9.53966180e-01 2.91263451e-01 7.15131403e-02 8.59577503e+01] [-2.90484823e-01 9.56642768e-01 -2.12880856e-02 -1.37941666e+01] [-7.46129697e-02 -4.65368135e-04 9.97212459e-01 -7.04747021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters 0.01561231370929588 Centerline is valid? [True, True] Translation: X:86.02, Y:-13.81, Z:-7.05 [[ 9.54817226e-01 2.88361736e-01 7.19136581e-02 8.60169738e+01] [-2.87564724e-01 9.57521519e-01 -2.14259041e-02 -1.38123157e+01] [-7.50372861e-02 -2.22009007e-04 9.97180704e-01 -7.05207519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.501052754 meters 0.015688104388012408 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.83, Z:-7.06 [[ 9.55808131e-01 2.84688817e-01 7.33695798e-02 8.60748626e+01] [-2.83846843e-01 9.58619982e-01 -2.18792058e-02 -1.38315673e+01] [-7.65623105e-02 8.65991532e-05 9.97064795e-01 -7.05573058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561052754 meters 0.01588091074734759 Centerline is valid? [True, True] Translation: X:86.13, Y:-13.85, Z:-7.06 [[ 9.56446448e-01 2.82254417e-01 7.44488813e-02 8.61342911e+01] [-2.81378693e-01 9.59339540e-01 -2.22188825e-02 -1.38523836e+01] [-7.76931333e-02 3.02842308e-04 9.96977274e-01 -7.05788568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.621052754 meters 0.015898946663557612 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.87, Z:-7.06 [[ 9.56553588e-01 2.81701632e-01 7.51626538e-02 8.61948996e+01] [-2.80805583e-01 9.59501981e-01 -2.24537862e-02 -1.38693233e+01] [-7.84439834e-02 3.72156891e-04 9.96918454e-01 -7.06421865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.681052754 meters 0.01602128001149842 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.89, Z:-7.07 [[ 9.56089886e-01 2.83192324e-01 7.54601692e-02 8.62542303e+01] [-2.82291953e-01 9.59063102e-01 -2.25659050e-02 -1.38885721e+01] [-7.87615550e-02 2.73234977e-04 9.96893446e-01 -7.06850785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74105275400001 meters 0.01618311112737314 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.90, Z:-7.08 [[ 9.55043653e-01 2.87298488e-01 7.31518964e-02 8.63148194e+01] [-2.86462744e-01 9.57841102e-01 -2.18979271e-02 -1.39017093e+01] [-7.63591344e-02 -4.18167471e-05 9.97080378e-01 -7.07783026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters 0.016505505023304192 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.92, Z:-7.08 [[ 9.53690668e-01 2.92409343e-01 7.05045151e-02 8.63747773e+01] [-2.91645546e-01 9.56293158e-01 -2.11251566e-02 -1.39163115e+01] [-7.36001785e-02 -4.15463075e-04 9.97287742e-01 -7.08207347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters 0.016898909904474575 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.93, Z:-7.09 [[ 9.52788984e-01 2.95698378e-01 6.89610150e-02 8.64341692e+01] [-2.94974934e-01 9.55281144e-01 -2.06815044e-02 -1.39275595e+01] [-7.19926446e-02 -6.36661284e-04 9.97404960e-01 -7.09035667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.921052754 meters 0.01686527342561722 Centerline is valid? [True, True] Translation: X:86.50, Y:-13.94, Z:-7.10 [[ 9.52471036e-01 2.96427202e-01 7.02128209e-02 8.64951204e+01] [-2.95678607e-01 9.55055197e-01 -2.10649539e-02 -1.39437001e+01] [-7.33013448e-02 -6.96670652e-04 9.97309595e-01 -7.09503518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981052754 meters 0.016695789736515865 Centerline is valid? [True, True] Translation: X:86.55, Y:-13.96, Z:-7.10 [[ 9.53104587e-01 2.94355289e-01 7.03321407e-02 8.65544393e+01] [-2.93596945e-01 9.55695922e-01 -2.11219919e-02 -1.39634448e+01] [-7.34335101e-02 -5.17834222e-04 9.97299981e-01 -7.09786881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041052754 meters 0.01656749106059938 Centerline is valid? [True, True] Translation: X:86.61, Y:-13.98, Z:-7.10 [[ 9.52963565e-01 2.94548343e-01 7.14263151e-02 8.66145935e+01] [-2.93765348e-01 9.55636437e-01 -2.14690551e-02 -1.39815992e+01] [-7.45812638e-02 -5.23349030e-04 9.97214802e-01 -7.10093511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10105275400001 meters 0.016993390236724644 Centerline is valid? [True, True] Translation: X:86.67, Y:-14.00, Z:-7.11 [[ 9.53093622e-01 2.94940010e-01 6.79921896e-02 8.66732885e+01] [-2.94230089e-01 9.55515638e-01 -2.04577955e-02 -1.39956905e+01] [-7.10014228e-02 -5.07153561e-04 9.97476085e-01 -7.11339471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters 0.017252658846503153 Centerline is valid? [True, True] Translation: X:86.73, Y:-14.02, Z:-7.12 [[ 9.53860992e-01 2.93580421e-01 6.29265001e-02 8.67310841e+01] [-2.92969079e-01 9.55934307e-01 -1.89398849e-02 -1.40174211e+01] [-6.57139797e-02 -3.69501398e-04 9.97838432e-01 -7.11874409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters 0.016968513036704894 Centerline is valid? [True, True] Translation: X:86.79, Y:-14.04, Z:-7.12 [[ 9.55128117e-01 2.89189629e-01 6.40284206e-02 8.67896690e+01] [-2.88545674e-01 9.57271830e-01 -1.92882963e-02 -1.40375213e+01] [-6.68705786e-02 -5.23296539e-05 9.97761656e-01 -7.12045183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.281052754 meters 0.017188547494180865 Centerline is valid? [True, True] Translation: X:86.85, Y:-14.06, Z:-7.13 [[ 9.56681755e-01 2.83863326e-01 6.46655373e-02 8.68483183e+01] [-2.83193175e-01 9.58864692e-01 -1.94968978e-02 -1.40585751e+01] [-6.75399547e-02 3.39487592e-04 9.97716512e-01 -7.12660400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.341052754 meters 0.017002700185849002 Centerline is valid? [True, True] Translation: X:86.91, Y:-14.08, Z:-7.12 [[ 9.56426100e-01 2.84094942e-01 6.73734300e-02 8.69072022e+01] [-2.83366486e-01 9.58796087e-01 -2.03346587e-02 -1.40785203e+01] [-7.03743547e-02 3.57226161e-04 9.97520588e-01 -7.12420475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.401052754 meters 0.016709519575503703 Centerline is valid? [True, True] Translation: X:86.97, Y:-14.09, Z:-7.13 [[ 9.55669677e-01 2.86262641e-01 6.89142137e-02 8.69672364e+01] [-2.85504742e-01 9.58151163e-01 -2.08180301e-02 -1.40931448e+01] [-7.19896583e-02 2.19825255e-04 9.97405354e-01 -7.12780437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46105275400001 meters 0.016942409087511837 Centerline is valid? [True, True] Translation: X:87.03, Y:-14.11, Z:-7.14 [[ 9.54472398e-01 2.90800209e-01 6.64656327e-02 8.70271019e+01] [-2.90105099e-01 9.56783794e-01 -2.00948583e-02 -1.41067827e+01] [-6.94368292e-02 -1.02031413e-04 9.97586345e-01 -7.13780868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters 0.016760432272928744 Centerline is valid? [True, True] Translation: X:87.09, Y:-14.13, Z:-7.14 [[ 9.55101478e-01 2.88619640e-01 6.69318259e-02 8.70870666e+01] [-2.87908197e-01 9.57443835e-01 -2.02527037e-02 -1.41255181e+01] [-6.99287921e-02 7.31658813e-05 9.97551983e-01 -7.14143881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters 0.017094490446049136 Centerline is valid? [True, True] Translation: X:87.15, Y:-14.15, Z:-7.14 [[ 9.56622916e-01 2.83427352e-01 6.73908887e-02 8.71456582e+01] [-2.82691719e-01 9.58993592e-01 -2.04128183e-02 -1.41450862e+01] [-7.04129814e-02 4.76523672e-04 9.97517812e-01 -7.14310051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.641052754 meters 0.017154100158060397 Centerline is valid? [True, True] Translation: X:87.21, Y:-14.16, Z:-7.15 [[ 9.57065674e-01 2.81600585e-01 6.87488698e-02 8.72054269e+01] [-2.80828929e-01 9.59531500e-01 -2.08425724e-02 -1.41633875e+01] [-7.18359868e-02 6.41039146e-04 9.97416252e-01 -7.14681455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701052754 meters 0.018227194400988266 Centerline is valid? [True, True] Translation: X:87.27, Y:-14.18, Z:-7.15 [[ 9.59249411e-01 2.73428078e-01 7.12576608e-02 8.72652548e+01] [-2.72574629e-01 9.61891541e-01 -2.16271885e-02 -1.41810928e+01] [-7.44556217e-02 1.32283738e-03 9.97223451e-01 -7.15025065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761052754 meters 0.020392005785183395 Centerline is valid? [True, True] Translation: X:87.33, Y:-14.19, Z:-7.16 [[ 9.61625443e-01 2.64627745e-01 7.24476616e-02 8.73257561e+01] [-2.63720087e-01 9.64348473e-01 -2.19940385e-02 -1.41935469e+01] [-7.56850246e-02 2.04412344e-03 9.97129680e-01 -7.15612396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82105275400001 meters 0.02355307517759136 Centerline is valid? [True, True] Translation: X:87.39, Y:-14.21, Z:-7.16 [[ 9.64334465e-01 2.54512942e-01 7.26787585e-02 8.73850474e+01] [-2.53570406e-01 9.67065162e-01 -2.20685840e-02 -1.42085883e+01] [-7.59018355e-02 2.85231386e-03 9.97111215e-01 -7.16060067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88105275400001 meters 0.026779804250876012 Centerline is valid? [True, True] Translation: X:87.45, Y:-14.22, Z:-7.17 [[ 9.66096403e-01 2.46974266e-01 7.52426271e-02 8.74464259e+01] [-2.45940842e-01 9.69015461e-01 -2.28503318e-02 -1.42171108e+01] [-7.85547129e-02 3.57038830e-03 9.96903410e-01 -7.16931936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters 0.025643081416279172 Centerline is valid? [True, True] Translation: X:87.51, Y:-14.22, Z:-7.17 [[ 9.66065085e-01 2.47016036e-01 7.55071412e-02 8.75108888e+01] [-2.45975259e-01 9.69004772e-01 -2.29330362e-02 -1.42199827e+01] [-7.88316078e-02 3.58191694e-03 9.96881511e-01 -7.17482345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.001052754 meters 0.024512926690958378 Centerline is valid? [True, True] Translation: X:87.58, Y:-14.22, Z:-7.18 [[ 9.64756470e-01 2.52224622e-01 7.50179550e-02 8.75755141e+01] [-2.51211190e-01 9.67663561e-01 -2.28072712e-02 -1.42177251e+01] [-7.83446968e-02 3.15811272e-03 9.96921328e-01 -7.18041019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.061052754 meters 0.026634511689366824 Centerline is valid? [True, True] Translation: X:87.64, Y:-14.22, Z:-7.19 [[ 9.63842235e-01 2.56652195e-01 7.16784328e-02 8.76375708e+01] [-2.55739145e-01 9.66500126e-01 -2.17944199e-02 -1.42197547e+01] [-7.48708000e-02 2.67540124e-03 9.97189654e-01 -7.19171607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.121052754 meters 0.02319807511920543 Centerline is valid? [True, True] Translation: X:87.70, Y:-14.22, Z:-7.20 [[ 9.63260109e-01 2.58889694e-01 7.14569050e-02 8.77027629e+01] [-2.57988357e-01 9.65903672e-01 -2.17279679e-02 -1.42172242e+01] [-7.46456338e-02 2.49463521e-03 9.97207003e-01 -7.19567875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.181052754 meters 0.023295280043817913 Centerline is valid? [True, True] Translation: X:87.77, Y:-14.21, Z:-7.21 [[ 9.62919099e-01 2.60420797e-01 7.04827453e-02 8.77686037e+01] [-2.59546654e-01 9.65492327e-01 -2.14499402e-02 -1.42109481e+01] [-7.36365603e-02 2.36099635e-03 9.97282349e-01 -7.20513135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24105275400001 meters 0.022477867140505436 Centerline is valid? [True, True] Translation: X:87.83, Y:-14.21, Z:-7.21 [[ 9.61559636e-01 2.66071334e-01 6.78904339e-02 8.78342318e+01] [-2.65273083e-01 9.63951517e-01 -2.06800430e-02 -1.42063732e+01] [-7.09454534e-02 1.87558994e-03 9.97478433e-01 -7.21409850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters 0.0222536547465998 Centerline is valid? [True, True] Translation: X:87.90, Y:-14.20, Z:-7.22 [[ 9.60311306e-01 2.69758630e-01 7.09399613e-02 8.78986727e+01] [-2.68896648e-01 9.62926508e-01 -2.16132651e-02 -1.42043275e+01] [-7.41403340e-02 1.67994499e-03 9.97246403e-01 -7.21589605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters 0.022481220559904546 Centerline is valid? [True, True] Translation: X:87.97, Y:-14.19, Z:-7.22 [[ 9.60338840e-01 2.69744653e-01 7.06196489e-02 8.79672185e+01] [-2.68890339e-01 9.62930433e-01 -2.15166612e-02 -1.41911113e+01] [-7.38058134e-02 1.67434416e-03 9.97271226e-01 -7.22285069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421052754 meters 0.021727717630835558 Centerline is valid? [True, True] Translation: X:88.03, Y:-14.19, Z:-7.23 [[ 9.59206555e-01 2.74279677e-01 6.85087079e-02 8.80322203e+01] [-2.73485995e-01 9.61649084e-01 -2.08913702e-02 -1.41895730e+01] [-7.16114145e-02 1.30296711e-03 9.97431756e-01 -7.22594757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481052754 meters 0.020962840779450504 Centerline is valid? [True, True] Translation: X:88.10, Y:-14.19, Z:-7.23 [[ 9.57543082e-01 2.80937302e-01 6.46952799e-02 8.80970504e+01] [-2.80243736e-01 9.59725811e-01 -1.97437780e-02 -1.41895572e+01] [-6.76364937e-02 7.75071076e-04 9.97709729e-01 -7.23317613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541052754 meters 0.019856142821897484 Centerline is valid? [True, True] Translation: X:88.17, Y:-14.17, Z:-7.24 [[ 9.53380010e-01 2.95131592e-01 6.29595071e-02 8.81685468e+01] [-2.94504574e-01 9.55456592e-01 -1.92290427e-02 -1.41659258e+01] [-6.58301741e-02 -2.09277871e-04 9.97830820e-01 -7.23870841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60105275400001 meters 0.020277856651788186 Centerline is valid? [True, True] Translation: X:88.23, Y:-14.17, Z:-7.24 [[ 9.52572109e-01 2.97783434e-01 6.27009092e-02 8.82304414e+01] [-2.97166168e-01 9.54633378e-01 -1.91672205e-02 -1.41726531e+01] [-6.55640615e-02 -3.74429299e-04 9.97848292e-01 -7.24244442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters 0.020594993848859832 Centerline is valid? [True, True] Translation: X:88.30, Y:-14.17, Z:-7.24 [[ 9.52787745e-01 2.96485012e-01 6.55145059e-02 8.82975929e+01] [-2.95806820e-01 9.55037464e-01 -2.00441291e-02 -1.41652114e+01] [-6.85115915e-02 -2.81837089e-04 9.97650281e-01 -7.24266765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters 0.021156158562643735 Centerline is valid? [True, True] Translation: X:88.36, Y:-14.16, Z:-7.25 [[ 9.52286737e-01 2.98789853e-01 6.22462432e-02 8.83633333e+01] [-2.98181600e-01 9.54318844e-01 -1.90598450e-02 -1.41601759e+01] [-6.50976511e-02 -4.10246824e-04 9.97878814e-01 -7.25029204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.781052754 meters 0.021870572718285942 Centerline is valid? [True, True] Translation: X:88.43, Y:-14.16, Z:-7.26 [[ 9.51212140e-01 3.02921406e-01 5.86010748e-02 8.84267858e+01] [-3.02389087e-01 9.53015330e-01 -1.79616613e-02 -1.41640294e+01] [-6.12886943e-02 -6.34975197e-04 9.98119879e-01 -7.25838956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.841052754 meters 0.022405176664085272 Centerline is valid? [True, True] Translation: X:88.49, Y:-14.16, Z:-7.26 [[ 9.48682587e-01 3.10657593e-01 5.91033777e-02 8.84927773e+01] [-3.10130975e-01 9.50521201e-01 -1.81169461e-02 -1.41590320e+01] [-6.18071805e-02 -1.14255688e-03 9.98087455e-01 -7.26318165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.901052754 meters 0.022148838919820456 Centerline is valid? [True, True] Translation: X:88.56, Y:-14.15, Z:-7.26 [[ 9.47740774e-01 3.12890562e-01 6.23451862e-02 8.85589584e+01] [-3.12308291e-01 9.49788235e-01 -1.91269418e-02 -1.41544938e+01] [-6.51993639e-02 -1.34353599e-03 9.97871353e-01 -7.26319734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96105275400001 meters 0.022170925494611984 Centerline is valid? [True, True] Translation: X:88.62, Y:-14.17, Z:-7.27 [[ 9.47665425e-01 3.13168757e-01 6.20932595e-02 8.86213844e+01] [-3.12590736e-01 9.49696546e-01 -1.90657388e-02 -1.41651846e+01] [-6.49405478e-02 -1.34183628e-03 9.97888233e-01 -7.26817755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters 0.022563563965714968 Centerline is valid? [True, True] Translation: X:88.68, Y:-14.17, Z:-7.28 [[ 9.46951814e-01 3.15856977e-01 5.93012082e-02 8.86845907e+01] [-3.15333942e-01 9.48805721e-01 -1.82265869e-02 -1.41676518e+01] [-6.20223202e-02 -1.43998422e-03 9.98073724e-01 -7.27537307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters 0.022605132411287816 Centerline is valid? [True, True] Translation: X:88.75, Y:-14.17, Z:-7.29 [[ 9.46019637e-01 3.19014018e-01 5.72442352e-02 8.87468373e+01] [-3.18531372e-01 9.47748692e-01 -1.76119927e-02 -1.41725583e+01] [-5.98716215e-02 -1.57279382e-03 9.98204846e-01 -7.28552682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141052754 meters 0.022861654860824806 Centerline is valid? [True, True] Translation: X:88.81, Y:-14.18, Z:-7.29 [[ 9.45741998e-01 3.19228372e-01 6.05418852e-02 8.88071596e+01] [-3.18688974e-01 9.47676331e-01 -1.86255311e-02 -1.41839679e+01] [-6.33199096e-02 -1.67908427e-03 9.97991869e-01 -7.28871132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201052754 meters 0.022243606007491975 Centerline is valid? [True, True] Translation: X:88.87, Y:-14.19, Z:-7.29 [[ 9.44475541e-01 3.22337502e-01 6.37533232e-02 8.88687595e+01] [-3.21745278e-01 9.46622757e-01 -1.96298789e-02 -1.41937493e+01] [-6.66777927e-02 -1.97239019e-03 9.97772610e-01 -7.29226373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261052754 meters 0.024554643946237013 Centerline is valid? [True, True] Translation: X:88.93, Y:-14.20, Z:-7.30 [[ 9.40705724e-01 3.32451500e-01 6.74443517e-02 8.89299150e+01] [-3.31812890e-01 9.43116129e-01 -2.07887830e-02 -1.41986644e+01] [-7.05191180e-02 -2.82277806e-03 9.97506434e-01 -7.29657243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32105275400001 meters 0.02841007417482898 Centerline is valid? [True, True] Translation: X:88.99, Y:-14.21, Z:-7.30 [[ 9.37884623e-01 3.39753336e-01 7.02858766e-02 8.89893064e+01] [-3.39080193e-01 9.40508010e-01 -2.16634559e-02 -1.42064874e+01] [-7.34646614e-02 -3.51472642e-03 9.97291627e-01 -7.30144409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38105275400001 meters 0.029483257168051762 Centerline is valid? [True, True] Translation: X:89.05, Y:-14.22, Z:-7.31 [[ 9.37131547e-01 3.42055435e-01 6.91559405e-02 8.90480227e+01] [-3.41410083e-01 9.39672739e-01 -2.13142668e-02 -1.42165289e+01] [-7.22746129e-02 -3.63626355e-03 9.97378142e-01 -7.30964870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters 0.029929308442575974 Centerline is valid? [True, True] Translation: X:89.11, Y:-14.23, Z:-7.31 [[ 9.36830862e-01 3.42511831e-01 7.09477444e-02 8.91052796e+01] [-3.41834064e-01 9.39505954e-01 -2.18640226e-02 -1.42304515e+01] [-7.41445147e-02 -3.76946472e-03 9.97240383e-01 -7.31360565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.501052754 meters 0.0300478790103002 Centerline is valid? [True, True] Translation: X:89.16, Y:-14.25, Z:-7.32 [[ 9.36848467e-01 3.42262522e-01 7.19118647e-02 8.91622184e+01] [-3.41565879e-01 9.39596658e-01 -2.21556166e-02 -1.42466206e+01] [-7.51511850e-02 -3.80618380e-03 9.97164887e-01 -7.31762304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.561052754 meters 0.026342282814059807 Centerline is valid? [True, True] Translation: X:89.22, Y:-14.26, Z:-7.32 [[ 9.37214689e-01 3.41623677e-01 7.01561798e-02 8.92196462e+01] [-3.40959187e-01 9.39829675e-01 -2.16105118e-02 -1.42648272e+01] [-7.33175222e-02 -3.66670494e-03 9.97301908e-01 -7.32410531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.621052754 meters 0.026574172061281747 Centerline is valid? [True, True] Translation: X:89.28, Y:-14.28, Z:-7.33 [[ 9.37615193e-01 3.41041809e-01 6.75887198e-02 8.92770540e+01] [-3.40423541e-01 9.40041661e-01 -2.08204094e-02 -1.42763685e+01] [-7.06368425e-02 -3.48725917e-03 9.97496003e-01 -7.33210669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.681052754 meters 0.029039282820890498 Centerline is valid? [True, True] Translation: X:89.33, Y:-14.29, Z:-7.34 [[ 9.37369175e-01 3.41723926e-01 6.75558099e-02 8.93338911e+01] [-3.41108366e-01 9.39793709e-01 -2.08054478e-02 -1.42855480e+01] [-7.05982445e-02 -3.54146649e-03 9.97498544e-01 -7.33773642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74105275400001 meters 0.02609331166905656 Centerline is valid? [True, True] Translation: X:89.39, Y:-14.30, Z:-7.34 [[ 9.37564541e-01 3.40518969e-01 7.08488813e-02 8.93899007e+01] [-3.39839101e-01 9.40230647e-01 -2.18109182e-02 -1.43032192e+01] [-7.40413208e-02 -3.62807662e-03 9.97248575e-01 -7.33878026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters 0.02461894978423214 Centerline is valid? [True, True] Translation: X:89.45, Y:-14.31, Z:-7.34 [[ 9.39188924e-01 3.35353813e-01 7.39052517e-02 8.94499212e+01] [-3.34598486e-01 9.42086243e-01 -2.27456279e-02 -1.43148535e+01] [-7.72529539e-02 -3.36614357e-03 9.97005843e-01 -7.34116370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters 0.022425619286165963 Centerline is valid? [True, True] Translation: X:89.51, Y:-14.33, Z:-7.35 [[ 9.41748479e-01 3.28749525e-01 7.09475263e-02 8.95082599e+01] [-3.28034798e-01 9.44413259e-01 -2.18349929e-02 -1.43299502e+01] [-7.41820281e-02 -2.71018607e-03 9.97241035e-01 -7.34948139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921052754 meters 0.02025550169938476 Centerline is valid? [True, True] Translation: X:89.57, Y:-14.34, Z:-7.36 [[ 9.43684028e-01 3.23928336e-01 6.73118756e-02 8.95668440e+01] [-3.23272795e-01 9.46079038e-01 -2.07160414e-02 -1.43404593e+01] [-7.03928673e-02 -2.21070073e-03 9.97516896e-01 -7.35673849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981052754 meters 0.02059611652484979 Centerline is valid? [True, True] Translation: X:89.63, Y:-14.35, Z:-7.36 [[ 9.43342381e-01 3.24078967e-01 7.12599193e-02 8.96274656e+01] [-3.23344812e-01 9.46027100e-01 -2.19284683e-02 -1.43452824e+01] [-7.45203702e-02 -2.35547168e-03 9.97216710e-01 -7.35538882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041052754 meters 0.020418341615957777 Centerline is valid? [True, True] Translation: X:89.69, Y:-14.34, Z:-7.35 [[ 9.43109103e-01 3.23849336e-01 7.52783396e-02 8.96897250e+01] [-3.23029682e-01 9.46105427e-01 -2.31591303e-02 -1.43431876e+01] [-7.87213146e-02 -2.47555144e-03 9.96893588e-01 -7.35498654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10105275400001 meters 0.018823259886177852 Centerline is valid? [True, True] Translation: X:89.75, Y:-14.34, Z:-7.36 [[ 9.44211183e-01 3.20301404e-01 7.66306278e-02 8.97503812e+01] [-3.19440796e-01 9.47313075e-01 -2.35693769e-02 -1.43440218e+01] [-8.01425002e-02 -2.22447952e-03 9.96780934e-01 -7.36193004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters 0.018145723820252938 Centerline is valid? [True, True] Translation: X:89.81, Y:-14.35, Z:-7.37 [[ 9.45010974e-01 3.18043678e-01 7.61740020e-02 8.98102891e+01] [-3.17186414e-01 9.48073897e-01 -2.34235696e-02 -1.43503801e+01] [-7.96683012e-02 -2.02582828e-03 9.96819371e-01 -7.36706190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters 0.019040683207284272 Centerline is valid? [True, True] Translation: X:89.88, Y:-14.34, Z:-7.37 [[ 9.43657343e-01 3.21570908e-01 7.81215077e-02 8.98766042e+01] [-3.20682820e-01 9.46882455e-01 -2.40030301e-02 -1.43379984e+01] [-8.16905612e-02 -2.40158977e-03 9.96654847e-01 -7.37016547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.281052754 meters 0.021627666310297562 Centerline is valid? [True, True] Translation: X:89.94, Y:-14.32, Z:-7.37 [[ 9.41284899e-01 3.27378961e-01 8.24969977e-02 8.99426356e+01] [-3.26410923e-01 9.44888131e-01 -2.53442145e-02 -1.43238396e+01] [-8.62475966e-02 -3.07179483e-03 9.96268998e-01 -7.37338249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.341052754 meters 0.021563099909759374 Centerline is valid? [True, True] Translation: X:90.00, Y:-14.32, Z:-7.38 [[ 9.41086524e-01 3.28560625e-01 8.00254397e-02 9.00031518e+01] [-3.27654228e-01 9.44477841e-01 -2.45828243e-02 -1.43242329e+01] [-8.36592027e-02 -3.08610897e-03 9.96489646e-01 -7.38141329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.401052754 meters 0.02319349893817204 Centerline is valid? [True, True] Translation: X:90.07, Y:-14.32, Z:-7.39 [[ 9.40709114e-01 3.29937559e-01 7.87881278e-02 9.00651560e+01] [-3.29065462e-01 9.43997411e-01 -2.41828537e-02 -1.43171882e+01] [-8.23546203e-02 -3.17742086e-03 9.96598024e-01 -7.38893739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46105275400001 meters 0.02201425540909073 Centerline is valid? [True, True] Translation: X:90.13, Y:-14.30, Z:-7.39 [[ 9.40892643e-01 3.29294667e-01 7.92846531e-02 9.01321195e+01] [-3.28409882e-01 9.44221961e-01 -2.43277124e-02 -1.42998195e+01] [-8.28732965e-02 -3.14809793e-03 9.96555120e-01 -7.39136095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52105275400001 meters 0.02461481859358789 Centerline is valid? [True, True] Translation: X:90.19, Y:-14.30, Z:-7.40 [[ 9.41383933e-01 3.28329499e-01 7.74340419e-02 9.01926556e+01] [-3.27483940e-01 9.44558458e-01 -2.37400282e-02 -1.42990888e+01] [-8.09355308e-02 -3.00992399e-03 9.96714794e-01 -7.39932633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters 0.021369273037635368 Centerline is valid? [True, True] Translation: X:90.26, Y:-14.29, Z:-7.40 [[ 9.43694960e-01 3.21247825e-01 7.89914974e-02 9.02571819e+01] [-3.20343677e-01 9.46991973e-01 -2.42101704e-02 -1.42926906e+01] [-8.25817786e-02 -2.45741097e-03 9.96581262e-01 -7.40354131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641052754 meters 0.019185705294923604 Centerline is valid? [True, True] Translation: X:90.32, Y:-14.29, Z:-7.41 [[ 9.47102757e-01 3.10888900e-01 7.96521161e-02 9.03220367e+01] [-3.09932986e-01 9.50444968e-01 -2.44112197e-02 -1.42859654e+01] [-8.32941301e-02 -1.56688468e-03 9.96523774e-01 -7.40514319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701052754 meters 0.01795135480399314 Centerline is valid? [True, True] Translation: X:90.38, Y:-14.29, Z:-7.41 [[ 9.49635475e-01 3.03673483e-01 7.72973531e-02 9.03821168e+01] [-3.02749603e-01 9.52775730e-01 -2.36872431e-02 -1.42920812e+01] [-8.08402297e-02 -9.07496649e-04 9.96726659e-01 -7.41440521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.761052754 meters 0.01691772918834156 Centerline is valid? [True, True] Translation: X:90.45, Y:-14.28, Z:-7.42 [[ 9.52123073e-01 2.96266823e-01 7.54163349e-02 9.04456828e+01] [-2.95364353e-01 9.55105175e-01 -2.31085250e-02 -1.42826196e+01] [-7.88768210e-02 -2.73137112e-04 9.96884333e-01 -7.42026326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82105275400001 meters 0.016655640024807804 Centerline is valid? [True, True] Translation: X:90.51, Y:-14.27, Z:-7.42 [[ 9.53354478e-01 2.92972414e-01 7.26801440e-02 9.05115080e+01] [-2.92126134e-01 9.56120894e-01 -2.22521434e-02 -1.42658433e+01] [-7.60102684e-02 -1.75888870e-05 9.97107035e-01 -7.42159955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88105275400001 meters 0.01596120128729682 Centerline is valid? [True, True] Translation: X:90.58, Y:-14.24, Z:-7.42 [[ 9.52709358e-01 2.95320932e-01 7.16269983e-02 9.05820384e+01] [-2.94507281e-01 9.55398083e-01 -2.19080764e-02 -1.42357720e+01] [-7.49022104e-02 -2.22643156e-04 9.97190859e-01 -7.42092821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters 0.017784098037862437 Centerline is valid? [True, True] Translation: X:90.65, Y:-14.20, Z:-7.42 [[ 9.46618744e-01 3.14592389e-01 7.03177288e-02 9.06547937e+01] [-3.13862466e-01 9.49225283e-01 -2.14875597e-02 -1.42036538e+01] [-7.35071888e-02 -1.72956898e-03 9.97293187e-01 -7.42067419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.001052754 meters 0.027618537791171998 Centerline is valid? [True, True] Translation: X:90.73, Y:-14.16, Z:-7.43 [[ 9.38332811e-01 3.39513963e-01 6.52825028e-02 9.07277361e+01] [-3.38944608e-01 9.40594835e-01 -1.99476595e-02 -1.41635787e+01] [-6.81768938e-02 -3.40960886e-03 9.97667422e-01 -7.43206098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.061052754 meters 0.020942268176772583 Centerline is valid? [True, True] Translation: X:90.78, Y:-14.18, Z:-7.44 [[ 9.43842728e-01 3.23396827e-01 6.76416813e-02 9.07833829e+01] [-3.22744348e-01 9.46260575e-01 -2.06642031e-02 -1.41835974e+01] [-7.06893940e-02 -2.32721246e-03 9.97495661e-01 -7.43640630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.121052754 meters 0.017440510038580593 Centerline is valid? [True, True] Translation: X:90.84, Y:-14.21, Z:-7.45 [[ 9.50713141e-01 3.03555777e-01 6.32330109e-02 9.08366660e+01] [-3.02941736e-01 9.52813340e-01 -1.93143481e-02 -1.42104638e+01] [-6.61122382e-02 -7.93513583e-04 9.97811877e-01 -7.44620626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.181052754 meters 0.017379704154067033 Centerline is valid? [True, True] Translation: X:90.89, Y:-14.23, Z:-7.45 [[ 9.51525308e-01 3.01159672e-01 6.24695134e-02 9.08914618e+01] [-3.00555160e-01 9.53573526e-01 -1.90820876e-02 -1.42316993e+01] [-6.53160295e-02 -6.18445320e-04 9.97864437e-01 -7.45469003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24105275400001 meters 0.020770483926523337 Centerline is valid? [True, True] Translation: X:90.95, Y:-14.24, Z:-7.46 [[ 9.46652481e-01 3.16168182e-01 6.23438930e-02 9.09519067e+01] [-3.15599700e-01 9.48701694e-01 -1.90243247e-02 -1.42363162e+01] [-6.51606431e-02 -1.66628976e-03 9.97873396e-01 -7.45596761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters 0.02458274677494699 Centerline is valid? [True, True] Translation: X:91.01, Y:-14.24, Z:-7.46 [[ 9.43320598e-01 3.25838781e-01 6.30502896e-02 9.10110989e+01] [-3.25279045e-01 9.45422395e-01 -1.92363636e-02 -1.42423723e+01] [-6.58771091e-02 -2.36287999e-03 9.97824946e-01 -7.46049529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters 0.023452558370701128 Centerline is valid? [True, True] Translation: X:91.07, Y:-14.26, Z:-7.47 [[ 9.44832220e-01 3.22194294e-01 5.90162052e-02 9.10657477e+01] [-3.21696835e-01 9.46671508e-01 -1.80056112e-02 -1.42639296e+01] [-6.16702651e-02 -1.97304482e-03 9.98094628e-01 -7.47103262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421052754 meters 0.02269247723677538 Centerline is valid? [True, True] Translation: X:91.12, Y:-14.28, Z:-7.47 [[ 9.44996118e-01 3.21315954e-01 6.11424086e-02 9.11224334e+01] [-3.20781078e-01 9.46969937e-01 -1.86396945e-02 -1.42789197e+01] [-6.38892541e-02 -1.99888876e-03 9.97954993e-01 -7.47156172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.481052754 meters 0.022335151343502835 Centerline is valid? [True, True] Translation: X:91.18, Y:-14.29, Z:-7.47 [[ 9.43716274e-01 3.23529524e-01 6.87622065e-02 9.11808805e+01] [-3.22860181e-01 9.46214939e-01 -2.09426292e-02 -1.42906532e+01] [-7.18393859e-02 -2.43667839e-03 9.97413237e-01 -7.46892831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541052754 meters 0.02283432779103687 Centerline is valid? [True, True] Translation: X:91.24, Y:-14.30, Z:-7.47 [[ 9.43747509e-01 3.22960000e-01 7.09751910e-02 9.12381213e+01] [-3.22246733e-01 9.46409340e-01 -2.15964063e-02 -1.43016646e+01] [-7.41463590e-02 -2.48996876e-03 9.97244262e-01 -7.46848649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60105275400001 meters 0.02174567645127993 Centerline is valid? [True, True] Translation: X:91.29, Y:-14.32, Z:-7.47 [[ 9.44184962e-01 3.21791432e-01 7.04629885e-02 9.12937004e+01] [-3.21085568e-01 9.46807574e-01 -2.14353758e-02 -1.43211132e+01] [-7.36126115e-02 -2.38568919e-03 9.97284058e-01 -7.47372523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters 0.023382499575490653 Centerline is valid? [True, True] Translation: X:91.35, Y:-14.34, Z:-7.48 [[ 9.43375283e-01 3.24943533e-01 6.67440996e-02 9.13497693e+01] [-3.24319431e-01 9.45730090e-01 -2.02855599e-02 -1.43380498e+01] [-6.97135648e-02 -2.50951262e-03 9.97563893e-01 -7.48413955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters 0.0255729167461289 Centerline is valid? [True, True] Translation: X:91.41, Y:-14.35, Z:-7.49 [[ 9.40934920e-01 3.32325190e-01 6.48185551e-02 9.14075849e+01] [-3.31754259e-01 9.43160191e-01 -1.96968739e-02 -1.43516526e+01] [-6.76800481e-02 -2.97035523e-03 9.97702655e-01 -7.48892734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781052754 meters 0.03190970703637051 Centerline is valid? [True, True] Translation: X:91.47, Y:-14.36, Z:-7.49 [[ 9.35569448e-01 3.46287708e-01 6.92432800e-02 9.14658735e+01] [-3.45674216e-01 9.38118721e-01 -2.10380821e-02 -1.43596484e+01] [-7.22436465e-02 -4.25302965e-03 9.97377946e-01 -7.49199194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841052754 meters 0.03470247285966318 Centerline is valid? [True, True] Translation: X:91.52, Y:-14.37, Z:-7.49 [[ 9.31197618e-01 3.57287869e-01 7.22244760e-02 9.15249521e+01] [-3.56653444e-01 9.33979111e-01 -2.19394977e-02 -1.43714646e+01] [-7.52948683e-02 -5.32910009e-03 9.97147072e-01 -7.49381431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901052754 meters 0.0453735451998405 Centerline is valid? [True, True] Translation: X:91.59, Y:-14.37, Z:-7.49 [[ 9.25031000e-01 3.72112434e-01 7.64851933e-02 9.15863181e+01] [-3.71452247e-01 9.28161754e-01 -2.32160804e-02 -1.43720433e+01] [-7.96296234e-02 -6.93500277e-03 9.96800396e-01 -7.49176825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96105275400001 meters 0.042247570967592595 Centerline is valid? [True, True] Translation: X:91.64, Y:-14.39, Z:-7.50 [[ 9.21503666e-01 3.80467772e-01 7.79440085e-02 9.16420669e+01] [-3.79812055e-01 9.24761223e-01 -2.36534042e-02 -1.43938669e+01] [-8.10789546e-02 -7.80737546e-03 9.96677103e-01 -7.49561328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02105275400001 meters 0.04499909974469982 Centerline is valid? [True, True] Translation: X:91.70, Y:-14.41, Z:-7.50 [[ 9.19911365e-01 3.84448033e-01 7.72191107e-02 9.16994449e+01] [-3.83819514e-01 9.23111137e-01 -2.34181377e-02 -1.44071089e+01] [-8.02848781e-02 -8.09559054e-03 9.96739083e-01 -7.50085027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters 0.041219837084654515 Centerline is valid? [True, True] Translation: X:91.75, Y:-14.43, Z:-7.51 [[ 9.19499787e-01 3.85670520e-01 7.60157322e-02 9.17535156e+01] [-3.85065836e-01 9.22601221e-01 -2.30496846e-02 -1.44303658e+01] [-7.90217912e-02 -8.07688140e-03 9.96840168e-01 -7.50839716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141052754 meters 0.043822808257621276 Centerline is valid? [True, True] Translation: X:91.81, Y:-14.44, Z:-7.51 [[ 9.18822663e-01 3.87759493e-01 7.35356385e-02 9.18114327e+01] [-3.87200458e-01 9.21725969e-01 -2.22944756e-02 -1.44428252e+01] [-7.64246022e-02 -7.98836344e-03 9.97043362e-01 -7.51258476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201052754 meters 0.04354113138107367 Centerline is valid? [True, True] Translation: X:91.87, Y:-14.46, Z:-7.52 [[ 9.17848454e-01 3.90725518e-01 6.99127009e-02 9.18674810e+01] [-3.90229832e-01 9.20473832e-01 -2.11802233e-02 -1.44603562e+01] [-7.26284654e-02 -7.84178628e-03 9.97328237e-01 -7.51834804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261052754 meters 0.04276984734318824 Centerline is valid? [True, True] Translation: X:91.92, Y:-14.48, Z:-7.53 [[ 9.18348929e-01 3.89749474e-01 6.87792982e-02 9.19223589e+01] [-3.89267268e-01 9.20889223e-01 -2.08334753e-02 -1.44796282e+01] [-7.14579505e-02 -7.64112981e-03 9.97414344e-01 -7.52646408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32105275400001 meters 0.03627288504968719 Centerline is valid? [True, True] Translation: X:91.98, Y:-14.51, Z:-7.53 [[ 9.19518075e-01 3.86770165e-01 6.99667743e-02 9.19762570e+01] [-3.86263037e-01 9.22145294e-01 -2.11878217e-02 -1.45060726e+01] [-7.27143489e-02 -7.54299369e-03 9.97324284e-01 -7.53014038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38105275400001 meters 0.04238166513223131 Centerline is valid? [True, True] Translation: X:92.04, Y:-14.51, Z:-7.53 [[ 9.20835202e-01 3.83113503e-01 7.27088284e-02 9.20356101e+01] [-3.82554854e-01 9.23670473e-01 -2.20145754e-02 -1.45128827e+01] [-7.55930790e-02 -7.54331931e-03 9.97110217e-01 -7.52979535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters 0.03288342910573201 Centerline is valid? [True, True] Translation: X:92.09, Y:-14.54, Z:-7.53 [[ 9.24148099e-01 3.74470357e-01 7.56455143e-02 9.20889642e+01] [-3.73837278e-01 9.27211575e-01 -2.28994452e-02 -1.45415256e+01] [-7.87145599e-02 -7.11663444e-03 9.96871793e-01 -7.53221300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501052754 meters 0.03299502329468901 Centerline is valid? [True, True] Translation: X:92.15, Y:-14.56, Z:-7.54 [[ 9.30032599e-01 3.59510609e-01 7.61018228e-02 9.21453236e+01] [-3.58820219e-01 9.33122443e-01 -2.30338314e-02 -1.45574341e+01] [-7.92932255e-02 -5.88465868e-03 9.96833966e-01 -7.53913038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.561052754 meters 0.02682819204834052 Centerline is valid? [True, True] Translation: X:92.20, Y:-14.58, Z:-7.55 [[ 9.37348951e-01 3.40497653e-01 7.37447824e-02 9.22000936e+01] [-3.39790806e-01 9.40236252e-01 -2.23159042e-02 -1.45822266e+01] [-7.69360308e-02 -4.14000959e-03 9.97027436e-01 -7.54576511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621052754 meters 0.021291795914604415 Centerline is valid? [True, True] Translation: X:92.25, Y:-14.61, Z:-7.55 [[ 9.43923883e-01 3.21929518e-01 7.32740681e-02 9.22545656e+01] [-3.21175891e-01 9.46760046e-01 -2.21689750e-02 -1.46063223e+01] [-7.65098075e-02 -2.60803913e-03 9.97065418e-01 -7.55029921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.681052754 meters 0.017072820411222014 Centerline is valid? [True, True] Translation: X:92.31, Y:-14.63, Z:-7.55 [[ 9.48485503e-01 3.08368014e-01 7.26940046e-02 9.23106246e+01] [-3.07586578e-01 9.51265952e-01 -2.19905606e-02 -1.46278292e+01] [-7.59325170e-02 -1.50197225e-03 9.97111828e-01 -7.55400016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74105275400001 meters 0.019720442305896414 Centerline is valid? [True, True] Translation: X:92.37, Y:-14.64, Z:-7.55 [[ 9.45138097e-01 3.17673631e-01 7.61409386e-02 9.23698632e+01] [-3.16846662e-01 9.48197181e-01 -2.30282133e-02 -1.46385848e+01] [-7.95120795e-02 -2.36016052e-03 9.96831109e-01 -7.55435928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters 0.02147578741924675 Centerline is valid? [True, True] Translation: X:92.43, Y:-14.65, Z:-7.56 [[ 9.42011536e-01 3.26043043e-01 7.94367612e-02 9.24281698e+01] [-3.25172675e-01 9.45349503e-01 -2.40218515e-02 -1.46530756e+01] [-8.29276602e-02 -3.20180286e-03 9.96550426e-01 -7.55742630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters 0.025106602849176343 Centerline is valid? [True, True] Translation: X:92.48, Y:-14.67, Z:-7.57 [[ 9.40813888e-01 3.30507966e-01 7.50580572e-02 9.24840809e+01] [-3.29746115e-01 9.43797051e-01 -2.26853561e-02 -1.46693071e+01] [-7.83372640e-02 -3.40740465e-03 9.96921092e-01 -7.57040202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921052754 meters 0.02593707101489968 Centerline is valid? [True, True] Translation: X:92.54, Y:-14.69, Z:-7.58 [[ 9.39692265e-01 3.33828113e-01 7.44126215e-02 9.25397393e+01] [-3.33090001e-01 9.42626874e-01 -2.24861510e-02 -1.46884898e+01] [-7.76498462e-02 -3.65603797e-03 9.96973989e-01 -7.57613835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981052754 meters 0.025218233770758977 Centerline is valid? [True, True] Translation: X:92.59, Y:-14.71, Z:-7.58 [[ 9.39942916e-01 3.33250385e-01 7.38342436e-02 9.25949564e+01] [-3.32522233e-01 9.42831553e-01 -2.23075512e-02 -1.47088821e+01] [-7.70472546e-02 -3.58370289e-03 9.97021002e-01 -7.57936424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.041052754 meters 0.02308685659455093 Centerline is valid? [True, True] Translation: X:92.65, Y:-14.74, Z:-7.59 [[ 9.42224826e-01 3.27274083e-01 7.14426516e-02 9.26483393e+01] [-3.26576583e-01 9.44924658e-01 -2.15667649e-02 -1.47351978e+01] [-7.45661664e-02 -3.01075575e-03 9.97211523e-01 -7.58857910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10105275400001 meters 0.021690642151800693 Centerline is valid? [True, True] Translation: X:92.70, Y:-14.76, Z:-7.60 [[ 9.45013547e-01 3.19266525e-01 7.08398281e-02 9.27022857e+01] [-3.18558914e-01 9.47662011e-01 -2.13759360e-02 -1.47602051e+01] [-7.39568348e-02 -2.36610961e-03 9.97258637e-01 -7.59534013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters 0.017519839552136297 Centerline is valid? [True, True] Translation: X:92.76, Y:-14.79, Z:-7.60 [[ 9.48545595e-01 3.08823434e-01 6.99238246e-02 9.27559381e+01] [-3.08105789e-01 9.51118151e-01 -2.10970404e-02 -1.47892227e+01] [-7.30210793e-02 -1.53243036e-03 9.97329220e-01 -7.60099188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters 0.015459565521415185 Centerline is valid? [True, True] Translation: X:92.81, Y:-14.82, Z:-7.61 [[ 9.52902665e-01 2.95611681e-01 6.77513485e-02 9.28088528e+01] [-2.94904647e-01 9.55308055e-01 -2.04393821e-02 -1.48169175e+01] [-7.07655290e-02 -5.03445844e-04 9.97492850e-01 -7.60839352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281052754 meters 0.014845403180761111 Centerline is valid? [True, True] Translation: X:92.86, Y:-14.84, Z:-7.61 [[ 9.55411982e-01 2.87135050e-01 6.88578813e-02 9.28630373e+01] [-2.86382711e-01 9.57890102e-01 -2.07724722e-02 -1.48397601e+01] [-7.19227878e-02 1.26562175e-04 9.97410195e-01 -7.60912909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.341052754 meters 0.014728707096352297 Centerline is valid? [True, True] Translation: X:92.92, Y:-14.86, Z:-7.61 [[ 9.55059602e-01 2.87634301e-01 7.16077147e-02 9.29189143e+01] [-2.86823436e-01 9.57740311e-01 -2.15827017e-02 -1.48568709e+01] [-7.47895203e-02 7.39956788e-05 9.97199339e-01 -7.61208020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.401052754 meters 0.0146322818934242 Centerline is valid? [True, True] Translation: X:92.98, Y:-14.87, Z:-7.61 [[ 9.54264201e-01 2.89542193e-01 7.44657802e-02 9.29761874e+01] [-2.88672547e-01 9.57165246e-01 -2.24243501e-02 -1.48720164e+01] [-7.77688524e-02 -9.74719542e-05 9.96971412e-01 -7.61172712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46105275400001 meters 0.014834575532954123 Centerline is valid? [True, True] Translation: X:93.03, Y:-14.89, Z:-7.62 [[ 9.53210895e-01 2.93346803e-01 7.30523255e-02 9.30315998e+01] [-2.92522528e-01 9.56006003e-01 -2.19793644e-02 -1.48879859e+01] [-7.62860380e-02 -4.18481283e-04 9.97085887e-01 -7.61875331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52105275400001 meters 0.015192135431485268 Centerline is valid? [True, True] Translation: X:93.09, Y:-14.90, Z:-7.62 [[ 9.51460477e-01 2.98485535e-01 7.50289661e-02 9.30883160e+01] [-2.97632424e-01 9.54413772e-01 -2.25675141e-02 -1.49039515e+01] [-7.83447550e-02 -8.58955316e-04 9.96925956e-01 -7.62217441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters 0.018015566561901796 Centerline is valid? [True, True] Translation: X:93.15, Y:-14.91, Z:-7.63 [[ 9.46872830e-01 3.12457234e-01 7.61729622e-02 9.31494767e+01] [-3.11624445e-01 9.49929588e-01 -2.28906836e-02 -1.49069802e+01] [-7.95113102e-02 -2.06279073e-03 9.96831830e-01 -7.62650024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.641052754 meters 0.02348859854781811 Centerline is valid? [True, True] Translation: X:93.21, Y:-14.90, Z:-7.63 [[ 9.40884281e-01 3.29145737e-01 7.99990884e-02 9.32134272e+01] [-3.28287055e-01 9.44272096e-01 -2.40378475e-02 -1.48976156e+01] [-8.34528619e-02 -3.64583227e-03 9.96505057e-01 -7.62791593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.701052754 meters 0.019742855755203497 Centerline is valid? [True, True] Translation: X:93.27, Y:-14.92, Z:-7.63 [[ 9.44102619e-01 3.18536768e-01 8.48797480e-02 9.32703602e+01] [-3.17527605e-01 9.47906136e-01 -2.54985798e-02 -1.49152328e+01] [-8.85802691e-02 -2.87838716e-03 9.96064883e-01 -7.63236861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.761052754 meters 0.014316998907770481 Centerline is valid? [True, True] Translation: X:93.32, Y:-14.95, Z:-7.64 [[ 9.52587123e-01 2.92435844e-01 8.40181546e-02 9.33227895e+01] [-2.91345840e-01 9.56285041e-01 -2.52293914e-02 -1.49469918e+01] [-8.77232827e-02 -4.45146503e-04 9.96144782e-01 -7.64325698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82105275400001 meters 0.016133123460043426 Centerline is valid? [True, True] Translation: X:93.37, Y:-14.98, Z:-7.66 [[ 9.59127498e-01 2.71154600e-01 8.09297615e-02 9.33749453e+01] [-2.70067499e-01 9.62534717e-01 -2.42994863e-02 -1.49778226e+01] [-8.44866225e-02 1.44980720e-03 9.96423559e-01 -7.65532926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88105275400001 meters 0.016114060624236044 Centerline is valid? [True, True] Translation: X:93.43, Y:-14.99, Z:-7.66 [[ 9.59337840e-01 2.71530909e-01 7.70835511e-02 9.34306096e+01] [-2.70546288e-01 9.62428778e-01 -2.31420293e-02 -1.49948187e+01] [-8.04712041e-02 1.34635576e-03 9.96756025e-01 -7.66297044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters 0.015527763462043761 Centerline is valid? [True, True] Translation: X:93.49, Y:-15.01, Z:-7.66 [[ 9.58297887e-01 2.74369869e-01 7.99145509e-02 9.34884074e+01] [-2.73323108e-01 9.61623576e-01 -2.39703376e-02 -1.50082368e+01] [-8.34244546e-02 1.12823047e-03 9.96513466e-01 -7.66358051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001052754 meters 0.014724008577346334 Centerline is valid? [True, True] Translation: X:93.54, Y:-15.02, Z:-7.67 [[ 9.56659565e-01 2.79206130e-01 8.27430567e-02 9.35446856e+01] [-2.78103664e-01 9.60230926e-01 -2.47976109e-02 -1.50217645e+01] [-8.63760869e-02 7.11724367e-04 9.96262348e-01 -7.66698935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.061052754 meters 0.014171940560487544 Centerline is valid? [True, True] Translation: X:93.60, Y:-15.03, Z:-7.67 [[ 9.54665345e-01 2.85121296e-01 8.55565627e-02 9.36018327e+01] [-2.83966914e-01 9.58491427e-01 -2.56315302e-02 -1.50344580e+01] [-8.93133270e-02 1.74300579e-04 9.96003564e-01 -7.67010934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.121052754 meters 0.01389641838085536 Centerline is valid? [True, True] Translation: X:93.66, Y:-15.05, Z:-7.68 [[ 9.54181489e-01 2.87114082e-01 8.42804263e-02 9.36573700e+01] [-2.86003567e-01 9.57896395e-01 -2.52280971e-02 -1.50508130e+01] [-8.79752584e-02 -3.23192236e-05 9.96122660e-01 -7.67672194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.181052754 meters 0.013756764235383545 Centerline is valid? [True, True] Translation: X:93.71, Y:-15.07, Z:-7.68 [[ 9.54593094e-01 2.85509736e-01 8.50659478e-02 9.37124753e+01] [-2.84373961e-01 9.58375804e-01 -2.54414733e-02 -1.50681085e+01] [-8.87889344e-02 9.57141953e-05 9.96050459e-01 -7.68120497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24105275400001 meters 0.014057109171438126 Centerline is valid? [True, True] Translation: X:93.77, Y:-15.09, Z:-7.69 [[ 9.55282058e-01 2.82472762e-01 8.74375653e-02 9.37668541e+01] [-2.81262130e-01 9.59275250e-01 -2.61267860e-02 -1.50869917e+01] [-9.12567977e-02 3.65574035e-04 9.95827326e-01 -7.68589562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters 0.01433477554117771 Centerline is valid? [True, True] Translation: X:93.82, Y:-15.11, Z:-7.69 [[ 9.57270003e-01 2.76857058e-01 8.35721888e-02 9.38211954e+01] [-2.75730642e-01 9.60910735e-01 -2.49634118e-02 -1.51058502e+01] [-8.72167101e-02 8.53312026e-04 9.96188997e-01 -7.69480776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters 0.015430035709741014 Centerline is valid? [True, True] Translation: X:93.87, Y:-15.13, Z:-7.71 [[ 9.58345072e-01 2.74937519e-01 7.73568613e-02 9.38737843e+01] [-2.73968201e-01 9.61461645e-01 -2.30852694e-02 -1.51266956e+01] [-8.07226618e-02 9.30334011e-04 9.96736167e-01 -7.70692258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421052754 meters 0.015756111667519057 Centerline is valid? [True, True] Translation: X:93.93, Y:-15.14, Z:-7.71 [[ 9.58587537e-01 2.74548604e-01 7.57165636e-02 9.39289040e+01] [-2.73619995e-01 9.61572775e-01 -2.25808780e-02 -1.51431675e+01] [-7.90065348e-02 9.28182522e-04 9.96873666e-01 -7.71250428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481052754 meters 0.015252473245119575 Centerline is valid? [True, True] Translation: X:93.99, Y:-15.16, Z:-7.71 [[ 9.58515710e-01 2.74021065e-01 7.84862429e-02 9.39854121e+01] [-2.73023198e-01 9.61723184e-01 -2.33848217e-02 -1.51571594e+01] [-8.18899732e-02 9.86153972e-04 9.96640888e-01 -7.71316528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541052754 meters 0.015578378564911066 Centerline is valid? [True, True] Translation: X:94.04, Y:-15.17, Z:-7.71 [[ 9.58528444e-01 2.72719019e-01 8.27499829e-02 9.40419038e+01] [-2.71606978e-01 9.62093059e-01 -2.46291474e-02 -1.51737401e+01] [-8.63300211e-02 1.13226557e-03 9.96265951e-01 -7.71239159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60105275400001 meters 0.01550177086108537 Centerline is valid? [True, True] Translation: X:94.10, Y:-15.19, Z:-7.72 [[ 9.58324739e-01 2.73420492e-01 8.27945005e-02 9.40980691e+01] [-2.72311736e-01 9.61894035e-01 -2.46207961e-02 -1.51909784e+01] [-8.63713663e-02 1.04880386e-03 9.96262459e-01 -7.71932068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters 0.01562662885506881 Centerline is valid? [True, True] Translation: X:94.15, Y:-15.21, Z:-7.73 [[ 9.58450965e-01 2.73403624e-01 8.13769319e-02 9.41529026e+01] [-2.72334272e-01 9.61898869e-01 -2.41787284e-02 -1.52094235e+01] [-8.48869307e-02 1.01239808e-03 9.96390076e-01 -7.72585722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters 0.01571483353378385 Centerline is valid? [True, True] Translation: X:94.21, Y:-15.23, Z:-7.73 [[ 9.58132460e-01 2.74947467e-01 7.99129540e-02 9.42075718e+01] [-2.73922291e-01 9.61458872e-01 -2.37363760e-02 -1.52260437e+01] [-8.33592751e-02 8.52652864e-04 9.96519194e-01 -7.73106737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.781052754 meters 0.01605628609654279 Centerline is valid? [True, True] Translation: X:94.26, Y:-15.24, Z:-7.74 [[ 9.58294051e-01 2.75221298e-01 7.69788856e-02 9.42623770e+01] [-2.74271844e-01 9.61380578e-01 -2.28547665e-02 -1.52438795e+01] [-8.02961240e-02 7.88445874e-04 9.96770741e-01 -7.73843972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.841052754 meters 0.016371838729088897 Centerline is valid? [True, True] Translation: X:94.32, Y:-15.26, Z:-7.75 [[ 9.58265724e-01 2.76134826e-01 7.40024413e-02 9.43175788e+01] [-2.75260644e-01 9.61118670e-01 -2.19654370e-02 -1.52613053e+01] [-7.71905500e-02 6.78765699e-04 9.97016127e-01 -7.74548725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.901052754 meters 0.016453526979054247 Centerline is valid? [True, True] Translation: X:94.37, Y:-15.28, Z:-7.75 [[ 9.56721566e-01 2.81838403e-01 7.24635139e-02 9.43732214e+01] [-2.81018095e-01 9.59461868e-01 -2.14884493e-02 -1.52768893e+01] [-7.55822487e-02 1.94904246e-04 9.97139552e-01 -7.75235584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96105275400001 meters 0.01668959174378699 Centerline is valid? [True, True] Translation: X:94.43, Y:-15.29, Z:-7.76 [[ 9.55844621e-01 2.84821765e-01 7.23714254e-02 9.44294305e+01] [-2.84013387e-01 9.58580492e-01 -2.14438121e-02 -1.52920031e+01] [-7.54815010e-02 -5.75012444e-05 9.97147201e-01 -7.75583318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02105275400001 meters 0.016950532430394478 Centerline is valid? [True, True] Translation: X:94.49, Y:-15.31, Z:-7.76 [[ 9.56198190e-01 2.83886995e-01 7.13666282e-02 9.44850439e+01] [-2.83099853e-01 9.58857745e-01 -2.11257939e-02 -1.53087086e+01] [-7.44277823e-02 -3.43599227e-06 9.97226406e-01 -7.75863956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters 0.017640744468282076 Centerline is valid? [True, True] Translation: X:94.54, Y:-15.33, Z:-7.77 [[ 9.56572679e-01 2.82707727e-01 7.10285246e-02 9.45390793e+01] [-2.81926301e-01 9.59206097e-01 -2.10053341e-02 -1.53274704e+01] [-7.40693641e-02 6.83195038e-05 9.97253090e-01 -7.76556814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.141052754 meters 0.017823389437867303 Centerline is valid? [True, True] Translation: X:94.60, Y:-15.34, Z:-7.77 [[ 9.57290747e-01 2.80411000e-01 7.04563493e-02 9.45953004e+01] [-2.79637478e-01 9.59880003e-01 -2.08148879e-02 -1.53434784e+01] [-7.34663644e-02 2.23663728e-04 9.97297670e-01 -7.76818653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.201052754 meters 0.01830499982117058 Centerline is valid? [True, True] Translation: X:94.65, Y:-15.36, Z:-7.78 [[ 9.57870710e-01 2.79338678e-01 6.67353446e-02 9.46502940e+01] [-2.78643496e-01 9.60192600e-01 -1.96970369e-02 -1.53588128e+01] [-6.95809283e-02 2.71845014e-04 9.97576273e-01 -7.77537996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.261052754 meters 0.018445291672660506 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.38, Z:-7.78 [[ 9.58129005e-01 2.78627059e-01 6.59982758e-02 9.47057488e+01] [-2.77945863e-01 9.60399325e-01 -1.94739433e-02 -1.53758477e+01] [-6.88106671e-02 3.14602252e-04 9.97629687e-01 -7.78096986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32105275400001 meters 0.018773813793201324 Centerline is valid? [True, True] Translation: X:94.76, Y:-15.39, Z:-7.78 [[ 9.58835020e-01 2.76261919e-01 6.56868108e-02 9.47611546e+01] [-2.75582122e-01 9.61082268e-01 -1.93743936e-02 -1.53938934e+01] [-6.84828363e-02 4.74736341e-04 9.97652182e-01 -7.78402570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38105275400001 meters 0.018668428866764657 Centerline is valid? [True, True] Translation: X:94.82, Y:-15.40, Z:-7.78 [[ 9.57886428e-01 2.78372559e-01 7.04436670e-02 9.48202138e+01] [-2.77597736e-01 9.60473118e-01 -2.07578071e-02 -1.54046089e+01] [-7.34376524e-02 3.28619149e-04 9.97299756e-01 -7.78138732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters 0.018691829555766426 Centerline is valid? [True, True] Translation: X:94.88, Y:-15.42, Z:-7.78 [[ 9.58488512e-01 2.75699294e-01 7.27301221e-02 9.48762478e+01] [-2.74866916e-01 9.61243785e-01 -2.14141148e-02 -1.54179447e+01] [-7.58152342e-02 5.34078665e-04 9.97121740e-01 -7.78318168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501052754 meters 0.022002839068965094 Centerline is valid? [True, True] Translation: X:94.93, Y:-15.44, Z:-7.79 [[ 9.63350357e-01 2.58519616e-01 7.15800150e-02 9.49309533e+01] [-2.57667446e-01 9.66004259e-01 -2.10537040e-02 -1.54431326e+01] [-7.45893948e-02 1.83825364e-03 9.97212637e-01 -7.79304408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.561052754 meters 0.025796981908106562 Centerline is valid? [True, True] Translation: X:94.99, Y:-15.47, Z:-7.80 [[ 9.67417062e-01 2.43321665e-01 6.99914005e-02 9.49866910e+01] [-2.42467346e-01 9.69941190e-01 -2.05833471e-02 -1.54662406e+01] [-7.28959166e-02 2.94205199e-03 9.97335214e-01 -7.79906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621052754 meters 0.028937921027038262 Centerline is valid? [True, True] Translation: X:95.04, Y:-15.49, Z:-7.81 [[ 9.69181048e-01 2.36630492e-01 6.85135480e-02 9.50429908e+01] [-2.35795351e-01 9.71593869e-01 -2.01471095e-02 -1.54861692e+01] [-7.13347636e-02 3.37102062e-03 9.97446734e-01 -7.80644492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.681052754 meters 0.03010388515139258 Centerline is valid? [True, True] Translation: X:95.10, Y:-15.51, Z:-7.81 [[ 9.70477602e-01 2.31273842e-01 6.84516912e-02 9.50994735e+01] [-2.30427032e-01 9.72881428e-01 -2.01273508e-02 -1.55062898e+01] [-7.12503088e-02 3.76002305e-03 9.97451380e-01 -7.81383544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74105275400001 meters 0.03154638323881839 Centerline is valid? [True, True] Translation: X:95.16, Y:-15.52, Z:-7.82 [[ 9.71009275e-01 2.29968212e-01 6.52350378e-02 9.51559982e+01] [-2.29196382e-01 9.73191211e-01 -1.91803422e-02 -1.55243615e+01] [-6.78970345e-02 3.67265557e-03 9.97685574e-01 -7.81920224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters 0.026896356502486805 Centerline is valid? [True, True] Translation: X:95.22, Y:-15.53, Z:-7.83 [[ 9.68397521e-01 2.41088142e-01 6.38963924e-02 9.52159104e+01] [-2.40371926e-01 9.70499093e-01 -1.87842386e-02 -1.55312158e+01] [-6.65400481e-02 2.83171119e-03 9.97779737e-01 -7.82572875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters 0.02324139047417047 Centerline is valid? [True, True] Translation: X:95.28, Y:-15.54, Z:-7.83 [[ 9.64848311e-01 2.54593578e-01 6.51908473e-02 9.52750876e+01] [-2.53878735e-01 9.67046198e-01 -1.91634653e-02 -1.55398404e+01] [-6.79214562e-02 1.93926723e-03 9.97688787e-01 -7.82579370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921052754 meters 0.019043130687732907 Centerline is valid? [True, True] Translation: X:95.34, Y:-15.55, Z:-7.83 [[ 9.60067278e-01 2.71827662e-01 6.61856791e-02 9.53359121e+01] [-2.71131682e-01 9.62345669e-01 -1.94531098e-02 -1.55455044e+01] [-6.89813950e-02 7.31259623e-04 9.97617678e-01 -7.82824097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981052754 meters 0.018386961734868056 Centerline is valid? [True, True] Translation: X:95.39, Y:-15.56, Z:-7.83 [[ 9.56147095e-01 2.85187412e-01 6.67148653e-02 9.53929125e+01] [-2.84512710e-01 9.58471744e-01 -1.96069557e-02 -1.55561970e+01] [-6.95359703e-02 -2.34093437e-04 9.97579417e-01 -7.83327711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.041052754 meters 0.01974465512015019 Centerline is valid? [True, True] Translation: X:95.45, Y:-15.57, Z:-7.84 [[ 9.52207977e-01 2.97903817e-01 6.74780329e-02 9.54522037e+01] [-2.97246036e-01 9.54595158e-01 -1.98211776e-02 -1.55652235e+01] [-7.03190079e-02 -1.18369442e-03 9.97523852e-01 -7.83595921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10105275400001 meters 0.021405690814737956 Centerline is valid? [True, True] Translation: X:95.51, Y:-15.58, Z:-7.84 [[ 9.49481541e-01 3.05861478e-01 7.02393063e-02 9.55102618e+01] [-3.05170567e-01 9.52074232e-01 -2.06296414e-02 -1.55789329e+01] [-7.31828462e-02 -1.84750522e-03 9.97316829e-01 -7.83926485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters 0.022271401732708383 Centerline is valid? [True, True] Translation: X:95.57, Y:-15.59, Z:-7.84 [[ 9.47686938e-01 3.11123707e-01 7.13547944e-02 9.55683069e+01] [-3.10425668e-01 9.50366660e-01 -2.09551145e-02 -1.55923214e+01] [-7.43328505e-02 -2.29147143e-03 9.97230854e-01 -7.84135920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters 0.021937835170587474 Centerline is valid? [True, True] Translation: X:95.62, Y:-15.61, Z:-7.85 [[ 9.47014404e-01 3.12620233e-01 7.37041945e-02 9.56243882e+01] [-3.11880335e-01 9.49874924e-01 -2.16398934e-02 -1.56083798e+01] [-7.67748347e-02 -2.49359809e-03 9.97045338e-01 -7.84589878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.281052754 meters 0.020534022465352415 Centerline is valid? [True, True] Translation: X:95.68, Y:-15.63, Z:-7.85 [[ 9.47757528e-01 3.09538514e-01 7.70816167e-02 9.56801342e+01] [-3.08720646e-01 9.50883960e-01 -2.26109876e-02 -1.56270306e+01] [-8.02946445e-02 -2.36695279e-03 9.96768362e-01 -7.85079003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341052754 meters 0.017384521536500972 Centerline is valid? [True, True] Translation: X:95.74, Y:-15.65, Z:-7.85 [[ 9.51195973e-01 2.98445813e-01 7.84622098e-02 9.57369765e+01] [-2.97561027e-01 9.54425463e-01 -2.30102167e-02 -1.56475080e+01] [-8.17536338e-02 -1.46007029e-03 9.96651500e-01 -7.85253389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401052754 meters 0.015538712183475313 Centerline is valid? [True, True] Translation: X:95.79, Y:-15.67, Z:-7.86 [[ 9.54775942e-01 2.86201964e-01 8.05688304e-02 9.57922881e+01] [-2.85225385e-01 9.58169222e-01 -2.36267333e-02 -1.56688151e+01] [-8.39605910e-02 -4.22039114e-04 9.96468987e-01 -7.85663569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46105275400001 meters 0.016484598833435265 Centerline is valid? [True, True] Translation: X:95.84, Y:-15.70, Z:-7.87 [[ 9.59527492e-01 2.70146068e-01 7.95493136e-02 9.58446262e+01] [-2.69139005e-01 9.62818861e-01 -2.33245858e-02 -1.56972179e+01] [-8.28926247e-02 9.70758131e-04 9.96558012e-01 -7.86663671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52105275400001 meters 0.02015150425847296 Centerline is valid? [True, True] Translation: X:95.90, Y:-15.72, Z:-7.87 [[ 9.63264413e-01 2.57904336e-01 7.48800662e-02 9.58987840e+01] [-2.56976578e-01 9.66168611e-01 -2.19375003e-02 -1.57214157e+01] [-7.80045460e-02 1.88919022e-03 9.96951213e-01 -7.87297360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters 0.017952754120477192 Centerline is valid? [True, True] Translation: X:95.96, Y:-15.73, Z:-7.88 [[ 9.62250393e-01 2.61607245e-01 7.50721729e-02 9.59559591e+01] [-2.60686199e-01 9.65173104e-01 -2.19905698e-02 -1.57342043e+01] [-7.82105345e-02 1.59015505e-03 9.96935597e-01 -7.87804113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.641052754 meters 0.017683880129928036 Centerline is valid? [True, True] Translation: X:96.01, Y:-15.75, Z:-7.88 [[ 9.61100212e-01 2.65227298e-01 7.70769935e-02 9.60112538e+01] [-2.64268373e-01 9.64185005e-01 -2.25721581e-02 -1.57508068e+01] [-8.03032339e-02 1.32509424e-03 9.96769600e-01 -7.88256006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.701052754 meters 0.016075545600227 Centerline is valid? [True, True] Translation: X:96.07, Y:-15.76, Z:-7.88 [[ 9.60223903e-01 2.68263390e-01 7.74907133e-02 9.60691328e+01] [-2.67304750e-01 9.63345013e-01 -2.26838631e-02 -1.57624170e+01] [-8.07355422e-02 1.06795182e-03 9.96734986e-01 -7.88253950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.761052754 meters 0.014966702799047587 Centerline is valid? [True, True] Translation: X:96.13, Y:-15.77, Z:-7.88 [[ 9.58396983e-01 2.73834436e-01 8.05600639e-02 9.61271013e+01] [-2.72819573e-01 9.61776657e-01 -2.35614524e-02 -1.57746625e+01] [-8.39327260e-02 6.02862648e-04 9.96471241e-01 -7.88390749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82105275400001 meters 0.014730136847613226 Centerline is valid? [True, True] Translation: X:96.18, Y:-15.79, Z:-7.89 [[ 9.58187524e-01 2.74824495e-01 7.96753793e-02 9.61836277e+01] [-2.73836899e-01 9.61494283e-01 -2.32829848e-02 -1.57910449e+01] [-8.30061561e-02 4.91406776e-04 9.96548913e-01 -7.88918440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88105275400001 meters 0.014878646446252346 Centerline is valid? [True, True] Translation: X:96.24, Y:-15.81, Z:-7.90 [[ 9.58546154e-01 2.74785669e-01 7.53797550e-02 9.62379150e+01] [-2.73903142e-01 9.61505399e-01 -2.20099127e-02 -1.58087303e+01] [-7.85260500e-02 4.50765405e-04 9.96911960e-01 -7.89940659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters 0.014995753018283896 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.82, Z:-7.91 [[ 9.58934041e-01 2.74750340e-01 7.04113307e-02 9.62941924e+01] [-2.73981762e-01 9.61515515e-01 -2.05403950e-02 -1.58230020e+01] [-7.33450674e-02 4.05463556e-04 9.97306541e-01 -7.90602642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.001052754 meters 0.0160983344765237 Centerline is valid? [True, True] Translation: X:96.35, Y:-15.84, Z:-7.91 [[ 9.60271248e-01 2.70009721e-01 7.05257418e-02 9.63484445e+01] [-2.69227276e-01 9.62857304e-01 -2.05544688e-02 -1.58440337e+01] [-7.34561320e-02 7.50412072e-04 9.97298167e-01 -7.91138657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.061052754 meters 0.016726701151341585 Centerline is valid? [True, True] Translation: X:96.40, Y:-15.86, Z:-7.91 [[ 9.61542475e-01 2.65377053e-01 7.07890408e-02 9.64037062e+01] [-2.64576581e-01 9.64144077e-01 -2.06259801e-02 -1.58627624e+01] [-7.37244962e-02 1.10363359e-03 9.97278036e-01 -7.91445697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.121052754 meters 0.017153364334378002 Centerline is valid? [True, True] Translation: X:96.46, Y:-15.88, Z:-7.91 [[ 9.61694721e-01 2.64138635e-01 7.33078804e-02 9.64593089e+01] [-2.63277937e-01 9.64483948e-01 -2.13411082e-02 -1.58784935e+01] [-7.63412850e-02 1.22328363e-03 9.97080996e-01 -7.91351400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.181052754 meters 0.01673612935685786 Centerline is valid? [True, True] Translation: X:96.52, Y:-15.89, Z:-7.92 [[ 9.61397930e-01 2.65166965e-01 7.34880940e-02 9.65164999e+01] [-2.64306628e-01 9.64201855e-01 -2.13726361e-02 -1.58929458e+01] [-7.65246736e-02 1.12421780e-03 9.97067054e-01 -7.91634523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24105275400001 meters 0.016084074469111496 Centerline is valid? [True, True] Translation: X:96.57, Y:-15.90, Z:-7.92 [[ 9.60134629e-01 2.69834446e-01 7.30127846e-02 9.65743903e+01] [-2.69000064e-01 9.62906454e-01 -2.12161796e-02 -1.59044172e+01] [-7.60293376e-02 7.29944922e-04 9.97105314e-01 -7.91942952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters 0.01598601000566116 Centerline is valid? [True, True] Translation: X:96.63, Y:-15.92, Z:-7.93 [[ 9.59248969e-01 2.73287536e-01 7.18006843e-02 9.66302216e+01] [-2.72491640e-01 9.61932293e-01 -2.08463404e-02 -1.59192203e+01] [-7.47644419e-02 4.31744350e-04 9.97201129e-01 -7.92683234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters 0.015772421023401203 Centerline is valid? [True, True] Translation: X:96.69, Y:-15.93, Z:-7.93 [[ 9.57893815e-01 2.77213438e-01 7.47806715e-02 9.66883073e+01] [-2.76363428e-01 9.60808356e-01 -2.16923542e-02 -1.59325144e+01] [-7.78633061e-02 1.12329224e-04 9.96964038e-01 -7.92632639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.421052754 meters 0.016265347733566377 Centerline is valid? [True, True] Translation: X:96.74, Y:-15.95, Z:-7.93 [[ 9.56449001e-01 2.81783330e-01 7.61804624e-02 9.67440613e+01] [-2.80916990e-01 9.59478023e-01 -2.20809620e-02 -1.59469728e+01] [-7.93155265e-02 -2.81072147e-04 9.96849521e-01 -7.92886806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.481052754 meters 0.0165977641146489 Centerline is valid? [True, True] Translation: X:96.80, Y:-15.97, Z:-7.94 [[ 9.57027400e-01 2.80593051e-01 7.32536345e-02 9.67983240e+01] [-2.79790218e-01 9.59826808e-01 -2.12116115e-02 -1.59658950e+01] [-7.62626330e-02 -1.95556941e-04 9.97087746e-01 -7.93681981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.541052754 meters 0.017292023421070134 Centerline is valid? [True, True] Translation: X:96.85, Y:-15.99, Z:-7.95 [[ 9.58680432e-01 2.75990265e-01 6.90014701e-02 9.68511924e+01] [-2.75267641e-01 9.61160421e-01 -1.99592495e-02 -1.59890859e+01] [-7.18300405e-02 1.40670033e-04 9.97416876e-01 -7.94805717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60105275400001 meters 0.01790993704367711 Centerline is valid? [True, True] Translation: X:96.91, Y:-16.01, Z:-7.95 [[ 9.60024567e-01 2.71313076e-01 6.88625101e-02 9.69063209e+01] [-2.70581676e-01 9.62491028e-01 -1.99142514e-02 -1.60097979e+01] [-7.16825450e-02 4.85237203e-04 9.97427379e-01 -7.95297980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66105275400001 meters 0.018640338691926106 Centerline is valid? [True, True] Translation: X:96.96, Y:-16.03, Z:-7.96 [[ 9.61260930e-01 2.66902188e-01 6.88523456e-02 9.69613361e+01] [-2.66160963e-01 9.63723293e-01 -1.98936028e-02 -1.60295013e+01] [-7.16642554e-02 7.97136522e-04 9.97428493e-01 -7.95804889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters 0.019782596478637837 Centerline is valid? [True, True] Translation: X:97.02, Y:-16.05, Z:-7.96 [[ 9.62785845e-01 2.61090345e-01 6.98229827e-02 9.70162873e+01] [-2.60314165e-01 9.65313587e-01 -2.01547436e-02 -1.60489174e+01] [-7.26632829e-02 1.22879043e-03 9.97355773e-01 -7.96091486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.781052754 meters 0.02066327217902136 Centerline is valid? [True, True] Translation: X:97.07, Y:-16.07, Z:-7.97 [[ 9.63146577e-01 2.59831821e-01 6.95420438e-02 9.70710952e+01] [-2.59059063e-01 9.65652993e-01 -2.00673630e-02 -1.60650920e+01] [-7.23676222e-02 1.31231534e-03 9.97377163e-01 -7.96549279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.841052754 meters 0.02001335520113003 Centerline is valid? [True, True] Translation: X:97.13, Y:-16.07, Z:-7.97 [[ 9.61447208e-01 2.65978910e-01 6.98175128e-02 9.71299114e+01] [-2.65216745e-01 9.63978477e-01 -2.01388670e-02 -1.60724677e+01] [-7.26590935e-02 8.45684024e-04 9.97356476e-01 -7.96962339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.901052754 meters 0.020461013601161884 Centerline is valid? [True, True] Translation: X:97.18, Y:-16.09, Z:-7.98 [[ 9.60989932e-01 2.67582584e-01 6.99850765e-02 9.71846736e+01] [-2.66821367e-01 9.63534660e-01 -2.01821116e-02 -1.60889314e+01] [-7.28334285e-02 7.21292294e-04 9.97343858e-01 -7.97769318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96105275400001 meters 0.02100083666821302 Centerline is valid? [True, True] Translation: X:97.24, Y:-16.10, Z:-7.98 [[ 9.62111456e-01 2.63737242e-01 6.91680109e-02 9.72416757e+01] [-2.62984130e-01 9.64594047e-01 -1.99417229e-02 -1.61030575e+01] [-7.19784266e-02 9.96070895e-04 9.97405692e-01 -7.97967241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02105275400001 meters 0.021452777499845997 Centerline is valid? [True, True] Translation: X:97.30, Y:-16.11, Z:-7.99 [[ 9.62638729e-01 2.62218992e-01 6.75860759e-02 9.72979153e+01] [-2.61497541e-01 9.65007805e-01 -1.94672229e-02 -1.61146079e+01] [-7.03257663e-02 1.06631002e-03 9.97523508e-01 -7.98725028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters 0.02300522021045358 Centerline is valid? [True, True] Translation: X:97.35, Y:-16.13, Z:-7.99 [[ 9.65092925e-01 2.53027964e-01 6.76202352e-02 9.73547778e+01] [-2.52283949e-01 9.67457423e-01 -1.94664684e-02 -1.61342357e+01] [-7.03452594e-02 1.72745088e-03 9.97521208e-01 -7.99461249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.141052754 meters 0.027993955055480246 Centerline is valid? [True, True] Translation: X:97.41, Y:-16.16, Z:-8.00 [[ 9.68587673e-01 2.38967416e-01 6.87931270e-02 9.74098516e+01] [-2.38161849e-01 9.71023556e-01 -1.98037151e-02 -1.61552449e+01] [-7.15321894e-02 2.79773604e-03 9.97434368e-01 -7.99612459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.201052754 meters 0.0325561026623638 Centerline is valid? [True, True] Translation: X:97.47, Y:-16.18, Z:-8.00 [[ 9.70851357e-01 2.29714706e-01 6.84017296e-02 9.74659555e+01] [-2.28895557e-01 9.73251869e-01 -1.96881695e-02 -1.61767462e+01] [-7.10947732e-02 3.45743409e-03 9.97463573e-01 -8.00333753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.261052754 meters 0.03182893068793296 Centerline is valid? [True, True] Translation: X:97.52, Y:-16.19, Z:-8.01 [[ 9.71239395e-01 2.27187138e-01 7.12744136e-02 9.75237225e+01] [-2.26290863e-01 9.73843723e-01 -2.05146143e-02 -1.61902445e+01] [-7.40707968e-02 3.79585304e-03 9.97245761e-01 -8.00528458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32105275400001 meters 0.03034158287077284 Centerline is valid? [True, True] Translation: X:97.58, Y:-16.20, Z:-8.01 [[ 9.70213556e-01 2.31076611e-01 7.27272620e-02 9.75824352e+01] [-2.30154554e-01 9.72929021e-01 -2.09285048e-02 -1.62028850e+01] [-7.55945517e-02 3.56660858e-03 9.97132260e-01 -8.00811841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38105275400001 meters 0.0251206104322698 Centerline is valid? [True, True] Translation: X:97.64, Y:-16.21, Z:-8.01 [[ 9.67112860e-01 2.43724861e-01 7.27386253e-02 9.76417831e+01] [-2.42838154e-01 9.69840989e-01 -2.09305358e-02 -1.62117414e+01] [-7.56461922e-02 2.57847688e-03 9.97131388e-01 -8.01484268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters 0.0215094318873606 Centerline is valid? [True, True] Translation: X:97.70, Y:-16.22, Z:-8.02 [[ 9.63612676e-01 2.56929806e-01 7.37406609e-02 9.77010877e+01] [-2.56057109e-01 9.66428805e-01 -2.12160990e-02 -1.62214546e+01] [-7.67161469e-02 1.56228147e-03 9.97051750e-01 -8.01778187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501052754 meters 0.01961120866162435 Centerline is valid? [True, True] Translation: X:97.76, Y:-16.23, Z:-8.02 [[ 9.60426573e-01 2.69212078e-01 7.14538698e-02 9.77603200e+01] [-2.68426695e-01 9.63080755e-01 -2.05564927e-02 -1.62319093e+01] [-7.43499030e-02 5.62875731e-04 9.97232057e-01 -8.02324597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561052754 meters 0.019360120298925712 Centerline is valid? [True, True] Translation: X:97.82, Y:-16.25, Z:-8.03 [[ 9.58541036e-01 2.76294019e-01 6.97187000e-02 9.78160354e+01] [-2.75565606e-01 9.61073158e-01 -2.00494850e-02 -1.62478171e+01] [-7.25443240e-02 6.17827253e-06 9.97365189e-01 -8.02942117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621052754 meters 0.019702450041393624 Centerline is valid? [True, True] Translation: X:97.87, Y:-16.25, Z:-8.03 [[ 9.55394418e-01 2.87168398e-01 6.89624341e-02 9.78747655e+01] [-2.86485254e-01 9.57879756e-01 -1.98134335e-02 -1.62534486e+01] [-7.17475115e-02 -8.27076676e-04 9.97422483e-01 -8.02967212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.681052754 meters 0.019801919569417296 Centerline is valid? [True, True] Translation: X:97.93, Y:-16.27, Z:-8.03 [[ 9.54772102e-01 2.89068720e-01 6.96384153e-02 9.79318572e+01] [-2.88377770e-01 9.57307840e-01 -1.99990541e-02 -1.62681841e+01] [-7.24465019e-02 -9.87631948e-04 9.97371811e-01 -8.03285404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74105275400001 meters 0.019252732931734136 Centerline is valid? [True, True] Translation: X:97.99, Y:-16.28, Z:-8.04 [[ 9.55099877e-01 2.87119033e-01 7.31223969e-02 9.79875181e+01] [-2.86352968e-01 9.57894487e-01 -2.09792683e-02 -1.62840917e+01] [-7.60670881e-02 -9.01518840e-04 9.97102294e-01 -8.03560652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters 0.017910004623142763 Centerline is valid? [True, True] Translation: X:98.04, Y:-16.30, Z:-8.04 [[ 9.56673343e-01 2.80962304e-01 7.63956771e-02 9.80433694e+01] [-2.80106927e-01 9.59718705e-01 -2.19115586e-02 -1.63018499e+01] [-7.94746823e-02 -4.36754316e-04 9.96836789e-01 -8.03563063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters 0.017759695638406924 Centerline is valid? [True, True] Translation: X:98.09, Y:-16.33, Z:-8.04 [[ 9.59805460e-01 2.69504717e-01 7.83625316e-02 9.80944179e+01] [-2.68568074e-01 9.62998936e-01 -2.24552712e-02 -1.63290527e+01] [-8.15148360e-02 5.07017744e-04 9.96671999e-01 -8.04381969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.921052754 meters 0.01762162618603296 Centerline is valid? [True, True] Translation: X:98.15, Y:-16.35, Z:-8.04 [[ 9.60968027e-01 2.65188663e-01 7.88379567e-02 9.81505567e+01] [-2.64226908e-01 9.64196151e-01 -2.25814772e-02 -1.63462633e+01] [-8.20036061e-02 8.68968136e-04 9.96631654e-01 -8.04451566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.981052754 meters 0.01726413934114726 Centerline is valid? [True, True] Translation: X:98.21, Y:-16.36, Z:-8.05 [[ 9.60708526e-01 2.66084144e-01 7.89832694e-02 9.82074287e+01] [-2.65123455e-01 9.63949494e-01 -2.26036874e-02 -1.63607891e+01] [-8.21503654e-02 7.75237944e-04 9.96619645e-01 -8.04981540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041052754 meters 0.016903605218633395 Centerline is valid? [True, True] Translation: X:98.26, Y:-16.38, Z:-8.06 [[ 9.60090670e-01 2.68388349e-01 7.86994201e-02 9.82619641e+01] [-2.67443851e-01 9.63310637e-01 -2.25034160e-02 -1.63800234e+01] [-8.18516432e-02 5.57643716e-04 9.96644369e-01 -8.06126150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10105275400001 meters 0.016677621639861452 Centerline is valid? [True, True] Translation: X:98.32, Y:-16.40, Z:-8.07 [[ 9.59773019e-01 2.69684670e-01 7.81404531e-02 9.83176734e+01] [-2.68759424e-01 9.62948596e-01 -2.23243059e-02 -1.63950585e+01] [-8.12657627e-02 4.25283337e-04 9.96692377e-01 -8.06674922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16105275400001 meters 0.01612626747377421 Centerline is valid? [True, True] Translation: X:98.37, Y:-16.41, Z:-8.07 [[ 9.59008889e-01 2.72618975e-01 7.73359307e-02 9.83745633e+01] [-2.71724001e-01 9.62122066e-01 -2.20725220e-02 -1.64094063e+01] [-8.04239937e-02 1.53716218e-04 9.96760732e-01 -8.06912186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters 0.016491547636173165 Centerline is valid? [True, True] Translation: X:98.43, Y:-16.42, Z:-8.08 [[ 9.57329487e-01 2.79263462e-01 7.43785748e-02 9.84308794e+01] [-2.78457123e-01 9.60214431e-01 -2.12102945e-02 -1.64226883e+01] [-7.73426412e-02 -4.06003629e-04 9.97004489e-01 -8.07783541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.281052754 meters 0.017339256755730854 Centerline is valid? [True, True] Translation: X:98.49, Y:-16.44, Z:-8.09 [[ 9.55942886e-01 2.84576827e-01 7.20363007e-02 9.84869445e+01] [-2.83836036e-01 9.58652891e-01 -2.05362862e-02 -1.64360318e+01] [-7.49019591e-02 -8.14981407e-04 9.97190570e-01 -8.08714875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.341052754 meters 0.017061227015207233 Centerline is valid? [True, True] Translation: X:98.54, Y:-16.45, Z:-8.09 [[ 9.55750858e-01 2.85143741e-01 7.23418642e-02 9.85437749e+01] [-2.84398668e-01 9.58484373e-01 -2.06180557e-02 -1.64519404e+01] [-7.52176558e-02 -8.68205442e-04 9.97166762e-01 -8.08868986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.401052754 meters 0.016825575966491247 Centerline is valid? [True, True] Translation: X:98.60, Y:-16.47, Z:-8.09 [[ 9.56229358e-01 2.83334554e-01 7.31228119e-02 9.85999116e+01] [-2.82569371e-01 9.59020837e-01 -2.08226824e-02 -1.64679460e+01] [-7.60260857e-02 -7.51006807e-04 9.97105546e-01 -8.09097434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46105275400001 meters 0.0165074900633175 Centerline is valid? [True, True] Translation: X:98.65, Y:-16.49, Z:-8.09 [[ 9.56529153e-01 2.81291538e-01 7.69873347e-02 9.86546841e+01] [-2.80438181e-01 9.59622146e-01 -2.19035200e-02 -1.64875083e+01] [-8.00400262e-02 -6.38832645e-04 9.96791446e-01 -8.09296457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52105275400001 meters 0.01629040153438396 Centerline is valid? [True, True] Translation: X:98.71, Y:-16.51, Z:-8.09 [[ 9.56999397e-01 2.79224696e-01 7.86493673e-02 9.87106908e+01] [-2.78327630e-01 9.60225669e-01 -2.23694963e-02 -1.65062004e+01] [-8.17672572e-02 -4.82697506e-04 9.96651335e-01 -8.09466889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters 0.016366345836260565 Centerline is valid? [True, True] Translation: X:98.77, Y:-16.53, Z:-8.10 [[ 9.57868606e-01 2.77077203e-01 7.56039460e-02 9.87650499e+01] [-2.76243012e-01 9.60847611e-01 -2.14864420e-02 -1.65250672e+01] [-7.85972741e-02 -3.03873549e-04 9.96906403e-01 -8.10320624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.641052754 meters 0.01659881942874338 Centerline is valid? [True, True] Translation: X:98.82, Y:-16.55, Z:-8.11 [[ 9.59443793e-01 2.72313240e-01 7.28910678e-02 9.88170652e+01] [-2.71525627e-01 9.62208655e-01 -2.06963415e-02 -1.65472393e+01] [-7.57723041e-02 6.51834850e-05 9.97125144e-01 -8.11270909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.701052754 meters 0.017323419078600952 Centerline is valid? [True, True] Translation: X:98.87, Y:-16.57, Z:-8.12 [[ 9.61062889e-01 2.67429443e-01 6.95673564e-02 9.88710356e+01] [-2.66700149e-01 9.63577354e-01 -1.97411464e-02 -1.65690405e+01] [-7.23128930e-02 4.18858823e-04 9.97381908e-01 -8.12239772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.761052754 meters 0.017481181252319303 Centerline is valid? [True, True] Translation: X:98.93, Y:-16.58, Z:-8.13 [[ 9.61433618e-01 2.66130748e-01 6.94249486e-02 9.89270476e+01] [-2.65402178e-01 9.63936810e-01 -1.96852583e-02 -1.65848281e+01] [-7.21601161e-02 5.00536505e-04 9.97392935e-01 -8.12600034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82105275400001 meters 0.017370797984285244 Centerline is valid? [True, True] Translation: X:98.98, Y:-16.60, Z:-8.13 [[ 9.60770496e-01 2.68089013e-01 7.10516389e-02 9.89845161e+01] [-2.67332509e-01 9.63394084e-01 -2.01287794e-02 -1.65982305e+01] [-7.38470332e-02 3.44724511e-04 9.97269521e-01 -8.12781293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88105275400001 meters 0.01761764967438653 Centerline is valid? [True, True] Translation: X:99.04, Y:-16.61, Z:-8.13 [[ 9.59296901e-01 2.72819270e-01 7.29321673e-02 9.90423739e+01] [-2.72037194e-01 9.62065302e-01 -2.06426947e-02 -1.66087022e+01] [-7.57972325e-02 -3.77890905e-05 9.97123251e-01 -8.13059081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters 0.018394760574497872 Centerline is valid? [True, True] Translation: X:99.10, Y:-16.62, Z:-8.14 [[ 9.57760752e-01 2.77794648e-01 7.43268125e-02 9.90998524e+01] [-2.76998790e-01 9.60640372e-01 -2.10177802e-02 -1.66177567e+01] [-7.72399636e-02 -4.58432098e-04 9.97012426e-01 -8.13515312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.001052754 meters 0.018682907441123282 Centerline is valid? [True, True] Translation: X:99.16, Y:-16.63, Z:-8.14 [[ 9.57068700e-01 2.79308914e-01 7.74986028e-02 9.91558738e+01] [-2.78449097e-01 9.60201102e-01 -2.19076469e-02 -1.66324173e+01] [-8.05332448e-02 -6.12292785e-04 9.96751735e-01 -8.13614650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.061052754 meters 0.01997134945191596 Centerline is valid? [True, True] Translation: X:99.21, Y:-16.64, Z:-8.14 [[ 9.55364884e-01 2.84881004e-01 7.82352317e-02 9.92133321e+01] [-2.84025207e-01 9.58562243e-01 -2.20931843e-02 -1.66415898e+01] [-8.12872677e-02 -1.11372538e-03 9.96690092e-01 -8.14026642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.121052754 meters 0.021572595496120766 Centerline is valid? [True, True] Translation: X:99.27, Y:-16.65, Z:-8.14 [[ 9.52287607e-01 2.94638695e-01 7.96012118e-02 9.92727064e+01] [-2.93787206e-01 9.55606663e-01 -2.24718350e-02 -1.66512883e+01] [-8.26885205e-02 -1.98616761e-03 9.96573461e-01 -8.14455581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.181052754 meters 0.022036052337487965 Centerline is valid? [True, True] Translation: X:99.33, Y:-16.67, Z:-8.15 [[ 9.52847588e-01 2.93372003e-01 7.75521874e-02 9.93289312e+01] [-2.92559943e-01 9.55996608e-01 -2.18898227e-02 -1.66650209e+01] [-8.05614893e-02 -1.83099874e-03 9.96747959e-01 -8.15111606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24105275400001 meters 0.0216578071191301 Centerline is valid? [True, True] Translation: X:99.38, Y:-16.68, Z:-8.16 [[ 9.54373981e-01 2.89273374e-01 7.41027654e-02 9.93841089e+01] [-2.88520181e-01 9.57245468e-01 -2.09097749e-02 -1.66830811e+01] [-7.69831774e-02 -1.42439820e-03 9.97031374e-01 -8.16040629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters 0.02037907802460919 Centerline is valid? [True, True] Translation: X:99.44, Y:-16.70, Z:-8.17 [[ 9.57343199e-01 2.79590459e-01 7.29600900e-02 9.94404634e+01] [-2.78832593e-01 9.60119142e-01 -2.05820111e-02 -1.67041584e+01] [-7.58049129e-02 -6.39602729e-04 9.97122463e-01 -8.16604340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361052754 meters 0.019940652769276198 Centerline is valid? [True, True] Translation: X:99.50, Y:-16.72, Z:-8.16 [[ 9.58830662e-01 2.72483480e-01 7.99782188e-02 9.94975246e+01] [-2.71547991e-01 9.62160457e-01 -2.25597675e-02 -1.67190189e+01] [-8.30990435e-02 -8.69277862e-05 9.96541289e-01 -8.16295758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421052754 meters 0.020501599822622254 Centerline is valid? [True, True] Translation: X:99.55, Y:-16.74, Z:-8.17 [[ 9.61083657e-01 2.63157910e-01 8.40602108e-02 9.95526594e+01] [-2.62090579e-01 9.64752493e-01 -2.36887092e-02 -1.67396608e+01] [-8.73311691e-02 7.35441949e-04 9.96179063e-01 -8.16764984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481052754 meters 0.021216069570227387 Centerline is valid? [True, True] Translation: X:99.61, Y:-16.76, Z:-8.17 [[ 9.62561236e-01 2.57463940e-01 8.47831702e-02 9.96074383e+01] [-2.56357902e-01 9.66287108e-01 -2.38715603e-02 -1.67578784e+01] [-8.80709502e-02 1.24300294e-03 9.96113429e-01 -8.17206914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541052754 meters 0.022495152245170225 Centerline is valid? [True, True] Translation: X:99.66, Y:-16.78, Z:-8.18 [[ 9.64363266e-01 2.50501148e-01 8.51625828e-02 9.96636927e+01] [-2.49358999e-01 9.68114482e-01 -2.39674597e-02 -1.67765426e+01] [-8.84510059e-02 1.87728138e-03 9.96078760e-01 -8.17512251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60105275400001 meters 0.02250695861213798 Centerline is valid? [True, True] Translation: X:99.72, Y:-16.79, Z:-8.19 [[ 9.64653110e-01 2.50849669e-01 8.07392208e-02 9.97192749e+01] [-2.49824931e-01 9.68024484e-01 -2.27178959e-02 -1.67923252e+01] [-8.38563192e-02 1.74421864e-03 9.96476330e-01 -8.18635426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66105275400001 meters 0.021430414927281354 Centerline is valid? [True, True] Translation: X:99.78, Y:-16.80, Z:-8.19 [[ 9.63352208e-01 2.56199299e-01 7.94634685e-02 9.97770007e+01] [-2.55226523e-01 9.66623186e-01 -2.23391768e-02 -1.68039727e+01] [-8.25345125e-02 1.23931058e-03 9.96587436e-01 -8.19124235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters 0.020408509561357927 Centerline is valid? [True, True] Translation: X:99.84, Y:-16.81, Z:-8.19 [[ 9.60738538e-01 2.65973196e-01 7.89918990e-02 9.98360201e+01] [-2.65045320e-01 9.63980345e-01 -2.22007621e-02 -1.68127494e+01] [-8.20514456e-02 3.92694647e-04 9.96628018e-01 -8.19437270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781052754 meters 0.0206288245027424 Centerline is valid? [True, True] Translation: X:99.89, Y:-16.82, Z:-8.20 [[ 9.58776530e-01 2.73401186e-01 7.74555163e-02 9.98918266e+01] [-2.72534685e-01 9.61900061e-01 -2.17513035e-02 -1.68245834e+01] [-8.04512980e-02 -2.54675422e-04 9.96758508e-01 -8.20235306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841052754 meters 0.021093851188194946 Centerline is valid? [True, True] Translation: X:99.95, Y:-16.84, Z:-8.21 [[ 9.58164846e-01 2.76488973e-01 7.39863178e-02 9.99482870e+01] [-2.75709204e-01 9.61016955e-01 -2.07568628e-02 -1.68395431e+01] [-7.68411495e-02 -5.10212602e-04 9.97043217e-01 -8.21161236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901052754 meters 0.021642924412176454 Centerline is valid? [True, True] Translation: X:100.01, Y:-16.85, Z:-8.21 [[ 9.56544349e-01 2.81734907e-01 7.51555049e-02 1.00005792e+02] [-2.80947911e-01 9.59491799e-01 -2.10656030e-02 -1.68509243e+01] [-7.80460063e-02 -9.64598604e-04 9.96949292e-01 -8.21299585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96105275400001 meters 0.021853655334561083 Centerline is valid? [True, True] Translation: X:100.06, Y:-16.87, Z:-8.22 [[ 9.55971511e-01 2.83300486e-01 7.65460919e-02 1.00062442e+02] [-2.82489591e-01 9.59030543e-01 -2.14487463e-02 -1.68660945e+01] [-7.94864803e-02 -1.11908379e-03 9.96835316e-01 -8.21612295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02105275400001 meters 0.022883747011872384 Centerline is valid? [True, True] Translation: X:100.12, Y:-16.88, Z:-8.22 [[ 9.52780912e-01 2.93005931e-01 7.97248922e-02 1.00121849e+02] [-2.92161656e-01 9.56108474e-01 -2.23193132e-02 -1.68765245e+01] [-8.27653362e-02 -2.02714101e-03 9.96567002e-01 -8.21799763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters 0.024179339452044757 Centerline is valid? [True, True] Translation: X:100.18, Y:-16.89, Z:-8.22 [[ 9.50968674e-01 2.97938265e-01 8.30142841e-02 1.00180739e+02] [-2.97041728e-01 9.54581706e-01 -2.32374380e-02 -1.68883100e+01] [-8.61672389e-02 -2.56063084e-03 9.96277396e-01 -8.21834277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141052754 meters 0.025430550577185823 Centerline is valid? [True, True] Translation: X:100.24, Y:-16.90, Z:-8.22 [[ 9.49796976e-01 3.01003990e-01 8.53364127e-02 1.00238152e+02] [-3.00069116e-01 9.53618405e-01 -2.38843559e-02 -1.69016624e+01] [-8.85676602e-02 -2.92153298e-03 9.96065878e-01 -8.22118942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.201052754 meters 0.02381796329039644 Centerline is valid? [True, True] Translation: X:100.29, Y:-16.92, Z:-8.22 [[ 9.51876876e-01 2.93971672e-01 8.66664272e-02 1.00293902e+02] [-2.92978676e-01 9.55811350e-01 -2.42519970e-02 -1.69208872e+01] [-8.99661549e-02 -2.30649995e-03 9.95942152e-01 -8.22468956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.261052754 meters 0.021044096857051258 Centerline is valid? [True, True] Translation: X:100.35, Y:-16.95, Z:-8.23 [[ 9.55817882e-01 2.81258302e-01 8.54748129e-02 1.00348339e+02] [-2.80241892e-01 9.59631475e-01 -2.39147293e-02 -1.69452573e+01] [-8.87505369e-02 -1.09549736e-03 9.96053283e-01 -8.23087100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32105275400001 meters 0.02019751695715063 Centerline is valid? [True, True] Translation: X:100.40, Y:-16.97, Z:-8.24 [[ 9.60085139e-01 2.67036659e-01 8.32342948e-02 1.00401942e+02] [-2.66019591e-01 9.63686348e-01 -2.32851918e-02 -1.69703033e+01] [-8.64297534e-02 2.13813545e-04 9.96257924e-01 -8.23945926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38105275400001 meters 0.02182074507161387 Centerline is valid? [True, True] Translation: X:100.46, Y:-17.00, Z:-8.25 [[ 9.64027065e-01 2.53267737e-01 8.06676591e-02 1.00456205e+02] [-2.52264700e-01 9.67395210e-01 -2.25616722e-02 -1.69952716e+01] [-8.37516506e-02 1.40045977e-03 9.96485675e-01 -8.24782886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters 0.02123063042768824 Centerline is valid? [True, True] Translation: X:100.51, Y:-17.01, Z:-8.25 [[ 9.64048928e-01 2.53341735e-01 8.01725017e-02 1.00512289e+02] [-2.52351535e-01 9.67375860e-01 -2.24198109e-02 -1.70092047e+01] [-8.32368166e-02 1.38214080e-03 9.96528837e-01 -8.25189350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.501052754 meters 0.02086405271030142 Centerline is valid? [True, True] Translation: X:100.57, Y:-17.02, Z:-8.25 [[ 9.62658008e-01 2.57501277e-01 8.35622667e-02 1.00568633e+02] [-2.56443162e-01 9.66277396e-01 -2.33430788e-02 -1.70226738e+01] [-8.67552020e-02 1.04242983e-03 9.96229114e-01 -8.25236569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.561052754 meters 0.02021283646269454 Centerline is valid? [True, True] Translation: X:100.63, Y:-17.04, Z:-8.26 [[ 9.61714502e-01 2.61333007e-01 8.25243976e-02 1.00625017e+02] [-2.60315830e-01 9.65248464e-01 -2.30449991e-02 -1.70364613e+01] [-8.56789669e-02 6.80302761e-04 9.96322564e-01 -8.25869762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.621052754 meters 0.019674376498731293 Centerline is valid? [True, True] Translation: X:100.68, Y:-17.05, Z:-8.26 [[ 9.60062228e-01 2.67195292e-01 8.29891156e-02 1.00680563e+02] [-2.66190173e-01 9.63642390e-01 -2.31545940e-02 -1.70506550e+01] [-8.61586283e-02 1.38964071e-04 9.96281422e-01 -8.26397763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.681052754 meters 0.019635891349590515 Centerline is valid? [True, True] Translation: X:100.74, Y:-17.06, Z:-8.27 [[ 9.57871325e-01 2.74854674e-01 8.32912555e-02 1.00737433e+02] [-2.73871689e-01 9.61485619e-01 -2.32314764e-02 -1.70608604e+01] [-8.64686242e-02 -5.58351803e-04 9.96254418e-01 -8.26678213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74105275400001 meters 0.020635834894888117 Centerline is valid? [True, True] Translation: X:100.79, Y:-17.07, Z:-8.27 [[ 9.56263498e-01 2.81917710e-01 7.79905604e-02 1.00793418e+02] [-2.81079962e-01 9.59437928e-01 -2.17466732e-02 -1.70748993e+01] [-8.09578740e-02 -1.12603406e-03 9.96716888e-01 -8.27398989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters 0.021651865405604556 Centerline is valid? [True, True] Translation: X:100.85, Y:-17.09, Z:-8.28 [[ 9.55421936e-01 2.85437287e-01 7.54617812e-02 1.00849621e+02] [-2.84664720e-01 9.58396386e-01 -2.10324474e-02 -1.70910296e+01] [-7.83257431e-02 -1.38644524e-03 9.96926856e-01 -8.28115230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861052754 meters 0.02348641718301414 Centerline is valid? [True, True] Translation: X:100.91, Y:-17.10, Z:-8.29 [[ 9.52758021e-01 2.94644241e-01 7.37355071e-02 1.00907572e+02] [-2.93935467e-01 9.55604687e-01 -2.05334528e-02 -1.71045679e+01] [-7.65120599e-02 -2.11006891e-03 9.97066423e-01 -8.28795660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921052754 meters 0.02710102338013913 Centerline is valid? [True, True] Translation: X:100.97, Y:-17.11, Z:-8.28 [[ 9.51193787e-01 2.99425345e-01 7.46648644e-02 1.00966918e+02] [-2.98713418e-01 9.54116382e-01 -2.07899691e-02 -1.71102122e+01] [-7.74640139e-02 -2.52810742e-03 9.96991943e-01 -8.28474145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.981052754 meters 0.024279585660706218 Centerline is valid? [True, True] Translation: X:101.02, Y:-17.13, Z:-8.29 [[ 9.51146479e-01 2.98664341e-01 7.82303457e-02 1.01022221e+02] [-2.97880591e-01 9.54354706e-01 -2.17772786e-02 -1.71317430e+01] [-8.11635951e-02 -2.58991973e-03 9.96697428e-01 -8.28651268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.041052754 meters 0.0226599084634765 Centerline is valid? [True, True] Translation: X:101.08, Y:-17.15, Z:-8.29 [[ 9.53369100e-01 2.90959133e-01 8.01881641e-02 1.01076829e+02] [-2.90109995e-01 9.56733390e-01 -2.23027063e-02 -1.71533550e+01] [-8.32078702e-02 -2.00067679e-03 9.96530204e-01 -8.29129289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10105275400001 meters 0.02094452033521524 Centerline is valid? [True, True] Translation: X:101.13, Y:-17.17, Z:-8.30 [[ 9.55516940e-01 2.83913108e-01 7.98794352e-02 1.01131560e+02] [-2.83046186e-01 9.58849013e-01 -2.22132044e-02 -1.71745189e+01] [-8.28989375e-02 -1.38447638e-03 9.96556998e-01 -8.29570398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16105275400001 meters 0.020157744536577538 Centerline is valid? [True, True] Translation: X:101.19, Y:-17.19, Z:-8.30 [[ 9.56528362e-01 2.80799887e-01 7.87712911e-02 1.01186904e+02] [-2.79946638e-01 9.59765705e-01 -2.19014007e-02 -1.71923701e+01] [-8.17518946e-02 -1.10244717e-03 9.96652102e-01 -8.30035063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters 0.019484380142131167 Centerline is valid? [True, True] Translation: X:101.24, Y:-17.22, Z:-8.31 [[ 9.58107116e-01 2.76014917e-01 7.64625379e-02 1.01241116e+02] [-2.75197169e-01 9.61153104e-01 -2.12421509e-02 -1.72157179e+01] [-7.93553561e-02 -6.90017992e-04 9.96846152e-01 -8.30906006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.281052754 meters 0.019666522629443395 Centerline is valid? [True, True] Translation: X:101.29, Y:-17.24, Z:-8.32 [[ 9.60683712e-01 2.68113846e-01 7.21232980e-02 1.01294669e+02] [-2.67365401e-01 9.63387234e-01 -2.00194758e-02 -1.72395156e+01] [-7.48501632e-02 -5.08902094e-05 9.97194791e-01 -8.32057016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.341052754 meters 0.0203300883233394 Centerline is valid? [True, True] Translation: X:101.35, Y:-17.26, Z:-8.33 [[ 9.62633665e-01 2.62651738e-01 6.59582597e-02 1.01348459e+02] [-2.62014117e-01 9.64890645e-01 -1.82933237e-02 -1.72611084e+01] [-6.84472810e-02 3.27774118e-04 9.97654681e-01 -8.33451078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.401052754 meters 0.02076602569857613 Centerline is valid? [True, True] Translation: X:101.40, Y:-17.28, Z:-8.34 [[ 9.63973168e-01 2.57993812e-01 6.47682285e-02 1.01404598e+02] [-2.57369704e-01 9.66146364e-01 -1.79454430e-02 -1.72769186e+01] [-6.72054017e-02 6.29545776e-04 9.97738963e-01 -8.33713663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46105275400001 meters 0.021426113652088085 Centerline is valid? [True, True] Translation: X:101.46, Y:-17.29, Z:-8.34 [[ 9.64752618e-01 2.54380471e-01 6.74015017e-02 1.01460179e+02] [-2.53696135e-01 9.67103792e-01 -1.86688407e-02 -1.72936186e+01] [-6.99332364e-02 9.11312431e-04 9.97551258e-01 -8.34127164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52105275400001 meters 0.021978726902367966 Centerline is valid? [True, True] Translation: X:101.52, Y:-17.31, Z:-8.34 [[ 9.66233090e-01 2.48377569e-01 6.85725797e-02 1.01516703e+02] [-2.47654534e-01 9.68662337e-01 -1.89870375e-02 -1.73107083e+01] [-7.11396296e-02 1.36359359e-03 9.97465435e-01 -8.34487641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters 0.022988299028582345 Centerline is valid? [True, True] Translation: X:101.57, Y:-17.33, Z:-8.35 [[ 9.66177410e-01 2.48566328e-01 6.86730869e-02 1.01572074e+02] [-2.47842005e-01 9.68613941e-01 -1.90098416e-02 -1.73255874e+01] [-7.12429159e-02 1.34680395e-03 9.97458086e-01 -8.35037973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.641052754 meters 0.02119230362308932 Centerline is valid? [True, True] Translation: X:101.63, Y:-17.33, Z:-8.36 [[ 9.63715042e-01 2.57319233e-01 7.09938777e-02 1.01632652e+02] [-2.56569236e-01 9.66326186e-01 -1.96450899e-02 -1.73316227e+01] [-7.36583025e-02 7.17423677e-04 9.97283280e-01 -8.35523904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.701052754 meters 0.020814700453849307 Centerline is valid? [True, True] Translation: X:101.69, Y:-17.34, Z:-8.36 [[ 9.62426808e-01 2.62209321e-01 7.05755743e-02 1.01689490e+02] [-2.61481314e-01 9.65010962e-01 -1.95286074e-02 -1.73429729e+01] [-7.32267857e-02 3.40661448e-04 9.97315257e-01 -8.36139238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.761052754 meters 0.020781365828782913 Centerline is valid? [True, True] Translation: X:101.75, Y:-17.35, Z:-8.37 [[ 9.60976359e-01 2.67612994e-01 7.00551426e-02 1.01746412e+02] [-2.66910349e-01 9.63526481e-01 -1.93800220e-02 -1.73541200e+01] [-7.26863307e-02 -7.46995596e-05 9.97354847e-01 -8.36669272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82105275400001 meters 0.021070713891887104 Centerline is valid? [True, True] Translation: X:101.80, Y:-17.36, Z:-8.37 [[ 9.58273054e-01 2.77064292e-01 7.03429690e-02 1.01803917e+02] [-2.76382819e-01 9.60851036e-01 -1.94376774e-02 -1.73639583e+01] [-7.29746010e-02 -8.14985629e-04 9.97333467e-01 -8.37084459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88105275400001 meters 0.021738493332683077 Centerline is valid? [True, True] Translation: X:101.86, Y:-17.38, Z:-8.37 [[ 9.56338768e-01 2.83438693e-01 7.12647776e-02 1.01862071e+02] [-2.82757362e-01 9.58989444e-01 -1.96855636e-02 -1.73758233e+01] [-7.39218198e-02 -1.32457284e-03 9.97263160e-01 -8.37440699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters 0.022674408479748758 Centerline is valid? [True, True] Translation: X:101.92, Y:-17.39, Z:-8.38 [[ 9.53466763e-01 2.92497731e-01 7.31177701e-02 1.01920767e+02] [-2.91807409e-01 9.56263945e-01 -2.01916485e-02 -1.73875229e+01] [-7.58258987e-02 -2.08424136e-03 9.97118894e-01 -8.37761253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.001052754 meters 0.02668498449444801 Centerline is valid? [True, True] Translation: X:101.98, Y:-17.39, Z:-8.38 [[ 9.50083891e-01 3.02562693e-01 7.61342056e-02 1.01979315e+02] [-3.01846487e-01 9.53124739e-01 -2.10221296e-02 -1.73941875e+01] [-7.89259070e-02 -3.00805583e-03 9.96875947e-01 -8.38226025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061052754 meters 0.02686288147136549 Centerline is valid? [True, True] Translation: X:102.04, Y:-17.41, Z:-8.38 [[ 9.47894617e-01 3.08439923e-01 7.97534315e-02 1.02036531e+02] [-3.07674981e-01 9.51236752e-01 -2.20170057e-02 -1.74097229e+01] [-8.26553187e-02 -3.66833436e-03 9.96571443e-01 -8.38476565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.121052754 meters 0.03033828660758664 Centerline is valid? [True, True] Translation: X:102.10, Y:-17.42, Z:-8.39 [[ 9.46018453e-01 3.14006974e-01 8.03038425e-02 1.02095444e+02] [-3.13251580e-01 9.49411450e-01 -2.21663410e-02 -1.74155166e+01] [-8.32017732e-02 -4.18553785e-03 9.96523932e-01 -8.38740859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.181052754 meters 0.02826827819906176 Centerline is valid? [True, True] Translation: X:102.15, Y:-17.43, Z:-8.39 [[ 9.45247811e-01 3.16370314e-01 8.01024353e-02 1.02150962e+02] [-3.15627462e-01 9.48625631e-01 -2.21069534e-02 -1.74345763e+01] [-8.29812070e-02 -4.38597913e-03 9.96541460e-01 -8.39430871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24105275400001 meters 0.027464834071012988 Centerline is valid? [True, True] Translation: X:102.21, Y:-17.45, Z:-8.40 [[ 9.47042463e-01 3.11388323e-01 7.84084493e-02 1.02208227e+02] [-3.10659895e-01 9.50274878e-01 -2.16352845e-02 -1.74501061e+01] [-8.12465546e-02 -3.86882748e-03 9.96686525e-01 -8.39972069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters 0.024194081089152587 Centerline is valid? [True, True] Translation: X:102.26, Y:-17.47, Z:-8.41 [[ 9.50498593e-01 3.00861805e-01 7.76826858e-02 1.02263448e+02] [-3.00112070e-01 9.53663203e-01 -2.14298977e-02 -1.74720800e+01] [-8.05305566e-02 -2.94442404e-03 9.96747791e-01 -8.40704110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361052754 meters 0.022371631303474505 Centerline is valid? [True, True] Translation: X:102.32, Y:-17.49, Z:-8.41 [[ 9.52962660e-01 2.92921590e-01 7.78402848e-02 1.02319666e+02] [-2.92143407e-01 9.56133724e-01 -2.14599960e-02 -1.74894597e+01] [-8.07118175e-02 -2.28995112e-03 9.96734849e-01 -8.41102844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421052754 meters 0.019909788298303442 Centerline is valid? [True, True] Translation: X:102.38, Y:-17.51, Z:-8.41 [[ 9.55284986e-01 2.84820178e-01 7.94233095e-02 1.02376277e+02] [-2.83982298e-01 9.58579560e-01 -2.18925011e-02 -1.75086740e+01] [-8.23689871e-02 -1.64123632e-03 9.96600550e-01 -8.41367889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.481052754 meters 0.018915693108303277 Centerline is valid? [True, True] Translation: X:102.43, Y:-17.53, Z:-8.42 [[ 9.56535478e-01 2.80698299e-01 7.90464664e-02 1.02432365e+02] [-2.79854474e-01 9.59795198e-01 -2.17865076e-02 -1.75254569e+01] [-8.19838544e-02 -1.28193975e-03 9.96632833e-01 -8.42010082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541052754 meters 0.018207104364230373 Centerline is valid? [True, True] Translation: X:102.49, Y:-17.55, Z:-8.43 [[ 9.58675222e-01 2.73523947e-01 7.82717599e-02 1.02487667e+02] [-2.72674253e-01 9.61864953e-01 -2.15537269e-02 -1.75450459e+01] [-8.11823231e-02 -6.79669680e-04 9.96699036e-01 -8.42594182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60105275400001 meters 0.017997165818145897 Centerline is valid? [True, True] Translation: X:102.54, Y:-17.56, Z:-8.43 [[ 9.59102558e-01 2.72234093e-01 7.75298776e-02 1.02543273e+02] [-2.71396696e-01 9.62230883e-01 -2.13438621e-02 -1.75605464e+01] [-8.04121696e-02 -5.70399843e-04 9.96761535e-01 -8.43125245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66105275400001 meters 0.018375472571801676 Centerline is valid? [True, True] Translation: X:102.60, Y:-17.57, Z:-8.43 [[ 9.57766420e-01 2.76712833e-01 7.81888297e-02 1.02600558e+02] [-2.75876570e-01 9.60952176e-01 -2.15182124e-02 -1.75716256e+01] [-8.10900915e-02 -9.61044902e-04 9.96706313e-01 -8.43381510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters 0.018559099371090217 Centerline is valid? [True, True] Translation: X:102.66, Y:-17.59, Z:-8.44 [[ 9.56786219e-01 2.80056161e-01 7.82858751e-02 1.02657270e+02] [-2.79229827e-01 9.59982796e-01 -2.15344873e-02 -1.75853428e+01] [-8.11839591e-02 -1.25585069e-03 9.96698343e-01 -8.43849862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781052754 meters 0.01834480971180622 Centerline is valid? [True, True] Translation: X:102.71, Y:-17.60, Z:-8.44 [[ 9.57178533e-01 2.78364279e-01 7.95146783e-02 1.02712705e+02] [-2.77507633e-01 9.60474886e-01 -2.18519396e-02 -1.76041300e+01] [-8.24546510e-02 -1.14972265e-03 9.96594154e-01 -8.44333177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841052754 meters 0.017931826337321665 Centerline is valid? [True, True] Translation: X:102.77, Y:-17.62, Z:-8.45 [[ 9.58078838e-01 2.76012438e-01 7.68249615e-02 1.02769183e+02] [-2.75206787e-01 9.61153611e-01 -2.10940932e-02 -1.76187698e+01] [-7.96628212e-02 -9.32946538e-04 9.96821431e-01 -8.44900038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.901052754 meters 0.017518010922983888 Centerline is valid? [True, True] Translation: X:102.83, Y:-17.63, Z:-8.45 [[ 9.58558870e-01 2.74149247e-01 7.75053687e-02 1.02826702e+02] [-2.73324737e-01 9.61686822e-01 -2.12613310e-02 -1.76326472e+01] [-8.03646697e-02 -8.03897097e-04 9.96765205e-01 -8.45205102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96105275400001 meters 0.017261191291320817 Centerline is valid? [True, True] Translation: X:102.88, Y:-17.65, Z:-8.46 [[ 9.59001368e-01 2.71743455e-01 8.04479391e-02 1.02882434e+02] [-2.70848220e-01 9.62369513e-01 -2.20490710e-02 -1.76491942e+01] [-8.34123347e-02 -6.44091918e-04 9.96514911e-01 -8.45628350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02105275400001 meters 0.016852347877718644 Centerline is valid? [True, True] Translation: X:102.94, Y:-17.66, Z:-8.46 [[ 9.58958299e-01 2.71548239e-01 8.16120949e-02 1.02939213e+02] [-2.70627932e-01 9.62424606e-01 -2.23472428e-02 -1.76622635e+01] [-8.46138428e-02 -6.56438528e-04 9.96413602e-01 -8.45739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters 0.017453068010856877 Centerline is valid? [True, True] Translation: X:103.00, Y:-17.68, Z:-8.46 [[ 9.57324721e-01 2.77004266e-01 8.24500825e-02 1.02995193e+02] [-2.76087078e-01 9.60867973e-01 -2.25535626e-02 -1.76773203e+01] [-8.54710768e-02 -1.17231935e-03 9.96339962e-01 -8.46263262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141052754 meters 0.018610748745398 Centerline is valid? [True, True] Translation: X:103.05, Y:-17.69, Z:-8.47 [[ 9.55200520e-01 2.83446993e-01 8.51455682e-02 1.03053319e+02] [-2.82495244e-01 9.58986184e-01 -2.32795047e-02 -1.76914724e+01] [-8.82519292e-02 -1.81662307e-03 9.96096530e-01 -8.46555357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201052754 meters 0.020878134881841766 Centerline is valid? [True, True] Translation: X:103.11, Y:-17.70, Z:-8.47 [[ 9.52927585e-01 2.91534302e-01 8.32872686e-02 1.03112872e+02] [-2.90654692e-01 9.56557079e-01 -2.27685135e-02 -1.76993906e+01] [-8.63068290e-02 -2.51109083e-03 9.96265439e-01 -8.47014515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261052754 meters 0.022181018581600497 Centerline is valid? [True, True] Translation: X:103.17, Y:-17.72, Z:-8.48 [[ 9.52056241e-01 2.93864092e-01 8.50459216e-02 1.03169023e+02] [-2.92956410e-01 9.55843162e-01 -2.32463156e-02 -1.77166093e+01] [-8.81218200e-02 -2.78294805e-03 9.96105818e-01 -8.47759365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32105275400001 meters 0.020295773048223654 Centerline is valid? [True, True] Translation: X:103.22, Y:-17.73, Z:-8.48 [[ 9.52777851e-01 2.91919240e-01 8.36512068e-02 1.03224736e+02] [-2.91034244e-01 9.56439528e-01 -2.28582345e-02 -1.77335563e+01] [-8.66800792e-02 -2.56654621e-03 9.96232893e-01 -8.48345995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38105275400001 meters 0.018230411544217208 Centerline is valid? [True, True] Translation: X:103.28, Y:-17.75, Z:-8.49 [[ 9.56397879e-01 2.80698552e-01 8.06933648e-02 1.03279260e+02] [-2.79836766e-01 9.59794790e-01 -2.20305407e-02 -1.77547300e+01] [-8.36330120e-02 -1.51100785e-03 9.96495477e-01 -8.48882783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters 0.01725219349211274 Centerline is valid? [True, True] Translation: X:103.33, Y:-17.77, Z:-8.50 [[ 9.58696889e-01 2.73007579e-01 7.97943383e-02 1.03334963e+02] [-2.72138587e-01 9.62011521e-01 -2.17812409e-02 -1.77747758e+01] [-8.27095166e-02 -8.33510532e-04 9.96573350e-01 -8.49848144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501052754 meters 0.01684124145137886 Centerline is valid? [True, True] Translation: X:103.39, Y:-17.79, Z:-8.50 [[ 9.59072326e-01 2.70891053e-01 8.24518720e-02 1.03391342e+02] [-2.69955697e-01 9.62609775e-01 -2.25020653e-02 -1.77881207e+01] [-8.54645861e-02 -6.77244521e-04 9.96340979e-01 -8.49593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561052754 meters 0.01667106837125811 Centerline is valid? [True, True] Translation: X:103.45, Y:-17.80, Z:-8.50 [[ 9.59160318e-01 2.70005343e-01 8.43125073e-02 1.03447776e+02] [-2.69025983e-01 9.62858614e-01 -2.29849992e-02 -1.78032052e+01] [-8.73870965e-02 -6.35956032e-04 9.96174227e-01 -8.49691500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.621052754 meters 0.017164908935059474 Centerline is valid? [True, True] Translation: X:103.50, Y:-17.82, Z:-8.50 [[ 9.57782307e-01 2.74378514e-01 8.58456895e-02 1.03503824e+02] [-2.73382863e-01 9.61621168e-01 -2.33782022e-02 -1.78189446e+01] [-8.89655085e-02 -1.07751190e-03 9.96034125e-01 -8.50214553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.681052754 meters 0.017526562830794252 Centerline is valid? [True, True] Translation: X:103.56, Y:-17.83, Z:-8.51 [[ 9.57091444e-01 2.77014665e-01 8.50813931e-02 1.03560091e+02] [-2.76048999e-01 9.60864768e-01 -2.31483750e-02 -1.78344813e+01] [-8.81641524e-02 -1.33152176e-03 9.96105069e-01 -8.50724926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74105275400001 meters 0.018072070231253075 Centerline is valid? [True, True] Translation: X:103.62, Y:-17.85, Z:-8.51 [[ 9.56388321e-01 2.80539777e-01 8.13560831e-02 1.03617172e+02] [-2.79671337e-01 9.59841063e-01 -2.21150937e-02 -1.78462509e+01] [-8.42930728e-02 -1.60234719e-03 9.96439717e-01 -8.50914615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80105275400001 meters 0.017696096444202482 Centerline is valid? [True, True] Translation: X:103.67, Y:-17.86, Z:-8.52 [[ 9.56908649e-01 2.79113234e-01 8.01351330e-02 1.03673429e+02] [-2.78266332e-01 9.60257084e-01 -2.17757117e-02 -1.78633312e+01] [-8.30282184e-02 -1.46154270e-03 9.96546125e-01 -8.51557750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861052754 meters 0.017107889120066052 Centerline is valid? [True, True] Translation: X:103.73, Y:-17.89, Z:-8.53 [[ 9.59609012e-01 2.70812398e-01 7.62311623e-02 1.03728637e+02] [-2.70021428e-01 9.62631872e-01 -2.06956048e-02 -1.78854590e+01] [-7.89871728e-02 -7.24358449e-04 9.96875369e-01 -8.52592934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921052754 meters 0.017363728050340324 Centerline is valid? [True, True] Translation: X:103.78, Y:-17.91, Z:-8.53 [[ 9.64339889e-01 2.53484525e-01 7.61194716e-02 1.03781589e+02] [-2.52641900e-01 9.67339192e-01 -2.06629563e-02 -1.79094862e+01] [-7.88710878e-02 6.95145091e-04 9.96884581e-01 -8.52959001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981052754 meters 0.017420496935213265 Centerline is valid? [True, True] Translation: X:103.84, Y:-17.93, Z:-8.53 [[ 9.64481079e-01 2.52796057e-01 7.66185504e-02 1.03836707e+02] [-2.51941956e-01 9.67519309e-01 -2.07758697e-02 -1.79254362e+01] [-7.93819849e-02 7.34505794e-04 9.96844000e-01 -8.53228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041052754 meters 0.017085786147857225 Centerline is valid? [True, True] Translation: X:103.90, Y:-17.94, Z:-8.53 [[ 9.62553006e-01 2.59657984e-01 7.79066264e-02 1.03895144e+02] [-2.58799142e-01 9.65700631e-01 -2.11020173e-02 -1.79362802e+01] [-8.07137856e-02 1.49642046e-04 9.96737309e-01 -8.53398234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10105275400001 meters 0.017337548987370686 Centerline is valid? [True, True] Translation: X:103.95, Y:-17.95, Z:-8.54 [[ 9.61089862e-01 2.65784926e-01 7.52638670e-02 1.03952030e+02] [-2.65003513e-01 9.64032280e-01 -2.03691227e-02 -1.79488935e+01] [-7.79706031e-02 -3.68631771e-04 9.96955590e-01 -8.53902604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16105275400001 meters 0.01780599367777419 Centerline is valid? [True, True] Translation: X:104.01, Y:-17.97, Z:-8.55 [[ 9.62290741e-01 2.62480776e-01 7.14168926e-02 1.04005840e+02] [-2.61769608e-01 9.64937215e-01 -1.93091418e-02 -1.79692569e+01] [-7.39810960e-02 -1.13763674e-04 9.97259637e-01 -8.54759838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters 0.01844250538080422 Centerline is valid? [True, True] Translation: X:104.06, Y:-17.99, Z:-8.55 [[ 9.65251637e-01 2.52273944e-01 6.81698870e-02 1.04059885e+02] [-2.51600947e-01 9.67655649e-01 -1.84257568e-02 -1.79915266e+01] [-7.06133146e-02 6.33883823e-04 9.97503563e-01 -8.55340463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.281052754 meters 0.020384549098654205 Centerline is valid? [True, True] Translation: X:104.11, Y:-18.01, Z:-8.56 [[ 9.68068093e-01 2.41194568e-01 6.83326221e-02 1.04114503e+02] [-2.40491443e-01 9.70475717e-01 -1.84593951e-02 -1.80142615e+01] [-7.07674562e-02 1.43654053e-03 9.97491806e-01 -8.55688116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.341052754 meters 0.022379836327455938 Centerline is valid? [True, True] Translation: X:104.17, Y:-18.04, Z:-8.57 [[ 9.70651466e-01 2.31334059e-01 6.57288678e-02 1.04170131e+02] [-2.30661151e-01 9.72872173e-01 -1.77530053e-02 -1.80358797e+01] [-6.80526612e-02 2.07088437e-03 9.97679581e-01 -8.56514835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.401052754 meters 0.024383499864141706 Centerline is valid? [True, True] Translation: X:104.23, Y:-18.06, Z:-8.57 [[ 9.72349114e-01 2.24877740e-01 6.29857300e-02 1.04226554e+02] [-2.24246528e-01 9.74383995e-01 -1.70095335e-02 -1.80550660e+01] [-6.51973527e-02 2.41487356e-03 9.97869467e-01 -8.56942014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46105275400001 meters 0.02616945843000018 Centerline is valid? [True, True] Translation: X:104.28, Y:-18.07, Z:-8.57 [[ 9.73046498e-01 2.21991733e-01 6.24514448e-02 1.04281693e+02] [-2.21365288e-01 9.75045119e-01 -1.68648988e-02 -1.80724529e+01] [-6.46368446e-02 2.58574860e-03 9.97905503e-01 -8.57416096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52105275400001 meters 0.029079943475422407 Centerline is valid? [True, True] Translation: X:104.34, Y:-18.09, Z:-8.58 [[ 9.73030327e-01 2.21749274e-01 6.35550274e-02 1.04335069e+02] [-2.21100309e-01 9.75100136e-01 -1.71574282e-02 -1.80933106e+01] [-6.57771631e-02 2.64266177e-03 9.97830838e-01 -8.58130156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters 0.024596552911459204 Centerline is valid? [True, True] Translation: X:104.40, Y:-18.10, Z:-8.58 [[ 9.71776935e-01 2.26768382e-01 6.50053083e-02 1.04395965e+02] [-2.26101078e-01 9.73945883e-01 -1.75419353e-02 -1.80993139e+01] [-6.72896086e-02 2.34907779e-03 9.97730720e-01 -8.57969284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.641052754 meters 0.023510032798554827 Centerline is valid? [True, True] Translation: X:104.45, Y:-18.11, Z:-8.58 [[ 9.70517769e-01 2.31781454e-01 6.61257697e-02 1.04454048e+02] [-2.31102578e-01 9.72765755e-01 -1.78433100e-02 -1.81126685e+01] [-6.84606327e-02 2.03541359e-03 9.97651742e-01 -8.58159099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.701052754 meters 0.022201361739806934 Centerline is valid? [True, True] Translation: X:104.51, Y:-18.13, Z:-8.59 [[ 9.68939263e-01 2.38607952e-01 6.49842246e-02 1.04512157e+02] [-2.37967814e-01 9.71114784e-01 -1.75327328e-02 -1.81267640e+01] [-6.72905907e-02 1.52399936e-03 9.97732256e-01 -8.58962600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761052754 meters 0.02065917376300339 Centerline is valid? [True, True] Translation: X:104.57, Y:-18.13, Z:-8.60 [[ 9.66307193e-01 2.49378402e-01 6.37245727e-02 1.04570441e+02] [-2.48786254e-01 9.68405822e-01 -1.71919604e-02 -1.81333461e+01] [-6.59985509e-02 7.58917312e-04 9.97819430e-01 -8.59761392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82105275400001 meters 0.020297939031477388 Centerline is valid? [True, True] Translation: X:104.63, Y:-18.14, Z:-8.60 [[ 9.64847944e-01 2.54733175e-01 6.46487028e-02 1.04627849e+02] [-2.54135636e-01 9.67011298e-01 -1.74421476e-02 -1.81441481e+01] [-6.69591197e-02 3.99481041e-04 9.97755640e-01 -8.60142849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88105275400001 meters 0.020519944206603233 Centerline is valid? [True, True] Translation: X:104.68, Y:-18.15, Z:-8.60 [[ 9.65071887e-01 2.54240252e-01 6.32309053e-02 1.04684902e+02] [-2.53668739e-01 9.67141008e-01 -1.70423682e-02 -1.81542383e+01] [-6.54860574e-02 4.07406391e-04 9.97853401e-01 -8.60438704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters 0.021737300587519517 Centerline is valid? [True, True] Translation: X:104.74, Y:-18.17, Z:-8.61 [[ 9.66635693e-01 2.47757718e-01 6.50503734e-02 1.04740064e+02] [-2.47138368e-01 9.68821635e-01 -1.75290268e-02 -1.81725578e+01] [-6.73651608e-02 8.67739811e-04 9.97728010e-01 -8.61186805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001052754 meters 0.024149675850814213 Centerline is valid? [True, True] Translation: X:104.80, Y:-18.19, Z:-8.61 [[ 9.68610864e-01 2.38955340e-01 6.85079472e-02 1.04795970e+02] [-2.38247618e-01 9.71029335e-01 -1.84418593e-02 -1.81934757e+01] [-7.09300072e-02 1.54113003e-03 9.97480105e-01 -8.61336812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061052754 meters 0.026813781995399702 Centerline is valid? [True, True] Translation: X:104.85, Y:-18.21, Z:-8.61 [[ 9.69837229e-01 2.33206355e-01 7.09263426e-02 1.04852649e+02] [-2.32432601e-01 9.72425156e-01 -1.90893367e-02 -1.82090796e+01] [-7.34223144e-02 2.02795515e-03 9.97298878e-01 -8.61081762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121052754 meters 0.029604371703428164 Centerline is valid? [True, True] Translation: X:104.91, Y:-18.23, Z:-8.62 [[ 9.71022156e-01 2.28030196e-01 7.15416119e-02 1.04908668e+02] [-2.27229273e-01 9.73651014e-01 -1.92499509e-02 -1.82299667e+01] [-7.40461330e-02 2.43578034e-03 9.97251842e-01 -8.61729140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.181052754 meters 0.025696323238695036 Centerline is valid? [True, True] Translation: X:104.97, Y:-18.24, Z:-8.62 [[ 9.70985572e-01 2.28505394e-01 7.05145712e-02 1.04967164e+02] [-2.27728595e-01 9.73539775e-01 -1.89735178e-02 -1.82375436e+01] [-7.29842909e-02 2.36482778e-03 9.97330287e-01 -8.62399112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24105275400001 meters 0.02633781312350097 Centerline is valid? [True, True] Translation: X:105.02, Y:-18.25, Z:-8.63 [[ 9.69264249e-01 2.35590028e-01 7.08812727e-02 1.05023590e+02] [-2.34825419e-01 9.71850821e-01 -1.90526967e-02 -1.82530372e+01] [-7.33746484e-02 1.82237323e-03 9.97302782e-01 -8.63060675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30105275400001 meters 0.02314730406597768 Centerline is valid? [True, True] Translation: X:105.08, Y:-18.26, Z:-8.63 [[ 9.67101029e-01 2.44057562e-01 7.17739998e-02 1.05083847e+02] [-2.43296966e-01 9.69760013e-01 -1.92899661e-02 -1.82611172e+01] [-7.43114171e-02 1.19294965e-03 9.97234371e-01 -8.63327741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361052754 meters 0.02061305935579348 Centerline is valid? [True, True] Translation: X:105.14, Y:-18.27, Z:-8.64 [[ 9.64904431e-01 2.53130221e-01 6.98894147e-02 1.05142661e+02] [-2.52432850e-01 9.67432096e-01 -1.87828770e-02 -1.82679424e+01] [-7.23677767e-02 4.81297053e-04 9.97377899e-01 -8.63830655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421052754 meters 0.020619879462342325 Centerline is valid? [True, True] Translation: X:105.20, Y:-18.28, Z:-8.64 [[ 9.62120073e-01 2.64059041e-01 6.78069903e-02 1.05199981e+02] [-2.63429883e-01 9.64506461e-01 -1.82204405e-02 -1.82780687e+01] [-7.02115522e-02 -3.32135928e-04 9.97532068e-01 -8.64408533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481052754 meters 0.021492944357267837 Centerline is valid? [True, True] Translation: X:105.26, Y:-18.29, Z:-8.65 [[ 9.59030401e-01 2.74694926e-01 6.93064795e-02 1.05257961e+02] [-2.74066693e-01 9.61530742e-01 -1.86032411e-02 -1.82869508e+01] [-7.17505266e-02 -1.15352386e-03 9.97421942e-01 -8.64507301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541052754 meters 0.02248698980798221 Centerline is valid? [True, True] Translation: X:105.31, Y:-18.30, Z:-8.65 [[ 9.57627658e-01 2.79128606e-01 7.09682272e-02 1.05313218e+02] [-2.78482359e-01 9.60252515e-01 -1.90442467e-02 -1.83009043e+01] [-7.34632127e-02 -1.52610199e-03 9.97296760e-01 -8.65028518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60105275400001 meters 0.022353370907812888 Centerline is valid? [True, True] Translation: X:105.37, Y:-18.31, Z:-8.65 [[ 9.57177805e-01 2.80249336e-01 7.26013764e-02 1.05370524e+02] [-2.79576719e-01 9.59925813e-01 -1.94754188e-02 -1.83140032e+01] [-7.51499085e-02 -1.65621595e-03 9.97170872e-01 -8.64950647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66105275400001 meters 0.021676718227662584 Centerline is valid? [True, True] Translation: X:105.43, Y:-18.33, Z:-8.65 [[ 9.57347932e-01 2.78858908e-01 7.56481715e-02 1.05427645e+02] [-2.78125784e-01 9.60330698e-01 -2.02731305e-02 -1.83276011e+01] [-7.83006043e-02 -1.63126745e-03 9.96928460e-01 -8.65024794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters 0.02060872642603773 Centerline is valid? [True, True] Translation: X:105.48, Y:-18.35, Z:-8.66 [[ 9.58759851e-01 2.73981910e-01 7.55874442e-02 1.05483682e+02] [-2.73236284e-01 9.61734034e-01 -2.02381252e-02 -1.83464350e+01] [-7.82398977e-02 -1.24973050e-03 9.96933777e-01 -8.65670468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.781052754 meters 0.01992469553817833 Centerline is valid? [True, True] Translation: X:105.54, Y:-18.36, Z:-8.66 [[ 9.60111005e-01 2.69258228e-01 7.54113011e-02 1.05540227e+02] [-2.68502916e-01 9.63067616e-01 -2.01730367e-02 -1.83633897e+01] [-7.80579381e-02 -8.79799669e-04 9.96948436e-01 -8.66283828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841052754 meters 0.01902822760410991 Centerline is valid? [True, True] Translation: X:105.60, Y:-18.38, Z:-8.67 [[ 9.63348318e-01 2.57628813e-01 7.47489969e-02 1.05595619e+02] [-2.56852345e-01 9.66243961e-01 -1.99870233e-02 -1.83835320e+01] [-7.73750000e-02 5.50101325e-05 9.97002059e-01 -8.66640879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901052754 meters 0.01909804883916767 Centerline is valid? [True, True] Translation: X:105.65, Y:-18.40, Z:-8.67 [[ 9.64751349e-01 2.51856691e-01 7.63088587e-02 1.05651133e+02] [-2.51030922e-01 9.67764407e-01 -2.03845285e-02 -1.84032689e+01] [-7.89829772e-02 5.10118178e-04 9.96875834e-01 -8.67077204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96105275400001 meters 0.01935478081269242 Centerline is valid? [True, True] Translation: X:105.71, Y:-18.42, Z:-8.68 [[ 9.65261514e-01 2.49943499e-01 7.61475946e-02 1.05706318e+02] [-2.49116824e-01 9.68260208e-01 -2.03218646e-02 -1.84210678e+01] [-7.88100037e-02 6.46266911e-04 9.96889445e-01 -8.67606238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02105275400001 meters 0.018864671778021678 Centerline is valid? [True, True] Translation: X:105.76, Y:-18.43, Z:-8.68 [[ 9.64480373e-01 2.52016340e-01 7.91541132e-02 1.05763542e+02] [-2.51130855e-01 9.67722857e-01 -2.11131419e-02 -1.84342040e+01] [-8.19201014e-02 4.85170839e-04 9.96638782e-01 -8.67622600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters 0.018712356786284808 Centerline is valid? [True, True] Translation: X:105.82, Y:-18.44, Z:-8.68 [[ 9.61793712e-01 2.61936485e-01 7.96375130e-02 1.05820316e+02] [-2.61075670e-01 9.65085039e-01 -2.12217171e-02 -1.84446508e+01] [-8.24157144e-02 -3.80503050e-04 9.96597966e-01 -8.68175670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.141052754 meters 0.019709331384875635 Centerline is valid? [True, True] Translation: X:105.88, Y:-18.45, Z:-8.68 [[ 9.59519613e-01 2.70341235e-01 7.89792934e-02 1.05877819e+02] [-2.69524814e-01 9.62763925e-01 -2.10237850e-02 -1.84547285e+01] [-8.17220105e-02 -1.11414529e-03 9.96654540e-01 -8.68480378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.201052754 meters 0.020913584855820982 Centerline is valid? [True, True] Translation: X:105.94, Y:-18.47, Z:-8.69 [[ 9.57341262e-01 2.78368278e-01 7.75165143e-02 1.05935866e+02] [-2.77608470e-01 9.60472784e-01 -2.06293054e-02 -1.84665058e+01] [-8.01950466e-02 -1.76995568e-03 9.96777619e-01 -8.69017629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261052754 meters 0.022012581720724244 Centerline is valid? [True, True] Translation: X:105.99, Y:-18.48, Z:-8.70 [[ 9.56343915e-01 2.82024541e-01 7.66059663e-02 1.05993200e+02] [-2.81294516e-01 9.59404989e-01 -2.03829186e-02 -1.84813788e+01] [-7.92446295e-02 -2.05575796e-03 9.96853080e-01 -8.69695744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32105275400001 meters 0.021306532119499327 Centerline is valid? [True, True] Translation: X:106.05, Y:-18.50, Z:-8.70 [[ 9.57247023e-01 2.79093673e-01 7.60582607e-02 1.06049887e+02] [-2.78364993e-01 9.60262191e-01 -2.02350167e-02 -1.84966127e+01] [-7.86833372e-02 -1.80204772e-03 9.96898031e-01 -8.69953480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38105275400001 meters 0.019866230276568586 Centerline is valid? [True, True] Translation: X:106.11, Y:-18.52, Z:-8.71 [[ 9.59784070e-01 2.70376071e-01 7.55732756e-02 1.06105761e+02] [-2.69631097e-01 9.62754162e-01 -2.00872084e-02 -1.85178246e+01] [-7.81895861e-02 -1.09752254e-03 9.96937904e-01 -8.70669707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters 0.018971874327636234 Centerline is valid? [True, True] Translation: X:106.16, Y:-18.54, Z:-8.71 [[ 9.63075585e-01 2.59181704e-01 7.28715427e-02 1.06161728e+02] [-2.58457694e-01 9.65828561e-01 -1.93600527e-02 -1.85350588e+01] [-7.53991886e-02 -1.89016812e-04 9.97153412e-01 -8.71236504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501052754 meters 0.019662107006080207 Centerline is valid? [True, True] Translation: X:106.22, Y:-18.56, Z:-8.72 [[ 9.66565657e-01 2.46262303e-01 7.14542420e-02 1.06215521e+02] [-2.45531126e-01 9.69202887e-01 -1.89797146e-02 -1.85595706e+01] [-7.39276459e-02 8.00899887e-04 9.97263286e-01 -8.71890854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.561052754 meters 0.01883111091932331 Centerline is valid? [True, True] Translation: X:106.27, Y:-18.57, Z:-8.72 [[ 9.64362605e-01 2.53932875e-01 7.43159592e-02 1.06273242e+02] [-2.53166112e-01 9.67221822e-01 -1.97196829e-02 -1.85687675e+01] [-7.68874933e-02 2.02642284e-04 9.97039755e-01 -8.71786499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621052754 meters 0.018449226741439485 Centerline is valid? [True, True] Translation: X:106.33, Y:-18.58, Z:-8.71 [[ 9.61457100e-01 2.62746613e-01 8.10213700e-02 1.06332094e+02] [-2.61866833e-01 9.64864711e-01 -2.14907300e-02 -1.85778540e+01] [-8.38212772e-02 -5.54394638e-04 9.96480650e-01 -8.71341802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.681052754 meters 0.019780777789900953 Centerline is valid? [True, True] Translation: X:106.39, Y:-18.59, Z:-8.73 [[ 9.59651044e-01 2.69527631e-01 8.01544187e-02 1.06386867e+02] [-2.68691806e-01 9.62991966e-01 -2.12411433e-02 -1.85933770e+01] [-8.29131363e-02 -1.15275020e-03 9.96556111e-01 -8.72565040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74105275400001 meters 0.02041390550215452 Centerline is valid? [True, True] Translation: X:106.44, Y:-18.61, Z:-8.73 [[ 9.58759847e-01 2.72795709e-01 7.97625038e-02 1.06443097e+02] [-2.71979910e-01 9.62070913e-01 -2.11302358e-02 -1.86061790e+01] [-8.25014225e-02 -1.43497697e-03 9.96589914e-01 -8.72857626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80105275400001 meters 0.020869053403431485 Centerline is valid? [True, True] Translation: X:106.50, Y:-18.62, Z:-8.73 [[ 9.58572444e-01 2.73888895e-01 7.82543519e-02 1.06498792e+02] [-2.73108142e-01 9.61760154e-01 -2.07207238e-02 -1.86203945e+01] [-8.09370937e-02 -1.50958588e-03 9.96718068e-01 -8.73360205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.861052754 meters 0.021241877202585698 Centerline is valid? [True, True] Translation: X:106.55, Y:-18.64, Z:-8.75 [[ 9.59674485e-01 2.71602404e-01 7.25052842e-02 1.06552547e+02] [-2.70926127e-01 9.62408768e-01 -1.91936908e-02 -1.86422584e+01] [-7.49927738e-02 -1.22388048e-03 9.97183326e-01 -8.74933387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.921052754 meters 0.02065912289290115 Centerline is valid? [True, True] Translation: X:106.61, Y:-18.66, Z:-8.76 [[ 9.61368931e-01 2.66215711e-01 6.99926691e-02 1.06606069e+02] [-2.65572519e-01 9.63913154e-01 -1.85113260e-02 -1.86642873e+01] [-7.23948602e-02 -7.91915773e-04 9.97375735e-01 -8.75751198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.981052754 meters 0.019661119912764237 Centerline is valid? [True, True] Translation: X:106.66, Y:-18.69, Z:-8.76 [[ 9.64764252e-01 2.53778790e-01 6.94713125e-02 1.06659311e+02] [-2.53113150e-01 9.67262274e-01 -1.83691730e-02 -1.86910731e+01] [-7.18586862e-02 1.37818710e-04 9.97414814e-01 -8.76019337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.041052754 meters 0.021183757816195296 Centerline is valid? [True, True] Translation: X:106.71, Y:-18.72, Z:-8.77 [[ 9.68708959e-01 2.38306544e-01 6.93753793e-02 1.06713181e+02] [-2.37604317e-01 9.71189160e-01 -1.83249679e-02 -1.87167810e+01] [-7.17435761e-02 1.26767093e-03 9.97422304e-01 -8.76688873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10105275400001 meters 0.023112994724513447 Centerline is valid? [True, True] Translation: X:106.77, Y:-18.74, Z:-8.77 [[ 9.70973074e-01 2.28511495e-01 7.06667302e-02 1.06769345e+02] [-2.27757189e-01 9.73539108e-01 -1.86619457e-02 -1.87382799e+01] [-7.30612946e-02 2.02539094e-03 9.97325396e-01 -8.77088133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16105275400001 meters 0.024677289186199804 Centerline is valid? [True, True] Translation: X:106.83, Y:-18.76, Z:-8.77 [[ 9.72468477e-01 2.21163970e-01 7.34272424e-02 1.06826821e+02] [-2.20328684e-01 9.75232962e-01 -1.93891779e-02 -1.87556962e+01] [-7.58968546e-02 2.67723657e-03 9.97112080e-01 -8.77101086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters 0.02403210722301145 Centerline is valid? [True, True] Translation: X:106.88, Y:-18.77, Z:-8.77 [[ 9.72168729e-01 2.21158397e-01 7.73105780e-02 1.06884944e+02] [-2.20232325e-01 9.75233827e-01 -2.04133781e-02 -1.87671919e+01] [-7.99104808e-02 2.81895951e-03 9.96798058e-01 -8.77252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281052754 meters 0.023505307432552164 Centerline is valid? [True, True] Translation: X:106.94, Y:-18.78, Z:-8.78 [[ 9.70602762e-01 2.27678296e-01 7.80568575e-02 1.06941305e+02] [-2.26756906e-01 9.73733729e-01 -2.05895658e-02 -1.87810538e+01] [-8.06943922e-02 2.28435791e-03 9.96736272e-01 -8.78075529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341052754 meters 0.02127874192806001 Centerline is valid? [True, True] Translation: X:107.00, Y:-18.79, Z:-8.79 [[ 9.69015794e-01 2.34515404e-01 7.75300967e-02 1.07000459e+02] [-2.33628574e-01 9.72110918e-01 -2.04463322e-02 -1.87895754e+01] [-8.01628334e-02 1.69957286e-03 9.96780333e-01 -8.78578268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401052754 meters 0.019429142322514137 Centerline is valid? [True, True] Translation: X:107.06, Y:-18.79, Z:-8.79 [[ 9.65251311e-01 2.50634993e-01 7.39730202e-02 1.07059400e+02] [-2.49875067e-01 9.68081599e-01 -1.95056155e-02 -1.87946537e+01] [-7.65007095e-02 3.43807514e-04 9.97069468e-01 -8.79371286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46105275400001 meters 0.019733766478047483 Centerline is valid? [True, True] Translation: X:107.12, Y:-18.80, Z:-8.80 [[ 9.62753192e-01 2.60969989e-01 7.07174331e-02 1.07117805e+02] [-2.60303392e-01 9.65346807e-01 -1.86463797e-02 -1.88016148e+01] [-7.31329938e-02 -4.56126095e-04 9.97322093e-01 -8.80132117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52105275400001 meters 0.020597265264338797 Centerline is valid? [True, True] Translation: X:107.18, Y:-18.81, Z:-8.81 [[ 9.60330341e-01 2.69659799e-01 7.10579350e-02 1.07176910e+02] [-2.69011911e-01 9.62954978e-01 -1.87163560e-02 -1.88110043e+01] [-7.34726410e-02 -1.14154630e-03 9.97296580e-01 -8.80651604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters 0.02060826530168917 Centerline is valid? [True, True] Translation: X:107.23, Y:-18.83, Z:-8.81 [[ 9.59756943e-01 2.71513008e-01 7.17446607e-02 1.07233767e+02] [-2.70857771e-01 9.62433896e-01 -1.88961199e-02 -1.88260964e+01] [-7.41800357e-02 -1.29691657e-03 9.97244022e-01 -8.81179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641052754 meters 0.022569078384144774 Centerline is valid? [True, True] Translation: X:107.29, Y:-18.83, Z:-8.81 [[ 9.57193060e-01 2.79420232e-01 7.55366110e-02 1.07291970e+02] [-2.78719995e-01 9.60166761e-01 -1.98734697e-02 -1.88336703e+01] [-7.80807926e-02 -2.03081661e-03 9.96944966e-01 -8.81429901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701052754 meters 0.02296389852124087 Centerline is valid? [True, True] Translation: X:107.35, Y:-18.85, Z:-8.81 [[ 9.55015573e-01 2.85642137e-01 7.97108781e-02 1.07350273e+02] [-2.84884256e-01 9.58332594e-01 -2.09666387e-02 -1.88458548e+01] [-8.23784880e-02 -2.68490774e-03 9.96597499e-01 -8.81491355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.761052754 meters 0.02302983329028666 Centerline is valid? [True, True] Translation: X:107.41, Y:-18.86, Z:-8.82 [[ 9.54234536e-01 2.87980791e-01 8.06443733e-02 1.07407911e+02] [-2.87213582e-01 9.57631724e-01 -2.12094419e-02 -1.88609848e+01] [-8.33355220e-02 -2.92337736e-03 9.96517258e-01 -8.82036368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82105275400001 meters 0.024634842123992452 Centerline is valid? [True, True] Translation: X:107.46, Y:-18.87, Z:-8.83 [[ 9.53686329e-01 2.89880779e-01 8.03213571e-02 1.07463981e+02] [-2.89126685e-01 9.57057808e-01 -2.11213510e-02 -1.88718844e+01] [-8.29948557e-02 -3.07990403e-03 9.96545216e-01 -8.82824421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88105275400001 meters 0.02466165560575898 Centerline is valid? [True, True] Translation: X:107.52, Y:-18.89, Z:-8.83 [[ 9.53359454e-01 2.90872997e-01 8.06142151e-02 1.07520647e+02] [-2.90117870e-01 9.56756359e-01 -2.11870350e-02 -1.88856281e+01] [-8.32908993e-02 -3.18876429e-03 9.96520174e-01 -8.83431108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters 0.022717041999716196 Centerline is valid? [True, True] Translation: X:107.58, Y:-18.90, Z:-8.84 [[ 9.53847271e-01 2.89092370e-01 8.12464535e-02 1.07576369e+02] [-2.88320622e-01 9.57296263e-01 -2.13327074e-02 -1.89025283e+01] [-8.39440493e-02 -3.07688333e-03 9.96465719e-01 -8.84039033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.001052754 meters 0.02210884450759081 Centerline is valid? [True, True] Translation: X:107.63, Y:-18.92, Z:-8.85 [[ 9.55391991e-01 2.84246220e-01 8.01887123e-02 1.07632868e+02] [-2.83479089e-01 9.58747694e-01 -2.10348425e-02 -1.89171873e+01] [-8.28598175e-02 -2.63530306e-03 9.96557728e-01 -8.84683620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.061052754 meters 0.020415940022782603 Centerline is valid? [True, True] Translation: X:107.69, Y:-18.93, Z:-8.85 [[ 9.57220995e-01 2.77443909e-01 8.21756883e-02 1.07689882e+02] [-2.76613517e-01 9.60739540e-01 -2.15522121e-02 -1.89339314e+01] [-8.49289629e-02 -2.10067621e-03 9.96384794e-01 -8.85189520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.121052754 meters 0.020072522114145272 Centerline is valid? [True, True] Translation: X:107.75, Y:-18.95, Z:-8.86 [[ 9.57603881e-01 2.75362656e-01 8.46771229e-02 1.07746550e+02] [-2.74473175e-01 9.61338384e-01 -2.22033156e-02 -1.89466907e+01] [-8.75173325e-02 -1.97961765e-03 9.96161030e-01 -8.85565594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.181052754 meters 0.018490070008585928 Centerline is valid? [True, True] Translation: X:107.80, Y:-18.96, Z:-8.86 [[ 9.58781581e-01 2.70561968e-01 8.67992051e-02 1.07803689e+02] [-2.69608319e-01 9.62701252e-01 -2.27519993e-02 -1.89617375e+01] [-8.97175291e-02 -1.58758992e-03 9.95965986e-01 -8.85629296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24105275400001 meters 0.017966760000122213 Centerline is valid? [True, True] Translation: X:107.86, Y:-18.98, Z:-8.86 [[ 9.59653343e-01 2.67389624e-01 8.69956869e-02 1.07860132e+02] [-2.66419329e-01 9.63587617e-01 -2.27957410e-02 -1.89775886e+01] [-8.99233113e-02 -1.30132343e-03 9.95947842e-01 -8.86216532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30105275400001 meters 0.017261908198890896 Centerline is valid? [True, True] Translation: X:107.92, Y:-18.99, Z:-8.87 [[ 9.60343815e-01 2.64509388e-01 8.81733564e-02 1.07916345e+02] [-2.63502514e-01 9.64382520e-01 -2.30820300e-02 -1.89921477e+01] [-9.11382573e-02 -1.06721633e-03 9.95837677e-01 -8.86658595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361052754 meters 0.016980465315889197 Centerline is valid? [True, True] Translation: X:107.97, Y:-19.01, Z:-8.87 [[ 9.60949364e-01 2.63152502e-01 8.55983688e-02 1.07972417e+02] [-2.62200183e-01 9.64753799e-01 -2.23868491e-02 -1.90079253e+01] [-8.84725068e-02 -9.31279584e-04 9.96078184e-01 -8.87408485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.421052754 meters 0.016938246080725763 Centerline is valid? [True, True] Translation: X:108.03, Y:-19.02, Z:-8.88 [[ 9.61597194e-01 2.61759672e-01 8.25391452e-02 1.08027055e+02] [-2.60870857e-01 9.65132760e-01 -2.15673574e-02 -1.90240507e+01] [-8.53066974e-02 -7.92947156e-04 9.96354424e-01 -8.88348233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481052754 meters 0.016658867953365318 Centerline is valid? [True, True] Translation: X:108.08, Y:-19.04, Z:-8.89 [[ 9.61760413e-01 2.61455591e-01 8.15958429e-02 1.08082602e+02] [-2.60586573e-01 9.65215204e-01 -2.13131173e-02 -1.90387522e+01] [-8.43299818e-02 -7.64668522e-04 9.96437589e-01 -8.88762940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541052754 meters 0.017061920655548058 Centerline is valid? [True, True] Translation: X:108.14, Y:-19.05, Z:-8.89 [[ 9.60817573e-01 2.64142178e-01 8.40148858e-02 1.08139019e+02] [-2.63233144e-01 9.64483177e-01 -2.19205968e-02 -1.90538275e+01] [-8.68210982e-02 -1.05380784e-03 9.96223362e-01 -8.89252520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60105275400001 meters 0.01781998027506346 Centerline is valid? [True, True] Translation: X:108.20, Y:-19.07, Z:-8.89 [[ 9.59157189e-01 2.69482814e-01 8.60029109e-02 1.08198005e+02] [-2.68553375e-01 9.63003881e-01 -2.24189587e-02 -1.90650892e+01] [-8.88626611e-02 -1.59306661e-03 9.96042614e-01 -8.89352561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66105275400001 meters 0.01915847660002066 Centerline is valid? [True, True] Translation: X:108.26, Y:-19.07, Z:-8.90 [[ 9.57242452e-01 2.76221832e-01 8.59557315e-02 1.08257436e+02] [-2.75320733e-01 9.61091345e-01 -2.24036040e-02 -1.90732737e+01] [-8.87996741e-02 -2.21971415e-03 9.96047032e-01 -8.89565447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters 0.020623812354683413 Centerline is valid? [True, True] Translation: X:108.32, Y:-19.09, Z:-8.90 [[ 9.53949919e-01 2.86844667e-01 8.77478764e-02 1.08315338e+02] [-2.85950474e-01 9.57971502e-01 -2.28676192e-02 -1.90853229e+01] [-9.06194196e-02 -3.27698343e-03 9.95880205e-01 -8.90126870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781052754 meters 0.023407658030208386 Centerline is valid? [True, True] Translation: X:108.37, Y:-19.10, Z:-8.91 [[ 9.52511459e-01 2.91696054e-01 8.73803920e-02 1.08373728e+02] [-2.90829993e-01 9.56503805e-01 -2.27680943e-02 -1.90955278e+01] [-9.02210407e-02 -3.72596805e-03 9.95914796e-01 -8.90588179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841052754 meters 0.02268807599802786 Centerline is valid? [True, True] Translation: X:108.43, Y:-19.11, Z:-8.91 [[ 9.52778802e-01 2.90865209e-01 8.72352315e-02 1.08430271e+02] [-2.89998970e-01 9.56757096e-01 -2.27256924e-02 -1.91124672e+01] [-9.00730400e-02 -3.64556934e-03 9.95928490e-01 -8.91118102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901052754 meters 0.022224381617045062 Centerline is valid? [True, True] Translation: X:108.49, Y:-19.13, Z:-8.92 [[ 9.53501128e-01 2.87811408e-01 8.94437941e-02 1.08486280e+02] [-2.86889120e-01 9.57680850e-01 -2.32813734e-02 -1.91286577e+01] [-9.23592536e-02 -3.46163558e-03 9.95719732e-01 -8.91570768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96105275400001 meters 0.019025093505475665 Centerline is valid? [True, True] Translation: X:108.54, Y:-19.15, Z:-8.92 [[ 9.57035996e-01 2.76563045e-01 8.71492056e-02 1.08542471e+02] [-2.75641410e-01 9.60992981e-01 -2.26782829e-02 -1.91485859e+01] [-9.00217499e-02 -2.31799680e-03 9.95937102e-01 -8.92246269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02105275400001 meters 0.016422646408062777 Centerline is valid? [True, True] Translation: X:108.60, Y:-19.17, Z:-8.93 [[ 9.62122610e-01 2.59784959e-01 8.26550549e-02 1.08597586e+02] [-2.58894276e-01 9.65666233e-01 -2.15053521e-02 -1.91730415e+01] [-8.54039625e-02 -7.08135075e-04 9.96346156e-01 -8.93389668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters 0.016506083295902356 Centerline is valid? [True, True] Translation: X:108.65, Y:-19.20, Z:-8.94 [[ 9.66371587e-01 2.43574596e-01 8.24461718e-02 1.08650674e+02] [-2.42629745e-01 9.69881899e-01 -2.14455021e-02 -1.91959708e+01] [-8.51866292e-02 7.20430275e-04 9.96364752e-01 -8.93889364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.141052754 meters 0.01782252852678148 Centerline is valid? [True, True] Translation: X:108.71, Y:-19.21, Z:-8.94 [[ 9.67829921e-01 2.36527366e-01 8.57907269e-02 1.08705785e+02] [-2.35478589e-01 9.71623858e-01 -2.22915345e-02 -1.92148121e+01] [-8.86288750e-02 1.37253471e-03 9.96063772e-01 -8.93992828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.201052754 meters 0.017464118262126137 Centerline is valid? [True, True] Translation: X:108.76, Y:-19.23, Z:-8.94 [[ 9.67390258e-01 2.36750970e-01 9.00281406e-02 1.08763412e+02] [-2.35597556e-01 9.71569343e-01 -2.33838432e-02 -1.92265278e+01] [-9.30047289e-02 1.41089229e-03 9.95664667e-01 -8.93989606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.261052754 meters 0.016687249722300627 Centerline is valid? [True, True] Translation: X:108.82, Y:-19.24, Z:-8.95 [[ 9.65986442e-01 2.41854042e-01 9.15249508e-02 1.08821038e+02] [-2.40686913e-01 9.70312213e-01 -2.37491079e-02 -1.92379965e+01] [-9.45515952e-02 9.12458392e-04 9.95519544e-01 -8.94510645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32105275400001 meters 0.01612051053486006 Centerline is valid? [True, True] Translation: X:108.88, Y:-19.25, Z:-8.95 [[ 9.64896869e-01 2.46602284e-01 9.03401701e-02 1.08878284e+02] [-2.45488099e-01 9.69116679e-01 -2.34191407e-02 -1.92506052e+01] [-9.33253792e-02 4.19618998e-04 9.95635575e-01 -8.95344237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38105275400001 meters 0.01599477132028746 Centerline is valid? [True, True] Translation: X:108.94, Y:-19.26, Z:-8.96 [[ 9.64514405e-01 2.49517070e-01 8.63318849e-02 1.08935445e+02] [-2.48513291e-01 9.68370394e-01 -2.23589901e-02 -1.92647507e+01] [-8.91801911e-02 1.10947180e-04 9.96015503e-01 -8.95976974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters 0.01605919559445956 Centerline is valid? [True, True] Translation: X:108.99, Y:-19.28, Z:-8.97 [[ 9.63418606e-01 2.54882933e-01 8.28207711e-02 1.08992509e+02] [-2.53980667e-01 9.66971840e-01 -2.14308479e-02 -1.92771330e+01] [-8.55477108e-02 -3.87997050e-04 9.96334000e-01 -8.96735900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501052754 meters 0.016355767259648615 Centerline is valid? [True, True] Translation: X:109.05, Y:-19.29, Z:-8.97 [[ 9.62657619e-01 2.57967099e-01 8.21175006e-02 1.09049137e+02] [-2.57093046e-01 9.66153465e-01 -2.12284405e-02 -1.92907969e+01] [-8.48143470e-02 -6.76118374e-04 9.96396542e-01 -8.97229740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561052754 meters 0.01655416429764518 Centerline is valid? [True, True] Translation: X:109.11, Y:-19.31, Z:-8.98 [[ 9.61366839e-01 2.62239479e-01 8.36914319e-02 1.09106364e+02] [-2.61349529e-01 9.65002207e-01 -2.16139899e-02 -1.93052305e+01] [-8.64304579e-02 -1.09374311e-03 9.96257286e-01 -8.97532571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621052754 meters 0.017361033908528247 Centerline is valid? [True, True] Translation: X:109.17, Y:-19.32, Z:-8.98 [[ 9.59653338e-01 2.69032491e-01 8.17740160e-02 1.09165133e+02] [-2.68209207e-01 9.63129627e-01 -2.10984070e-02 -1.93154281e+01] [-8.44351346e-02 -1.68538737e-03 9.96427553e-01 -8.98096688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.681052754 meters 0.018352537830439806 Centerline is valid? [True, True] Translation: X:109.22, Y:-19.33, Z:-8.98 [[ 9.58856249e-01 2.71159528e-01 8.40666606e-02 1.09221775e+02] [-2.70297823e-01 9.62532487e-01 -2.16863437e-02 -1.93283181e+01] [-8.67973507e-02 -1.92894920e-03 9.96224121e-01 -8.98321489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74105275400001 meters 0.018039094370347817 Centerline is valid? [True, True] Translation: X:109.28, Y:-19.34, Z:-8.99 [[ 9.58501768e-01 2.72453375e-01 8.39256807e-02 1.09277948e+02] [-2.71600270e-01 9.62166800e-01 -2.16412106e-02 -1.93430140e+01] [-8.66467245e-02 -2.05109896e-03 9.96236989e-01 -8.98814750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80105275400001 meters 0.017154280221756826 Centerline is valid? [True, True] Translation: X:109.33, Y:-19.36, Z:-8.99 [[ 9.60292197e-01 2.66142917e-01 8.37068948e-02 1.09334394e+02] [-2.65272111e-01 9.63932417e-01 -2.15639014e-02 -1.93623831e+01] [-8.64268691e-02 -1.49745844e-03 9.96257072e-01 -8.99414857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861052754 meters 0.016750105251695402 Centerline is valid? [True, True] Translation: X:109.39, Y:-19.38, Z:-9.00 [[ 9.61698361e-01 2.61042361e-01 8.36250437e-02 1.09389848e+02] [-2.60154298e-01 9.65326785e-01 -2.15392596e-02 -1.93776784e+01] [-8.63481537e-02 -1.04114390e-03 9.96264479e-01 -8.99902807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921052754 meters 0.01639279260261358 Centerline is valid? [True, True] Translation: X:109.44, Y:-19.40, Z:-9.01 [[ 9.63580118e-01 2.53927764e-01 8.38692220e-02 1.09444883e+02] [-2.53008521e-01 9.67223097e-01 -2.15909607e-02 -1.93984256e+01] [-8.66027930e-02 -4.15007381e-04 9.96242834e-01 -9.00509879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981052754 meters 0.016376016519576292 Centerline is valid? [True, True] Translation: X:109.50, Y:-19.42, Z:-9.01 [[ 9.65384503e-01 2.46742498e-01 8.45630021e-02 1.09499254e+02] [-2.45782297e-01 9.69081057e-01 -2.17478123e-02 -1.94179219e+01] [-8.73145130e-02 2.10912095e-04 9.96180772e-01 -9.00825319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041052754 meters 0.01702823572543112 Centerline is valid? [True, True] Translation: X:109.55, Y:-19.44, Z:-9.02 [[ 9.67014209e-01 2.40836784e-01 8.29527783e-02 1.09554323e+02] [-2.39893160e-01 9.70565373e-01 -2.13103005e-02 -1.94384639e+01] [-8.56433985e-02 7.07559217e-04 9.96325603e-01 -9.01626480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10105275400001 meters 0.017436186170430704 Centerline is valid? [True, True] Translation: X:109.61, Y:-19.46, Z:-9.02 [[ 9.67394045e-01 2.39908811e-01 8.11943587e-02 1.09609274e+02] [-2.39003268e-01 9.70795136e-01 -2.08384952e-02 -1.94554600e+01] [-8.38224270e-02 7.53319082e-04 9.96480423e-01 -9.02321038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16105275400001 meters 0.016836002054300175 Centerline is valid? [True, True] Translation: X:109.67, Y:-19.47, Z:-9.02 [[ 9.66035137e-01 2.44581393e-01 8.34029732e-02 1.09667060e+02] [-2.43645277e-01 9.69628708e-01 -2.13810375e-02 -1.94672221e+01] [-8.60993211e-02 3.34093049e-04 9.96286503e-01 -9.02435155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters 0.016967503156499423 Centerline is valid? [True, True] Translation: X:109.72, Y:-19.48, Z:-9.03 [[ 9.65052092e-01 2.48839325e-01 8.21793820e-02 1.09722660e+02] [-2.47947674e-01 9.68544778e-01 -2.10467223e-02 -1.94802054e+01] [-8.48316634e-02 -6.50032901e-05 9.96395295e-01 -9.03012926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281052754 meters 0.01728835768364268 Centerline is valid? [True, True] Translation: X:109.78, Y:-19.50, Z:-9.04 [[ 9.64451602e-01 2.52260598e-01 7.87254555e-02 1.09777375e+02] [-2.51454382e-01 9.67659270e-01 -2.01551699e-02 -1.94970018e+01] [-8.12637720e-02 -3.57174803e-04 9.96692566e-01 -9.03968685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341052754 meters 0.017450987104160487 Centerline is valid? [True, True] Translation: X:109.83, Y:-19.51, Z:-9.05 [[ 9.64702498e-01 2.52703170e-01 7.40958706e-02 1.09832854e+02] [-2.51992064e-01 9.67543774e-01 -1.89485037e-02 -1.95123214e+01] [-7.64793453e-02 -3.91902511e-04 9.97071089e-01 -9.04892504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401052754 meters 0.01764433219419981 Centerline is valid? [True, True] Translation: X:109.89, Y:-19.53, Z:-9.06 [[ 9.64850900e-01 2.52265771e-01 7.36527081e-02 1.09887942e+02] [-2.51562314e-01 9.67657920e-01 -1.88295339e-02 -1.95283573e+01] [-7.60206732e-02 -3.60552910e-04 9.97106177e-01 -9.05516146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46105275400001 meters 0.01785359377606601 Centerline is valid? [True, True] Translation: X:109.94, Y:-19.54, Z:-9.06 [[ 9.65860643e-01 2.48891181e-01 7.18776683e-02 1.09942186e+02] [-2.48213499e-01 9.68531449e-01 -1.83546053e-02 -1.95425715e+01] [-7.41840816e-02 -1.13016621e-04 9.97244558e-01 -9.06193336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52105275400001 meters 0.01811192633845213 Centerline is valid? [True, True] Translation: X:110.00, Y:-19.56, Z:-9.07 [[ 9.67016585e-01 2.44515914e-01 7.13504848e-02 1.09997633e+02] [-2.43836802e-01 9.69645256e-01 -1.82124091e-02 -1.95572377e+01] [-7.36378830e-02 2.13827651e-04 9.97285023e-01 -9.06804324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters 0.018674791991483787 Centerline is valid? [True, True] Translation: X:110.05, Y:-19.57, Z:-9.07 [[ 9.68050590e-01 2.39726490e-01 7.35477074e-02 1.10053427e+02] [-2.38992690e-01 9.70840296e-01 -1.87513907e-02 -1.95719204e+01] [-7.58982830e-02 5.74930398e-04 9.97115400e-01 -9.06927367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641052754 meters 0.018790935408460815 Centerline is valid? [True, True] Translation: X:110.11, Y:-19.58, Z:-9.07 [[ 9.68102137e-01 2.39134788e-01 7.47850600e-02 1.10110703e+02] [-2.38375000e-01 9.70986182e-01 -1.90576542e-02 -1.95822937e+01] [-7.71726080e-02 6.22867150e-04 9.97017553e-01 -9.07194727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701052754 meters 0.018470094108867328 Centerline is valid? [True, True] Translation: X:110.17, Y:-19.59, Z:-9.08 [[ 9.67386300e-01 2.41623204e-01 7.60392942e-02 1.10167856e+02] [-2.40847026e-01 9.70370063e-01 -1.93559270e-02 -1.95942765e+01] [-7.84630958e-02 4.10820782e-04 9.96916934e-01 -9.07519565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761052754 meters 0.018336566654409043 Centerline is valid? [True, True] Translation: X:110.23, Y:-19.60, Z:-9.08 [[ 9.65932871e-01 2.46555310e-01 7.86394808e-02 1.10226739e+02] [-2.45742982e-01 9.69128722e-01 -1.99976971e-02 -1.96028969e+01] [-8.11423179e-02 -8.66751867e-06 9.96702525e-01 -9.07538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82105275400001 meters 0.0185119985292604 Centerline is valid? [True, True] Translation: X:110.28, Y:-19.61, Z:-9.08 [[ 9.65010625e-01 2.50026321e-01 7.90021051e-02 1.10284475e+02] [-2.49219667e-01 9.68238987e-01 -2.00704238e-02 -1.96145590e+01] [-8.15110525e-02 -3.20706081e-04 9.96672386e-01 -9.08208707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88105275400001 meters 0.018725017619754033 Centerline is valid? [True, True] Translation: X:110.34, Y:-19.63, Z:-9.09 [[ 9.65205692e-01 2.49483288e-01 7.83330131e-02 1.10340411e+02] [-2.48689996e-01 9.68379060e-01 -1.98816800e-02 -1.96296626e+01] [-8.08161966e-02 -2.90726020e-04 9.96728979e-01 -9.08927404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94105275400001 meters 0.018941910710347506 Centerline is valid? [True, True] Translation: X:110.39, Y:-19.65, Z:-9.10 [[ 9.66896053e-01 2.43576649e-01 7.60423526e-02 1.10394354e+02] [-2.42812502e-01 9.69881634e-01 -1.92796318e-02 -1.96469039e+01] [-7.84481493e-02 1.77365953e-04 9.96918179e-01 -9.09575511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001052754 meters 0.01998302453832577 Centerline is valid? [True, True] Translation: X:110.45, Y:-19.66, Z:-9.10 [[ 9.68838693e-01 2.35347677e-01 7.72208451e-02 1.10449035e+02] [-2.34534210e-01 9.71910876e-01 -1.95691915e-02 -1.96639007e+01] [-7.96573430e-02 8.48460068e-04 9.96821944e-01 -9.09802701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061052754 meters 0.021414012995212183 Centerline is valid? [True, True] Translation: X:110.50, Y:-19.68, Z:-9.10 [[ 9.70033580e-01 2.30245435e-01 7.76008624e-02 1.10504203e+02] [-2.29408527e-01 9.73131772e-01 -1.96540819e-02 -1.96796913e+01] [-8.00411274e-02 1.26281995e-03 9.96790762e-01 -9.10357333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121052754 meters 0.023493527081933457 Centerline is valid? [True, True] Translation: X:110.56, Y:-19.70, Z:-9.11 [[ 9.71216174e-01 2.24578750e-01 7.93947629e-02 1.10560310e+02] [-2.23684250e-01 9.74454347e-01 -2.01018035e-02 -1.96990560e+01] [-8.18810097e-02 1.76383867e-03 9.96640552e-01 -9.10630285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.181052754 meters 0.023667068776721117 Centerline is valid? [True, True] Translation: X:110.62, Y:-19.71, Z:-9.11 [[ 9.70646984e-01 2.25591777e-01 8.33833492e-02 1.10616218e+02] [-2.24609075e-01 9.74220333e-01 -2.11070294e-02 -1.97127132e+01] [-8.59953265e-02 1.75881748e-03 9.96293988e-01 -9.10605926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24105275400001 meters 0.021224085096223137 Centerline is valid? [True, True] Translation: X:110.67, Y:-19.72, Z:-9.11 [[ 9.68658436e-01 2.32739158e-01 8.67946985e-02 1.10674786e+02] [-2.31703830e-01 9.72538502e-01 -2.19589743e-02 -1.97221033e+01] [-8.95218993e-02 1.16008160e-03 9.95984178e-01 -9.10816331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30105275400001 meters 0.019048962708341412 Centerline is valid? [True, True] Translation: X:110.73, Y:-19.73, Z:-9.11 [[ 9.66564619e-01 2.41563630e-01 8.60223751e-02 1.10733184e+02] [-2.40582947e-01 9.70384927e-01 -2.17471498e-02 -1.97292386e+01] [-8.87281367e-02 3.24509048e-04 9.96055828e-01 -9.11330839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361052754 meters 0.01883302446924773 Centerline is valid? [True, True] Translation: X:110.79, Y:-19.74, Z:-9.12 [[ 9.66156968e-01 2.43627261e-01 8.47730570e-02 1.10790658e+02] [-2.42683391e-01 9.69868930e-01 -2.14249868e-02 -1.97426133e+01] [-8.74384649e-02 1.26887347e-04 9.96169915e-01 -9.11880638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421052754 meters 0.018872101732150898 Centerline is valid? [True, True] Translation: X:110.85, Y:-19.76, Z:-9.13 [[ 9.65469299e-01 2.47377982e-01 8.16894585e-02 1.10846645e+02] [-2.46515981e-01 9.68919031e-01 -2.06345156e-02 -1.97571525e+01] [-8.42549958e-02 -2.15765711e-04 9.96444203e-01 -9.12701002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481052754 meters 0.019229461298377035 Centerline is valid? [True, True] Translation: X:110.90, Y:-19.77, Z:-9.13 [[ 9.64618465e-01 2.51528930e-01 7.90216117e-02 1.10902226e+02] [-2.50737868e-01 9.67849608e-01 -1.99413698e-02 -1.97696629e+01] [-8.14968673e-02 -5.77896960e-04 9.96673430e-01 -9.13470063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.541052754 meters 0.019305393155039253 Centerline is valid? [True, True] Translation: X:110.96, Y:-19.78, Z:-9.14 [[ 9.64311062e-01 2.52997388e-01 7.80800762e-02 1.10959558e+02] [-2.52230442e-01 9.67466708e-01 -1.96970173e-02 -1.97835101e+01] [-8.05231682e-02 -7.00120491e-04 9.96752491e-01 -9.13833965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60105275400001 meters 0.019870520462088634 Centerline is valid? [True, True] Translation: X:111.02, Y:-19.80, Z:-9.14 [[ 9.63218994e-01 2.56857964e-01 7.89503335e-02 1.11017264e+02] [-2.56088363e-01 9.66448590e-01 -1.98965875e-02 -1.97954934e+01] [-8.14120354e-02 -1.05349064e-03 9.96679974e-01 -9.14192214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66105275400001 meters 0.020134072679104918 Centerline is valid? [True, True] Translation: X:111.07, Y:-19.81, Z:-9.14 [[ 9.61868924e-01 2.60913337e-01 8.20512231e-02 1.11074736e+02] [-2.60098503e-01 9.65361105e-01 -2.06568472e-02 -1.98093011e+01] [-8.45987063e-02 -1.47222092e-03 9.96414016e-01 -9.14345120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters 0.02046062036677621 Centerline is valid? [True, True] Translation: X:111.13, Y:-19.82, Z:-9.15 [[ 9.61471660e-01 2.62310193e-01 8.22533312e-02 1.11131534e+02] [-2.61498242e-01 9.64982248e-01 -2.06864674e-02 -1.98234903e+01] [-8.47992757e-02 -1.61964937e-03 9.96396738e-01 -9.14790368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781052754 meters 0.01997807686082446 Centerline is valid? [True, True] Translation: X:111.19, Y:-19.84, Z:-9.15 [[ 9.62527858e-01 2.57713793e-01 8.44021554e-02 1.11187098e+02] [-2.56843005e-01 9.66220469e-01 -2.12055510e-02 -1.98396746e+01] [-8.70160531e-02 -1.26716968e-03 9.96206104e-01 -9.14730475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841052754 meters 0.019525465964755222 Centerline is valid? [True, True] Translation: X:111.24, Y:-19.86, Z:-9.15 [[ 9.63675158e-01 2.53295830e-01 8.46841931e-02 1.11242420e+02] [-2.52402919e-01 9.67388469e-01 -2.12677499e-02 -1.98588104e+01] [-8.73095443e-02 -8.79335292e-04 9.96180842e-01 -9.15489702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901052754 meters 0.019091601499414478 Centerline is valid? [True, True] Translation: X:111.30, Y:-19.88, Z:-9.16 [[ 9.65273225e-01 2.47450064e-01 8.37619708e-02 1.11296967e+02] [-2.46556266e-01 9.68900579e-01 -2.10160764e-02 -1.98764542e+01] [-8.63574515e-02 -3.65782914e-04 9.96264150e-01 -9.16030043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96105275400001 meters 0.019224069160116916 Centerline is valid? [True, True] Translation: X:111.35, Y:-19.90, Z:-9.17 [[ 9.66875183e-01 2.42437821e-01 7.98516279e-02 1.11351845e+02] [-2.41609148e-01 9.70166943e-01 -2.00280314e-02 -1.98960115e+01] [-8.23249620e-02 7.17227849e-05 9.96605537e-01 -9.16978020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02105275400001 meters 0.019305470709031963 Centerline is valid? [True, True] Translation: X:111.41, Y:-19.91, Z:-9.18 [[ 9.67212969e-01 2.42705145e-01 7.47882662e-02 1.11405964e+02] [-2.41980544e-01 9.70100104e-01 -1.87404538e-02 -1.99139555e+01] [-7.71005094e-02 2.87045955e-05 9.97023325e-01 -9.17918092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters 0.019596805866809078 Centerline is valid? [True, True] Translation: X:111.46, Y:-19.93, Z:-9.18 [[ 9.65663143e-01 2.48839164e-01 7.46576495e-02 1.11462379e+02] [-2.48136135e-01 9.68544707e-01 -1.86978146e-02 -1.99259419e+01] [-7.69620199e-02 -4.69470200e-04 9.97033915e-01 -9.18338851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141052754 meters 0.02137033837835739 Centerline is valid? [True, True] Translation: X:111.52, Y:-19.94, Z:-9.19 [[ 9.62443575e-01 2.60617346e-01 7.60326460e-02 1.11521156e+02] [-2.59925245e-01 9.65441101e-01 -1.90354480e-02 -1.99363800e+01] [-7.83660093e-02 -1.44225955e-03 9.96923612e-01 -9.18745255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201052754 meters 0.027891416299861225 Centerline is valid? [True, True] Translation: X:111.58, Y:-19.93, Z:-9.19 [[ 9.57743861e-01 2.77418260e-01 7.59329044e-02 1.11581841e+02] [-2.76780569e-01 9.60745129e-01 -1.90082382e-02 -1.99344756e+01] [-7.82254004e-02 -2.81172904e-03 9.96931733e-01 -9.19039412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261052754 meters 0.02975390587156046 Centerline is valid? [True, True] Translation: X:111.64, Y:-19.95, Z:-9.20 [[ 9.56294609e-01 2.82369049e-01 7.59495923e-02 1.11638944e+02] [-2.81746870e-01 9.59300449e-01 -1.90092270e-02 -1.99520236e+01] [-7.82260953e-02 -3.22013861e-03 9.96930443e-01 -9.19691750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32105275400001 meters 0.02833703239924042 Centerline is valid? [True, True] Translation: X:111.69, Y:-19.97, Z:-9.20 [[ 9.57093810e-01 2.80250987e-01 7.36941232e-02 1.11694344e+02] [-2.79659123e-01 9.59922203e-01 -1.84428480e-02 -1.99713289e+01] [-7.59092514e-02 -2.95769823e-03 9.97110344e-01 -9.20329846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38105275400001 meters 0.029183749717767764 Centerline is valid? [True, True] Translation: X:111.75, Y:-19.98, Z:-9.21 [[ 9.57826988e-01 2.78858758e-01 6.93199427e-02 1.11750324e+02] [-2.78331685e-01 9.60328387e-01 -1.73453961e-02 -1.99845926e+01] [-7.14068244e-02 -2.68004797e-03 9.97443674e-01 -9.21371032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44105275400001 meters 0.027690326485978013 Centerline is valid? [True, True] Translation: X:111.81, Y:-20.00, Z:-9.22 [[ 9.59218155e-01 2.74331015e-01 6.81397493e-02 1.11807383e+02] [-2.73811554e-01 9.61632526e-01 -1.70328470e-02 -2.00017105e+01] [-7.01980374e-02 -2.31923452e-03 9.97530379e-01 -9.21940742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501052754 meters 0.02569132165796374 Centerline is valid? [True, True] Translation: X:111.86, Y:-20.02, Z:-9.23 [[ 9.61418455e-01 2.66745946e-01 6.72395372e-02 1.11863740e+02] [-2.66221785e-01 9.63765302e-01 -1.68048467e-02 -2.00173007e+01] [-6.92857577e-02 -1.74413985e-03 9.97595330e-01 -9.22695434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561052754 meters 0.022646449244447395 Centerline is valid? [True, True] Translation: X:111.92, Y:-20.04, Z:-9.23 [[ 9.63247489e-01 2.60247492e-01 6.65245635e-02 1.11919064e+02] [-2.59719109e-01 9.65541114e-01 -1.66235372e-02 -2.00407543e+01] [-6.85584350e-02 -1.26511995e-03 9.97646300e-01 -9.23254938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621052754 meters 0.02221297621013409 Centerline is valid? [True, True] Translation: X:111.98, Y:-20.05, Z:-9.23 [[ 9.63133513e-01 2.59568939e-01 7.06951309e-02 1.11978148e+02] [-2.58970395e-01 9.65723713e-01 -1.76647613e-02 -2.00487394e+01] [-7.28571877e-02 -1.29442237e-03 9.97341544e-01 -9.22836627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.681052754 meters 0.02273327114147918 Centerline is valid? [True, True] Translation: X:112.03, Y:-20.06, Z:-9.24 [[ 9.62195923e-01 2.62857934e-01 7.13071722e-02 1.12034777e+02] [-2.62259275e-01 9.64833265e-01 -1.78000871e-02 -2.00626957e+01] [-7.34784259e-02 -1.57379604e-03 9.97295565e-01 -9.23516056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74105275400001 meters 0.02476669536139967 Centerline is valid? [True, True] Translation: X:112.09, Y:-20.07, Z:-9.24 [[ 9.60448134e-01 2.69372272e-01 7.05546709e-02 1.12092310e+02] [-2.68805081e-01 9.63033905e-01 -1.75933421e-02 -2.00722562e+01] [-7.26856988e-02 -2.06796140e-03 9.97352752e-01 -9.24125613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80105275400001 meters 0.026872946807466935 Centerline is valid? [True, True] Translation: X:112.15, Y:-20.08, Z:-9.25 [[ 9.57334558e-01 2.80687943e-01 6.87373412e-02 1.12151148e+02] [-2.80178853e-01 9.59794842e-01 -1.71368418e-02 -2.00816278e+01] [-7.07838504e-02 -2.85305857e-03 9.97487597e-01 -9.24547405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.861052754 meters 0.031402276543140845 Centerline is valid? [True, True] Translation: X:112.21, Y:-20.09, Z:-9.25 [[ 9.54264096e-01 2.91428286e-01 6.67052357e-02 1.12209385e+02] [-2.90975145e-01 9.56586119e-01 -1.66271682e-02 -2.00903521e+01] [-6.86549296e-02 -3.54285594e-03 9.97634176e-01 -9.25177121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921052754 meters 0.03251969645713872 Centerline is valid? [True, True] Translation: X:112.27, Y:-20.10, Z:-9.26 [[ 9.51204621e-01 3.01092665e-01 6.74757479e-02 1.12267299e+02] [-3.00653378e-01 9.53585228e-01 -1.68154526e-02 -2.01046616e+01] [-6.94068859e-02 -4.29187529e-03 9.97579202e-01 -9.25647600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981052754 meters 0.03400759628521377 Centerline is valid? [True, True] Translation: X:112.33, Y:-20.11, Z:-9.26 [[ 9.50043573e-01 3.04212758e-01 6.97983341e-02 1.12327008e+02] [-3.03751206e-01 9.52592628e-01 -1.73922382e-02 -2.01138647e+01] [-7.17803193e-02 -4.67794410e-03 9.97409496e-01 -9.25712748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.041052754 meters 0.03260783557390618 Centerline is valid? [True, True] Translation: X:112.38, Y:-20.13, Z:-9.26 [[ 9.50680663e-01 3.02092377e-01 7.03311622e-02 1.12384587e+02] [-3.01618059e-01 9.53267780e-01 -1.75238591e-02 -2.01301776e+01] [-7.23382551e-02 -4.55355459e-03 9.97369762e-01 -9.26284961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10105275400001 meters 0.032853843286275684 Centerline is valid? [True, True] Translation: X:112.44, Y:-20.14, Z:-9.27 [[ 9.52010718e-01 2.98416887e-01 6.79923102e-02 1.12441749e+02] [-2.97964545e-01 9.54426667e-01 -1.69371384e-02 -2.01431598e+01] [-6.99480021e-02 -4.13496051e-03 9.97542069e-01 -9.27061406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16105275400001 meters 0.03676476043782896 Centerline is valid? [True, True] Translation: X:112.50, Y:-20.15, Z:-9.28 [[ 9.51647616e-01 3.00172625e-01 6.52932620e-02 1.12499736e+02] [-2.99759801e-01 9.53876099e-01 -1.62619014e-02 -2.01512713e+01] [-6.71630597e-02 -4.09669557e-03 9.97733602e-01 -9.27770313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.221052754 meters 0.03853473193143014 Centerline is valid? [True, True] Translation: X:112.56, Y:-20.17, Z:-9.28 [[ 9.50319367e-01 3.04526993e-01 6.44702306e-02 1.12557131e+02] [-3.04134666e-01 9.52493767e-01 -1.60539037e-02 -2.01651537e+01] [-6.62963399e-02 -4.35129647e-03 9.97790490e-01 -9.28462032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.281052754 meters 0.03477310281885444 Centerline is valid? [True, True] Translation: X:112.61, Y:-20.19, Z:-9.29 [[ 9.50202689e-01 3.04787255e-01 6.49582870e-02 1.12612898e+02] [-3.04389576e-01 9.52410282e-01 -1.61753347e-02 -2.01850776e+01] [-6.67969763e-02 -4.40277892e-03 9.97756874e-01 -9.28682353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341052754 meters 0.041002052359657655 Centerline is valid? [True, True] Translation: X:112.67, Y:-20.19, Z:-9.29 [[ 9.48162529e-01 3.11358560e-01 6.35898249e-02 1.12671906e+02] [-3.10993286e-01 9.50280489e-01 -1.58167356e-02 -2.01894762e+01] [-6.53528458e-02 -4.77917254e-03 9.97850773e-01 -9.28959364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401052754 meters 0.04435722488990357 Centerline is valid? [True, True] Translation: X:112.73, Y:-20.20, Z:-9.30 [[ 9.46830325e-01 3.15436422e-01 6.33419267e-02 1.12729751e+02] [-3.15083289e-01 9.48933306e-01 -1.57512444e-02 -2.01983349e+01] [-6.50757801e-02 -5.04422674e-03 9.97867576e-01 -9.29592028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46105275400001 meters 0.045581378993320903 Centerline is valid? [True, True] Translation: X:112.79, Y:-20.21, Z:-9.30 [[ 9.47070614e-01 3.14512712e-01 6.43351013e-02 1.12786600e+02] [-3.14146449e-01 9.49239768e-01 -1.59959801e-02 -2.02099745e+01] [-6.61003757e-02 -5.06132093e-03 9.97800142e-01 -9.29923385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52105275400001 meters 0.0317428907521187 Centerline is valid? [True, True] Translation: X:112.84, Y:-20.24, Z:-9.30 [[ 9.50544135e-01 3.03961957e-01 6.38198723e-02 1.12840194e+02] [-3.03578190e-01 9.52674482e-01 -1.58623369e-02 -2.02424870e+01] [-6.56211108e-02 -4.29647003e-03 9.97835362e-01 -9.30073848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters 0.03038742988509693 Centerline is valid? [True, True] Translation: X:112.90, Y:-20.26, Z:-9.31 [[ 9.53108438e-01 2.96061343e-01 6.27055557e-02 1.12897683e+02] [-2.95673916e-01 9.55161810e-01 -1.55836959e-02 -2.02580302e+01] [-6.45076821e-02 -3.68744513e-03 9.97910398e-01 -9.30662428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641052754 meters 0.029048695821400353 Centerline is valid? [True, True] Translation: X:112.95, Y:-20.27, Z:-9.31 [[ 9.55376431e-01 2.88833563e-01 6.18954593e-02 1.12954445e+02] [-2.88441633e-01 9.57374085e-01 -1.53715748e-02 -2.02740424e+01] [-6.36969355e-02 -3.16758707e-03 9.97964261e-01 -9.31052655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701052754 meters 0.029466088554416636 Centerline is valid? [True, True] Translation: X:113.01, Y:-20.29, Z:-9.32 [[ 9.56031177e-01 2.87522940e-01 5.77490098e-02 1.13010583e+02] [-2.87179260e-01 9.57769449e-01 -1.43441830e-02 -2.02898719e+01] [-5.94345189e-02 -2.87083176e-03 9.98228078e-01 -9.32228139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.761052754 meters 0.030519535396916764 Centerline is valid? [True, True] Translation: X:113.07, Y:-20.30, Z:-9.33 [[ 9.53436127e-01 2.96000187e-01 5.78224913e-02 1.13068579e+02] [-2.95672202e-01 9.55181758e-01 -1.43442402e-02 -2.03022424e+01] [-5.94768867e-02 -3.42018651e-03 9.98223824e-01 -9.32606865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82105275400001 meters 0.033836316241217496 Centerline is valid? [True, True] Translation: X:113.13, Y:-20.31, Z:-9.33 [[ 9.48795734e-01 3.09869453e-01 6.13806009e-02 1.13127775e+02] [-3.09528684e-01 9.50768209e-01 -1.52251607e-02 -2.03121219e+01] [-6.30765362e-02 -4.55348915e-03 9.97998305e-01 -9.32517154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88105275400001 meters 0.03996941720860292 Centerline is valid? [True, True] Translation: X:113.19, Y:-20.32, Z:-9.33 [[ 9.43463256e-01 3.25166689e-01 6.43716558e-02 1.13187892e+02] [-3.24827280e-01 9.45638628e-01 -1.59632066e-02 -2.03180671e+01] [-6.60630273e-02 -5.84897100e-03 9.97798309e-01 -9.32560030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94105275400001 meters 0.041624783800519705 Centerline is valid? [True, True] Translation: X:113.25, Y:-20.33, Z:-9.33 [[ 9.36886733e-01 3.43903334e-01 6.30376624e-02 1.13246058e+02] [-3.43619691e-01 9.38978828e-01 -1.56290828e-02 -2.03315795e+01] [-6.45659241e-02 -7.01830177e-03 9.97888764e-01 -9.33142590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001052754 meters 0.047579529961330254 Centerline is valid? [True, True] Translation: X:113.31, Y:-20.34, Z:-9.34 [[ 9.31385538e-01 3.58273242e-01 6.45078629e-02 1.13305259e+02] [-3.58010185e-01 9.33580752e-01 -1.59902115e-02 -2.03387268e+01] [-6.59521641e-02 -8.20142021e-03 9.97789080e-01 -9.33532293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061052754 meters 0.052837162004724665 Centerline is valid? [True, True] Translation: X:113.36, Y:-20.35, Z:-9.34 [[ 9.26789848e-01 3.70147745e-01 6.36492366e-02 1.13363186e+02] [-3.69919212e-01 9.28930013e-01 -1.57736324e-02 -2.03486780e+01] [-6.49642607e-02 -8.92623306e-03 9.97847667e-01 -9.34176521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121052754 meters 0.05028930994459236 Centerline is valid? [True, True] Translation: X:113.42, Y:-20.37, Z:-9.35 [[ 9.24858264e-01 3.74869921e-01 6.41072105e-02 1.13419675e+02] [-3.74649477e-01 9.27030483e-01 -1.58824485e-02 -2.03662737e+01] [-6.53831906e-02 -9.32871910e-03 9.97816623e-01 -9.34595933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.181052754 meters 0.04846626483638017 Centerline is valid? [True, True] Translation: X:113.48, Y:-20.38, Z:-9.35 [[ 9.25598718e-01 3.72616717e-01 6.65116201e-02 1.13476354e+02] [-3.72373950e-01 9.27936528e-01 -1.64754895e-02 -2.03845856e+01] [-6.78576046e-02 -9.51750274e-03 9.97649619e-01 -9.35081687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24105275400001 meters 0.0513222712817894 Centerline is valid? [True, True] Translation: X:113.53, Y:-20.39, Z:-9.36 [[ 9.27619427e-01 3.67513656e-01 6.67526089e-02 1.13533442e+02] [-3.67256543e-01 9.29972796e-01 -1.65296624e-02 -2.03938442e+01] [-6.81529870e-02 -9.18209640e-03 9.97632628e-01 -9.36000151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30105275400001 meters 0.0455825386777993 Centerline is valid? [True, True] Translation: X:113.59, Y:-20.42, Z:-9.36 [[ 9.34624703e-01 3.48949162e-01 6.86378015e-02 1.13588907e+02] [-3.48628067e-01 9.37107103e-01 -1.69925932e-02 -2.04157136e+01] [-7.02505225e-02 -8.04736673e-03 9.97496919e-01 -9.36348038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.361052754 meters 0.035673519611044306 Centerline is valid? [True, True] Translation: X:113.64, Y:-20.44, Z:-9.37 [[ 9.41358553e-01 3.29922855e-01 7.06752059e-02 1.13643820e+02] [-3.29529451e-01 9.43983240e-01 -1.74923967e-02 -2.04411069e+01] [-7.24873513e-02 -6.82294457e-03 9.97345994e-01 -9.37090156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421052754 meters 0.031440928870317165 Centerline is valid? [True, True] Translation: X:113.70, Y:-20.46, Z:-9.37 [[ 9.44801679e-01 3.18730254e-01 7.59000200e-02 1.13701695e+02] [-3.18241017e-01 9.47823788e-01 -1.87808868e-02 -2.04572273e+01] [-7.79258813e-02 -6.41028613e-03 9.96938546e-01 -9.37151428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.481052754 meters 0.029936119358411777 Centerline is valid? [True, True] Translation: X:113.76, Y:-20.47, Z:-9.37 [[ 9.47342783e-01 3.11162754e-01 7.56266610e-02 1.13759239e+02] [-3.10653372e-01 9.50339124e-01 -1.87091222e-02 -2.04728101e+01] [-7.76925568e-02 -5.76972536e-03 9.96960670e-01 -9.37490999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.541052754 meters 0.03003940559227595 Centerline is valid? [True, True] Translation: X:113.82, Y:-20.49, Z:-9.38 [[ 9.48707492e-01 3.07428461e-01 7.37688041e-02 1.13815941e+02] [-3.06932853e-01 9.51556257e-01 -1.82459026e-02 -2.04897134e+01] [-7.58044769e-02 -5.33204498e-03 9.97108445e-01 -9.38357420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60105275400001 meters 0.031999753634415325 Centerline is valid? [True, True] Translation: X:113.87, Y:-20.50, Z:-9.39 [[ 9.46270475e-01 3.14731772e-01 7.42704554e-02 1.13873804e+02] [-3.14251859e-01 9.49161948e-01 -1.83675432e-02 -2.05023529e+01] [-7.62755395e-02 -5.95896477e-03 9.97068971e-01 -9.38803172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66105275400001 meters 0.03743860504888773 Centerline is valid? [True, True] Translation: X:113.93, Y:-20.51, Z:-9.39 [[ 9.41453150e-01 3.28882995e-01 7.41750792e-02 1.13933177e+02] [-3.28447857e-01 9.44344019e-01 -1.83406493e-02 -2.05091111e+01] [-7.60787200e-02 -7.09578379e-03 9.97076566e-01 -9.39197140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.721052754 meters 0.039170785220382726 Centerline is valid? [True, True] Translation: X:113.99, Y:-20.52, Z:-9.40 [[ 9.36313835e-01 3.43641975e-01 7.22952006e-02 1.13990920e+02] [-3.43272092e-01 9.39065950e-01 -1.78721171e-02 -2.05218059e+01] [-7.40315708e-02 -8.08301426e-03 9.97223140e-01 -9.39825385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781052754 meters 0.05059265291338373 Centerline is valid? [True, True] Translation: X:114.05, Y:-20.52, Z:-9.40 [[ 9.31585115e-01 3.56588112e-01 7.06688857e-02 1.14051006e+02] [-3.56271411e-01 9.34219249e-01 -1.74664534e-02 -2.05200658e+01] [-7.22485630e-02 -8.90581564e-03 9.97346896e-01 -9.40450196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841052754 meters 0.0555062069069696 Centerline is valid? [True, True] Translation: X:114.11, Y:-20.53, Z:-9.41 [[ 9.29412275e-01 3.62321094e-01 7.01159604e-02 1.14108574e+02] [-3.62025644e-01 9.32007122e-01 -1.73250585e-02 -2.05284777e+01] [-7.16258086e-02 -9.28165368e-03 9.97388387e-01 -9.40955969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901052754 meters 0.04292628585459554 Centerline is valid? [True, True] Translation: X:114.16, Y:-20.56, Z:-9.41 [[ 9.27952025e-01 3.65769390e-01 7.15387528e-02 1.14161811e+02] [-3.65472281e-01 9.30654469e-01 -1.76711816e-02 -2.05589716e+01] [-7.30414373e-02 -9.74742248e-03 9.97281272e-01 -9.41338299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96105275400001 meters 0.044230674325987554 Centerline is valid? [True, True] Translation: X:114.22, Y:-20.57, Z:-9.41 [[ 9.27777542e-01 3.65430694e-01 7.54270487e-02 1.14219624e+02] [-3.65099590e-01 9.30782062e-01 -1.86290552e-02 -2.05708734e+01] [-7.70137725e-02 -1.02547656e-02 9.96977291e-01 -9.41394924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02105275400001 meters 0.04279472081405266 Centerline is valid? [True, True] Translation: X:114.28, Y:-20.58, Z:-9.42 [[ 9.28470600e-01 3.63418158e-01 7.66132322e-02 1.14277287e+02] [-3.63071407e-01 9.31569566e-01 -1.89023212e-02 -2.05843591e+01] [-7.82400022e-02 -1.02658245e-02 9.96881696e-01 -9.41529323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters 0.04202847560861662 Centerline is valid? [True, True] Translation: X:114.33, Y:-20.60, Z:-9.42 [[ 9.30757596e-01 3.57561946e-01 7.64182753e-02 1.14333746e+02] [-3.57198877e-01 9.33838382e-01 -1.88371361e-02 -2.06039686e+01] [-7.80977617e-02 -9.76371462e-03 9.96897893e-01 -9.42442589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141052754 meters 0.03924629843248829 Centerline is valid? [True, True] Translation: X:114.39, Y:-20.62, Z:-9.43 [[ 9.32347116e-01 3.53458838e-01 7.61295336e-02 1.14390620e+02] [-3.53085542e-01 9.35402951e-01 -1.87595257e-02 -2.06230137e+01] [-7.78425106e-02 -9.38984791e-03 9.96921448e-01 -9.42861966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.201052754 meters 0.041888167264639245 Centerline is valid? [True, True] Translation: X:114.45, Y:-20.63, Z:-9.43 [[ 9.31952504e-01 3.54908594e-01 7.41917810e-02 1.14449471e+02] [-3.54558863e-01 9.34855033e-01 -1.82778411e-02 -2.06335805e+01] [-7.58455228e-02 -9.27127381e-03 9.97076477e-01 -9.43484508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.261052754 meters 0.04521414576536893 Centerline is valid? [True, True] Translation: X:114.51, Y:-20.64, Z:-9.44 [[ 9.29487506e-01 3.61451979e-01 7.35217210e-02 1.14508562e+02] [-3.61129028e-01 9.32340052e-01 -1.81067208e-02 -2.06426277e+01] [-7.50919552e-02 -9.72085682e-03 9.97129231e-01 -9.43950033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32105275400001 meters 0.04945950446233005 Centerline is valid? [True, True] Translation: X:114.57, Y:-20.65, Z:-9.44 [[ 9.28225487e-01 3.64002844e-01 7.68073822e-02 1.14566748e+02] [-3.63659353e-01 9.31340020e-01 -1.89114087e-02 -2.06512710e+01] [-7.84175955e-02 -1.03776714e-02 9.96866583e-01 -9.44025904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38105275400001 meters 0.051648844414198015 Centerline is valid? [True, True] Translation: X:114.62, Y:-20.66, Z:-9.44 [[ 9.28305041e-01 3.63961874e-01 7.60362096e-02 1.14624353e+02] [-3.63625475e-01 9.31357182e-01 -1.87166638e-02 -2.06643028e+01] [-7.76290219e-02 -1.02739294e-02 9.96929376e-01 -9.44360854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44105275400001 meters 0.03854354287717065 Centerline is valid? [True, True] Translation: X:114.68, Y:-20.70, Z:-9.45 [[ 9.29455233e-01 3.60912718e-01 7.65178449e-02 1.14677193e+02] [-3.60563408e-01 9.32544896e-01 -1.88161014e-02 -2.06979677e+01] [-7.81472960e-02 -1.01008110e-02 9.96890653e-01 -9.44604955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.501052754 meters 0.04925153977160229 Centerline is valid? [True, True] Translation: X:114.74, Y:-20.70, Z:-9.45 [[ 9.31103795e-01 3.56370094e-01 7.77565412e-02 1.14736745e+02] [-3.55994119e-01 9.34292633e-01 -1.91170882e-02 -2.07002275e+01] [-7.94601221e-02 -9.88087802e-03 9.96789074e-01 -9.44959095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.561052754 meters 0.040607796546359855 Centerline is valid? [True, True] Translation: X:114.79, Y:-20.73, Z:-9.46 [[ 9.32421455e-01 3.52938106e-01 7.76203863e-02 1.14791524e+02] [-3.52552098e-01 9.35597672e-01 -1.90791399e-02 -2.07262681e+01] [-7.93552083e-02 -9.57543066e-03 9.96800412e-01 -9.45559638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621052754 meters 0.042374909215538076 Centerline is valid? [True, True] Translation: X:114.85, Y:-20.74, Z:-9.46 [[ 9.32763754e-01 3.53097910e-01 7.26198673e-02 1.14848509e+02] [-3.52761346e-01 9.35543288e-01 -1.78378419e-02 -2.07379930e+01] [-7.42375341e-02 -8.97898974e-03 9.97200164e-01 -9.46439900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.681052754 meters 0.04191412342883347 Centerline is valid? [True, True] Translation: X:114.91, Y:-20.75, Z:-9.47 [[ 9.33160977e-01 3.52414697e-01 7.08129432e-02 1.14905809e+02] [-3.52093971e-01 9.35803337e-01 -1.73767106e-02 -2.07508495e+01] [-7.23907967e-02 -8.71754212e-03 9.97338246e-01 -9.46924301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74105275400001 meters 0.03891936890589325 Centerline is valid? [True, True] Translation: X:114.96, Y:-20.77, Z:-9.48 [[ 9.34810729e-01 3.48326618e-01 6.92637559e-02 1.14962204e+02] [-3.48010028e-01 9.37337067e-01 -1.69777421e-02 -2.07685492e+01] [-7.08372853e-02 -8.23350613e-03 9.97453903e-01 -9.47592707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80105275400001 meters 0.035514181924166804 Centerline is valid? [True, True] Translation: X:115.02, Y:-20.79, Z:-9.48 [[ 9.37252849e-01 3.41909762e-01 6.82261789e-02 1.15019080e+02] [-3.41586062e-01 9.39701774e-01 -1.67193802e-02 -2.07860440e+01] [-6.98287807e-02 -7.63482504e-03 9.97529774e-01 -9.48145930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861052754 meters 0.034072206899826894 Centerline is valid? [True, True] Translation: X:115.08, Y:-20.80, Z:-9.48 [[ 9.40438753e-01 3.32956284e-01 6.86663248e-02 1.15077107e+02] [-3.32605046e-01 9.42916150e-01 -1.68231292e-02 -2.07998874e+01] [-7.03479531e-02 -7.01764342e-03 9.97497829e-01 -9.48408315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921052754 meters 0.0294599008878832 Centerline is valid? [True, True] Translation: X:115.13, Y:-20.82, Z:-9.49 [[ 9.43143352e-01 3.24592532e-01 7.15563203e-02 1.15133775e+02] [-3.24187576e-01 9.45830446e-01 -1.75266451e-02 -2.08204900e+01] [-7.33691644e-02 -6.66753122e-03 9.97282563e-01 -9.48636188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981052754 meters 0.03156361845681009 Centerline is valid? [True, True] Translation: X:115.19, Y:-20.83, Z:-9.49 [[ 9.45856942e-01 3.16456352e-01 7.21804871e-02 1.15191947e+02] [-3.16021055e-01 9.48587511e-01 -1.76756191e-02 -2.08297752e+01] [-7.40630705e-02 -6.09194662e-03 9.97234952e-01 -9.48928597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041052754 meters 0.029081585346295086 Centerline is valid? [True, True] Translation: X:115.25, Y:-20.85, Z:-9.50 [[ 9.47446678e-01 3.11846086e-01 7.13919483e-02 1.15249029e+02] [-3.11407522e-01 9.50115703e-01 -1.74787419e-02 -2.08457074e+01] [-7.32812884e-02 -5.67181374e-03 9.97295184e-01 -9.49582410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10105275400001 meters 0.028789887925437234 Centerline is valid? [True, True] Translation: X:115.31, Y:-20.85, Z:-9.50 [[ 9.45525844e-01 3.17992785e-01 6.97242245e-02 1.15308747e+02] [-3.17591158e-01 9.48074114e-01 -1.70683970e-02 -2.08543264e+01] [-7.15313595e-02 -6.00518669e-03 9.97420274e-01 -9.49941212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16105275400001 meters 0.03364217433086376 Centerline is valid? [True, True] Translation: X:115.37, Y:-20.85, Z:-9.50 [[ 9.41913255e-01 3.28570420e-01 6.95765676e-02 1.15369418e+02] [-3.28199481e-01 9.44455003e-01 -1.70249140e-02 -2.08533869e+01] [-7.13058205e-02 -6.79900126e-03 9.97431328e-01 -9.50267432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.221052754 meters 0.03364854303534726 Centerline is valid? [True, True] Translation: X:115.43, Y:-20.87, Z:-9.51 [[ 9.41499947e-01 3.29151439e-01 7.23683571e-02 1.15426273e+02] [-3.28752101e-01 9.44250286e-01 -1.77046242e-02 -2.08685729e+01] [-7.41613444e-02 -7.12234672e-03 9.97220822e-01 -9.50612550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281052754 meters 0.034195505288358664 Centerline is valid? [True, True] Translation: X:115.48, Y:-20.88, Z:-9.51 [[ 9.41409513e-01 3.29276159e-01 7.29749316e-02 1.15482910e+02] [-3.28871887e-01 9.44206135e-01 -1.78341614e-02 -2.08828728e+01] [-7.47757423e-02 -7.21015426e-03 9.97174309e-01 -9.51011669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341052754 meters 0.032075862077315616 Centerline is valid? [True, True] Translation: X:115.54, Y:-20.90, Z:-9.51 [[ 9.39516727e-01 3.34172488e-01 7.50804113e-02 1.15539480e+02] [-3.33761567e-01 9.42479333e-01 -1.83282020e-02 -2.09029198e+01] [-7.68865169e-02 -7.83930338e-03 9.97009031e-01 -9.51316341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401052754 meters 0.03906013461147778 Centerline is valid? [True, True] Translation: X:115.60, Y:-20.91, Z:-9.52 [[ 9.34645721e-01 3.46684820e-01 7.90380391e-02 1.15597643e+02] [-3.46273616e-01 9.37935196e-01 -1.92912299e-02 -2.09133482e+01] [-8.08205352e-02 -9.33832217e-03 9.96684924e-01 -9.51516460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46105275400001 meters 0.04202971691361661 Centerline is valid? [True, True] Translation: X:115.65, Y:-20.93, Z:-9.52 [[ 9.33527578e-01 3.50262216e-01 7.64371636e-02 1.15654324e+02] [-3.49889728e-01 9.36605191e-01 -1.86519171e-02 -2.09287466e+01] [-7.81245060e-02 -9.33249938e-03 9.96899928e-01 -9.52401551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52105275400001 meters 0.042343074966141474 Centerline is valid? [True, True] Translation: X:115.71, Y:-20.95, Z:-9.53 [[ 9.33378159e-01 3.51488249e-01 7.25342857e-02 1.15709325e+02] [-3.51156621e-01 9.36149482e-01 -1.76967619e-02 -2.09522581e+01] [-7.41231378e-02 -8.95312360e-03 9.97208906e-01 -9.53354282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters 0.03878861315441481 Centerline is valid? [True, True] Translation: X:115.76, Y:-20.99, Z:-9.54 [[ 9.34432907e-01 3.48726553e-01 7.22837021e-02 1.15762424e+02] [-3.48389309e-01 9.37184073e-01 -1.76324098e-02 -2.09865654e+01] [-7.38920239e-02 -8.70656511e-03 9.97228241e-01 -9.53993229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641052754 meters 0.03621394254162584 Centerline is valid? [True, True] Translation: X:115.82, Y:-21.01, Z:-9.54 [[ 9.35718686e-01 3.45293795e-01 7.21299993e-02 1.15817004e+02] [-3.44948301e-01 9.38456854e-01 -1.75898639e-02 -2.10145665e+01] [-7.37645631e-02 -8.42195638e-03 9.97240121e-01 -9.54423160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701052754 meters 0.03716737304902909 Centerline is valid? [True, True] Translation: X:115.87, Y:-21.04, Z:-9.55 [[ 9.36873391e-01 3.42030823e-01 7.26853899e-02 1.15872688e+02] [-3.41670645e-01 9.39652672e-01 -1.77207774e-02 -2.10396613e+01] [-7.43600729e-02 -8.23233915e-03 9.97197477e-01 -9.54888456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.761052754 meters 0.03942871964572591 Centerline is valid? [True, True] Translation: X:115.93, Y:-21.06, Z:-9.55 [[ 9.37264712e-01 3.40650002e-01 7.41109729e-02 1.15928027e+02] [-3.40271680e-01 9.40153654e-01 -1.80635290e-02 -2.10598831e+01] [-7.58290431e-02 -8.28755699e-03 9.97086392e-01 -9.55082318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82105275400001 meters 0.04297532502944382 Centerline is valid? [True, True] Translation: X:115.98, Y:-21.08, Z:-9.55 [[ 9.36868894e-01 3.41024388e-01 7.73242627e-02 1.15982966e+02] [-3.40614154e-01 9.40014333e-01 -1.88428247e-02 -2.10796136e+01] [-7.91117780e-02 -8.68448189e-03 9.96827922e-01 -9.55244179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88105275400001 meters 0.036287728369185084 Centerline is valid? [True, True] Translation: X:116.04, Y:-21.11, Z:-9.56 [[ 9.35112190e-01 3.45795702e-01 7.73984767e-02 1.16036553e+02] [-3.45401298e-01 9.38265671e-01 -1.88540166e-02 -2.11122974e+01] [-7.91399716e-02 -9.10291349e-03 9.96821951e-01 -9.55637283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94105275400001 meters 0.04178340844606552 Centerline is valid? [True, True] Translation: X:116.09, Y:-21.13, Z:-9.56 [[ 9.31373691e-01 3.55309269e-01 7.93622800e-02 1.16092680e+02] [-3.54928784e-01 9.34693519e-01 -1.93283235e-02 -2.11296191e+01] [-8.10469413e-02 -1.01660655e-02 9.96658439e-01 -9.56000127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001052754 meters 0.03875837932074449 Centerline is valid? [True, True] Translation: X:116.15, Y:-21.16, Z:-9.57 [[ 9.29109909e-01 3.61028790e-01 8.00811494e-02 1.16146506e+02] [-3.60662553e-01 9.32492528e-01 -1.94989306e-02 -2.11608587e+01] [-8.17147488e-02 -1.07656222e-02 9.96597612e-01 -9.56690814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061052754 meters 0.03652620967621289 Centerline is valid? [True, True] Translation: X:116.20, Y:-21.19, Z:-9.57 [[ 9.30869661e-01 3.56696369e-01 7.90529827e-02 1.16201181e+02] [-3.56324420e-01 9.34164092e-01 -1.92446624e-02 -2.11890094e+01] [-8.07129591e-02 -1.02542358e-02 9.96684639e-01 -9.57193702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121052754 meters 0.03813451147098053 Centerline is valid? [True, True] Translation: X:116.26, Y:-21.21, Z:-9.58 [[ 9.31730078e-01 3.54359457e-01 7.94256745e-02 1.16258391e+02] [-3.53975881e-01 9.35054718e-01 -1.93326314e-02 -2.12053033e+01] [-8.11180524e-02 -1.01019789e-02 9.96653306e-01 -9.57685702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.181052754 meters 0.036102997814058874 Centerline is valid? [True, True] Translation: X:116.31, Y:-21.24, Z:-9.58 [[ 9.33972694e-01 3.47850394e-01 8.18236599e-02 1.16311624e+02] [-3.47418974e-01 9.37498537e-01 -1.99135626e-02 -2.12374663e+01] [-8.36365021e-02 -9.82836822e-03 9.96447861e-01 -9.58459628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24105275400001 meters 0.03606785657339997 Centerline is valid? [True, True] Translation: X:116.37, Y:-21.26, Z:-9.59 [[ 9.35363243e-01 3.44000353e-01 8.22153328e-02 1.16367985e+02] [-3.43550358e-01 9.38921136e-01 -2.00063065e-02 -2.12582099e+01] [-8.40758901e-02 -9.53194326e-03 9.96413763e-01 -9.58600863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30105275400001 meters 0.037730733031382094 Centerline is valid? [True, True] Translation: X:116.42, Y:-21.28, Z:-9.59 [[ 9.37904326e-01 3.37611345e-01 7.97123271e-02 1.16422855e+02] [-3.37165745e-01 9.41245519e-01 -1.93941748e-02 -2.12776999e+01] [-8.15765641e-02 -8.68638569e-03 9.96629224e-01 -9.59492484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361052754 meters 0.03770193041644924 Centerline is valid? [True, True] Translation: X:116.48, Y:-21.30, Z:-9.60 [[ 9.41152427e-01 3.28740826e-01 7.84957212e-02 1.16479863e+02] [-3.28278509e-01 9.44387978e-01 -1.90936265e-02 -2.12972088e+01] [-8.04072700e-02 -7.79844545e-03 9.96731586e-01 -9.60158653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421052754 meters 0.03453672621407505 Centerline is valid? [True, True] Translation: X:116.54, Y:-21.32, Z:-9.60 [[ 9.46308187e-01 3.13519859e-01 7.87788904e-02 1.16537515e+02] [-3.13001970e-01 9.49559209e-01 -1.91592176e-02 -2.13153819e+01] [-8.08120160e-02 -6.52742342e-03 9.96707987e-01 -9.60286011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481052754 meters 0.024333777566013192 Centerline is valid? [True, True] Translation: X:116.59, Y:-21.35, Z:-9.61 [[ 9.49581359e-01 3.03575656e-01 7.83394170e-02 1.16591817e+02] [-3.03030099e-01 9.52790581e-01 -1.90490649e-02 -2.13455157e+01] [-8.04238911e-02 -5.65056440e-03 9.96744736e-01 -9.60990599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541052754 meters 0.02254689140004768 Centerline is valid? [True, True] Translation: X:116.65, Y:-21.36, Z:-9.61 [[ 9.52101149e-01 2.95861221e-01 7.72627932e-02 1.16649585e+02] [-2.95305473e-01 9.55218205e-01 -1.87845173e-02 -2.13603163e+01] [-7.93604369e-02 -4.93136515e-03 9.96833789e-01 -9.61493817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60105275400001 meters 0.02460747979751263 Centerline is valid? [True, True] Translation: X:116.71, Y:-21.36, Z:-9.62 [[ 9.54369611e-01 2.87945228e-01 7.91592749e-02 1.16709253e+02] [-2.87334830e-01 9.57636866e-01 -1.92439389e-02 -2.13633373e+01] [-8.13470403e-02 -4.37938628e-03 9.96676216e-01 -9.61570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66105275400001 meters 0.023042619102792313 Centerline is valid? [True, True] Translation: X:116.77, Y:-21.37, Z:-9.62 [[ 9.53366313e-01 2.90896500e-01 8.04481207e-02 1.16769893e+02] [-2.90276857e-01 9.56742928e-01 -1.95528844e-02 -2.13681297e+01] [-8.26560363e-02 -4.71116633e-03 9.96567000e-01 -9.61997229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721052754 meters 0.027481747132117578 Centerline is valid? [True, True] Translation: X:116.83, Y:-21.36, Z:-9.62 [[ 9.49905108e-01 3.01927735e-01 8.07460714e-02 1.16833295e+02] [-3.01343140e-01 9.53313822e-01 -1.96231835e-02 -2.13578789e+01] [-8.29011293e-02 -5.69211247e-03 9.96541521e-01 -9.62164801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781052754 meters 0.03451727334662875 Centerline is valid? [True, True] Translation: X:116.90, Y:-21.35, Z:-9.63 [[ 9.43802200e-01 3.20495094e-01 8.07483843e-02 1.16897593e+02] [-3.19977660e-01 9.47221896e-01 -1.96208378e-02 -2.13476277e+01] [-8.27750199e-02 -7.31948920e-03 9.96541380e-01 -9.62690337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841052754 meters 0.04072812077383425 Centerline is valid? [True, True] Translation: X:116.96, Y:-21.34, Z:-9.63 [[ 9.39306921e-01 3.34466422e-01 7.63853453e-02 1.16960375e+02] [-3.34049053e-01 9.42372985e-01 -1.85576569e-02 -2.13403278e+01] [-7.81903990e-02 -8.08511675e-03 9.96905659e-01 -9.63429026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901052754 meters 0.045106178392944084 Centerline is valid? [True, True] Translation: X:117.02, Y:-21.34, Z:-9.64 [[ 9.36799013e-01 3.41474181e-01 7.61773766e-02 1.17022754e+02] [-3.41082155e-01 9.39851363e-01 -1.85035114e-02 -2.13355353e+01] [-7.79138826e-02 -8.64867250e-03 9.96922578e-01 -9.63679035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96105275400001 meters 0.047190126779837104 Centerline is valid? [True, True] Translation: X:117.08, Y:-21.35, Z:-9.65 [[ 9.36887666e-01 3.41521203e-01 7.48650023e-02 1.17080183e+02] [-3.41142912e-01 9.39835586e-01 -1.81819678e-02 -2.13451025e+01] [-7.65703209e-02 -8.50520356e-03 9.97027907e-01 -9.64567342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02105275400001 meters 0.03540824197224511 Centerline is valid? [True, True] Translation: X:117.13, Y:-21.37, Z:-9.65 [[ 9.38957551e-01 3.35871346e-01 7.44926572e-02 1.17134395e+02] [-3.35480660e-01 9.41873717e-01 -1.80728439e-02 -2.13744738e+01] [-7.62328264e-02 -8.02121255e-03 9.97057780e-01 -9.64981364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08105275400001 meters 0.04390016155622993 Centerline is valid? [True, True] Translation: X:117.19, Y:-21.38, Z:-9.65 [[ 9.43741388e-01 3.21792943e-01 7.61675388e-02 1.17193064e+02] [-3.21339177e-01 9.46783903e-01 -1.84763463e-02 -2.13804006e+01] [-7.80597574e-02 -7.03872152e-03 9.96923834e-01 -9.65219421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141052754 meters 0.026530138190174732 Centerline is valid? [True, True] Translation: X:117.24, Y:-21.43, Z:-9.66 [[ 9.49666685e-01 3.03791815e-01 7.64442370e-02 1.17242896e+02] [-3.03276868e-01 9.52722114e-01 -1.85395606e-02 -2.14265804e+01] [-7.84622819e-02 -5.57736567e-03 9.96901481e-01 -9.65895310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201052754 meters 0.020728025689963146 Centerline is valid? [True, True] Translation: X:117.30, Y:-21.45, Z:-9.66 [[ 9.54484138e-01 2.87560740e-01 7.91760781e-02 1.17298840e+02] [-2.86952821e-01 9.57752318e-01 -1.91983320e-02 -2.14510590e+01] [-8.13517589e-02 -4.39529558e-03 9.96675761e-01 -9.65926400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261052754 meters 0.0211519345599319 Centerline is valid? [True, True] Translation: X:117.36, Y:-21.47, Z:-9.66 [[ 9.56914464e-01 2.79469925e-01 7.88116032e-02 1.17355714e+02] [-2.78840462e-01 9.60147347e-01 -1.91067843e-02 -2.14659814e+01] [-8.10105233e-02 -3.69230559e-03 9.96706407e-01 -9.66448171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32105275400001 meters 0.018218440920466095 Centerline is valid? [True, True] Translation: X:117.41, Y:-21.48, Z:-9.67 [[ 9.57659371e-01 2.77795635e-01 7.56182167e-02 1.17412004e+02] [-2.77211121e-01 9.60634152e-01 -1.83308531e-02 -2.14810701e+01] [-7.77336725e-02 -3.40749737e-03 9.96968337e-01 -9.67199795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38105275400001 meters 0.022977698874542946 Centerline is valid? [True, True] Translation: X:117.47, Y:-21.48, Z:-9.68 [[ 9.57857772e-01 2.77272181e-01 7.50241678e-02 1.17472183e+02] [-2.76696794e-01 9.60785544e-01 -1.81665177e-02 -2.14785549e+01] [-7.71192059e-02 -3.35800653e-03 9.97016224e-01 -9.67658602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44105275400001 meters 0.018958051845996745 Centerline is valid? [True, True] Translation: X:117.53, Y:-21.49, Z:-9.68 [[ 9.58336710e-01 2.75429466e-01 7.56925347e-02 1.17529048e+02] [-2.74838555e-01 9.61315807e-01 -1.83217865e-02 -2.14908795e+01] [-7.78107899e-02 -3.24478631e-03 9.96962864e-01 -9.68304734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501052754 meters 0.017504235241793824 Centerline is valid? [True, True] Translation: X:117.59, Y:-21.49, Z:-9.69 [[ 9.58845193e-01 2.73580114e-01 7.59593178e-02 1.17589020e+02] [-2.72980785e-01 9.61844144e-01 -1.83666306e-02 -2.14940947e+01] [-7.80857699e-02 -3.12467877e-03 9.96941748e-01 -9.68606375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561052754 meters 0.017884026756277354 Centerline is valid? [True, True] Translation: X:117.65, Y:-21.49, Z:-9.69 [[ 9.57841295e-01 2.76688667e-01 7.73526628e-02 1.17650569e+02] [-2.76078782e-01 9.60953389e-01 -1.86839542e-02 -2.14934146e+01] [-7.95019419e-02 -3.45916601e-03 9.96828709e-01 -9.68825399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621052754 meters 0.02219987262546391 Centerline is valid? [True, True] Translation: X:117.71, Y:-21.49, Z:-9.69 [[ 9.54718965e-01 2.87245885e-01 7.74693422e-02 1.17711277e+02] [-2.86668890e-01 9.57847020e-01 -1.87092034e-02 -2.14897787e+01] [-7.95779203e-02 -4.34601899e-03 9.96819175e-01 -9.69436490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.681052754 meters 0.027376296105887012 Centerline is valid? [True, True] Translation: X:117.77, Y:-21.48, Z:-9.70 [[ 9.50791807e-01 3.00106976e-01 7.70113202e-02 1.17773814e+02] [-2.99578826e-01 9.53890320e-01 -1.85952697e-02 -2.14821618e+01] [-7.90409231e-02 -5.39073081e-03 9.96856796e-01 -9.69716461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74105275400001 meters 0.02844304514310559 Centerline is valid? [True, True] Translation: X:117.83, Y:-21.49, Z:-9.70 [[ 9.47441592e-01 3.11021041e-01 7.49689429e-02 1.17833335e+02] [-3.10554612e-01 9.50383227e-01 -1.80984879e-02 -2.14867437e+01] [-7.68782364e-02 -6.13469082e-03 9.97021616e-01 -9.70419797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80105275400001 meters 0.031954885937481504 Centerline is valid? [True, True] Translation: X:117.89, Y:-21.49, Z:-9.71 [[ 9.45285406e-01 3.18005284e-01 7.28569925e-02 1.17893863e+02] [-3.17585577e-01 9.48066550e-01 -1.75846032e-02 -2.14902806e+01] [-7.46652743e-02 -6.51586123e-03 9.97187365e-01 -9.71070959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861052754 meters 0.03523237743760807 Centerline is valid? [True, True] Translation: X:117.95, Y:-21.50, Z:-9.72 [[ 9.44333608e-01 3.20859266e-01 7.26867746e-02 1.17952523e+02] [-3.20450014e-01 9.47102991e-01 -1.75417461e-02 -2.14959261e+01] [-7.44702934e-02 -6.72721752e-03 9.97200541e-01 -9.71659672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921052754 meters 0.03174282556033954 Centerline is valid? [True, True] Translation: X:118.01, Y:-21.52, Z:-9.72 [[ 9.44945955e-01 3.18921995e-01 7.32523232e-02 1.18008998e+02] [-3.18500846e-01 9.47757782e-01 -1.76747514e-02 -2.15164621e+01] [-7.50623264e-02 -6.62924212e-03 9.97156808e-01 -9.72324619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981052754 meters 0.028884307168271423 Centerline is valid? [True, True] Translation: X:118.07, Y:-21.53, Z:-9.73 [[ 9.46758190e-01 3.13155002e-01 7.47186308e-02 1.18066202e+02] [-3.12699356e-01 9.49681132e-01 -1.80238939e-02 -2.15331683e+01] [-7.66031464e-02 -6.30019862e-03 9.97041757e-01 -9.72612463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041052754 meters 0.029365537868985863 Centerline is valid? [True, True] Translation: X:118.12, Y:-21.55, Z:-9.73 [[ 9.47975139e-01 3.09124088e-01 7.60620424e-02 1.18124410e+02] [-3.08639865e-01 9.51002197e-01 -1.83372399e-02 -2.15458809e+01] [-7.80036520e-02 -6.09253098e-03 9.96934457e-01 -9.72816773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10105275400001 meters 0.028493646983039203 Centerline is valid? [True, True] Translation: X:118.18, Y:-21.56, Z:-9.74 [[ 9.49413736e-01 3.05065216e-01 7.44900810e-02 1.18181387e+02] [-3.04588584e-01 9.52314753e-01 -1.79556809e-02 -2.15627354e+01] [-7.64156568e-02 -5.64145816e-03 9.97060089e-01 -9.73564070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16105275400001 meters 0.025122664012753718 Centerline is valid? [True, True] Translation: X:118.24, Y:-21.58, Z:-9.74 [[ 9.51125074e-01 3.00036725e-01 7.30688485e-02 1.18238857e+02] [-2.99563535e-01 9.53913809e-01 -1.76105961e-02 -2.15802005e+01] [-7.49852092e-02 -5.13888302e-03 9.97171405e-01 -9.74231996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221052754 meters 0.02374161750373882 Centerline is valid? [True, True] Translation: X:118.30, Y:-21.60, Z:-9.75 [[ 9.52494452e-01 2.95553526e-01 7.35012387e-02 1.18296302e+02] [-2.95061527e-01 9.55314046e-01 -1.77135437e-02 -2.15966370e+01] [-7.54520660e-02 -4.81533561e-03 9.97137803e-01 -9.74636239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281052754 meters 0.03277641326654081 Centerline is valid? [True, True] Translation: X:118.36, Y:-21.60, Z:-9.75 [[ 9.54294604e-01 2.89689007e-01 7.34989013e-02 1.18355772e+02] [-2.89179879e-01 9.57110928e-01 -1.77106891e-02 -2.15985372e+01] [-7.54771936e-02 -4.35318831e-03 9.97138026e-01 -9.75130915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341052754 meters 0.01844638829247689 Centerline is valid? [True, True] Translation: X:118.41, Y:-21.63, Z:-9.75 [[ 9.57558061e-01 2.79192742e-01 7.16517456e-02 1.18409709e+02] [-2.78679831e-01 9.60228924e-01 -1.72616574e-02 -2.16303905e+01] [-7.36214080e-02 -3.43885713e-03 9.97280333e-01 -9.75267090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401052754 meters 0.01618018742913765 Centerline is valid? [True, True] Translation: X:118.47, Y:-21.65, Z:-9.76 [[ 9.60840875e-01 2.67269051e-01 7.31578221e-02 1.18466116e+02] [-2.66699935e-01 9.63618494e-01 -1.76222010e-02 -2.16516913e+01] [-7.52060994e-02 -2.57905531e-03 9.97164676e-01 -9.75954734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46105275400001 meters 0.012818549225851461 Centerline is valid? [True, True] Translation: X:118.52, Y:-21.67, Z:-9.76 [[ 9.65160529e-01 2.51699945e-01 7.15002843e-02 1.18524352e+02] [-2.51113654e-01 9.67804402e-01 -1.72212966e-02 -2.16673323e+01] [-7.35328893e-02 -1.33338197e-03 9.97291901e-01 -9.76308952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52105275400001 meters 0.01164700822589543 Centerline is valid? [True, True] Translation: X:118.58, Y:-21.68, Z:-9.77 [[ 9.66824963e-01 2.45505668e-01 7.05440092e-02 1.18581832e+02] [-2.44918669e-01 9.69394780e-01 -1.69884105e-02 -2.16809973e+01] [-7.25557454e-02 -8.52725407e-04 9.97363994e-01 -9.76684214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58105275400001 meters 0.010977822766243107 Centerline is valid? [True, True] Translation: X:118.64, Y:-21.69, Z:-9.77 [[ 9.68420977e-01 2.38896665e-01 7.13385912e-02 1.18639432e+02] [-2.38279017e-01 9.71044925e-01 -1.71715737e-02 -2.16913862e+01] [-7.33752087e-02 -3.69177186e-04 9.97304338e-01 -9.77159951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.641052754 meters 0.010568202303584526 Centerline is valid? [True, True] Translation: X:118.70, Y:-21.70, Z:-9.78 [[ 9.69633441e-01 2.33313205e-01 7.33207868e-02 1.18698033e+02] [-2.32646257e-01 9.72401639e-01 -1.76287220e-02 -2.16987757e+01] [-7.54102668e-02 3.55917619e-05 9.97152591e-01 -9.77565823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701052754 meters 0.010618911657173092 Centerline is valid? [True, True] Translation: X:118.75, Y:-21.71, Z:-9.78 [[ 9.69492608e-01 2.33589202e-01 7.42978312e-02 1.18754892e+02] [-2.32906652e-01 9.72335377e-01 -1.78439660e-02 -2.17087696e+01] [-7.64105675e-02 -4.86596521e-06 9.97076439e-01 -9.77993410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.761052754 meters 0.010724358331705054 Centerline is valid? [True, True] Translation: X:118.81, Y:-21.72, Z:-9.78 [[ 9.68406083e-01 2.37444285e-01 7.62224965e-02 1.18812432e+02] [-2.36739612e-01 9.71401099e-01 -1.82827823e-02 -2.17191341e+01] [-7.83837591e-02 -3.39726601e-04 9.96923202e-01 -9.78083622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82105275400001 meters 0.0127540033563156 Centerline is valid? [True, True] Translation: X:118.87, Y:-21.73, Z:-9.78 [[ 9.65159999e-01 2.49895824e-01 7.75774059e-02 1.18869882e+02] [-2.49207761e-01 9.68271722e-01 -1.85839892e-02 -2.17280914e+01] [-7.97600697e-02 -1.39636868e-03 9.96813113e-01 -9.78385955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88105275400001 meters 0.020527280157942324 Centerline is valid? [True, True] Translation: X:118.93, Y:-21.73, Z:-9.79 [[ 9.56813512e-01 2.80433002e-01 7.65848175e-02 1.18929481e+02] [-2.79859655e-01 9.59865738e-01 -1.83395493e-02 -2.17329325e+01] [-7.86541572e-02 -3.88547209e-03 9.96894391e-01 -9.79033833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94105275400001 meters 0.02439237485824607 Centerline is valid? [True, True] Translation: X:118.99, Y:-21.75, Z:-9.80 [[ 9.51684504e-01 2.97759662e-01 7.50718833e-02 1.18987469e+02] [-2.97262342e-01 9.54626647e-01 -1.79740144e-02 -2.17465896e+01] [-7.70175567e-02 -5.21045291e-03 9.97016122e-01 -9.79626037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001052754 meters 0.025868193437336852 Centerline is valid? [True, True] Translation: X:119.04, Y:-21.76, Z:-9.80 [[ 9.49281206e-01 3.05425782e-01 7.47012956e-02 1.19044551e+02] [-3.04957149e-01 9.52198184e-01 -1.78816807e-02 -2.17643710e+01] [-7.65919644e-02 -5.80595070e-03 9.97045617e-01 -9.80051548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061052754 meters 0.027418536715003546 Centerline is valid? [True, True] Translation: X:119.10, Y:-21.79, Z:-9.81 [[ 9.49534885e-01 3.05381684e-01 7.15928009e-02 1.19098811e+02] [-3.04951143e-01 9.52213797e-01 -1.71372600e-02 -2.17861094e+01] [-7.34050581e-02 -5.55988022e-03 9.97286712e-01 -9.80850165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121052754 meters 0.02648303522981249 Centerline is valid? [True, True] Translation: X:119.15, Y:-21.81, Z:-9.81 [[ 9.50890082e-01 3.01724898e-01 6.90661898e-02 1.19154552e+02] [-3.01315992e-01 9.53381345e-01 -1.65131589e-02 -2.18088948e+01] [-7.08288481e-02 -5.10854845e-03 9.97475402e-01 -9.81450967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.181052754 meters 0.02404318213397605 Centerline is valid? [True, True] Translation: X:119.21, Y:-21.84, Z:-9.82 [[ 9.52285546e-01 2.96983361e-01 7.03784185e-02 1.19209001e+02] [-2.96546036e-01 9.54870345e-01 -1.68247598e-02 -2.18361523e+01] [-7.21989385e-02 -4.84846548e-03 9.97378467e-01 -9.81789377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24105275400001 meters 0.024178494479575506 Centerline is valid? [True, True] Translation: X:119.26, Y:-21.86, Z:-9.82 [[ 9.52264002e-01 2.96555229e-01 7.24449161e-02 1.19263923e+02] [-2.96090692e-01 9.55002828e-01 -1.73176463e-02 -2.18575026e+01] [-7.43207383e-02 -4.95929419e-03 9.97222058e-01 -9.81916618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30105275400001 meters 0.025373315913486245 Centerline is valid? [True, True] Translation: X:119.32, Y:-21.88, Z:-9.82 [[ 9.51045206e-01 3.00270186e-01 7.31493760e-02 1.19320187e+02] [-2.99809022e-01 9.53839352e-01 -1.74654451e-02 -2.18779997e+01] [-7.50171058e-02 -5.32041502e-03 9.97168054e-01 -9.82272465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361052754 meters 0.028957453764582582 Centerline is valid? [True, True] Translation: X:119.38, Y:-21.90, Z:-9.83 [[ 9.49461940e-01 3.05020843e-01 7.40561219e-02 1.19375380e+02] [-3.04562652e-01 9.52328206e-01 -1.76799156e-02 -2.18983342e+01] [-7.59184764e-02 -5.76832189e-03 9.97097343e-01 -9.82793858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421052754 meters 0.03208846886234584 Centerline is valid? [True, True] Translation: X:119.43, Y:-21.92, Z:-9.83 [[ 9.47979136e-01 3.09242654e-01 7.55283973e-02 1.19430714e+02] [-3.08779620e-01 9.50962747e-01 -1.80277486e-02 -2.19189292e+01] [-7.73996410e-02 -6.23170030e-03 9.96980673e-01 -9.82989628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481052754 meters 0.028597771897708006 Centerline is valid? [True, True] Translation: X:119.48, Y:-21.95, Z:-9.83 [[ 9.46241057e-01 3.13954536e-01 7.78486435e-02 1.19483270e+02] [-3.13478691e-01 9.49413488e-01 -1.85778903e-02 -2.19536557e+01] [-7.97431652e-02 -6.82472834e-03 9.96792080e-01 -9.83367389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541052754 meters 0.02878077151978875 Centerline is valid? [True, True] Translation: X:119.54, Y:-21.98, Z:-9.84 [[ 9.44295814e-01 3.19727786e-01 7.79715296e-02 1.19537028e+02] [-3.19270130e-01 9.47481119e-01 -1.86041286e-02 -2.19843776e+01] [-7.98248089e-02 -7.32617967e-03 9.96781986e-01 -9.83819167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60105275400001 meters 0.03442359156695428 Centerline is valid? [True, True] Translation: X:119.59, Y:-22.01, Z:-9.84 [[ 9.43329095e-01 3.22785064e-01 7.70715284e-02 1.19591367e+02] [-3.22348149e-01 9.46442589e-01 -1.83873835e-02 -2.20095572e+01] [-7.88789497e-02 -7.49851067e-03 9.96855999e-01 -9.84469931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66105275400001 meters 0.031518441957656705 Centerline is valid? [True, True] Translation: X:119.64, Y:-22.05, Z:-9.85 [[ 9.44058678e-01 3.20881929e-01 7.60789071e-02 1.19642865e+02] [-3.20450362e-01 9.47091472e-01 -1.81468610e-02 -2.20488522e+01] [-7.78766839e-02 -7.24781166e-03 9.96936654e-01 -9.85203655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.721052754 meters 0.03322148907295361 Centerline is valid? [True, True] Translation: X:119.70, Y:-22.08, Z:-9.86 [[ 9.45077469e-01 3.18122453e-01 7.50112166e-02 1.19695996e+02] [-3.17694506e-01 9.48024350e-01 -1.78894818e-02 -2.20807257e+01] [-7.68035057e-02 -6.92370523e-03 9.97022208e-01 -9.85888932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.781052754 meters 0.02995448840598522 Centerline is valid? [True, True] Translation: X:119.75, Y:-22.12, Z:-9.86 [[ 9.46183767e-01 3.15005295e-01 7.42155176e-02 1.19749489e+02] [-3.14577105e-01 9.49066949e-01 -1.76966240e-02 -2.21159771e+01] [-7.60100252e-02 -6.60224434e-03 9.97085195e-01 -9.86299936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.841052754 meters 0.030461910086739003 Centerline is valid? [True, True] Translation: X:119.80, Y:-22.15, Z:-9.87 [[ 9.48334828e-01 3.08999944e-01 7.19728339e-02 1.19803998e+02] [-3.08580187e-01 9.51043532e-01 -1.71600827e-02 -2.21465405e+01] [-7.37517627e-02 -5.93588646e-03 9.97258965e-01 -9.87007623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901052754 meters 0.025800761196965324 Centerline is valid? [True, True] Translation: X:119.86, Y:-22.18, Z:-9.87 [[ 9.50414582e-01 3.02561125e-01 7.18949769e-02 1.19857086e+02] [-3.02124061e-01 9.53114510e-01 -1.71400737e-02 -2.21819928e+01] [-7.37100657e-02 -5.43102642e-03 9.97264925e-01 -9.87470964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96105275400001 meters 0.02514576773363535 Centerline is valid? [True, True] Translation: X:119.91, Y:-22.20, Z:-9.88 [[ 9.51483708e-01 2.99027526e-01 7.25347674e-02 1.19912864e+02] [-2.98572538e-01 9.54230293e-01 -1.72912691e-02 -2.22045769e+01] [-7.43854378e-02 -5.20452873e-03 9.97215984e-01 -9.87904127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02105275400001 meters 0.028359232814155113 Centerline is valid? [True, True] Translation: X:119.97, Y:-22.22, Z:-9.88 [[ 9.51526909e-01 2.98532246e-01 7.39935165e-02 1.19968477e+02] [-2.98057361e-01 9.54384991e-01 -1.76379793e-02 -2.22222873e+01] [-7.58838071e-02 -5.27130035e-03 9.97102734e-01 -9.88069692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08105275400001 meters 0.02790013083614378 Centerline is valid? [True, True] Translation: X:120.02, Y:-22.25, Z:-9.89 [[ 9.50118588e-01 3.03055151e-01 7.37037657e-02 1.20024527e+02] [-3.02598013e-01 9.52956466e-01 -1.75617753e-02 -2.22472990e+01] [-7.55586666e-02 -5.61684386e-03 9.97125538e-01 -9.88628214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.141052754 meters 0.03341497300517208 Centerline is valid? [True, True] Translation: X:120.08, Y:-22.26, Z:-9.89 [[ 9.47695975e-01 3.10488833e-01 7.39528451e-02 1.20081222e+02] [-3.10051172e-01 9.50556599e-01 -1.76188120e-02 -2.22625016e+01] [-7.57668093e-02 -6.23188912e-03 9.97106090e-01 -9.88969999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.201052754 meters 0.03028664539710771 Centerline is valid? [True, True] Translation: X:120.14, Y:-22.29, Z:-9.89 [[ 9.46009498e-01 3.15614095e-01 7.38496612e-02 1.20136826e+02] [-3.15193175e-01 9.48864447e-01 -1.75932621e-02 -2.22898530e+01] [-7.56259995e-02 -6.63351620e-03 9.97114188e-01 -9.89236822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.261052754 meters 0.028862300874749485 Centerline is valid? [True, True] Translation: X:120.19, Y:-22.32, Z:-9.89 [[ 9.45375865e-01 3.16738968e-01 7.70772340e-02 1.20191545e+02] [-3.16284169e-01 9.48486772e-01 -1.83621180e-02 -2.23177611e+01] [-7.89227352e-02 -7.01920574e-03 9.96856024e-01 -9.89397496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32105275400001 meters 0.027577062867197865 Centerline is valid? [True, True] Translation: X:120.25, Y:-22.34, Z:-9.90 [[ 9.45442260e-01 3.16477317e-01 7.73371860e-02 1.20245108e+02] [-3.16018780e-01 9.48574076e-01 -1.84215277e-02 -2.23431346e+01] [-7.91900455e-02 -7.02351239e-03 9.96834794e-01 -9.89741901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38105275400001 meters 0.03665787226810526 Centerline is valid? [True, True] Translation: X:120.30, Y:-22.35, Z:-9.90 [[ 9.45371329e-01 3.16993417e-01 7.60803789e-02 1.20301666e+02] [-3.16553145e-01 9.48402100e-01 -1.80986924e-02 -2.23549367e+01] [-7.78919575e-02 -6.97349831e-03 9.96937417e-01 -9.90213481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44105275400001 meters 0.02762978381496997 Centerline is valid? [True, True] Translation: X:120.35, Y:-22.39, Z:-9.91 [[ 9.46017469e-01 3.15078618e-01 7.60027197e-02 1.20353922e+02] [-3.14633986e-01 9.49041075e-01 -1.80691268e-02 -2.23932702e+01] [-7.78228982e-02 -6.81932907e-03 9.96943877e-01 -9.90660284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501052754 meters 0.028672674983759965 Centerline is valid? [True, True] Translation: X:120.41, Y:-22.42, Z:-9.91 [[ 9.47055061e-01 3.11938150e-01 7.60348754e-02 1.20408960e+02] [-3.11483215e-01 9.50079727e-01 -1.80753575e-02 -2.24169656e+01] [-7.78775873e-02 -6.56522867e-03 9.96941312e-01 -9.91049434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.561052754 meters 0.02667246037760779 Centerline is valid? [True, True] Translation: X:120.46, Y:-22.44, Z:-9.91 [[ 9.48222863e-01 3.08135511e-01 7.69799249e-02 1.20464563e+02] [-3.07656967e-01 9.51321394e-01 -1.82974208e-02 -2.24435258e+01] [-7.88707346e-02 -6.33337748e-03 9.96864733e-01 -9.91450594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.621052754 meters 0.025771021133659092 Centerline is valid? [True, True] Translation: X:120.52, Y:-22.47, Z:-9.92 [[ 9.50460669e-01 3.01040299e-01 7.74548513e-02 1.20520543e+02] [-3.00532430e-01 9.53593903e-01 -1.84099401e-02 -2.24693681e+01] [-7.94026079e-02 -5.77977069e-03 9.96825873e-01 -9.91761234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.681052754 meters 0.02455588395365462 Centerline is valid? [True, True] Translation: X:120.58, Y:-22.50, Z:-9.92 [[ 9.53835723e-01 2.90694703e-01 7.54586165e-02 1.20576317e+02] [-2.90180504e-01 9.56803868e-01 -1.79341373e-02 -2.24951538e+01] [-7.74124549e-02 -4.79039857e-03 9.96987645e-01 -9.92384785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74105275400001 meters 0.024625404157037036 Centerline is valid? [True, True] Translation: X:120.63, Y:-22.51, Z:-9.93 [[ 9.55689137e-01 2.84804713e-01 7.44617335e-02 1.20632548e+02] [-2.84286324e-01 9.58576107e-01 -1.76955489e-02 -2.25143643e+01] [-7.64170144e-02 -4.25700864e-03 9.97066857e-01 -9.92674007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80105275400001 meters 0.02770038843588138 Centerline is valid? [True, True] Translation: X:120.69, Y:-22.53, Z:-9.93 [[ 9.53924912e-01 2.90824328e-01 7.38137622e-02 1.20690044e+02] [-2.90333007e-01 9.56764926e-01 -1.75391211e-02 -2.25268293e+01] [-7.57232219e-02 -4.69956702e-03 9.97117800e-01 -9.92939545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.861052754 meters 0.03312897144101747 Centerline is valid? [True, True] Translation: X:120.75, Y:-22.53, Z:-9.93 [[ 9.50450506e-01 3.02136406e-01 7.31944597e-02 1.20748698e+02] [-3.01686708e-01 9.53248521e-01 -1.73892669e-02 -2.25344585e+01] [-7.50264411e-02 -5.55415809e-03 9.97166077e-01 -9.93375480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.921052754 meters 0.030640339560718564 Centerline is valid? [True, True] Translation: X:120.81, Y:-22.55, Z:-9.94 [[ 9.48774245e-01 3.06898064e-01 7.51066550e-02 1.20806280e+02] [-3.06439425e-01 9.51722924e-01 -1.78424772e-02 -2.25521942e+01] [-7.69565470e-02 -6.08715733e-03 9.97015866e-01 -9.93747446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.981052754 meters 0.028661011134260866 Centerline is valid? [True, True] Translation: X:120.86, Y:-22.57, Z:-9.94 [[ 9.49845866e-01 3.02942821e-01 7.75788555e-02 1.20863197e+02] [-3.02440508e-01 9.52990104e-01 -1.84282742e-02 -2.25724525e+01] [-7.95145950e-02 -5.95896844e-03 9.96815891e-01 -9.94089767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.041052754 meters 0.027917424564666702 Centerline is valid? [True, True] Translation: X:120.92, Y:-22.59, Z:-9.95 [[ 9.51584763e-01 2.97530840e-01 7.72129414e-02 1.20920826e+02] [-2.97015704e-01 9.54696468e-01 -1.83391993e-02 -2.25901429e+01] [-7.91713998e-02 -5.48215353e-03 9.96845944e-01 -9.94523354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10105275400001 meters 0.02434774372379234 Centerline is valid? [True, True] Translation: X:120.98, Y:-22.61, Z:-9.95 [[ 9.52765915e-01 2.93343642e-01 7.86550693e-02 1.20978413e+02] [-2.92794964e-01 9.55992751e-01 -1.86807212e-02 -2.26075806e+01] [-8.06735469e-02 -5.23145373e-03 9.96726849e-01 -9.94862207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16105275400001 meters 0.024637501921205653 Centerline is valid? [True, True] Translation: X:121.04, Y:-22.62, Z:-9.95 [[ 9.53892431e-01 2.89499482e-01 7.92419049e-02 1.21036998e+02] [-2.88929442e-01 9.57165404e-01 -1.88193477e-02 -2.26181566e+01] [-8.12958013e-02 -4.94368605e-03 9.96677758e-01 -9.95184773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221052754 meters 0.023695127868172704 Centerline is valid? [True, True] Translation: X:121.09, Y:-22.63, Z:-9.96 [[ 9.54296272e-01 2.88129935e-01 7.93710584e-02 1.21094404e+02] [-2.87553513e-01 9.57579105e-01 -1.88476714e-02 -2.26296400e+01] [-8.14346454e-02 -4.83716410e-03 9.96666946e-01 -9.95630582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281052754 meters 0.02461565343385021 Centerline is valid? [True, True] Translation: X:121.15, Y:-22.64, Z:-9.96 [[ 9.53868285e-01 2.90574561e-01 7.55097374e-02 1.21154760e+02] [-2.90060935e-01 9.56840292e-01 -1.79251199e-02 -2.26351574e+01] [-7.74593430e-02 -4.80422161e-03 9.96983937e-01 -9.96398140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.341052754 meters 0.030679796050391735 Centerline is valid? [True, True] Translation: X:121.22, Y:-22.63, Z:-9.97 [[ 9.51094999e-01 2.99150477e-01 7.69889324e-02 1.21215386e+02] [-2.98644382e-01 9.54189457e-01 -1.82760373e-02 -2.26348980e+01] [-7.89293129e-02 -5.61006448e-03 9.96864429e-01 -9.97020731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.401052754 meters 0.029830545436805148 Centerline is valid? [True, True] Translation: X:121.27, Y:-22.65, Z:-9.98 [[ 9.49771426e-01 3.03389004e-01 7.67421052e-02 1.21274467e+02] [-3.02900005e-01 9.52848244e-01 -1.82156811e-02 -2.26450545e+01] [-7.86500175e-02 -5.94445069e-03 9.96884566e-01 -9.97605098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46105275400001 meters 0.029599067289825566 Centerline is valid? [True, True] Translation: X:121.33, Y:-22.66, Z:-9.98 [[ 9.49617752e-01 3.03662615e-01 7.75573384e-02 1.21332331e+02] [-3.03164084e-01 9.52760538e-01 -1.84090916e-02 -2.26558571e+01] [-7.94837244e-02 -6.03099933e-03 9.96817919e-01 -9.98010636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52105275400001 meters 0.03070551625294795 Centerline is valid? [True, True] Translation: X:121.39, Y:-22.66, Z:-9.98 [[ 9.50414816e-01 3.00685248e-01 7.93729064e-02 1.21391816e+02] [-3.00154496e-01 9.53704944e-01 -1.88191040e-02 -2.26625898e+01] [-8.13569601e-02 -5.93817948e-03 9.96667338e-01 -9.98407899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58105275400001 meters 0.028236268267894306 Centerline is valid? [True, True] Translation: X:121.45, Y:-22.68, Z:-9.99 [[ 9.49717061e-01 3.02462198e-01 8.09575306e-02 1.21449177e+02] [-3.01916663e-01 9.53141117e-01 -1.91921786e-02 -2.26774871e+01] [-8.29688597e-02 -6.21528803e-03 9.96532758e-01 -9.98802677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.641052754 meters 0.0290535304396387 Centerline is valid? [True, True] Translation: X:121.51, Y:-22.68, Z:-9.99 [[ 9.49132459e-01 3.04260368e-01 8.10752918e-02 1.21508504e+02] [-3.03720126e-01 9.52567502e-01 -1.92155711e-02 -2.26843901e+01] [-8.30762250e-02 -6.38607565e-03 9.96522734e-01 -9.99240210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701052754 meters 0.028490705966425188 Centerline is valid? [True, True] Translation: X:121.57, Y:-22.70, Z:-10.00 [[ 9.46882518e-01 3.10701548e-01 8.29339784e-02 1.21566653e+02] [-3.10160952e-01 9.50480901e-01 -1.96530368e-02 -2.26988598e+01] [-8.49333914e-02 -7.11376466e-03 9.96361236e-01 -9.99721885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.761052754 meters 0.031391951999806274 Centerline is valid? [True, True] Translation: X:121.63, Y:-22.71, Z:-10.00 [[ 9.44016766e-01 3.18878576e-01 8.45505723e-02 1.21626236e+02] [-3.18349171e-01 9.47761786e-01 -2.00350404e-02 -2.27096506e+01] [-8.65225466e-02 -8.00319058e-03 9.96217746e-01 -1.00014820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82105275400001 meters 0.03431058926576107 Centerline is valid? [True, True] Translation: X:121.69, Y:-22.72, Z:-10.01 [[ 9.43339145e-01 3.21053056e-01 8.38820158e-02 1.21686056e+02] [-3.20540585e-01 9.47026242e-01 -1.98753948e-02 -2.27196447e+01] [-8.58195264e-02 -8.13835245e-03 9.96277459e-01 -1.00057484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88105275400001 meters 0.0324310898851904 Centerline is valid? [True, True] Translation: X:121.74, Y:-22.74, Z:-10.01 [[ 9.42036502e-01 3.25306230e-01 8.21162997e-02 1.21742616e+02] [-3.24831036e-01 9.45571903e-01 -1.94570149e-02 -2.27414715e+01] [-8.39763539e-02 -8.34470443e-03 9.96432807e-01 -1.00120618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94105275400001 meters 0.03458311144507894 Centerline is valid? [True, True] Translation: X:121.80, Y:-22.76, Z:-10.02 [[ 9.45212289e-01 3.16545609e-01 7.98286001e-02 1.21797708e+02] [-3.16065516e-01 9.48548796e-01 -1.89148523e-02 -2.27627274e+01] [-8.17087359e-02 -7.35251680e-03 9.96629130e-01 -1.00184608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1006.12 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%| | 0/4166 [00:00