+ python -m lidar_slam --no-model /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 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 0.025529293 Adjusted end_distance from 9.223372036854776e+18 to 61.534169293 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025529293 meters 0.027685123800176334 Centerline is valid? [0, True] SLAMing on 0.085529293 meters 0.027571763523014423 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.99983371e-01 -1.16556172e-03 -5.64794948e-03 -6.11099474e-02] [ 1.16465660e-03 9.99999308e-01 -1.63541513e-04 -4.91305512e-03] [ 5.64813619e-03 1.56960871e-04 9.99984037e-01 -1.86009933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145529293 meters 0.028781346055438414 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.01 [[ 9.99990672e-01 3.88438333e-03 1.88856649e-03 -1.21252138e-01] [-3.88449566e-03 9.99992454e-01 5.58181875e-05 8.61277801e-03] [-1.88833542e-03 -6.31537952e-05 9.99998215e-01 -1.06654127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20552929300000003 meters 0.029937954896541667 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.00, Z:-0.01 [[ 9.99983791e-01 5.60944150e-03 -9.75982443e-04 -1.81535151e-01] [-5.60947232e-03 9.99984266e-01 -2.88433831e-05 5.62701739e-04] [ 9.75805292e-04 3.43176621e-05 9.99999523e-01 -1.11335427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265529293 meters 0.029861299027803063 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.01, Z:-0.01 [[ 9.99941231e-01 1.03207729e-02 -3.31897041e-03 -2.42530827e-01] [-1.03211506e-02 9.99946731e-01 -9.66641389e-05 1.01461631e-02] [ 3.31779597e-03 1.30914051e-04 9.99994488e-01 -1.44135151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32552929300000005 meters 0.030241483796114015 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.01, Z:-0.01 [[ 9.99869407e-01 1.61504628e-02 -5.75402759e-04 -3.02651771e-01] [-1.61504751e-02 9.99869572e-01 -1.66606508e-05 1.29067778e-02] [ 5.75058633e-04 2.59515030e-05 9.99999834e-01 -1.15632826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38552929300000005 meters 0.03118586637045819 Centerline is valid? [True, True] Translation: X:-0.36, Y:0.01, Z:-0.01 [[ 9.99794427e-01 1.97835564e-02 -4.44013530e-03 -3.63114158e-01] [-1.97843228e-02 9.99804263e-01 -1.28740539e-04 5.64389375e-03] [ 4.43671925e-03 2.16559144e-04 9.99990134e-01 -9.92062961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44552929300000005 meters 0.032244734933238824 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.02, Z:-0.01 [[ 9.99741140e-01 2.24833562e-02 -3.48589334e-03 -4.25332472e-01] [-2.24838516e-02 9.99747201e-01 -1.02995477e-04 1.56731899e-02] [ 3.48269643e-03 1.81345124e-04 9.99993919e-01 -9.41658984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.505529293 meters 0.031395465478631195 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.00, Z:-0.01 [[ 9.99731754e-01 2.31261325e-02 -1.26576934e-03 -4.86544079e-01] [-2.31262036e-02 9.99732553e-01 -4.15665651e-05 9.38193952e-05] [ 1.26446954e-03 7.08278545e-05 9.99999198e-01 -1.30722000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565529293 meters 0.03159339298625062 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.01, Z:-0.01 [[ 9.99807425e-01 1.96128658e-02 -6.69129275e-04 -5.47151725e-01] [-1.96128836e-02 9.99807649e-01 -2.01506306e-05 -6.12620983e-03] [ 6.68605356e-04 3.32703047e-05 9.99999776e-01 -1.16950340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.625529293 meters 0.03179267208898189 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.00, Z:-0.02 [[ 9.99885895e-01 1.49195147e-02 -2.36756013e-03 -6.08721524e-01] [-1.49197230e-02 9.99888692e-01 -7.03569330e-05 -4.17654190e-03] [ 2.36624692e-03 1.05672246e-04 9.99997195e-01 -1.85006738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.685529293 meters 0.03119766972066558 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.02, Z:-0.02 [[ 9.99910686e-01 1.30386421e-02 -2.93498219e-03 -6.69637882e-01] [-1.30389554e-02 9.99914985e-01 -8.76617663e-05 -2.37703653e-02] [ 2.93358968e-03 1.25923039e-04 9.99995689e-01 -1.72591221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745529293 meters 0.030825394491183055 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.03, Z:-0.01 [[ 9.99915769e-01 1.19479782e-02 -5.06962065e-03 -7.30919750e-01] [-1.19488943e-02 9.99928598e-01 -1.50458931e-04 -3.39957160e-02] [ 5.06746099e-03 2.11022619e-04 9.99987138e-01 -1.39339597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.805529293 meters 0.03257569904118678 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.03, Z:-0.02 [[ 9.99761381e-01 2.04499827e-02 -7.67983969e-03 -7.91530843e-01] [-2.04523169e-02 9.99790804e-01 -2.25516422e-04 -3.47875769e-02] [ 7.67362129e-03 3.82533125e-04 9.99970484e-01 -1.81183983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.865529293 meters 0.03422276615279543 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.04, Z:-0.00 [[ 9.99650311e-01 2.63951104e-02 -1.59791928e-03 -8.49678258e-01] [-2.63952148e-02 9.99651585e-01 -4.42871080e-05 -4.29215469e-02] [ 1.59619358e-03 8.64490440e-05 9.99998722e-01 -1.18006377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.925529293 meters 0.03663121907112723 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.05, Z:-0.01 [[ 9.99512878e-01 3.00111127e-02 -8.56389578e-03 -9.10115720e-01] [-3.00143564e-02 9.99549436e-01 -2.50469412e-04 -5.41143831e-02] [ 8.55252033e-03 5.07387223e-04 9.99963298e-01 -1.42081445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.985529293 meters 0.03499978309803024 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.07, Z:-0.01 [[ 9.99599651e-01 2.66095093e-02 -9.61625734e-03 -9.69825518e-01] [-2.66134503e-02 9.99645760e-01 -2.82076573e-04 -7.36153141e-02] [ 9.60534496e-03 5.37885431e-04 9.99953723e-01 -7.42181249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.045529293 meters 0.030635314058486938 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.13, Z:0.01 [[ 9.99910341e-01 1.30335672e-02 -3.07185872e-03 -1.02695923e+00] [-1.30339029e-02 9.99915051e-01 -8.92815282e-05 -1.32281123e-01] [ 3.07043411e-03 1.29311832e-04 9.99995278e-01 1.41869127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.105529293 meters 0.029351382564231455 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.18, Z:0.03 [[ 9.99978042e-01 -1.24137397e-03 -6.50953945e-03 -1.08515924e+00] [ 1.24016292e-03 9.99999213e-01 -1.90076652e-04 -1.79476414e-01] [ 6.50977029e-03 1.81999589e-04 9.99978795e-01 2.63114930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.165529293 meters 0.030938967631676157 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.20, Z:0.03 [[ 9.99954214e-01 7.66103780e-03 -5.73403474e-03 -1.14478604e+00] [-7.66212270e-03 9.99970632e-01 -1.67259135e-04 -2.02907654e-01] [ 5.73258497e-03 2.11186354e-04 9.99983546e-01 3.04950617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2255292930000001 meters 0.03321533060794248 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.24, Z:0.04 [[ 9.99832361e-01 1.75827334e-02 -5.10865362e-03 -1.20248962e+00] [-1.75837198e-02 9.99845383e-01 -1.48248568e-04 -2.39221239e-01] [ 5.10525712e-03 2.38052850e-04 9.99986940e-01 4.33428580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285529293 meters 0.03352406511626244 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.28, Z:0.03 [[ 9.99824999e-01 1.65092553e-02 -8.79859632e-03 -1.26089963e+00] [-1.65121046e-02 9.99863634e-01 -2.51285800e-04 -2.82701183e-01] [ 8.79324796e-03 3.96525168e-04 9.99961260e-01 3.25536635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345529293 meters 0.030995555412356324 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.34, Z:0.04 [[ 9.99920080e-01 7.15820430e-03 -1.04208115e-02 -1.31878228e+00] [-7.16174019e-03 9.99974309e-01 -3.02032750e-04 -3.38697250e-01] [ 1.04183818e-02 3.76639756e-04 9.99945656e-01 4.40577461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.405529293 meters 0.030522992854268304 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.40, Z:0.05 [[ 9.99963812e-01 -2.12022512e-03 -8.23888212e-03 -1.37734840e+00] [ 2.11832492e-03 9.99997728e-01 -2.39357600e-04 -4.02411188e-01] [ 8.23937089e-03 2.21896309e-04 9.99966031e-01 4.88930599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4655292930000001 meters 0.0315888559837511 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.44, Z:0.05 [[ 9.99951145e-01 3.15323730e-03 -9.36830187e-03 -1.43519249e+00] [-3.15591079e-03 9.99994983e-01 -2.70607315e-04 -4.43020760e-01] [ 9.36740158e-03 3.00159620e-04 9.99956080e-01 5.12462524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5255292930000002 meters 0.03252855830916457 Centerline is valid? [True, True] Translation: X:-1.49, Y:-0.47, Z:0.06 [[ 9.99975917e-01 3.78245436e-03 -5.81882004e-03 -1.49340167e+00] [-3.78348822e-03 9.99992829e-01 -1.66677468e-04 -4.71680263e-01] [ 5.81814786e-03 1.88688891e-04 9.99983057e-01 6.09450636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.585529293 meters 0.03150539514594511 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.51, Z:0.05 [[ 9.99957300e-01 5.28416631e-03 -7.58131211e-03 -1.55154406e+00] [-5.28595953e-03 9.99986006e-01 -2.16512772e-04 -5.09282261e-01] [ 7.58006192e-03 2.56578036e-04 9.99971238e-01 5.15585172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.645529293 meters 0.030610024349314004 Centerline is valid? [True, True] Translation: X:-1.61, Y:-0.55, Z:0.07 [[ 9.99983835e-01 3.64730331e-04 -5.67428241e-03 -1.60998778e+00] [-3.65660489e-04 9.99999920e-01 -1.62888671e-04 -5.53644279e-01] [ 5.67422254e-03 1.64960898e-04 9.99983888e-01 6.63367345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7055292930000001 meters 0.03185444914306449 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.59, Z:0.05 [[ 9.99968278e-01 -9.80291337e-04 -7.90459564e-03 -1.66829101e+00] [ 9.78603914e-04 9.99999498e-01 -2.17338633e-04 -5.87305619e-01] [ 7.90480473e-03 2.09596270e-04 9.99968735e-01 5.46799944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7655292930000002 meters 0.031103703172060095 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.61, Z:0.06 [[ 9.99970094e-01 -1.22801959e-03 -7.63567991e-03 -1.72666388e+00] [ 1.22646793e-03 9.99999226e-01 -2.07890877e-04 -6.08754535e-01] [ 7.63592930e-03 1.98519743e-04 9.99970826e-01 5.79589695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.825529293 meters 0.03158657268315824 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.64, Z:0.07 [[ 9.99996575e-01 2.88101141e-04 -2.60151973e-03 -1.78452009e+00] [-2.88288858e-04 9.99999956e-01 -7.17820646e-05 -6.44943974e-01] [ 2.60149894e-03 7.25318079e-05 9.99996613e-01 6.55533451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.885529293 meters 0.03131601643390565 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.66, Z:0.07 [[ 9.99986070e-01 5.07198048e-04 -5.25374211e-03 -1.84241770e+00] [-5.07971094e-04 9.99999860e-01 -1.45808717e-04 -6.55808736e-01] [ 5.25366742e-03 1.48475435e-04 9.99986188e-01 6.64146784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.945529293 meters 0.030056168430906274 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.70, Z:0.06 [[ 9.99984747e-01 -3.20274971e-03 -4.49985109e-03 -1.90098182e+00] [ 3.20221725e-03 9.99994865e-01 -1.25528873e-04 -6.95943511e-01] [ 4.50023002e-03 1.11117457e-04 9.99989868e-01 6.41323780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0055292930000004 meters 0.029341784039371863 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.71, Z:0.07 [[ 9.99983706e-01 -5.60330917e-03 -1.09099333e-03 -1.96068779e+00] [ 5.60327966e-03 9.99984301e-01 -3.01019326e-05 -7.08926997e-01] [ 1.09114487e-03 2.39883014e-05 9.99999404e-01 6.84516362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.065529293 meters 0.02929736027940757 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.74, Z:0.06 [[ 9.99936253e-01 -1.07706981e-02 -3.38844398e-03 -2.01901419e+00] [ 1.07704685e-02 9.99941993e-01 -8.59841094e-05 -7.35282299e-01] [ 3.38917353e-03 4.94834989e-05 9.99994256e-01 6.46804488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.125529293 meters 0.02906799641824762 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.75, Z:0.07 [[ 9.99942429e-01 -1.02478680e-02 -3.18129952e-03 -2.07640202e+00] [ 1.02476503e-02 9.99947488e-01 -8.47435056e-05 -7.45292697e-01] [ 3.18200090e-03 5.21377819e-05 9.99994936e-01 6.65837249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185529293 meters 0.028723277819166015 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.76, Z:0.06 [[ 9.99940206e-01 -1.04556451e-02 -3.20384099e-03 -2.13569609e+00] [ 1.04554219e-02 9.99945337e-01 -8.64250052e-05 -7.56707677e-01] [ 3.20456949e-03 5.29223284e-05 9.99994864e-01 5.75276638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.245529293 meters 0.028647805702193326 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.76, Z:0.06 [[ 9.99956383e-01 -9.23441341e-03 -1.39938295e-03 -2.19301676e+00] [ 9.23437249e-03 9.99957362e-01 -3.56943815e-05 -7.61998959e-01] [ 1.39965290e-03 2.27704011e-05 9.99999020e-01 6.19567374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305529293 meters 0.028963439706553917 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.77, Z:0.07 [[ 9.99978780e-01 -6.47703178e-03 6.97985009e-04 -2.25045307e+00] [ 6.47701783e-03 9.99979024e-01 2.22399744e-05 -7.72272388e-01] [-6.98114417e-04 -1.77186411e-05 9.99999756e-01 6.95912947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3655292930000003 meters 0.02944233115322946 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.77, Z:0.06 [[ 9.99962958e-01 -7.85706766e-03 -3.51419558e-03 -2.31232482e+00] [ 7.85677149e-03 9.99969130e-01 -9.80769083e-05 -7.69833776e-01] [ 3.51485769e-03 7.04630437e-05 9.99993820e-01 6.38771878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4255292930000003 meters 0.027987888940709457 Centerline is valid? [True, True] Translation: X:-2.37, Y:-0.78, Z:0.07 [[ 9.99884429e-01 -1.51778023e-02 -8.73470806e-04 -2.37106070e+00] [ 1.51777881e-02 9.99884810e-01 -2.28571885e-05 -7.81914141e-01] [ 8.73717113e-04 9.59719201e-06 9.99999618e-01 6.59121558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4855292930000004 meters 0.02813220972955771 Centerline is valid? [True, True] Translation: X:-2.43, Y:-0.80, Z:0.06 [[ 9.99734986e-01 -2.27318054e-02 -3.63644104e-03 -2.42940414e+00] [ 2.27315959e-02 9.99741599e-01 -9.89394323e-05 -7.99808264e-01] [ 3.63775045e-03 1.62511039e-05 9.99993383e-01 6.48283546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545529293 meters 0.028521372795815375 Centerline is valid? [True, True] Translation: X:-2.49, Y:-0.78, Z:0.07 [[ 9.99849116e-01 -1.73705723e-02 9.02640629e-05 -2.48939844e+00] [ 1.73705720e-02 9.99849120e-01 3.72503249e-06 -7.80960008e-01] [-9.03151498e-05 -2.15653204e-06 9.99999996e-01 7.28380401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605529293 meters 0.03053622820429274 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.76, Z:0.06 [[ 9.99979337e-01 -5.17172672e-03 -3.81813087e-03 -2.55142981e+00] [ 5.17136171e-03 9.99986623e-01 -1.05464514e-04 -7.60746407e-01] [ 3.81862522e-03 8.57173989e-05 9.99992705e-01 5.94670701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.665529293 meters 0.03023096875901131 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.76, Z:0.07 [[ 9.99955015e-01 -9.15008085e-03 2.49896721e-03 -2.61192424e+00] [ 9.14993775e-03 9.99958136e-01 6.86915376e-05 -7.61353558e-01] [-2.49949112e-03 -4.58230531e-05 9.99996875e-01 6.98013616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725529293 meters 0.02902157835427146 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.76, Z:0.05 [[ 9.99949356e-01 -8.38515686e-03 -5.56548481e-03 -2.67283376e+00] [ 8.38443529e-03 9.99964838e-01 -1.52969361e-04 -7.55372799e-01] [ 5.56657179e-03 1.06298167e-04 9.99984501e-01 5.04212487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.785529293 meters 0.03019497877811226 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.75, Z:0.05 [[ 9.99961412e-01 -8.02976331e-03 -3.56340388e-03 -2.73214201e+00] [ 8.02947500e-03 9.99967759e-01 -9.52062620e-05 -7.48862256e-01] [ 3.56405348e-03 6.65903257e-05 9.99993647e-01 5.08173470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8455292930000002 meters 0.02864160742902384 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.74, Z:0.07 [[ 9.99986293e-01 -5.14125340e-03 9.90514435e-04 -2.79068300e+00] [ 5.14122665e-03 9.99986783e-01 2.95484654e-05 -7.35531553e-01] [-9.90653260e-04 -2.44556011e-05 9.99999509e-01 6.86072493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9055292930000003 meters 0.030088202360998274 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.73, Z:0.06 [[ 9.99994352e-01 -2.40677982e-03 2.34583503e-03 -2.85361119e+00] [ 2.40665513e-03 9.99997102e-01 5.59761063e-05 -7.29277227e-01] [-2.34596296e-03 -5.03301742e-05 9.99997247e-01 6.33294323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9655292930000003 meters 0.029202910222454338 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.73, Z:0.06 [[ 9.99993462e-01 -3.54202809e-03 7.28224072e-04 -2.91575208e+00] [ 3.54201612e-03 9.99993727e-01 1.77248734e-05 -7.26261406e-01] [-7.28282286e-04 -1.51453761e-05 9.99999735e-01 6.03928538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0255292930000004 meters 0.028493928635622112 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.73, Z:0.05 [[ 9.99892215e-01 -1.29837222e-02 -6.85429395e-03 -2.97711267e+00] [ 1.29827172e-02 9.99915703e-01 -1.91111478e-04 -7.30113957e-01] [ 6.85619749e-03 1.02103519e-04 9.99976491e-01 4.86407289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.085529293 meters 0.028249773644394592 Centerline is valid? [True, True] Translation: X:-3.04, Y:-0.72, Z:0.07 [[ 9.99915174e-01 -1.24246353e-02 3.90799688e-03 -3.03648534e+00] [ 1.24243067e-02 9.99922809e-01 1.08371256e-04 -7.15695297e-01] [-3.90904169e-03 -5.98079117e-05 9.99992358e-01 7.37751352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145529293 meters 0.028920484477281152 Centerline is valid? [True, True] Translation: X:-3.10, Y:-0.71, Z:0.06 [[ 9.99980152e-01 -5.77808019e-03 -2.51173007e-03 -3.09662096e+00] [ 5.77792532e-03 9.99983305e-01 -6.89107258e-05 -7.07405499e-01] [ 2.51208630e-03 5.43967694e-05 9.99996843e-01 6.00338948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205529293 meters 0.031063896198710497 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.80, Z:0.03 [[ 9.99953299e-01 -7.45522131e-03 -6.14968630e-03 -3.15391569e+00] [ 7.45433376e-03 9.99972202e-01 -1.67234111e-04 -8.02624807e-01] [ 6.15076212e-03 1.21384487e-04 9.99981077e-01 3.07071103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265529293 meters 0.030322047831948022 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.80, Z:0.02 [[ 9.99986060e-01 1.29396768e-03 -5.11922048e-03 -3.21473546e+00] [-1.29470450e-03 9.99999152e-01 -1.40619857e-04 -7.95019017e-01] [ 5.11903418e-03 1.47245775e-04 9.99986887e-01 2.14163845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325529293 meters 0.03063958147399107 Centerline is valid? [True, True] Translation: X:-3.27, Y:-0.79, Z:0.02 [[ 9.99971376e-01 4.40342650e-03 -6.15282005e-03 -3.27373872e+00] [-4.40454100e-03 9.99990286e-01 -1.67597443e-04 -7.88858345e-01] [ 6.15202228e-03 1.94692994e-04 9.99981057e-01 2.13728426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3855292930000003 meters 0.030516585631167298 Centerline is valid? [True, True] Translation: X:-3.33, Y:-0.78, Z:0.02 [[ 9.99983784e-01 2.63463348e-03 -5.04883078e-03 -3.33342386e+00] [-2.63536170e-03 9.99996518e-01 -1.37586951e-04 -7.81618047e-01] [ 5.04845071e-03 1.50890215e-04 9.99987245e-01 2.15232696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4455292930000003 meters 0.030105293551221175 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.79, Z:0.01 [[ 9.99991732e-01 -1.22555432e-03 -3.87744672e-03 -3.39331103e+00] [ 1.22515537e-03 9.99999244e-01 -1.05264634e-04 -7.89412240e-01] [ 3.87757280e-03 1.00513289e-04 9.99992477e-01 1.14011783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5055292930000004 meters 0.029525424532812077 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.79, Z:0.02 [[ 9.99996514e-01 -1.65096724e-03 -2.06057587e-03 -3.45094214e+00] [ 1.65086065e-03 9.99998636e-01 -5.34283815e-05 -7.88227934e-01] [ 2.06066127e-03 5.00264716e-05 9.99997876e-01 1.52484728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5655292930000004 meters 0.029582376083511094 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.77, Z:0.01 [[ 9.99992581e-01 3.81391369e-03 5.40521392e-04 -3.51029721e+00] [-3.81392352e-03 9.99992727e-01 1.71630791e-05 -7.71279095e-01] [-5.40452002e-04 -1.92244590e-05 9.99999854e-01 1.37811344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625529293 meters 0.030732803729132195 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.76, Z:0.02 [[ 9.99959782e-01 8.80950588e-03 1.68160390e-03 -3.57203716e+00] [-8.80959265e-03 9.99961194e-01 4.41986154e-05 -7.61631022e-01] [-1.68114928e-03 -5.90110832e-05 9.99998585e-01 1.86919158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685529293 meters 0.030889378329481666 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.75, Z:0.01 [[ 9.99936800e-01 1.12359475e-02 3.87759902e-04 -3.63424331e+00] [-1.12359520e-02 9.99936875e-01 9.39873565e-06 -7.50968225e-01] [-3.87629821e-04 -1.37549933e-05 9.99999925e-01 9.66668166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745529293 meters 0.031366756904249816 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.75, Z:0.01 [[ 9.99938367e-01 1.08170069e-02 2.50104894e-03 -3.69578307e+00] [-1.08172092e-02 9.99941490e-01 6.73828299e-05 -7.50417026e-01] [-2.50017372e-03 -9.44330465e-05 9.99996870e-01 5.26729765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805529293 meters 0.03146849493768238 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.75, Z:0.01 [[ 9.99962779e-01 8.44652178e-03 1.75990099e-03 -3.75800659e+00] [-8.44661597e-03 9.99964326e-01 4.60914746e-05 -7.51595183e-01] [-1.75944889e-03 -6.09549668e-05 9.99998450e-01 6.03372424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8655292930000003 meters 0.03014496583871057 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.74, Z:0.01 [[ 9.99967679e-01 7.51861179e-03 2.84808873e-03 -3.81989031e+00] [-7.51885703e-03 9.99971730e-01 7.54093136e-05 -7.37261532e-01] [-2.84744124e-03 -9.68212482e-05 9.99995941e-01 6.52300928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9255292930000003 meters 0.029759479338742106 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.76, Z:0.00 [[ 9.99950237e-01 8.93890106e-03 4.42950529e-03 -3.88127167e+00] [-8.93952067e-03 9.99960034e-01 1.20103076e-04 -7.55040913e-01] [-4.42825467e-03 -1.59694753e-04 9.99990182e-01 2.50259745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9855292930000004 meters 0.029928569456294633 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.75, Z:0.01 [[ 9.99927825e-01 1.01398924e-02 6.44410092e-03 -3.94345012e+00] [-1.01412387e-02 9.99948561e-01 1.76277407e-04 -7.46443439e-01] [-6.44198201e-03 -2.41615849e-04 9.99979221e-01 1.16003368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045529293 meters 0.030138044116002658 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.74, Z:0.00 [[ 9.99910263e-01 1.26526913e-02 4.40171384e-03 -4.00561891e+00] [-1.26533442e-02 9.99919936e-01 1.20508626e-04 -7.42903858e-01] [-4.39983666e-03 -1.76194213e-04 9.99990305e-01 4.11696954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105529293 meters 0.030690114903104023 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.74, Z:0.01 [[ 9.99924402e-01 1.10280257e-02 5.43807994e-03 -4.06657052e+00] [-1.10290022e-02 9.99939168e-01 1.49610093e-04 -7.43132860e-01] [-5.43609922e-03 -2.09575378e-04 9.99985202e-01 6.25974099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1655292930000005 meters 0.029561749427211934 Centerline is valid? [True, True] Translation: X:-4.13, Y:-0.74, Z:0.01 [[ 9.99912931e-01 1.14144313e-02 6.62120703e-03 -4.12848298e+00] [-1.14158889e-02 9.99934820e-01 1.82395502e-04 -7.38535384e-01] [-6.61869352e-03 -2.57966585e-04 9.99978063e-01 1.02951552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225529293 meters 0.032554411135149196 Centerline is valid? [True, True] Translation: X:-4.19, Y:-0.74, Z:0.00 [[ 9.99923646e-01 1.15120563e-02 4.49170475e-03 -4.19145448e+00] [-1.15127239e-02 9.99933719e-01 1.22806016e-04 -7.37804659e-01] [-4.48999328e-03 -1.74508396e-04 9.99989905e-01 4.93015098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285529293000001 meters 0.031212878342648357 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.74, Z:0.02 [[ 9.99890485e-01 1.23845175e-02 8.10190862e-03 -4.25187034e+00] [-1.23867363e-02 9.99923256e-01 2.23746087e-04 -7.41424056e-01] [-8.09851587e-03 -3.24077789e-04 9.99967154e-01 1.52039436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345529293 meters 0.030960169334537616 Centerline is valid? [True, True] Translation: X:-4.31, Y:-0.73, Z:0.02 [[ 9.99913808e-01 1.18670035e-02 5.61701689e-03 -4.31414362e+00] [-1.18680379e-02 9.99929561e-01 1.50858560e-04 -7.28945371e-01] [-5.61483099e-03 -2.17508527e-04 9.99984213e-01 1.82028768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405529293000001 meters 0.030221059699636732 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.74, Z:0.01 [[ 9.99889447e-01 1.31987314e-02 6.84747546e-03 -4.37607113e+00] [-1.32003262e-02 9.99912854e-01 1.87763781e-04 -7.39338142e-01] [-6.84440049e-03 -2.78131933e-04 9.99976538e-01 9.75958653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465529293 meters 0.030003293264479886 Centerline is valid? [True, True] Translation: X:-4.44, Y:-0.74, Z:0.02 [[ 9.99870232e-01 1.40603692e-02 7.86295162e-03 -4.43676880e+00] [-1.40625483e-02 9.99901093e-01 2.21913377e-04 -7.41438520e-01] [-7.85905374e-03 -3.32457717e-04 9.99969062e-01 2.48611348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525529293 meters 0.02968726028772761 Centerline is valid? [True, True] Translation: X:-4.50, Y:-0.74, Z:0.02 [[ 9.99899442e-01 1.23092421e-02 7.04189451e-03 -4.49884870e+00] [-1.23109291e-02 9.99924198e-01 1.96281143e-04 -7.38110897e-01] [-7.03894465e-03 -2.82953670e-04 9.99975186e-01 2.18979067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5855292930000005 meters 0.029581616671009135 Centerline is valid? [True, True] Translation: X:-4.56, Y:-0.74, Z:0.03 [[ 9.99872880e-01 1.31662847e-02 8.99292337e-03 -4.56093453e+00] [-1.31691106e-02 9.99913251e-01 2.55088156e-04 -7.40811235e-01] [-8.98878468e-03 -3.73484532e-04 9.99959530e-01 3.12682934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.645529293 meters 0.029881349900371727 Centerline is valid? [True, True] Translation: X:-4.62, Y:-0.74, Z:0.02 [[ 9.99911527e-01 1.17328234e-02 6.26729592e-03 -4.62396950e+00] [-1.17341635e-02 9.99931137e-01 1.77100250e-04 -7.35939437e-01] [-6.26478645e-03 -2.50626057e-04 9.99980345e-01 2.28268377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705529293000001 meters 0.03040726367733649 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.75, Z:0.03 [[ 9.99911332e-01 1.15784760e-02 6.57770384e-03 -4.68540471e+00] [-1.15799955e-02 9.99932931e-01 1.92965519e-04 -7.46198266e-01] [-6.57502843e-03 -2.69118190e-04 9.99978348e-01 3.30046064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765529293 meters 0.031730054837039674 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.75, Z:0.04 [[ 9.99933892e-01 9.47076560e-03 6.52042291e-03 -4.74715582e+00] [-9.47221702e-03 9.99955119e-01 1.91748851e-04 -7.46529432e-01] [-6.51831426e-03 -2.53499036e-04 9.99978723e-01 3.93695816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825529293000001 meters 0.03079265144240863 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.75, Z:0.04 [[ 9.99938725e-01 9.05150256e-03 6.37303349e-03 -4.80863914e+00] [-9.05284849e-03 9.99959005e-01 1.82374670e-04 -7.47852257e-01] [-6.37112147e-03 -2.40057602e-04 9.99979675e-01 4.32722475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885529293 meters 0.03141936119867245 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.74, Z:0.05 [[ 9.99927791e-01 8.10082547e-03 8.87632219e-03 -4.87111932e+00] [-8.10349647e-03 9.99967131e-01 2.64988293e-04 -7.44960287e-01] [-8.87388381e-03 -3.36898404e-04 9.99960570e-01 4.95598357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945529293000001 meters 0.03078562473013758 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.75, Z:0.05 [[ 9.99948247e-01 7.02053300e-03 7.36315153e-03 -4.93389950e+00] [-7.02230225e-03 9.99975320e-01 2.14457232e-04 -7.49618952e-01] [-7.36146421e-03 -2.66152409e-04 9.99972869e-01 5.11239868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005529293 meters 0.02942908862836798 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.75, Z:0.06 [[ 9.99958694e-01 5.77232616e-03 7.02067790e-03 -4.99466691e+00] [-5.77392415e-03 9.99983309e-01 2.07365559e-04 -7.51106277e-01] [-7.01936374e-03 -2.47893855e-04 9.99975333e-01 5.74618017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065529293 meters 0.029200933944073477 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.75, Z:0.07 [[ 9.99960114e-01 4.78315207e-03 7.54269776e-03 -5.05650735e+00] [-4.78498190e-03 9.99988527e-01 2.24568754e-04 -7.50798228e-01] [-7.54153708e-03 -2.60651469e-04 9.99971528e-01 6.62601192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1255292930000005 meters 0.029607986912958666 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.74, Z:0.06 [[ 9.99969670e-01 3.32906412e-03 7.04104640e-03 -5.11892393e+00] [-3.33063170e-03 9.99994431e-01 2.10920447e-04 -7.38701465e-01] [-7.04030503e-03 -2.34365182e-04 9.99975189e-01 6.15105712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185529293 meters 0.030869796414174373 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.75, Z:0.07 [[ 9.99981681e-01 3.37396556e-03 5.02534811e-03 -5.18099913e+00] [-3.37476075e-03 9.99994294e-01 1.49763628e-04 -7.48789986e-01] [-5.02481414e-03 -1.66720232e-04 9.99987362e-01 6.56993435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245529293000001 meters 0.030818089744529563 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.74, Z:0.07 [[ 9.99961872e-01 3.55761666e-03 7.97483538e-03 -5.24320520e+00] [-3.55971641e-03 9.99993633e-01 2.49117748e-04 -7.43290999e-01] [-7.97389834e-03 -2.77496402e-04 9.99968169e-01 6.99876029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305529293 meters 0.030127692657403938 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.74, Z:0.06 [[ 9.99980909e-01 5.54378253e-03 2.72929670e-03 -5.30388386e+00] [-5.54403808e-03 9.99984628e-01 8.60751355e-05 -7.41037495e-01] [-2.72877756e-03 -1.01204817e-04 9.99996272e-01 6.42613219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365529293000001 meters 0.029564844937968505 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.74, Z:0.08 [[ 9.99964600e-01 5.02052378e-03 6.75220598e-03 -5.36419995e+00] [-5.02207272e-03 9.99987367e-01 2.12461695e-04 -7.43989672e-01] [-6.75105401e-03 -2.46364243e-04 9.99977181e-01 7.76489139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425529293 meters 0.030140571534437787 Centerline is valid? [True, True] Translation: X:-5.43, Y:-0.74, Z:0.07 [[ 9.99962829e-01 6.85273603e-03 5.23260779e-03 -5.42632369e+00] [-6.85368559e-03 9.99976500e-01 1.63560642e-04 -7.39067925e-01] [-5.23136398e-03 -1.99417211e-04 9.99986296e-01 7.01500919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485529293000001 meters 0.03075182877148904 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.75, Z:0.07 [[ 9.99973338e-01 6.52568106e-03 3.27691307e-03 -5.48834679e+00] [-6.52604839e-03 9.99978700e-01 1.01413638e-04 -7.46549781e-01] [-3.27618148e-03 -1.22796227e-04 9.99994626e-01 7.03431649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545529293 meters 0.030065719515872696 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.74, Z:0.07 [[ 9.99980910e-01 4.56436691e-03 4.16478698e-03 -5.55027124e+00] [-4.56494969e-03 9.99989572e-01 1.30435264e-04 -7.39430223e-01] [-4.16414820e-03 -1.49444817e-04 9.99991319e-01 7.36798916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605529293 meters 0.029840900679881974 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.75, Z:0.08 [[ 9.99949030e-01 8.96391245e-03 4.64608391e-03 -5.61098008e+00] [-8.96468932e-03 9.99959806e-01 1.46412417e-04 -7.47233078e-01] [-4.64458474e-03 -1.88055653e-04 9.99989196e-01 7.78413993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6655292930000005 meters 0.031795603720203285 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.76, Z:0.09 [[ 9.99931664e-01 7.37517402e-03 9.07056360e-03 -5.67093146e+00] [-7.37808771e-03 9.99972740e-01 2.87803413e-04 -7.57747849e-01] [-9.06819373e-03 -3.54707160e-04 9.99958820e-01 9.17563799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725529293 meters 0.029876393481757326 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.75, Z:0.09 [[ 9.99951796e-01 4.65452488e-03 8.64534810e-03 -5.73343058e+00] [-4.65705957e-03 9.99989119e-01 2.73076360e-04 -7.53891978e-01] [-8.64398298e-03 -3.13325097e-04 9.99962591e-01 9.29626449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785529293000001 meters 0.028594284698837655 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.77, Z:0.09 [[ 9.99969342e-01 -1.08888814e-03 7.75436773e-03 -5.79316907e+00] [ 1.08700416e-03 9.99999379e-01 2.47168341e-04 -7.67054561e-01] [-7.75463205e-03 -2.38731733e-04 9.99969904e-01 9.26483894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845529293 meters 0.030033736927021566 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.76, Z:0.10 [[ 9.99969064e-01 -3.14728063e-03 7.20872220e-03 -5.85546636e+00] [ 3.14575510e-03 9.99995027e-01 2.22950872e-04 -7.60821861e-01] [-7.20938805e-03 -2.00267101e-04 9.99973992e-01 9.60651392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905529293000001 meters 0.02934665315538549 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.76, Z:0.10 [[ 9.99986528e-01 -1.70968079e-03 4.90106425e-03 -5.91672568e+00] [ 1.70893405e-03 9.99998528e-01 1.56547282e-04 -7.61622883e-01] [-4.90132468e-03 -1.48169577e-04 9.99987977e-01 9.87566691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965529293 meters 0.02976526339579287 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.76, Z:0.09 [[ 9.99983547e-01 3.12756205e-05 5.73622542e-03 -5.97965315e+00] [-3.23209473e-05 9.99999983e-01 1.82139911e-04 -7.59770491e-01] [-5.73621962e-03 -1.82322314e-04 9.99983531e-01 9.45821767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025529293000001 meters 0.028686976475115394 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.76, Z:0.11 [[ 9.99972192e-01 -1.13851683e-03 7.37020233e-03 -6.04052676e+00] [ 1.13683967e-03 9.99999327e-01 2.31745038e-04 -7.55354649e-01] [-7.37046122e-03 -2.23359855e-04 9.99972813e-01 1.05650973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0855292930000005 meters 0.029284999959680518 Centerline is valid? [True, True] Translation: X:-6.10, Y:-0.76, Z:0.10 [[ 9.99984456e-01 -1.93819853e-03 5.22790179e-03 -6.10246491e+00] [ 1.93737421e-03 9.99998110e-01 1.62736416e-04 -7.59278048e-01] [-5.22820733e-03 -1.52605485e-04 9.99986321e-01 1.01046019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145529293 meters 0.028505925215979472 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.77, Z:0.10 [[ 9.99958683e-01 -5.44449069e-03 7.27936961e-03 -6.16320337e+00] [ 5.44290145e-03 9.99985159e-01 2.38113926e-04 -7.65874847e-01] [-7.28055798e-03 -1.98483197e-04 9.99973477e-01 1.04314975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205529293000001 meters 0.028242898140932216 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.77, Z:0.11 [[ 9.99937906e-01 -9.00440781e-03 6.56546589e-03 -6.22477957e+00] [ 9.00322892e-03 9.99959448e-01 2.09093077e-04 -7.68521139e-01] [-6.56708240e-03 -1.49969701e-04 9.99978425e-01 1.07475838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265529293 meters 0.027691858739248447 Centerline is valid? [True, True] Translation: X:-6.29, Y:-0.77, Z:0.11 [[ 9.99885961e-01 -1.25932538e-02 8.33512134e-03 -6.28577979e+00] [ 1.25914037e-02 9.99920687e-01 2.74406060e-04 -7.73212190e-01] [-8.33791592e-03 -1.69423890e-04 9.99965225e-01 1.09164661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325529293000001 meters 0.027364329552390362 Centerline is valid? [True, True] Translation: X:-6.35, Y:-0.77, Z:0.12 [[ 9.99841849e-01 -1.53500932e-02 8.98065966e-03 -6.34762150e+00] [ 1.53481004e-02 9.99882169e-01 2.90780536e-04 -7.70630119e-01] [-8.98406496e-03 -1.52898482e-04 9.99959631e-01 1.16923571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385529293 meters 0.02751593938149115 Centerline is valid? [True, True] Translation: X:-6.41, Y:-0.78, Z:0.12 [[ 9.99811041e-01 -1.58188946e-02 1.12980247e-02 -6.40950617e+00] [ 1.58157130e-02 9.99874855e-01 3.70900306e-04 -7.77114610e-01] [-1.13024781e-02 -1.92143904e-04 9.99936106e-01 1.18246228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445529293000001 meters 0.02823447846133216 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.77, Z:0.12 [[ 9.99883939e-01 -1.19562134e-02 9.44231843e-03 -6.47018101e+00] [ 1.19537751e-02 9.99928502e-01 3.14622556e-04 -7.66585616e-01] [-9.44540501e-03 -2.01714690e-04 9.99955371e-01 1.23243325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505529293 meters 0.02922741698438601 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.76, Z:0.11 [[ 9.99952766e-01 -8.95967407e-03 3.76705983e-03 -6.53236208e+00] [ 8.95926136e-03 9.99959857e-01 1.26417246e-04 -7.58739866e-01] [-3.76804127e-03 -9.26612014e-05 9.99992897e-01 1.05562703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565529293000001 meters 0.0283220798917223 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.76, Z:0.11 [[ 9.99939650e-01 -9.60074425e-03 5.34061328e-03 -6.59490120e+00] [ 9.59995605e-03 9.99953904e-01 1.73203216e-04 -7.55815276e-01] [-5.34202998e-03 -1.21923110e-04 9.99985724e-01 1.10049218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6255292930000005 meters 0.028362222998456484 Centerline is valid? [True, True] Translation: X:-6.66, Y:-0.76, Z:0.12 [[ 9.99919843e-01 -8.93717464e-03 8.96852629e-03 -6.65721844e+00] [ 8.93485511e-03 9.99960039e-01 2.98663850e-04 -7.58990459e-01] [-8.97083710e-03 -2.18507427e-04 9.99959737e-01 1.16126851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685529293 meters 0.02989212774060815 Centerline is valid? [True, True] Translation: X:-6.72, Y:-0.76, Z:0.12 [[ 9.99902238e-01 -1.09048928e-02 8.75206717e-03 -6.71817768e+00] [ 1.09027392e-02 9.99940520e-01 2.93736384e-04 -7.58470976e-01] [-8.75474976e-03 -1.98286161e-04 9.99961657e-01 1.19355479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745529293000001 meters 0.028203654760233947 Centerline is valid? [True, True] Translation: X:-6.78, Y:-0.76, Z:0.12 [[ 9.99894135e-01 -1.15785525e-02 8.81223597e-03 -6.78125189e+00] [ 1.15763887e-02 9.99932947e-01 2.96515868e-04 -7.59148501e-01] [-8.81507831e-03 -1.94470609e-04 9.99961128e-01 1.18532330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805529293 meters 0.027221021392335582 Centerline is valid? [True, True] Translation: X:-6.84, Y:-0.76, Z:0.11 [[ 9.99760619e-01 -2.13655190e-02 4.71371066e-03 -6.84395051e+00] [ 2.13650179e-02 9.99771730e-01 1.56655215e-04 -7.55912606e-01] [-4.71598168e-03 -5.59092020e-05 9.99988878e-01 1.06345876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865529293000001 meters 0.026975503679189508 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.78, Z:0.11 [[ 9.99507529e-01 -3.08365085e-02 5.81459941e-03 -6.90555366e+00] [ 3.08358565e-02 9.99524442e-01 2.01773152e-04 -7.76574890e-01] [-5.81805621e-03 -2.23756313e-05 9.99983075e-01 1.13109322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925529293 meters 0.02685849163900677 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.77, Z:0.12 [[ 9.99310418e-01 -3.62250282e-02 8.15084904e-03 -6.96745555e+00] [ 3.62239495e-02 9.99343658e-01 2.79981020e-04 -7.74122105e-01] [-8.15564161e-03 1.54679937e-05 9.99966742e-01 1.20728145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985529293000001 meters 0.026993735986410448 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.76, Z:0.12 [[ 9.99294287e-01 -3.66092883e-02 8.40761985e-03 -7.03114199e+00] [ 3.66081425e-02 9.99329655e-01 2.90194532e-04 -7.64050254e-01] [-8.41260766e-03 1.77976073e-05 9.99964613e-01 1.17595969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045529293 meters 0.026854030738831452 Centerline is valid? [True, True] Translation: X:-7.09, Y:-0.76, Z:0.12 [[ 9.99436088e-01 -3.26708257e-02 7.75394269e-03 -7.09328062e+00] [ 3.26697133e-02 9.99466166e-01 2.70110882e-04 -7.56656044e-01] [-7.75862812e-03 -1.66394781e-05 9.99969901e-01 1.18291817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105529293000001 meters 0.02733728404155154 Centerline is valid? [True, True] Translation: X:-7.16, Y:-0.74, Z:0.11 [[ 9.99598253e-01 -2.69884909e-02 8.65757937e-03 -7.15504674e+00] [ 2.69868600e-02 9.99635742e-01 3.05166355e-04 -7.38057098e-01] [-8.66266176e-03 -7.14028726e-05 9.99962476e-01 1.13027290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1655292930000005 meters 0.02907370689790323 Centerline is valid? [True, True] Translation: X:-7.22, Y:-0.73, Z:0.11 [[ 9.99748110e-01 -2.12616552e-02 7.18737777e-03 -7.21755029e+00] [ 2.12603501e-02 9.99773940e-01 2.57946775e-04 -7.31963335e-01] [-7.19123737e-03 -1.05075633e-04 9.99974137e-01 1.05729269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225529293 meters 0.027882717014437654 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.72, Z:0.10 [[ 9.99780770e-01 -1.97564952e-02 6.93483855e-03 -7.27922279e+00] [ 1.97552544e-02 9.99804815e-01 2.47389131e-04 -7.18125995e-01] [-6.93837252e-03 -1.10335396e-04 9.99975923e-01 1.00578449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285529293000001 meters 0.027456696754897217 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.71, Z:0.09 [[ 9.99748342e-01 -2.10711235e-02 7.69806670e-03 -7.34182147e+00] [ 2.10696435e-02 9.99777973e-01 2.73320139e-04 -7.11237066e-01] [-7.70211669e-03 -1.11055835e-04 9.99970332e-01 9.40442769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345529293 meters 0.027654733356519363 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.72, Z:0.09 [[ 9.99631655e-01 -2.59478733e-02 7.95373898e-03 -7.40353869e+00] [ 2.59464226e-02 9.99663294e-01 2.85538825e-04 -7.19595021e-01] [-7.95847003e-03 -7.90625754e-05 9.99968328e-01 8.77179616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405529293000001 meters 0.028229001106689584 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.71, Z:0.09 [[ 9.99540921e-01 -2.86660584e-02 9.80835385e-03 -7.46518214e+00] [ 2.86639181e-02 9.99589041e-01 3.58746708e-04 -7.11927015e-01] [-9.81460688e-03 -7.74361636e-05 9.99951833e-01 9.35669008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465529293 meters 0.028848215103570645 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.71, Z:0.09 [[ 9.99457355e-01 -3.11570653e-02 1.06879719e-02 -7.52748894e+00] [ 3.11546779e-02 9.99514499e-01 3.89834702e-04 -7.12591648e-01] [-1.06949290e-02 -5.66428399e-05 9.99942806e-01 8.59261349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525529293000001 meters 0.02929062515009947 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.71, Z:0.09 [[ 9.99451773e-01 -3.12413959e-02 1.09603485e-02 -7.59110168e+00] [ 3.12388640e-02 9.99511867e-01 4.02166022e-04 -7.10963937e-01] [-1.09675626e-02 -5.95567062e-05 9.99939853e-01 8.52562067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5855292930000005 meters 0.027213276833234195 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.70, Z:0.08 [[ 9.99520158e-01 -2.94284965e-02 9.66521406e-03 -7.65455920e+00] [ 2.94263813e-02 9.99566885e-01 3.61010193e-04 -6.98481089e-01] [-9.67165189e-03 -7.64246912e-05 9.99953226e-01 7.67386127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645529293000001 meters 0.028211192587057808 Centerline is valid? [True, True] Translation: X:-7.72, Y:-0.70, Z:0.07 [[ 9.99523477e-01 -3.04525044e-02 5.04609274e-03 -7.71600805e+00] [ 3.04519380e-02 9.99536214e-01 1.89056917e-04 -7.02184802e-01] [-5.04950970e-03 -3.53035237e-05 9.99987251e-01 6.73209670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705529293000001 meters 0.02723167219956789 Centerline is valid? [True, True] Translation: X:-7.78, Y:-0.69, Z:0.09 [[ 9.99498194e-01 -2.91236758e-02 1.24568084e-02 -7.77556840e+00] [ 2.91200838e-02 9.99575810e-01 4.69674566e-04 -6.91245479e-01] [-1.24652030e-02 -1.06695575e-04 9.99922301e-01 8.64626258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765529293 meters 0.02845719332606894 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.69, Z:0.09 [[ 9.99555618e-01 -2.74069169e-02 1.17229830e-02 -7.83847553e+00] [ 2.74036409e-02 9.99624353e-01 4.40018081e-04 -6.85317351e-01] [-1.17306388e-02 -1.18570130e-04 9.99931187e-01 8.93393138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825529293000001 meters 0.03040552092524829 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.68, Z:0.09 [[ 9.99599899e-01 -2.56209902e-02 1.19836313e-02 -7.90111925e+00] [ 2.56174647e-02 9.99671719e-01 4.47627738e-04 -6.80529219e-01] [-1.19911660e-02 -1.40458388e-04 9.99928094e-01 8.64623348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885529293 meters 0.02766736999786694 Centerline is valid? [True, True] Translation: X:-7.96, Y:-0.68, Z:0.09 [[ 9.99641894e-01 -2.40231127e-02 1.17887437e-02 -7.96213001e+00] [ 2.40195277e-02 9.99711390e-01 4.45616405e-04 -6.78584174e-01] [-1.17960465e-02 -1.62296770e-04 9.99930411e-01 8.73676757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945529293000001 meters 0.027738654013648993 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.67, Z:0.09 [[ 9.99653988e-01 -2.27292162e-02 1.32395892e-02 -8.02493500e+00] [ 2.27245821e-02 9.99741638e-01 5.00374411e-04 -6.69538497e-01] [-1.32475417e-02 -1.99337145e-04 9.99912228e-01 8.58756416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005529293 meters 0.02720406249368836 Centerline is valid? [True, True] Translation: X:-8.09, Y:-0.66, Z:0.07 [[ 9.99697099e-01 -2.05044540e-02 1.36116533e-02 -8.08805711e+00] [ 2.04992906e-02 9.99789733e-01 5.18765054e-04 -6.55211790e-01] [-1.36194282e-02 -2.39578683e-04 9.99907223e-01 7.21058925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065529293 meters 0.027388638577515403 Centerline is valid? [True, True] Translation: X:-8.15, Y:-0.66, Z:0.06 [[ 9.99749156e-01 -1.88445932e-02 1.21039449e-02 -8.15029135e+00] [ 1.88403613e-02 9.99822397e-01 4.63572871e-04 -6.64203880e-01] [-1.21105310e-02 -2.35413892e-04 9.99926637e-01 5.83611977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125529293000001 meters 0.02702982160271765 Centerline is valid? [True, True] Translation: X:-8.21, Y:-0.65, Z:0.06 [[ 9.99719229e-01 -2.03506558e-02 1.21373190e-02 -8.21324941e+00] [ 2.03464719e-02 9.99792880e-01 4.68100875e-04 -6.54986468e-01] [-1.21443313e-02 -2.21017824e-04 9.99926230e-01 5.96182766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185529293 meters 0.027075177582364735 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.65, Z:0.06 [[ 9.99727197e-01 -1.87663075e-02 1.39053306e-02 -8.27745766e+00] [ 1.87606035e-02 9.99823858e-01 5.40538995e-04 -6.45029513e-01] [-1.39130252e-02 -2.79519140e-04 9.99903170e-01 5.57777769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245529293 meters 0.027468517598718083 Centerline is valid? [True, True] Translation: X:-8.34, Y:-0.65, Z:0.06 [[ 9.99772821e-01 -1.55671460e-02 1.45592352e-02 -8.33984877e+00] [ 1.55604393e-02 9.99878764e-01 5.73823024e-04 -6.50188743e-01] [-1.45664029e-02 -3.47144568e-04 9.99893844e-01 6.13246344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305529293000001 meters 0.027545867830148195 Centerline is valid? [True, True] Translation: X:-8.40, Y:-0.64, Z:0.06 [[ 9.99829002e-01 -1.26249437e-02 1.35121583e-02 -8.40165059e+00] [ 1.26188530e-02 9.99920235e-01 5.35924908e-04 -6.35705898e-01] [-1.35178466e-02 -3.65325326e-04 9.99908563e-01 5.64553182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365529293 meters 0.029253146358317748 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.64, Z:0.06 [[ 9.99839511e-01 -9.80781963e-03 1.49919541e-02 -8.46387462e+00] [ 9.80005670e-03 9.99951804e-01 5.91185376e-04 -6.37584433e-01] [-1.49970298e-02 -4.44168497e-04 9.99887440e-01 5.52905344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425529293 meters 0.02756541590285796 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.63, Z:0.06 [[ 9.99826760e-01 -9.05116360e-03 1.62642903e-02 -8.52498110e+00] [ 9.04183664e-03 9.99958913e-01 6.46906799e-04 -6.30697328e-01] [-1.62694773e-02 -4.99735673e-04 9.99867518e-01 6.13326190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485529293 meters 0.029132672496833763 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.63, Z:0.05 [[ 9.99849029e-01 -8.22503023e-03 1.53058052e-02 -8.58723499e+00] [ 8.21662888e-03 9.99966056e-01 6.11704259e-04 -6.30686641e-01] [-1.53103169e-02 -4.85849788e-04 9.99882672e-01 5.45272695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545529293000001 meters 0.028334135212821708 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.63, Z:0.06 [[ 9.99860716e-01 -5.95443917e-03 1.55914412e-02 -8.64969044e+00] [ 5.94532878e-03 9.99982128e-01 6.30606015e-04 -6.29754423e-01] [-1.55949174e-02 -5.37821938e-04 9.99878247e-01 6.17997502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605529293 meters 0.028271591394444618 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.63, Z:0.05 [[ 9.99903519e-01 -4.03107098e-03 1.32930012e-02 -8.71069236e+00] [ 4.02425482e-03 9.99991757e-01 5.39471676e-04 -6.33939736e-01] [-1.32950663e-02 -4.85925203e-04 9.99911499e-01 5.34203223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665529293 meters 0.031805293888703456 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.64, Z:0.05 [[ 9.99964995e-01 2.34344195e-03 8.03219539e-03 -8.77178456e+00] [-2.34613795e-03 9.99997195e-01 3.26242511e-04 -6.37845878e-01] [-8.03140833e-03 -3.45075730e-04 9.99967688e-01 4.76495571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725529293000001 meters 0.031666459856448545 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.65, Z:0.06 [[ 9.99867153e-01 7.08382920e-03 1.46797556e-02 -8.83308727e+00] [-7.09329113e-03 9.99974667e-01 5.92588935e-04 -6.45282048e-01] [-1.46751859e-02 -6.96637991e-04 9.99892071e-01 6.48510593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785529293000002 meters 0.02965283269796313 Centerline is valid? [True, True] Translation: X:-8.89, Y:-0.67, Z:0.07 [[ 9.99883021e-01 -1.51486514e-03 1.52200587e-02 -8.89173514e+00] [ 1.50554958e-03 9.99998672e-01 6.23497478e-04 -6.66059778e-01] [-1.52209831e-02 -6.00509988e-04 9.99883974e-01 6.70108312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845529293 meters 0.027434529467970842 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.71, Z:0.06 [[ 9.99812819e-01 -1.34208847e-02 1.39358446e-02 -8.95162688e+00] [ 1.34142406e-02 9.99909862e-01 5.70133371e-04 -7.07157955e-01] [-1.39422401e-02 -3.83087881e-04 9.99902729e-01 6.45637276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905529293 meters 0.026921074077821138 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.72, Z:0.07 [[ 9.99753690e-01 -1.74704357e-02 1.36873165e-02 -9.01245815e+00] [ 1.74644556e-02 9.99847330e-01 5.56318678e-04 -7.21748559e-01] [-1.36949460e-02 -3.17140120e-04 9.99906170e-01 7.15873393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965529293000001 meters 0.028743392422450824 Centerline is valid? [True, True] Translation: X:-9.07, Y:-0.72, Z:0.06 [[ 9.99949965e-01 -4.46236835e-03 8.95291439e-03 -9.07364307e+00] [ 4.45924660e-03 9.99989990e-01 3.68617215e-04 -7.18849768e-01] [-8.95446967e-03 -3.28675518e-04 9.99959854e-01 5.97985959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025529293 meters 0.03099875848854815 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.73, Z:0.06 [[ 9.99923029e-01 4.34528251e-03 1.16212718e-02 -9.13368157e+00] [-4.35114330e-03 9.99990419e-01 4.79079387e-04 -7.28648490e-01] [-1.16190787e-02 -5.29608331e-04 9.99932356e-01 6.13091705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085529293 meters 0.029072443213021774 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.76, Z:0.07 [[ 9.99889998e-01 -4.48495238e-03 1.41377747e-02 -9.19204994e+00] [ 4.47715476e-03 9.99989807e-01 5.83147518e-04 -7.61408503e-01] [-1.41402460e-02 -5.19786365e-04 9.99899887e-01 6.53678448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145529293000001 meters 0.03016256340748802 Centerline is valid? [True, True] Translation: X:-9.25, Y:-0.78, Z:0.06 [[ 9.99846893e-01 -1.06185980e-02 1.39081350e-02 -9.25280623e+00] [ 1.06116570e-02 9.99943531e-01 5.72771018e-04 -7.82713315e-01] [-1.39134317e-02 -4.25094964e-04 9.99903113e-01 6.18515353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205529293000001 meters 0.02959754805533793 Centerline is valid? [True, True] Translation: X:-9.31, Y:-0.79, Z:0.05 [[ 9.99988886e-01 -9.80119026e-04 4.61174833e-03 -9.31276401e+00] [ 9.79249851e-04 9.99999502e-01 1.90724000e-04 -7.85431343e-01] [-4.61193296e-03 -1.86205827e-04 9.99989348e-01 5.15765757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265529293 meters 0.03135304732625206 Centerline is valid? [True, True] Translation: X:-9.37, Y:-0.81, Z:0.06 [[ 9.99894898e-01 8.91024204e-03 1.14368275e-02 -9.37131397e+00] [-8.91622395e-03 9.99960138e-01 4.72156528e-04 -8.07552741e-01] [-1.14321645e-02 -5.74080218e-04 9.99934486e-01 6.33684465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325529293 meters 0.030957324557269413 Centerline is valid? [True, True] Translation: X:-9.43, Y:-0.82, Z:0.06 [[ 9.99926213e-01 5.64022929e-03 1.07590297e-02 -9.43228110e+00] [-5.64532063e-03 9.99983967e-01 4.42904126e-04 -8.24305404e-01] [-1.07563591e-02 -5.03609618e-04 9.99942022e-01 5.98009089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385529293000001 meters 0.029393688555770358 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.86, Z:0.05 [[ 9.99962737e-01 -1.56556129e-03 8.48961883e-03 -9.49192513e+00] [ 1.56264382e-03 9.99998718e-01 3.50273427e-04 -8.59915001e-01] [-8.49015632e-03 -3.36994125e-04 9.99963901e-01 5.42578885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445529293 meters 0.028563206484770357 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.88, Z:0.05 [[ 9.99935760e-01 -8.83242340e-03 7.10387665e-03 -9.55209755e+00] [ 8.83056574e-03 9.99960967e-01 2.92823461e-04 -8.75661126e-01] [-7.10618570e-03 -2.30073400e-04 9.99974724e-01 5.45579020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505529293 meters 0.028364932780579374 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.89, Z:0.06 [[ 9.99942962e-01 -6.87295636e-03 8.17530949e-03 -9.61305250e+00] [ 6.87047384e-03 9.99976343e-01 3.31706852e-04 -8.87675571e-01] [-8.17739589e-03 -2.75519682e-04 9.99966527e-01 5.94670018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565529293 meters 0.03131317180734335 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.89, Z:0.05 [[ 9.99970842e-01 3.37126653e-03 6.85200933e-03 -9.67403752e+00] [-3.37329302e-03 9.99994270e-01 2.84214945e-04 -8.92432377e-01] [-6.85101191e-03 -3.07320493e-04 9.99976484e-01 5.41761457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625529293000001 meters 0.03346299957994396 Centerline is valid? [True, True] Translation: X:-9.73, Y:-0.89, Z:0.05 [[ 9.99941623e-01 9.91634322e-03 4.29154665e-03 -9.73404958e+00] [-9.91720210e-03 9.99950807e-01 1.78898855e-04 -8.86822549e-01] [-4.28956152e-03 -2.21448547e-04 9.99990775e-01 4.83453392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685529293 meters 0.0337021402145801 Centerline is valid? [True, True] Translation: X:-9.79, Y:-0.89, Z:0.05 [[ 9.99859184e-01 1.48727100e-02 7.77270242e-03 -9.79478423e+00] [-1.48756646e-02 9.99889299e-01 3.22453043e-04 -8.89590398e-01] [-7.76704623e-03 -4.38031751e-04 9.99969740e-01 5.35720772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745529293 meters 0.033147550380575104 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.90, Z:0.05 [[ 9.99899329e-01 1.32038992e-02 5.19499683e-03 -9.85729267e+00] [-1.32051634e-02 9.99912786e-01 2.09121187e-04 -8.97908631e-01] [-5.19178254e-03 -2.77700916e-04 9.99986484e-01 4.83702347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805529293000001 meters 0.031886489694480984 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.91, Z:0.05 [[ 9.99920115e-01 9.99537517e-03 7.73672598e-03 -9.91673522e+00] [-9.99816954e-03 9.99949965e-01 3.22588155e-04 -9.10935684e-01] [-7.73311448e-03 -3.99915483e-04 9.99970019e-01 4.75648864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865529293000002 meters 0.03175138241588439 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.92, Z:0.04 [[ 9.99957439e-01 7.81519122e-03 4.90337767e-03 -9.97892410e+00] [-7.81628124e-03 9.99969432e-01 2.03176332e-04 -9.23693054e-01] [-4.90163992e-03 -2.41493864e-04 9.99987958e-01 4.43753993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925529293 meters 0.03216750761839444 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.94, Z:0.05 [[ 9.99962827e-01 6.95158833e-03 5.10104533e-03 -1.00389987e+01] [-6.95275077e-03 9.99975807e-01 2.10184374e-04 -9.35075279e-01] [-5.09946081e-03 -2.45642858e-04 9.99986967e-01 5.07412589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985529293 meters 0.031541009401435734 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.93, Z:0.05 [[ 9.99936082e-01 7.42851866e-03 8.52345603e-03 -1.01015624e+01] [-7.43182699e-03 9.99972320e-01 3.56536697e-04 -9.32203205e-01] [-8.52057156e-03 -4.19858758e-04 9.99963611e-01 5.26307489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045529293000001 meters 0.032244748075610855 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.95, Z:0.05 [[ 9.99959108e-01 8.40121335e-03 3.34703219e-03 -1.01621895e+01] [-8.40173018e-03 9.99964695e-01 1.40384381e-04 -9.47291451e-01] [-3.34573462e-03 -1.68499501e-04 9.99994389e-01 4.63865148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105529293 meters 0.03112654804599225 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.95, Z:0.05 [[ 9.99955581e-01 5.97251827e-03 7.29140300e-03 -1.02226653e+01] [-5.97491107e-03 9.99982103e-01 3.06427667e-04 -9.51561370e-01] [-7.28944236e-03 -3.49979541e-04 9.99973370e-01 5.11124772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165529293 meters 0.031825439223347886 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.96, Z:0.04 [[ 9.99937534e-01 1.02681479e-02 4.41519358e-03 -1.02837407e+01] [-1.02690694e-02 9.99947254e-01 1.86078979e-04 -9.55795947e-01] [-4.41305001e-03 -2.31407285e-04 9.99990236e-01 4.28396207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225529293000001 meters 0.03216790955500571 Centerline is valid? [True, True] Translation: X:-10.35, Y:-0.96, Z:0.04 [[ 9.99950980e-01 9.81559161e-03 -1.30063987e-03 -1.03455361e+01] [-9.81567368e-03 9.99951824e-01 -5.67293992e-05 -9.63276877e-01] [ 1.30002037e-03 6.94932748e-05 9.99999153e-01 4.43776393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285529293000002 meters 0.03126913335209424 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.98, Z:0.06 [[ 9.99950320e-01 7.67375827e-03 6.36161797e-03 -1.04048022e+01] [-7.67562557e-03 9.99970506e-01 2.69163366e-04 -9.75206134e-01] [-6.35936484e-03 -3.17979392e-04 9.99979728e-01 5.73673897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345529293 meters 0.0310971320103206 Centerline is valid? [True, True] Translation: X:-10.47, Y:-0.99, Z:0.05 [[ 9.99965027e-01 5.42562118e-03 6.36459106e-03 -1.04663165e+01] [-5.42743194e-03 9.99985236e-01 2.67268269e-04 -9.86473464e-01] [-6.36304699e-03 -3.01802307e-04 9.99979710e-01 5.26757053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405529293 meters 0.031073085953614674 Centerline is valid? [True, True] Translation: X:-10.53, Y:-1.00, Z:0.06 [[ 9.99961517e-01 -2.35146390e-03 8.45193372e-03 -1.05257482e+01] [ 2.34853574e-03 9.99997179e-01 3.56357392e-04 -9.98216672e-01] [-8.45274783e-03 -3.36494010e-04 9.99964218e-01 6.13444287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465529293000001 meters 0.02907555454182462 Centerline is valid? [True, True] Translation: X:-10.59, Y:-1.00, Z:0.06 [[ 9.99965785e-01 -2.08786698e-03 8.00440865e-03 -1.05878675e+01] [ 2.08527346e-03 9.99997771e-01 3.32344029e-04 -9.96958263e-01] [-8.00508470e-03 -3.15641277e-04 9.99967909e-01 6.20132624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525529293 meters 0.03060899229072229 Centerline is valid? [True, True] Translation: X:-10.65, Y:-1.01, Z:0.04 [[ 9.99990581e-01 -7.09172313e-04 4.28201322e-03 -1.06497782e+01] [ 7.08404970e-04 9.99999733e-01 1.80715560e-04 -1.00679494e+00] [-4.28214024e-03 -1.77680459e-04 9.99990816e-01 4.40151069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585529293 meters 0.03286976828113018 Centerline is valid? [True, True] Translation: X:-10.71, Y:-1.00, Z:0.04 [[ 9.99990251e-01 3.62238763e-03 2.52506831e-03 -1.07112646e+01] [-3.62266956e-03 9.99993432e-01 1.07088873e-04 -1.00318824e+00] [-2.52466381e-03 -1.16235317e-04 9.99996806e-01 4.44885844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645529293000001 meters 0.03272573940482072 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.99, Z:0.05 [[ 9.99930418e-01 1.10596457e-02 4.10409789e-03 -1.07726396e+01] [-1.10604569e-02 9.99938816e-01 1.75025578e-04 -9.91429744e-01] [-4.10191106e-03 -2.20406598e-04 9.99991563e-01 4.62822968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705529293000001 meters 0.033863246453784475 Centerline is valid? [True, True] Translation: X:-10.83, Y:-1.00, Z:0.06 [[ 9.99834006e-01 1.68544961e-02 6.92003736e-03 -1.08325004e+01] [-1.68569394e-02 9.99857868e-01 2.94901257e-04 -9.97430865e-01] [-6.91408339e-03 -4.11502956e-04 9.99976013e-01 5.66750864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765529293 meters 0.03268670303046519 Centerline is valid? [True, True] Translation: X:-10.89, Y:-1.00, Z:0.06 [[ 9.99807873e-01 1.68304404e-02 1.00475581e-02 -1.08936763e+01] [-1.68355402e-02 9.99858183e-01 4.23191924e-04 -9.98088466e-01] [-1.00390107e-02 -5.92266686e-04 9.99949432e-01 5.85553758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825529293 meters 0.03433435636628113 Centerline is valid? [True, True] Translation: X:-10.96, Y:-1.00, Z:0.04 [[ 9.99860529e-01 1.67009576e-02 7.00087999e-06 -1.09552983e+01] [-1.67009576e-02 9.99860529e-01 4.50156863e-08 -1.00259639e+00] [-6.99915178e-06 -1.61930809e-07 1.00000000e+00 3.78529946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885529293000001 meters 0.033618316229924276 Centerline is valid? [True, True] Translation: X:-11.02, Y:-1.01, Z:0.04 [[ 9.99913652e-01 1.31228144e-02 6.92713235e-04 -1.10157054e+01] [-1.31228378e-02 9.99913891e-01 2.92258727e-05 -1.01148726e+00] [-6.92270061e-04 -3.83137125e-05 9.99999760e-01 4.07275668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945529293000002 meters 0.03137658466809959 Centerline is valid? [True, True] Translation: X:-11.07, Y:-1.02, Z:0.06 [[ 9.99942057e-01 4.72703978e-03 9.67151756e-03 -1.10739358e+01] [-4.73126752e-03 9.99988722e-01 4.14300745e-04 -1.01591541e+00] [-9.66945007e-03 -4.60035276e-04 9.99953144e-01 5.91893199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005529293 meters 0.032660492231197595 Centerline is valid? [True, True] Translation: X:-11.14, Y:-1.02, Z:0.05 [[ 9.99974964e-01 1.10285798e-03 6.98957919e-03 -1.11362554e+01] [-1.10496991e-03 9.99999345e-01 2.98299770e-04 -1.02164828e+00] [-6.98924563e-03 -3.06015577e-04 9.99975528e-01 4.51121140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065529293 meters 0.03044539960760472 Centerline is valid? [True, True] Translation: X:-11.20, Y:-1.03, Z:0.06 [[ 9.99950360e-01 -5.97722796e-04 9.94586526e-03 -1.11966684e+01] [ 5.93500208e-04 9.99999732e-01 4.27503250e-04 -1.03108081e+00] [-9.94611812e-03 -4.21579156e-04 9.99950447e-01 5.50310538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125529293000001 meters 0.031118206253009574 Centerline is valid? [True, True] Translation: X:-11.26, Y:-1.02, Z:0.04 [[ 9.99984170e-01 4.29462983e-04 5.61028988e-03 -1.12592228e+01] [-4.30818857e-04 9.99999878e-01 2.40469928e-04 -1.01751946e+00] [-5.61018592e-03 -2.42883140e-04 9.99984233e-01 4.14856411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185529293 meters 0.033433973099815245 Centerline is valid? [True, True] Translation: X:-11.32, Y:-1.02, Z:0.05 [[ 9.99957391e-01 2.53729686e-03 8.87573093e-03 -1.13214436e+01] [-2.54073598e-03 9.99996702e-01 3.76219761e-04 -1.02048703e+00] [-8.87474707e-03 -3.98754620e-04 9.99960539e-01 4.81972394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245529293 meters 0.03306751937716856 Centerline is valid? [True, True] Translation: X:-11.38, Y:-1.01, Z:0.05 [[ 9.99917624e-01 9.00081981e-03 9.15047469e-03 -1.13827872e+01] [-9.00482473e-03 9.99959377e-01 3.96567206e-04 -1.01158772e+00] [-9.14653354e-03 -4.78932959e-04 9.99958055e-01 4.75141366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305529293000001 meters 0.03603708975597039 Centerline is valid? [True, True] Translation: X:-11.44, Y:-0.99, Z:0.04 [[ 9.99826962e-01 1.79295337e-02 4.95770737e-03 -1.14446112e+01] [-1.79308163e-02 9.99839207e-01 2.14395674e-04 -9.94866062e-01] [-4.95306619e-03 -3.03254316e-04 9.99987688e-01 4.37871764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365529293000002 meters 0.03733921792084409 Centerline is valid? [True, True] Translation: X:-11.50, Y:-1.00, Z:0.06 [[ 9.99585313e-01 2.55729447e-02 1.32372859e-02 -1.15042438e+01] [-2.55827761e-02 9.99672542e-01 5.73884974e-04 -9.99771736e-01] [-1.32182753e-02 -9.12293514e-04 9.99912219e-01 5.75183910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425529293 meters 0.03712279338986574 Centerline is valid? [True, True] Translation: X:-11.56, Y:-1.00, Z:0.05 [[ 9.99515434e-01 2.92097101e-02 1.07559414e-02 -1.15638247e+01] [-2.92164156e-02 9.99573000e-01 4.66782127e-04 -9.95284009e-01] [-1.07377141e-02 -7.80805995e-04 9.99942044e-01 5.24169657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485529293 meters 0.037404414739580026 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.99, Z:0.05 [[ 9.99504436e-01 3.03262234e-02 8.43820003e-03 -1.16255203e+01] [-3.03303789e-02 9.99539862e-01 3.64893030e-04 -9.90907720e-01] [-8.42325147e-03 -6.20646006e-04 9.99964331e-01 4.99654567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545529293000001 meters 0.03650006989761845 Centerline is valid? [True, True] Translation: X:-11.69, Y:-1.01, Z:0.05 [[ 9.99503210e-01 2.90400434e-02 1.22477939e-02 -1.16863702e+01] [-2.90487143e-02 9.99577856e-01 5.30619583e-04 -1.00696227e+00] [-1.22272143e-02 -8.86138641e-04 9.99924852e-01 4.55906355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605529293 meters 0.037574222414424714 Centerline is valid? [True, True] Translation: X:-11.75, Y:-1.00, Z:0.05 [[ 9.99765261e-01 2.01256924e-02 8.02364835e-03 -1.17477149e+01] [-2.01291329e-02 9.99797328e-01 3.48254681e-04 -9.95798775e-01] [-8.01501331e-03 -5.09682016e-04 9.99967749e-01 4.55649198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665529293 meters 0.03401854103565206 Centerline is valid? [True, True] Translation: X:-11.81, Y:-1.02, Z:0.06 [[ 9.99813078e-01 1.06535350e-02 1.61341672e-02 -1.18061176e+01] [-1.06662148e-02 9.99942869e-01 7.00048407e-04 -1.01810229e+00] [-1.61257874e-02 -8.72008045e-04 9.99869591e-01 5.87020994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725529293000001 meters 0.03217746761474524 Centerline is valid? [True, True] Translation: X:-11.87, Y:-1.01, Z:0.05 [[ 9.99886575e-01 4.95474894e-03 1.42227952e-02 -1.18677174e+01] [-4.96404071e-03 9.99987488e-01 6.18072011e-04 -1.01253251e+00] [-1.42195549e-02 -6.88604441e-04 9.99898660e-01 5.37519492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785529293000002 meters 0.03205632298036081 Centerline is valid? [True, True] Translation: X:-11.93, Y:-1.03, Z:0.04 [[ 9.99956416e-01 1.29843558e-03 9.24555435e-03 -1.19299875e+01] [-1.30215088e-03 9.99999074e-01 3.95838896e-04 -1.02505319e+00] [-9.24503182e-03 -4.07860750e-04 9.99957181e-01 4.06746490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845529293 meters 0.03094509484508117 Centerline is valid? [True, True] Translation: X:-11.99, Y:-1.03, Z:0.05 [[ 9.99947697e-01 -4.87255502e-03 8.99228876e-03 -1.19899113e+01] [ 4.86921633e-03 9.99988068e-01 3.93139518e-04 -1.03357013e+00] [-8.99409706e-03 -3.49333556e-04 9.99959491e-01 4.76023350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905529293 meters 0.030251301056719648 Centerline is valid? [True, True] Translation: X:-12.05, Y:-1.04, Z:0.06 [[ 9.99877075e-01 -7.23948663e-03 1.39077179e-02 -1.20504175e+01] [ 7.23172806e-03 9.99973666e-01 6.08071082e-04 -1.03958907e+00] [-1.39117538e-02 -5.07419501e-04 9.99903098e-01 6.38952717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965529293000001 meters 0.03024722369937274 Centerline is valid? [True, True] Translation: X:-12.11, Y:-1.03, Z:0.06 [[ 9.99835959e-01 -7.16834840e-03 1.66334113e-02 -1.21132270e+01] [ 7.15729943e-03 9.99974124e-01 7.23698589e-04 -1.02622903e+00] [-1.66381686e-02 -6.04529568e-04 9.99861393e-01 6.28226991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025529293000002 meters 0.031565736512230415 Centerline is valid? [True, True] Translation: X:-12.17, Y:-1.04, Z:0.06 [[ 9.99930924e-01 -3.13671414e-03 1.13272992e-02 -1.21737776e+01] [ 3.13126797e-03 9.99994973e-01 4.98502821e-04 -1.03764056e+00] [-1.13288060e-02 -4.62999578e-04 9.99935720e-01 5.73864752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085529293 meters 0.03208963791691821 Centerline is valid? [True, True] Translation: X:-12.24, Y:-1.03, Z:0.06 [[ 9.99868625e-01 -6.20229551e-03 1.49754829e-02 -1.22353600e+01] [ 6.19312087e-03 9.99980605e-01 6.58941418e-04 -1.03100086e+00] [-1.49792794e-02 -5.66109874e-04 9.99887644e-01 6.28566308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145529293000001 meters 0.030469029880330373 Centerline is valid? [True, True] Translation: X:-12.30, Y:-1.03, Z:0.05 [[ 9.99909379e-01 -7.37124691e-03 1.12649438e-02 -1.22975040e+01] [ 7.36618335e-03 9.99972749e-01 4.90922025e-04 -1.03449496e+00] [-1.12682555e-02 -4.07897895e-04 9.99936428e-01 5.34195771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205529293000001 meters 0.029810301700874724 Centerline is valid? [True, True] Translation: X:-12.36, Y:-1.03, Z:0.07 [[ 9.99854913e-01 -1.08458531e-02 1.31347059e-02 -1.23579486e+01] [ 1.08391404e-02 9.99941085e-01 5.82144900e-04 -1.03004136e+00] [-1.31402459e-02 -4.39691517e-04 9.99913567e-01 6.55705446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265529293 meters 0.02930540314708951 Centerline is valid? [True, True] Translation: X:-12.42, Y:-1.02, Z:0.07 [[ 9.99819572e-01 -9.85357768e-03 1.62398055e-02 -1.24206905e+01] [ 9.84324346e-03 9.99951298e-01 7.16162045e-04 -1.02327057e+00] [-1.62460713e-02 -5.56180469e-04 9.99867869e-01 6.55481117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325529293 meters 0.03202841388411523 Centerline is valid? [True, True] Translation: X:-12.48, Y:-1.02, Z:0.06 [[ 9.99871516e-01 -7.58420741e-03 1.41219828e-02 -1.24824037e+01] [ 7.57607040e-03 9.99971103e-01 6.29603377e-04 -1.01820624e+00] [-1.41263497e-02 -5.22533347e-04 9.99900082e-01 5.74075607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385529293000001 meters 0.02971963413813262 Centerline is valid? [True, True] Translation: X:-12.55, Y:-1.01, Z:0.06 [[ 9.99859457e-01 -1.21563379e-02 1.15451005e-02 -1.25453678e+01] [ 1.21512107e-02 9.99926039e-01 5.14151285e-04 -1.00554289e+00] [-1.15504968e-02 -3.73792077e-04 9.99933221e-01 5.65586312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445529293000002 meters 0.03181519401929589 Centerline is valid? [True, True] Translation: X:-12.61, Y:-1.01, Z:0.07 [[ 9.99781640e-01 -1.48920750e-02 1.46594396e-02 -1.26054360e+01] [ 1.48840608e-02 9.99889011e-01 6.55646887e-04 -1.00596212e+00] [-1.46675765e-02 -4.37311730e-04 9.99892330e-01 6.89321869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505529293 meters 0.030113210045054527 Centerline is valid? [True, True] Translation: X:-12.67, Y:-1.00, Z:0.06 [[ 9.99760779e-01 -1.65667133e-02 1.42803550e-02 -1.26682814e+01] [ 1.65593402e-02 9.99862683e-01 6.34408572e-04 -1.00295584e+00] [-1.42889041e-02 -3.97783552e-04 9.99897829e-01 6.20185623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565529293 meters 0.029064063064105874 Centerline is valid? [True, True] Translation: X:-12.73, Y:-1.00, Z:0.07 [[ 9.99772734e-01 -1.81021393e-02 1.12602310e-02 -1.27289341e+01] [ 1.80976343e-02 9.99836098e-01 5.01860179e-04 -1.00349724e+00] [-1.12674702e-02 -2.97962580e-04 9.99936476e-01 6.72926333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625529293000001 meters 0.029383091978980567 Centerline is valid? [True, True] Translation: X:-12.79, Y:-1.00, Z:0.07 [[ 9.99715201e-01 -1.89234215e-02 1.45403347e-02 -1.27913728e+01] [ 1.89158664e-02 9.99820863e-01 6.56961221e-04 -9.99796113e-01] [-1.45501619e-02 -3.81731090e-04 9.99894068e-01 7.28146360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685529293 meters 0.03028600556585042 Centerline is valid? [True, True] Translation: X:-12.85, Y:-0.98, Z:0.07 [[ 9.99702826e-01 -2.12132318e-02 1.20107935e-02 -1.28539816e+01] [ 2.12082872e-02 9.99774934e-01 5.38913697e-04 -9.84093162e-01] [-1.20195224e-02 -2.84025186e-04 9.99927723e-01 6.94963266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745529293 meters 0.029630482118891025 Centerline is valid? [True, True] Translation: X:-12.92, Y:-0.99, Z:0.07 [[ 9.99683016e-01 -2.26602871e-02 1.09716989e-02 -1.29171758e+01] [ 2.26562284e-02 9.99743193e-01 4.94094995e-04 -9.88050056e-01] [-1.09800776e-02 -2.45361059e-04 9.99939687e-01 6.89693887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805529293000001 meters 0.029013644597847926 Centerline is valid? [True, True] Translation: X:-12.98, Y:-1.00, Z:0.07 [[ 9.99578301e-01 -2.70688487e-02 1.05117531e-02 -1.29795505e+01] [ 2.70653266e-02 9.99633553e-01 4.77198774e-04 -9.95599429e-01] [-1.05208183e-02 -1.92493509e-04 9.99944636e-01 6.76762672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865529293000002 meters 0.028060840887767703 Centerline is valid? [True, True] Translation: X:-13.04, Y:-1.00, Z:0.08 [[ 9.99417429e-01 -3.19959664e-02 1.18769149e-02 -1.30407835e+01] [ 3.19917656e-02 9.99487985e-01 5.43560988e-04 -9.99527375e-01] [-1.18882255e-02 -1.63280847e-04 9.99929319e-01 7.60432020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925529293 meters 0.02762941417699892 Centerline is valid? [True, True] Translation: X:-13.10, Y:-0.97, Z:0.07 [[ 9.99352067e-01 -3.41776285e-02 1.12842820e-02 -1.31048113e+01] [ 3.41739534e-02 9.99415765e-01 5.18399334e-04 -9.70364569e-01] [-1.12954070e-02 -1.32434919e-04 9.99936196e-01 7.47263541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985529293 meters 0.02797506139964706 Centerline is valid? [True, True] Translation: X:-13.17, Y:-0.99, Z:0.07 [[ 9.99496114e-01 -3.05517206e-02 8.60869117e-03 -1.31651264e+01] [ 3.05493981e-02 9.99533178e-01 4.01177353e-04 -9.89603034e-01] [-8.61692910e-03 -1.37984871e-04 9.99962864e-01 7.05276507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045529293000001 meters 0.027137272540022024 Centerline is valid? [True, True] Translation: X:-13.23, Y:-0.98, Z:0.08 [[ 9.99410198e-01 -3.29680996e-02 9.61041536e-03 -1.32263598e+01] [ 3.29653338e-02 9.99456396e-01 4.46096340e-04 -9.77987155e-01] [-9.61989805e-03 -1.29022681e-04 9.99953719e-01 7.72558457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105529293000002 meters 0.027501239571958585 Centerline is valid? [True, True] Translation: X:-13.29, Y:-0.97, Z:0.07 [[ 9.99245626e-01 -3.83639553e-02 6.03203407e-03 -1.32895247e+01] [ 3.83629922e-02 9.99263832e-01 2.75344827e-04 -9.70931570e-01] [-6.03815680e-03 -4.37302379e-05 9.99981769e-01 6.84355382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165529293 meters 0.02627751388107596 Centerline is valid? [True, True] Translation: X:-13.35, Y:-0.98, Z:0.07 [[ 9.98992776e-01 -4.45321238e-02 5.50659362e-03 -1.33508344e+01] [ 4.45313910e-02 9.99007953e-01 2.55674182e-04 -9.78786738e-01] [-5.51251654e-03 -1.02003871e-05 9.99984806e-01 7.16714480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225529293000001 meters 0.028730955801207443 Centerline is valid? [True, True] Translation: X:-13.41, Y:-0.98, Z:0.07 [[ 9.98650660e-01 -5.16214634e-02 5.66422412e-03 -1.34129872e+01] [ 5.16208151e-02 9.98666723e-01 2.60701414e-04 -9.84014296e-01] [-5.67012993e-03 3.20422265e-05 9.99983924e-01 7.42240234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285529293000002 meters 0.026213828663849727 Centerline is valid? [True, True] Translation: X:-13.48, Y:-0.99, Z:0.07 [[ 9.98456834e-01 -5.52930176e-02 5.16066204e-03 -1.34755331e+01] [ 5.52925232e-02 9.98470170e-01 2.38537708e-04 -9.85755987e-01] [-5.16595658e-03 4.71764208e-05 9.99986655e-01 7.23080054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345529293 meters 0.02695065504090559 Centerline is valid? [True, True] Translation: X:-13.54, Y:-0.98, Z:0.07 [[ 9.98426313e-01 -5.60449746e-02 1.96402790e-03 -1.35351847e+01] [ 5.60448971e-02 9.98428245e-01 9.45167623e-05 -9.78481159e-01] [-1.96623812e-03 1.57057190e-05 9.99998067e-01 7.37257996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405529293 meters 0.026887280770186435 Centerline is valid? [True, True] Translation: X:-13.59, Y:-0.97, Z:0.08 [[ 9.98559569e-01 -5.35712403e-02 2.98488143e-03 -1.35934711e+01] [ 5.35710447e-02 9.98564030e-01 1.45501078e-04 -9.74428783e-01] [-2.98838990e-03 1.46117224e-05 9.99995535e-01 8.15328744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465529293000001 meters 0.029402815407114882 Centerline is valid? [True, True] Translation: X:-13.65, Y:-0.98, Z:0.08 [[ 9.98519081e-01 -5.43882205e-02 1.25174296e-03 -1.36532522e+01] [ 5.43881869e-02 9.98519865e-01 6.08694710e-05 -9.79116939e-01] [-1.25320079e-03 7.30070192e-06 9.99999215e-01 8.42397529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525529293000002 meters 0.026087394346856377 Centerline is valid? [True, True] Translation: X:-13.71, Y:-0.98, Z:0.09 [[ 9.98397516e-01 -5.65785816e-02 -1.12396500e-03 -1.37110278e+01] [ 5.65785606e-02 9.98398149e-01 -5.05146283e-05 -9.84804052e-01] [ 1.12502262e-03 -1.31586422e-05 9.99999367e-01 8.81440918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585529293 meters 0.025849374184519776 Centerline is valid? [True, True] Translation: X:-13.77, Y:-0.99, Z:0.10 [[ 9.98112515e-01 -6.13625283e-02 2.45934419e-03 -1.37679447e+01] [ 6.13624168e-02 9.98115544e-01 1.20838052e-04 -9.85705167e-01] [-2.46212459e-03 3.03013311e-05 9.99996969e-01 1.04190383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645529293000001 meters 0.03083012235296006 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.98, Z:0.11 [[ 9.98223677e-01 -5.95507172e-02 1.78956042e-03 -1.38272688e+01] [ 5.95506564e-02 9.98225281e-01 8.72911350e-05 -9.77321398e-01] [-1.79158271e-03 1.94334202e-05 9.99998395e-01 1.07854382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705529293000001 meters 0.027236756212595213 Centerline is valid? [True, True] Translation: X:-13.89, Y:-0.98, Z:0.11 [[ 9.98245896e-01 -5.92021900e-02 -4.80987213e-04 -1.38858181e+01] [ 5.92021871e-02 9.98246012e-01 -2.02748496e-05 -9.76510682e-01] [ 4.81343883e-04 -8.23620960e-06 9.99999884e-01 1.07143106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765529293 meters 0.02586914706347499 Centerline is valid? [True, True] Translation: X:-13.94, Y:-0.99, Z:0.11 [[ 9.98159744e-01 -6.06260208e-02 -1.26945042e-03 -1.39436139e+01] [ 6.06259968e-02 9.98160551e-01 -5.74469209e-05 -9.92189561e-01] [ 1.27059810e-03 -1.96204930e-05 9.99999193e-01 1.12452663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825529293 meters 0.028570313836890283 Centerline is valid? [True, True] Translation: X:-14.00, Y:-0.98, Z:0.12 [[ 9.98231289e-01 -5.94498943e-02 -5.79117727e-05 -1.40011118e+01] [ 5.94498945e-02 9.98231291e-01 8.71165574e-07 -9.81767353e-01] [ 5.77575529e-05 -4.31247351e-06 9.99999998e-01 1.24321491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885529293000001 meters 0.026366274849619894 Centerline is valid? [True, True] Translation: X:-14.06, Y:-0.99, Z:0.13 [[ 9.98037384e-01 -6.26189022e-02 -5.02374793e-04 -1.40592618e+01] [ 6.26188994e-02 9.98037511e-01 -2.11906929e-05 -9.86140305e-01] [ 5.02715826e-04 -1.03090529e-05 9.99999874e-01 1.29110000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945529293000002 meters 0.026537787756706673 Centerline is valid? [True, True] Translation: X:-14.12, Y:-0.99, Z:0.14 [[ 9.98125526e-01 -6.11965359e-02 6.47261438e-04 -1.41165148e+01] [ 6.11965261e-02 9.98125736e-01 3.49014876e-05 -9.89356716e-01] [-6.48184149e-04 4.77408589e-06 9.99999790e-01 1.41313050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005529293 meters 0.025982288282134922 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.99, Z:0.14 [[ 9.98313587e-01 -5.80480616e-02 6.36311051e-04 -1.41756672e+01] [ 5.80480527e-02 9.98313790e-01 3.23754418e-05 -9.89752795e-01] [-6.37117428e-04 4.61577400e-06 9.99999797e-01 1.43379040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065529293 meters 0.025903218247598538 Centerline is valid? [True, True] Translation: X:-14.23, Y:-0.98, Z:0.15 [[ 9.98533917e-01 -5.41251295e-02 -6.98166518e-04 -1.42349001e+01] [ 5.41251216e-02 9.98534161e-01 -3.02147116e-05 -9.78176389e-01] [ 6.98778493e-04 -7.61793339e-06 9.99999756e-01 1.53847290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125529293000001 meters 0.02598067810369523 Centerline is valid? [True, True] Translation: X:-14.29, Y:-0.99, Z:0.16 [[ 9.98641451e-01 -5.20574090e-02 -2.29755400e-03 -1.42934111e+01] [ 5.20573057e-02 9.98644094e-01 -1.04789920e-04 -9.88364390e-01] [ 2.29989383e-03 -1.49569136e-05 9.99997355e-01 1.58960245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185529293000002 meters 0.025745570936741017 Centerline is valid? [True, True] Translation: X:-14.35, Y:-0.98, Z:0.18 [[ 9.98701275e-01 -5.09486380e-02 2.22853889e-05 -1.43511829e+01] [ 5.09486379e-02 9.98701275e-01 4.16517774e-06 -9.84905420e-01] [-2.24686565e-05 -3.02435811e-06 1.00000000e+00 1.76268308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245529293 meters 0.026435055319844122 Centerline is valid? [True, True] Translation: X:-14.41, Y:-0.99, Z:0.17 [[ 9.98816070e-01 -4.86416015e-02 6.72612545e-04 -1.44101027e+01] [ 4.86415897e-02 9.98816297e-01 3.38341386e-05 -9.87800943e-01] [-6.73462118e-04 -1.07713790e-06 9.99999773e-01 1.74013935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305529293000001 meters 0.027558128552646905 Centerline is valid? [True, True] Translation: X:-14.47, Y:-0.99, Z:0.18 [[ 9.98835223e-01 -4.82509032e-02 2.20293572e-04 -1.44688850e+01] [ 4.82509015e-02 9.98835247e-01 1.27960385e-05 -9.93083151e-01] [-2.20654405e-04 -2.15177053e-06 9.99999976e-01 1.75812107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365529293000002 meters 0.025795986524123782 Centerline is valid? [True, True] Translation: X:-14.53, Y:-0.98, Z:0.19 [[ 9.98920349e-01 -4.64479279e-02 8.52679592e-04 -1.45269769e+01] [ 4.64479080e-02 9.98920713e-01 4.32379886e-05 -9.82821956e-01] [-8.53767620e-04 -3.58612345e-06 9.99999636e-01 1.88047916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425529293 meters 0.025802687252628694 Centerline is valid? [True, True] Translation: X:-14.59, Y:-0.99, Z:0.19 [[ 9.99092493e-01 -4.24492125e-02 3.50071374e-03 -1.45856932e+01] [ 4.24488969e-02 9.99098626e-01 1.64436934e-04 -9.86986450e-01] [-3.50453850e-03 -1.56862700e-05 9.99993859e-01 1.91855029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485529293 meters 0.025594342660524853 Centerline is valid? [True, True] Translation: X:-14.64, Y:-1.00, Z:0.19 [[ 9.99160838e-01 -4.09585166e-02 1.41728777e-04 -1.46440322e+01] [ 4.09585159e-02 9.99160848e-01 8.42272608e-06 -9.95728320e-01] [-1.41954828e-04 -2.61065768e-06 9.99999990e-01 1.92156846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545529293000001 meters 0.026217702307375645 Centerline is valid? [True, True] Translation: X:-14.70, Y:-1.00, Z:0.21 [[ 9.99123983e-01 -4.17618883e-02 2.68538912e-03 -1.47021917e+01] [ 4.17616994e-02 9.99127592e-01 1.26380331e-04 -1.00002049e+00] [-2.68832425e-03 -1.41232064e-05 9.99996386e-01 2.07463792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605529293000002 meters 0.02719362365221424 Centerline is valid? [True, True] Translation: X:-14.76, Y:-1.00, Z:0.21 [[ 9.99134290e-01 -4.15073136e-02 2.79509793e-03 -1.47616380e+01] [ 4.15071089e-02 9.99138200e-01 1.31238619e-04 -9.99987772e-01] [-2.79813648e-03 -1.51085698e-05 9.99996085e-01 2.05670081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665529293 meters 0.025733035878714998 Centerline is valid? [True, True] Translation: X:-14.82, Y:-1.00, Z:0.21 [[ 9.99168800e-01 -4.06913235e-02 2.43399436e-03 -1.48206148e+01] [ 4.06911658e-02 9.99171765e-01 1.14275404e-04 -9.99047364e-01] [-2.43662846e-03 -1.51383499e-05 9.99997031e-01 2.14319424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725529293000001 meters 0.02605388705586405 Centerline is valid? [True, True] Translation: X:-14.88, Y:-1.01, Z:0.21 [[ 9.99377885e-01 -3.52575389e-02 -8.65711201e-04 -1.48800426e+01] [ 3.52575188e-02 9.99378260e-01 -3.85532737e-05 -1.00709522e+00] [ 8.66532247e-04 8.00646025e-06 9.99999625e-01 2.12031143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785529293000002 meters 0.025999155167960385 Centerline is valid? [True, True] Translation: X:-14.94, Y:-1.01, Z:0.22 [[ 9.99464575e-01 -3.26291577e-02 2.42948218e-03 -1.49375096e+01] [ 3.26289739e-02 9.99467527e-01 1.15278329e-04 -1.00743840e+00] [-2.43194998e-03 -3.59450960e-05 9.99997042e-01 2.18384571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845529293 meters 0.025939775626580827 Centerline is valid? [True, True] Translation: X:-15.00, Y:-1.00, Z:0.23 [[ 9.99471801e-01 -3.19454671e-02 5.96713625e-03 -1.49965330e+01] [ 3.19443959e-02 9.99489610e-01 2.74767372e-04 -1.00484646e+00] [-5.97286826e-03 -8.40056770e-05 9.99982159e-01 2.26720431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905529293 meters 0.030162178407402013 Centerline is valid? [True, True] Translation: X:-15.06, Y:-1.01, Z:0.23 [[ 9.99561549e-01 -2.81492285e-02 9.18322249e-03 -1.50588817e+01] [ 2.81466154e-02 9.99603720e-01 4.13697435e-04 -1.00966883e+00] [-9.19122863e-03 -1.55039417e-04 9.99957748e-01 2.31899878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965529293000001 meters 0.028972300751363776 Centerline is valid? [True, True] Translation: X:-15.12, Y:-1.02, Z:0.22 [[ 9.99632492e-01 -2.70600048e-02 1.62380110e-03 -1.51198703e+01] [ 2.70599201e-02 9.99633811e-01 7.40971136e-05 -1.01780280e+00] [-1.62521155e-03 -3.01299542e-05 9.99998679e-01 2.24986462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025529293000002 meters 0.026670679250708023 Centerline is valid? [True, True] Translation: X:-15.18, Y:-1.01, Z:0.23 [[ 9.99599689e-01 -2.78552316e-02 4.95452319e-03 -1.51790393e+01] [ 2.78544354e-02 9.99611964e-01 2.29661197e-04 -1.01369464e+00] [-4.95899792e-03 -9.15638146e-05 9.99987700e-01 2.33457055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085529293 meters 0.027314588841469117 Centerline is valid? [True, True] Translation: X:-15.24, Y:-1.01, Z:0.23 [[ 9.99644934e-01 -2.65982132e-02 1.59385587e-03 -1.52392630e+01] [ 2.65981359e-02 9.99646205e-01 6.96549203e-05 -1.01493935e+00] [-1.59514467e-03 -2.72365932e-05 9.99998727e-01 2.31814630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145529293000001 meters 0.025912692114720134 Centerline is valid? [True, True] Translation: X:-15.30, Y:-1.03, Z:0.24 [[ 9.99582109e-01 -2.82729148e-02 6.02070060e-03 -1.52972411e+01] [ 2.82717470e-02 9.99600235e-01 2.79004452e-04 -1.03160401e+00] [-6.02618200e-03 -1.08672135e-04 9.99981836e-01 2.42672604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205529293000001 meters 0.027442235214158166 Centerline is valid? [True, True] Translation: X:-15.36, Y:-1.03, Z:0.24 [[ 9.99631661e-01 -2.69395399e-02 3.28678521e-03 -1.53591969e+01] [ 2.69391937e-02 9.99637063e-01 1.49575767e-04 -1.03151266e+00] [-3.28962181e-03 -6.09773289e-05 9.99994587e-01 2.38871475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265529293000002 meters 0.026313304298824985 Centerline is valid? [True, True] Translation: X:-15.42, Y:-1.03, Z:0.25 [[ 9.99617123e-01 -2.58516173e-02 9.86413871e-03 -1.54199551e+01] [ 2.58484027e-02 9.99665771e-01 4.53262920e-04 -1.03200070e+00] [-9.87255941e-03 -1.98117147e-04 9.99951245e-01 2.46002961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325529293 meters 0.027927479755846685 Centerline is valid? [True, True] Translation: X:-15.48, Y:-1.04, Z:0.25 [[ 9.99602640e-01 -2.77636416e-02 4.87268566e-03 -1.54796044e+01] [ 2.77628904e-02 9.99614512e-01 2.21739615e-04 -1.04478407e+00] [-4.87696360e-03 -8.63716661e-05 9.99988104e-01 2.49552640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385529293000001 meters 0.026056043419461813 Centerline is valid? [True, True] Translation: X:-15.54, Y:-1.04, Z:0.25 [[ 9.99481102e-01 -3.14889177e-02 6.78054387e-03 -1.55419259e+01] [ 3.14875286e-02 9.99504096e-01 3.11550407e-04 -1.04436552e+00] [-6.78699175e-03 -9.78861755e-05 9.99976963e-01 2.52569418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445529293000002 meters 0.025919368097421645 Centerline is valid? [True, True] Translation: X:-15.60, Y:-1.06, Z:0.26 [[ 9.99476157e-01 -3.14213332e-02 7.75316649e-03 -1.56035482e+01] [ 3.14195430e-02 9.99506222e-01 3.52623191e-04 -1.05689297e+00] [-7.76041803e-03 -1.08837524e-04 9.99969882e-01 2.60965558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505529293 meters 0.025502606433843385 Centerline is valid? [True, True] Translation: X:-15.66, Y:-1.06, Z:0.25 [[ 9.99519873e-01 -3.09796013e-02 5.36985017e-04 -1.56643421e+01] [ 3.09795927e-02 9.99520017e-01 2.44280851e-05 -1.06322987e+00] [-5.37484045e-04 -7.78077946e-06 9.99999856e-01 2.54570677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565529293 meters 0.026154484285776596 Centerline is valid? [True, True] Translation: X:-15.72, Y:-1.06, Z:0.28 [[ 9.99470149e-01 -3.02590588e-02 1.19921174e-02 -1.57230779e+01] [ 3.02545323e-02 9.99542071e-01 5.58735051e-04 -1.06180172e+00] [-1.20035326e-02 -1.95623102e-04 9.99927936e-01 2.83515356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625529293000001 meters 0.027907195407497032 Centerline is valid? [True, True] Translation: X:-15.78, Y:-1.06, Z:0.27 [[ 9.99614095e-01 -2.74566398e-02 4.21841181e-03 -1.57830483e+01] [ 2.74560546e-02 9.99622992e-01 1.96573882e-04 -1.06442688e+00] [-4.22221869e-03 -8.06770780e-05 9.99991083e-01 2.73503355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685529293000002 meters 0.02481800189990877 Centerline is valid? [True, True] Translation: X:-15.84, Y:-1.09, Z:0.28 [[ 9.99411599e-01 -3.37788941e-02 5.95333848e-03 -1.58428459e+01] [ 3.37778439e-02 9.99429327e-01 2.76899349e-04 -1.08562340e+00] [-5.95929443e-03 -7.56454835e-05 9.99982240e-01 2.81818255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745529293 meters 0.024995825858878915 Centerline is valid? [True, True] Translation: X:-15.90, Y:-1.08, Z:0.29 [[ 9.99241274e-01 -3.78253775e-02 9.27989920e-03 -1.59043773e+01] [ 3.78230448e-02 9.99284361e-01 4.26813346e-04 -1.08428606e+00] [-9.28940252e-03 -7.54954683e-05 9.99956850e-01 2.92496655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805529293000001 meters 0.024465332231652273 Centerline is valid? [True, True] Translation: X:-15.96, Y:-1.09, Z:0.29 [[ 9.99231364e-01 -3.91371115e-02 2.22894798e-03 -1.59634541e+01] [ 3.91369745e-02 9.99233850e-01 1.05053901e-04 -1.09393017e+00] [-2.23135178e-03 -1.77388728e-05 9.99997510e-01 2.89215758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865529293000002 meters 0.02452160741575395 Centerline is valid? [True, True] Translation: X:-16.02, Y:-1.09, Z:0.30 [[ 9.99226238e-01 -3.87498161e-02 6.73621227e-03 -1.60226291e+01] [ 3.87485622e-02 9.99248942e-01 3.16614373e-04 -1.09038773e+00] [-6.74342174e-03 -5.53508493e-05 9.99977261e-01 3.04482812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925529293000002 meters 0.024686336809737662 Centerline is valid? [True, True] Translation: X:-16.08, Y:-1.10, Z:0.30 [[ 9.99233939e-01 -3.88006514e-02 5.10329871e-03 -1.60845544e+01] [ 3.87999742e-02 9.99246971e-01 2.31674220e-04 -1.09771837e+00] [-5.10844488e-03 -3.34888849e-05 9.99986951e-01 3.03950331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985529293 meters 0.02502441113404911 Centerline is valid? [True, True] Translation: X:-16.15, Y:-1.09, Z:0.32 [[ 9.99338036e-01 -3.60915941e-02 4.57026126e-03 -1.61471292e+01] [ 3.60909995e-02 9.99348485e-01 2.12519958e-04 -1.09122516e+00] [-4.57495385e-03 -4.74339810e-05 9.99989534e-01 3.17806430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045529293 meters 0.024991634876576515 Centerline is valid? [True, True] Translation: X:-16.21, Y:-1.09, Z:0.32 [[ 9.99379025e-01 -3.52358167e-02 3.20404040e-05 -1.62089905e+01] [ 3.52358167e-02 9.99379026e-01 -3.19345306e-07 -1.09032423e+00] [-3.20092553e-05 1.44811680e-06 9.99999999e-01 3.21353959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105529293000004 meters 0.025365123718517124 Centerline is valid? [True, True] Translation: X:-16.27, Y:-1.09, Z:0.35 [[ 9.99470886e-01 -3.15305140e-02 7.98589773e-03 -1.62674077e+01] [ 3.15285060e-02 9.99502782e-01 3.77238648e-04 -1.09181495e+00] [-7.99382153e-03 -1.25255621e-04 9.99968041e-01 3.45742562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165529293000002 meters 0.025534764735346813 Centerline is valid? [True, True] Translation: X:-16.33, Y:-1.10, Z:0.34 [[ 9.99478571e-01 -3.22380168e-02 -1.81564187e-03 -1.63279924e+01] [ 3.22379139e-02 9.99480220e-01 -8.58776008e-05 -1.09699807e+00] [ 1.81746666e-03 2.73003152e-05 9.99998348e-01 3.36309176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225529293000005 meters 0.025712778297122776 Centerline is valid? [True, True] Translation: X:-16.39, Y:-1.11, Z:0.34 [[ 9.99404904e-01 -3.44358547e-02 -2.00248520e-03 -1.63853334e+01] [ 3.44357410e-02 9.99406910e-01 -9.12591934e-05 -1.10605776e+00] [ 2.00444014e-03 2.22478237e-05 9.99997991e-01 3.40921203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285529293000003 meters 0.025787402091709887 Centerline is valid? [True, True] Translation: X:-16.45, Y:-1.10, Z:0.36 [[ 9.99428973e-01 -3.33410076e-02 5.48675061e-03 -1.64457138e+01] [ 3.33400905e-02 9.99444031e-01 2.58540219e-04 -1.09792515e+00] [-5.49232014e-03 -7.54638237e-05 9.99984914e-01 3.57955797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345529293000002 meters 0.02592342517868572 Centerline is valid? [True, True] Translation: X:-16.51, Y:-1.11, Z:0.34 [[ 9.99414840e-01 -3.36530756e-02 -6.11952502e-03 -1.65061095e+01] [ 3.36519389e-02 9.99433571e-01 -2.88653299e-04 -1.10716988e+00] [ 6.12577282e-03 8.25505085e-05 9.99981234e-01 3.41778875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405529293000004 meters 0.025907969551431872 Centerline is valid? [True, True] Translation: X:-16.57, Y:-1.11, Z:0.36 [[ 9.99485222e-01 -3.18703691e-02 3.68370545e-03 -1.65656244e+01] [ 3.18699455e-02 9.99492009e-01 1.73654113e-04 -1.10779673e+00] [-3.68736858e-03 -5.61652283e-05 9.99993200e-01 3.62771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465529293000003 meters 0.02587424471884191 Centerline is valid? [True, True] Translation: X:-16.63, Y:-1.11, Z:0.35 [[ 9.99480175e-01 -3.22287131e-02 -8.30431562e-04 -1.66266474e+01] [ 3.22286906e-02 9.99480520e-01 -4.04280466e-05 -1.11190602e+00] [ 8.31303114e-04 1.36433092e-05 9.99999654e-01 3.51954943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525529293 meters 0.02584338443602311 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.12, Z:0.36 [[ 9.99493447e-01 -3.18000961e-02 -1.26656689e-03 -1.66852900e+01] [ 3.18000493e-02 9.99494249e-01 -5.70786520e-05 -1.12110417e+00] [ 1.26774143e-03 1.67728492e-05 9.99999196e-01 3.57911038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585529293000004 meters 0.027104851078320277 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.12, Z:0.37 [[ 9.99440064e-01 -3.30824707e-02 5.01088527e-03 -1.67450104e+01] [ 3.30817009e-02 9.99452623e-01 2.36469013e-04 -1.12058373e+00] [-5.01596540e-03 -7.05679981e-05 9.99987417e-01 3.65544058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645529293000003 meters 0.026394589055517496 Centerline is valid? [True, True] Translation: X:-16.81, Y:-1.13, Z:0.35 [[ 9.99520739e-01 -3.08512183e-02 -2.54855753e-03 -1.68062148e+01] [ 3.08510118e-02 9.99523987e-01 -1.20326063e-04 -1.13301412e+00] [ 2.55105659e-03 4.16428171e-05 9.99996745e-01 3.45861428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705529293 meters 0.0257083393777931 Centerline is valid? [True, True] Translation: X:-16.86, Y:-1.14, Z:0.35 [[ 9.99425213e-01 -3.39004455e-02 -6.52503746e-05 -1.68646270e+01] [ 3.39004455e-02 9.99425215e-01 -1.29302411e-06 -1.13650155e+00] [ 6.52567037e-05 -9.19735871e-07 9.99999998e-01 3.54642961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765529293000004 meters 0.0263508841849174 Centerline is valid? [True, True] Translation: X:-16.92, Y:-1.14, Z:0.34 [[ 9.99511532e-01 -3.11843514e-02 -2.05753933e-03 -1.69243684e+01] [ 3.11842223e-02 9.99513649e-01 -9.48209082e-05 -1.13851663e+00] [ 2.05949557e-03 3.06118275e-05 9.99997879e-01 3.44348277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825529293000002 meters 0.025959357689250243 Centerline is valid? [True, True] Translation: X:-16.98, Y:-1.14, Z:0.34 [[ 9.99560462e-01 -2.95260285e-02 -2.66383182e-03 -1.69823341e+01] [ 2.95258103e-02 9.99564011e-01 -1.21203935e-04 -1.14089104e+00] [ 2.66624908e-03 4.24988682e-05 9.99996445e-01 3.44191846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885529293000005 meters 0.026611598520252452 Centerline is valid? [True, True] Translation: X:-17.04, Y:-1.14, Z:0.36 [[ 9.99641061e-01 -2.67610819e-02 1.26209546e-03 -1.70402803e+01] [ 2.67610249e-02 9.99641858e-01 6.20858405e-05 -1.14421045e+00] [-1.26330493e-03 -2.82885875e-05 9.99999202e-01 3.57817884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945529293000003 meters 0.027230813626496708 Centerline is valid? [True, True] Translation: X:-17.10, Y:-1.15, Z:0.35 [[ 9.99714570e-01 -2.38905140e-02 -1.48705275e-04 -1.71000348e+01] [ 2.38905134e-02 9.99714581e-01 -5.72105954e-06 -1.15344173e+00] [ 1.48799510e-04 2.16678122e-06 9.99999989e-01 3.52110076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005529293000002 meters 0.026685851823475777 Centerline is valid? [True, True] Translation: X:-17.16, Y:-1.15, Z:0.36 [[ 9.99645878e-01 -2.63433392e-02 3.76128089e-03 -1.71598339e+01] [ 2.63428623e-02 9.99652951e-01 1.76287108e-04 -1.15092554e+00] [-3.76461953e-03 -7.71417763e-05 9.99992911e-01 3.55557678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065529293000004 meters 0.026767885876503892 Centerline is valid? [True, True] Translation: X:-17.22, Y:-1.16, Z:0.34 [[ 9.99671003e-01 -2.54473763e-02 -3.21198243e-03 -1.72204464e+01] [ 2.54470226e-02 9.99676161e-01 -1.50972596e-04 -1.16243904e+00] [ 3.21478412e-03 6.91875368e-05 9.99994830e-01 3.40012142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125529293000003 meters 0.026179611815042306 Centerline is valid? [True, True] Translation: X:-17.28, Y:-1.17, Z:0.35 [[ 9.99630036e-01 -2.71720156e-02 1.21370432e-03 -1.72791884e+01] [ 2.71719660e-02 9.99630772e-01 5.73257648e-05 -1.17248522e+00] [-1.21481384e-03 -2.43258237e-05 9.99999262e-01 3.53237871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185529293000002 meters 0.026448472751430904 Centerline is valid? [True, True] Translation: X:-17.34, Y:-1.17, Z:0.35 [[ 9.99650300e-01 -2.63680015e-02 2.00171116e-03 -1.73383950e+01] [ 2.63678622e-02 9.99652303e-01 9.59353356e-05 -1.17127111e+00] [-2.00354479e-03 -4.31209429e-05 9.99997992e-01 3.48045036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245529293000004 meters 0.026489160794733006 Centerline is valid? [True, True] Translation: X:-17.40, Y:-1.18, Z:0.34 [[ 9.99684896e-01 -2.50930260e-02 6.69566298e-04 -1.73983986e+01] [ 2.50930103e-02 9.99685120e-01 3.18354136e-05 -1.17731759e+00] [-6.70154312e-04 -1.50239481e-05 9.99999775e-01 3.43537800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305529293000003 meters 0.026307751028658715 Centerline is valid? [True, True] Translation: X:-17.46, Y:-1.19, Z:0.35 [[ 9.99639069e-01 -2.63248022e-02 5.36056461e-03 -1.74581162e+01] [ 2.63238378e-02 9.99653436e-01 2.50394607e-04 -1.18619537e+00] [-5.36529842e-03 -1.09193599e-04 9.99985601e-01 3.47417688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365529293 meters 0.027690212087600488 Centerline is valid? [True, True] Translation: X:-17.52, Y:-1.19, Z:0.35 [[ 9.99649603e-01 -2.61788771e-02 3.91641521e-03 -1.75199142e+01] [ 2.61783929e-02 9.99657272e-01 1.74851665e-04 -1.18605007e+00] [-3.91965036e-03 -7.22649414e-05 9.99992316e-01 3.47712849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425529293000004 meters 0.025701741183875738 Centerline is valid? [True, True] Translation: X:-17.58, Y:-1.20, Z:0.35 [[ 9.99634064e-01 -2.67929079e-02 3.72546182e-03 -1.75820159e+01] [ 2.67924764e-02 9.99641003e-01 1.65691038e-04 -1.19672939e+00] [-3.72856374e-03 -6.58160575e-05 9.99993047e-01 3.50227444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485529293000003 meters 0.025766740763261152 Centerline is valid? [True, True] Translation: X:-17.64, Y:-1.20, Z:0.35 [[ 9.99525357e-01 -2.99513515e-02 7.20953233e-03 -1.76431527e+01] [ 2.99496844e-02 9.99551350e-01 3.39107389e-04 -1.20348959e+00] [-7.21645450e-03 -1.23023216e-04 9.99973953e-01 3.54948675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545529293000005 meters 0.025412157227087985 Centerline is valid? [True, True] Translation: X:-17.70, Y:-1.21, Z:0.35 [[ 9.99564791e-01 -2.93230120e-02 3.22313927e-03 -1.77046794e+01] [ 2.93226773e-02 9.99569986e-01 1.51060832e-04 -1.20720269e+00] [-3.22618284e-03 -5.64840164e-05 9.99994794e-01 3.46290181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605529293000004 meters 0.024916342525255594 Centerline is valid? [True, True] Translation: X:-17.77, Y:-1.21, Z:0.35 [[ 9.99498923e-01 -3.13577983e-02 4.31187835e-03 -1.77658649e+01] [ 3.13572419e-02 9.99508221e-01 1.96593698e-04 -1.21163046e+00] [-4.31592260e-03 -6.12865773e-05 9.99990684e-01 3.52847589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665529293000002 meters 0.025073880481662644 Centerline is valid? [True, True] Translation: X:-17.83, Y:-1.22, Z:0.36 [[ 9.99479303e-01 -3.15309321e-02 6.85002081e-03 -1.78276401e+01] [ 3.15294917e-02 9.99502771e-01 3.18197306e-04 -1.22362999e+00] [-6.85664784e-03 -1.02053947e-04 9.99976488e-01 3.58314555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725529293000005 meters 0.025220100804545786 Centerline is valid? [True, True] Translation: X:-17.89, Y:-1.22, Z:0.36 [[ 9.99529280e-01 -3.02731277e-02 4.97556904e-03 -1.78905813e+01] [ 3.02723323e-02 9.99541660e-01 2.35114301e-04 -1.22057386e+00] [-4.98040618e-03 -8.43815493e-05 9.99987594e-01 3.57242666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785529293000003 meters 0.024845886542322643 Centerline is valid? [True, True] Translation: X:-17.95, Y:-1.23, Z:0.36 [[ 9.99472050e-01 -3.20390847e-02 5.39606526e-03 -1.79522541e+01] [ 3.20381957e-02 9.99486614e-01 2.51122675e-04 -1.22823329e+00] [-5.40134074e-03 -7.81098996e-05 9.99985410e-01 3.55786792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845529293000002 meters 0.026394059647322995 Centerline is valid? [True, True] Translation: X:-18.01, Y:-1.23, Z:0.36 [[ 9.99513181e-01 -3.03339103e-02 7.29755223e-03 -1.80144703e+01] [ 3.03322023e-02 9.99539813e-01 3.44642230e-04 -1.22594031e+00] [-7.30464834e-03 -1.23123622e-04 9.99973313e-01 3.61738401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905529293000004 meters 0.02690074927889372 Centerline is valid? [True, True] Translation: X:-18.08, Y:-1.24, Z:0.37 [[ 9.99450882e-01 -3.22001499e-02 7.81567485e-03 -1.80753505e+01] [ 3.21982237e-02 9.99481433e-01 3.72189239e-04 -1.23965697e+00] [-7.82360646e-03 -1.20334016e-04 9.99969388e-01 3.65832057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965529293000003 meters 0.024855511025100988 Centerline is valid? [True, True] Translation: X:-18.14, Y:-1.25, Z:0.37 [[ 9.99379320e-01 -3.42247304e-02 8.34523536e-03 -1.81368128e+01] [ 3.42225843e-02 9.99414156e-01 3.99865828e-04 -1.24595953e+00] [-8.35403166e-03 -1.14022118e-04 9.99965098e-01 3.68018846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025529293 meters 0.02429949679509208 Centerline is valid? [True, True] Translation: X:-18.20, Y:-1.24, Z:0.36 [[ 9.99379216e-01 -3.51028067e-02 2.99598853e-03 -1.81982584e+01] [ 3.51025286e-02 9.99383706e-01 1.45359039e-04 -1.24366499e+00] [-2.99924463e-03 -4.01020290e-05 9.99995501e-01 3.63838043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085529293000004 meters 0.02446795912763581 Centerline is valid? [True, True] Translation: X:-18.26, Y:-1.25, Z:0.37 [[ 9.99280314e-01 -3.74451864e-02 6.05902941e-03 -1.82588331e+01] [ 3.74440831e-02 9.99298681e-01 2.95469854e-04 -1.25465958e+00] [-6.06584402e-03 -6.83824079e-05 9.99981600e-01 3.71336177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145529293000003 meters 0.024066591874424052 Centerline is valid? [True, True] Translation: X:-18.32, Y:-1.26, Z:0.38 [[ 9.99248760e-01 -3.78507596e-02 8.32075203e-03 -1.83209405e+01] [ 3.78487320e-02 9.99283400e-01 4.01066607e-04 -1.25739332e+00] [-8.32997005e-03 -8.58353961e-05 9.99965302e-01 3.81850459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205529293 meters 0.02454259394794776 Centerline is valid? [True, True] Translation: X:-18.38, Y:-1.26, Z:0.38 [[ 9.99284345e-01 -3.73069153e-02 6.24438902e-03 -1.83819575e+01] [ 3.73057472e-02 9.99303852e-01 3.03476251e-04 -1.26023926e+00] [-6.25136376e-03 -7.03074684e-05 9.99980458e-01 3.77439881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265529293000004 meters 0.024442125973676867 Centerline is valid? [True, True] Translation: X:-18.44, Y:-1.26, Z:0.38 [[ 9.99251170e-01 -3.82820058e-02 5.62024647e-03 -1.84439776e+01] [ 3.82810913e-02 9.99266974e-01 2.70236281e-04 -1.25958875e+00] [-5.62647187e-03 -5.48847510e-05 9.99984170e-01 3.81564590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325529293000002 meters 0.024909681820182307 Centerline is valid? [True, True] Translation: X:-18.51, Y:-1.26, Z:0.39 [[ 9.99371590e-01 -3.45484240e-02 7.92658482e-03 -1.85070139e+01] [ 3.45464473e-02 9.99403019e-01 3.86191378e-04 -1.25991213e+00] [-7.93519510e-03 -1.12113346e-04 9.99968510e-01 3.90732733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385529293000005 meters 0.024565702588665105 Centerline is valid? [True, True] Translation: X:-18.57, Y:-1.27, Z:0.38 [[ 9.99463475e-01 -3.25877200e-02 3.28669324e-03 -1.85675763e+01] [ 3.25873598e-02 9.99468878e-01 1.63111279e-04 -1.26586229e+00] [-3.29026303e-03 -5.59191108e-05 9.99994586e-01 3.84120525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445529293000003 meters 0.024840577124102405 Centerline is valid? [True, True] Translation: X:-18.63, Y:-1.27, Z:0.39 [[ 9.99404982e-01 -3.39937326e-02 5.84026317e-03 -1.86296433e+01] [ 3.39926184e-02 9.99422042e-01 2.89954354e-04 -1.26950750e+00] [-5.84674437e-03 -9.12559878e-05 9.99982903e-01 3.90501462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505529293000002 meters 0.026272432513367566 Centerline is valid? [True, True] Translation: X:-18.69, Y:-1.27, Z:0.39 [[ 9.99306325e-01 -3.65178494e-02 7.30177960e-03 -1.86920685e+01] [ 3.65162006e-02 9.99332997e-01 3.59041258e-04 -1.27415411e+00] [-7.31002070e-03 -9.21589512e-05 9.99973277e-01 3.92766016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565529293000004 meters 0.024261959822816866 Centerline is valid? [True, True] Translation: X:-18.75, Y:-1.28, Z:0.39 [[ 9.99185501e-01 -4.01895036e-02 3.62455856e-03 -1.87536180e+01] [ 4.01891333e-02 9.99192075e-01 1.74955294e-04 -1.28359628e+00] [-3.62866155e-03 -2.91449257e-05 9.99993416e-01 3.90016184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625529293000003 meters 0.024488120869591505 Centerline is valid? [True, True] Translation: X:-18.82, Y:-1.29, Z:0.40 [[ 9.99073300e-01 -4.26505856e-02 5.78524167e-03 -1.88152227e+01] [ 4.26496168e-02 9.99090049e-01 2.90787809e-04 -1.28959185e+00] [-5.79237965e-03 -4.37799952e-05 9.99983223e-01 4.02852955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685529293000002 meters 0.02538958258473276 Centerline is valid? [True, True] Translation: X:-18.88, Y:-1.30, Z:0.40 [[ 9.99107551e-01 -4.21877011e-02 2.07347252e-03 -1.88754190e+01] [ 4.21875751e-02 9.99109702e-01 1.04487321e-04 -1.29510474e+00] [-2.07603459e-03 -1.69192942e-05 9.99997845e-01 3.95993201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745529293000004 meters 0.027747698663241987 Centerline is valid? [True, True] Translation: X:-18.94, Y:-1.30, Z:0.41 [[ 9.99153073e-01 -4.05837739e-02 6.78930027e-03 -1.89353778e+01] [ 4.05823723e-02 9.99176137e-01 3.44142329e-04 -1.29994449e+00] [-6.79767341e-03 -6.83249541e-05 9.99976893e-01 4.14031868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805529293000003 meters 0.025738770079308543 Centerline is valid? [True, True] Translation: X:-19.00, Y:-1.29, Z:0.41 [[ 9.99325061e-01 -3.63152906e-02 5.53364787e-03 -1.89983412e+01] [ 3.63143345e-02 9.99340380e-01 2.73187496e-04 -1.28963565e+00] [-5.53991865e-03 -7.20523714e-05 9.99984652e-01 4.11340881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865529293 meters 0.025562948790129717 Centerline is valid? [True, True] Translation: X:-19.06, Y:-1.30, Z:0.41 [[ 9.99478520e-01 -3.21551688e-02 2.95523367e-03 -1.90596001e+01] [ 3.21548674e-02 9.99482887e-01 1.49463488e-04 -1.29695294e+00] [-2.95851151e-03 -5.43603994e-05 9.99995622e-01 4.11986008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925529293000004 meters 0.025479377938860976 Centerline is valid? [True, True] Translation: X:-19.12, Y:-1.29, Z:0.41 [[ 9.99436098e-01 -3.35296619e-02 1.80193569e-03 -1.91200796e+01] [ 3.35295561e-02 9.99437722e-01 8.89024281e-05 -1.29160252e+00] [-1.80390337e-03 -2.84341922e-05 9.99998373e-01 4.09995011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985529293000003 meters 0.027316750552757098 Centerline is valid? [True, True] Translation: X:-19.18, Y:-1.31, Z:0.42 [[ 9.99415016e-01 -3.40069393e-02 3.62688368e-03 -1.91796550e+01] [ 3.40064907e-02 9.99421595e-01 1.85311622e-04 -1.30724416e+00] [-3.63108775e-03 -6.18656318e-05 9.99993406e-01 4.15987518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045529293000005 meters 0.02546356161689048 Centerline is valid? [True, True] Translation: X:-19.24, Y:-1.31, Z:0.42 [[ 9.99319073e-01 -3.68512905e-02 1.83665242e-03 -1.92417733e+01] [ 3.68511953e-02 9.99320760e-01 8.56104738e-05 -1.30611252e+00] [-1.83855975e-03 -1.78693422e-05 9.99998310e-01 4.23283111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105529293000004 meters 0.025809355635570304 Centerline is valid? [True, True] Translation: X:-19.30, Y:-1.31, Z:0.42 [[ 9.99407137e-01 -3.42801468e-02 3.20085077e-03 -1.93016803e+01] [ 3.42797923e-02 9.99412261e-01 1.65544957e-04 -1.30538792e+00] [-3.20464441e-03 -5.57223122e-05 9.99994864e-01 4.22928763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165529293000002 meters 0.025710401221346615 Centerline is valid? [True, True] Translation: X:-19.36, Y:-1.32, Z:0.43 [[ 9.99388901e-01 -3.45812648e-02 5.09523231e-03 -1.93621146e+01] [ 3.45804140e-02 9.99401886e-01 2.54999598e-04 -1.31940728e+00] [-5.10100299e-03 -7.86485251e-05 9.99986987e-01 4.28798479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225529293000005 meters 0.02555248870386124 Centerline is valid? [True, True] Translation: X:-19.42, Y:-1.32, Z:0.42 [[ 9.99406498e-01 -3.44477523e-02 -6.23545225e-05 -1.94228089e+01] [ 3.44477522e-02 9.99406500e-01 -3.82292188e-06 -1.31567848e+00] [ 6.24492061e-05 1.67267983e-06 9.99999998e-01 4.24927776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285529293000003 meters 0.02731356759909488 Centerline is valid? [True, True] Translation: X:-19.48, Y:-1.33, Z:0.44 [[ 9.99253175e-01 -3.81470591e-02 6.15585585e-03 -1.94817644e+01] [ 3.81458238e-02 9.99272133e-01 3.18001341e-04 -1.32653442e+00] [-6.16350602e-03 -8.29436570e-05 9.99981002e-01 4.43008215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345529293000002 meters 0.02613225857999048 Centerline is valid? [True, True] Translation: X:-19.54, Y:-1.33, Z:0.43 [[ 9.99357994e-01 -3.57059632e-02 2.94671856e-03 -1.95431331e+01] [ 3.57056737e-02 9.99362338e-01 1.50796557e-04 -1.32862344e+00] [-2.95022389e-03 -4.54851732e-05 9.99995647e-01 4.34928931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405529293000004 meters 0.026037570569602007 Centerline is valid? [True, True] Translation: X:-19.60, Y:-1.33, Z:0.44 [[ 9.99218040e-01 -3.95273477e-02 9.47664314e-04 -1.96047618e+01] [ 3.95273212e-02 9.99218489e-01 4.66575896e-05 -1.33349970e+00] [-9.48767954e-04 -9.16247352e-06 9.99999550e-01 4.37693092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465529293000003 meters 0.025793480026389707 Centerline is valid? [True, True] Translation: X:-19.66, Y:-1.34, Z:0.45 [[ 9.99170545e-01 -4.05568327e-02 3.65597534e-03 -1.96640558e+01] [ 4.05564091e-02 9.99177232e-01 1.89965995e-04 -1.34422662e+00] [-3.66067174e-03 -4.15351955e-05 9.99993299e-01 4.46287412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525529293 meters 0.025867571699296727 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.34, Z:0.45 [[ 9.99106348e-01 -4.22669810e-02 -9.21943069e-05 -1.97260488e+01] [ 4.22669806e-02 9.99106352e-01 -6.56415146e-06 -1.34178763e+00] [ 9.23893644e-05 2.66151041e-06 9.99999996e-01 4.48685521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585529293000004 meters 0.02627693268367301 Centerline is valid? [True, True] Translation: X:-19.78, Y:-1.35, Z:0.46 [[ 9.99260108e-01 -3.82146358e-02 4.34498461e-03 -1.97839296e+01] [ 3.82140182e-02 9.99269552e-01 2.25114109e-04 -1.34528918e+00] [-4.35041347e-03 -5.89082278e-05 9.99990535e-01 4.59203362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645529293000003 meters 0.026961929265920413 Centerline is valid? [True, True] Translation: X:-19.84, Y:-1.35, Z:0.46 [[ 9.99438223e-01 -3.35091887e-02 -6.09834490e-04 -1.98447720e+01] [ 3.35091753e-02 9.99438409e-01 -3.21430011e-05 -1.34822829e+00] [ 6.10569099e-04 1.16898930e-05 9.99999814e-01 4.57802855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705529293000005 meters 0.027736779602177977 Centerline is valid? [True, True] Translation: X:-19.90, Y:-1.34, Z:0.46 [[ 9.99552057e-01 -2.99120957e-02 -9.76032663e-04 -1.99040631e+01] [ 2.99120632e-02 9.99552533e-01 -4.78557837e-05 -1.33815218e+00] [ 9.77027388e-04 1.86391963e-05 9.99999523e-01 4.58790934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765529293000004 meters 0.029060280246907537 Centerline is valid? [True, True] Translation: X:-19.96, Y:-1.34, Z:0.46 [[ 9.99739272e-01 -2.27847301e-02 -1.49772673e-03 -1.99635416e+01] [ 2.27846418e-02 9.99740393e-01 -7.60260504e-05 -1.34226300e+00] [ 1.49907014e-03 4.18810614e-05 9.99998876e-01 4.62088893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825529293000002 meters 0.02913243214607183 Centerline is valid? [True, True] Translation: X:-20.02, Y:-1.35, Z:0.46 [[ 9.99756136e-01 -2.17490118e-02 -3.82738689e-03 -2.00223446e+01] [ 2.17484259e-02 9.99763456e-01 -1.94625185e-04 -1.34502812e+00] [ 3.83071445e-03 1.11338083e-04 9.99992657e-01 4.58668371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885529293000005 meters 0.029399310790935305 Centerline is valid? [True, True] Translation: X:-20.08, Y:-1.34, Z:0.47 [[ 9.99785844e-01 -2.06925072e-02 -2.94217544e-04 -2.00822946e+01] [ 2.06925040e-02 9.99785887e-01 -1.39048179e-05 -1.34232916e+00] [ 2.94442274e-04 7.81374240e-06 9.99999957e-01 4.65133571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945529293000003 meters 0.029959742164989017 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.35, Z:0.46 [[ 9.99740006e-01 -2.22344257e-02 -5.05479922e-03 -2.01420002e+01] [ 2.22334017e-02 9.99752774e-01 -2.58704923e-04 -1.35074563e+00] [ 5.05930169e-03 1.46252280e-04 9.99987191e-01 4.60054682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005529293000002 meters 0.02942209741221888 Centerline is valid? [True, True] Translation: X:-20.20, Y:-1.35, Z:0.48 [[ 9.99717390e-01 -2.37307998e-02 1.41009992e-03 -2.02017437e+01] [ 2.37307208e-02 9.99718384e-01 7.27670550e-05 -1.35186276e+00] [-1.41142963e-03 -3.92838028e-05 9.99999003e-01 4.75376457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065529293000004 meters 0.029621132730260947 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.35, Z:0.47 [[ 9.99728166e-01 -2.31429987e-02 -2.82780755e-03 -2.02624823e+01] [ 2.31426800e-02 9.99732162e-01 -1.45382703e-04 -1.35159372e+00] [ 2.83041474e-03 7.99001382e-05 9.99995991e-01 4.68467758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125529293000003 meters 0.02940502334662972 Centerline is valid? [True, True] Translation: X:-20.32, Y:-1.36, Z:0.46 [[ 9.99710689e-01 -2.35701558e-02 -4.79439841e-03 -2.03208546e+01] [ 2.35692576e-02 9.99722177e-01 -2.43772663e-04 -1.36339726e+00] [ 4.79881217e-03 1.30701726e-04 9.99988477e-01 4.59288756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185529293000002 meters 0.02891723329892314 Centerline is valid? [True, True] Translation: X:-20.38, Y:-1.37, Z:0.48 [[ 9.99720821e-01 -2.32538216e-02 4.18816580e-03 -2.03793403e+01] [ 2.32531222e-02 9.99729586e-01 2.15601732e-04 -1.36966081e+00] [-4.19204683e-03 -1.18153609e-04 9.99991206e-01 4.78791464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245529293000004 meters 0.02940543866487126 Centerline is valid? [True, True] Translation: X:-20.44, Y:-1.36, Z:0.47 [[ 9.99731898e-01 -2.28327414e-02 -3.84692437e-03 -2.04405373e+01] [ 2.28321495e-02 9.99739293e-01 -1.97697030e-04 -1.36288338e+00] [ 3.85043542e-03 1.09810475e-04 9.99992581e-01 4.68123561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305529293000003 meters 0.029251833779426577 Centerline is valid? [True, True] Translation: X:-20.50, Y:-1.38, Z:0.47 [[ 9.99758130e-01 -2.19676805e-02 -1.04955040e-03 -2.04982466e+01] [ 2.19676387e-02 9.99758681e-01 -5.13722443e-05 -1.37873621e+00] [ 1.05042566e-03 2.83036749e-05 9.99999448e-01 4.72645543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365529293 meters 0.030281966475143553 Centerline is valid? [True, True] Translation: X:-20.56, Y:-1.38, Z:0.47 [[ 9.99706070e-01 -2.41514594e-02 -2.11665561e-03 -2.05576336e+01] [ 2.41512894e-02 9.99708309e-01 -1.05840327e-04 -1.37600562e+00] [ 2.11859440e-03 5.46892547e-05 9.99997754e-01 4.66835207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425529293000004 meters 0.03058646640234255 Centerline is valid? [True, True] Translation: X:-20.62, Y:-1.39, Z:0.47 [[ 9.99662790e-01 -2.58526791e-02 -2.43816875e-03 -2.06152077e+01] [ 2.58524594e-02 9.99665762e-01 -1.21588600e-04 -1.38688608e+00] [ 2.44049721e-03 5.85149404e-05 9.99997020e-01 4.73231100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485529293000003 meters 0.028935822160903922 Centerline is valid? [True, True] Translation: X:-20.67, Y:-1.39, Z:0.47 [[ 9.99636765e-01 -2.69436178e-02 -6.15568468e-04 -2.06744700e+01] [ 2.69436043e-02 9.99636955e-01 -3.02159287e-05 -1.39439122e+00] [ 6.16159116e-04 1.36193200e-05 9.99999810e-01 4.73832878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545529293000005 meters 0.028532476289556644 Centerline is valid? [True, True] Translation: X:-20.73, Y:-1.39, Z:0.48 [[ 9.99605129e-01 -2.80994364e-02 -9.28495857e-05 -2.07334219e+01] [ 2.80994363e-02 9.99605133e-01 -2.30047232e-06 -1.39074251e+00] [ 9.28775644e-05 -3.09457092e-07 9.99999996e-01 4.78595669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605529293000004 meters 0.028805302172821366 Centerline is valid? [True, True] Translation: X:-20.79, Y:-1.41, Z:0.47 [[ 9.99651236e-01 -2.63619002e-02 -1.56706645e-03 -2.07919932e+01] [ 2.63618103e-02 9.99652464e-01 -7.79919085e-05 -1.40903699e+00] [ 1.56857785e-03 3.66539992e-05 9.99998769e-01 4.72067427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665529293000002 meters 0.02793203371792788 Centerline is valid? [True, True] Translation: X:-20.85, Y:-1.41, Z:0.48 [[ 9.99533590e-01 -3.03794128e-02 3.11332316e-03 -2.08507650e+01] [ 3.03790630e-02 9.99538437e-01 1.59610124e-04 -1.41267345e+00] [-3.11673503e-03 -6.49558402e-05 9.99995141e-01 4.79883282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725529293000005 meters 0.028157913391059955 Centerline is valid? [True, True] Translation: X:-20.91, Y:-1.40, Z:0.48 [[ 9.99587919e-01 -2.87001290e-02 5.43001890e-04 -2.09128896e+01] [ 2.87001188e-02 9.99588066e-01 2.64229439e-05 -1.40262431e+00] [-5.43536551e-04 -1.08278367e-05 9.99999852e-01 4.78868532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785529293000003 meters 0.028413749440318138 Centerline is valid? [True, True] Translation: X:-20.97, Y:-1.42, Z:0.47 [[ 9.99508635e-01 -3.12977447e-02 -1.71428900e-03 -2.09720695e+01] [ 3.12976432e-02 9.99510105e-01 -8.60303963e-05 -1.42060432e+00] [ 1.71614174e-03 3.23349186e-05 9.99998527e-01 4.70878128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845529293000002 meters 0.0274061111784031 Centerline is valid? [True, True] Translation: X:-21.03, Y:-1.41, Z:0.48 [[ 9.99329453e-01 -3.65847028e-02 1.48422634e-03 -2.10317578e+01] [ 3.65846301e-02 9.99330555e-01 7.60941187e-05 -1.41240806e+00] [-1.48601661e-03 -2.17432223e-05 9.99998896e-01 4.84115261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905529293000004 meters 0.02822684426232957 Centerline is valid? [True, True] Translation: X:-21.09, Y:-1.42, Z:0.47 [[ 9.99459659e-01 -3.28241241e-02 -1.72237934e-03 -2.10920862e+01] [ 3.28240218e-02 9.99461143e-01 -8.76069885e-05 -1.42480524e+00] [ 1.72432685e-03 3.10242338e-05 9.99998513e-01 4.72116501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965529293000003 meters 0.027483616972905515 Centerline is valid? [True, True] Translation: X:-21.15, Y:-1.41, Z:0.48 [[ 9.99395210e-01 -3.46795953e-02 2.55751665e-03 -2.11528012e+01] [ 3.46793745e-02 9.99398481e-01 1.30640372e-04 -1.41092235e+00] [-2.56050881e-03 -4.18682842e-05 9.99996721e-01 4.83909383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025529293 meters 0.028094010144979264 Centerline is valid? [True, True] Translation: X:-21.21, Y:-1.42, Z:0.48 [[ 9.99583374e-01 -2.88594761e-02 4.57346389e-04 -2.12140406e+01] [ 2.88594687e-02 9.99583479e-01 2.26531475e-05 -1.41614544e+00] [-4.57809653e-04 -9.44493575e-06 9.99999895e-01 4.79849055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085529293000004 meters 0.028418976843207707 Centerline is valid? [True, True] Translation: X:-21.27, Y:-1.41, Z:0.49 [[ 9.99624104e-01 -2.72921577e-02 2.60571121e-03 -2.12738805e+01] [ 2.72919019e-02 9.99627498e-01 1.33664059e-04 -1.41231711e+00] [-2.60838856e-03 -6.24989998e-05 9.99996596e-01 4.89954153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145529293000003 meters 0.028295855871756752 Centerline is valid? [True, True] Translation: X:-21.34, Y:-1.41, Z:0.49 [[ 9.99636177e-01 -2.64464310e-02 5.30090990e-03 -2.13350353e+01] [ 2.64453794e-02 9.99650224e-01 2.68392232e-04 -1.41303626e+00] [-5.30615378e-03 -1.28110012e-04 9.99985914e-01 4.88837079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205529293000005 meters 0.028765205946700012 Centerline is valid? [True, True] Translation: X:-21.40, Y:-1.40, Z:0.48 [[ 9.99627618e-01 -2.72845926e-02 4.21021170e-04 -2.13969079e+01] [ 2.72845865e-02 9.99627706e-01 2.02273052e-05 -1.40373478e+00] [-4.21416320e-04 -8.73238433e-06 9.99999911e-01 4.82576551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265529293000004 meters 0.029084393600572748 Centerline is valid? [True, True] Translation: X:-21.45, Y:-1.41, Z:0.49 [[ 9.99594665e-01 -2.84106732e-02 1.82758848e-03 -2.14548148e+01] [ 2.84105474e-02 9.99596334e-01 9.47634851e-05 -1.41105012e+00] [-1.82954304e-03 -4.28022850e-05 9.99998325e-01 4.88124759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325529293000002 meters 0.027967102797167062 Centerline is valid? [True, True] Translation: X:-21.51, Y:-1.41, Z:0.49 [[ 9.99509746e-01 -3.12538197e-02 -1.86202120e-03 -2.15149128e+01] [ 3.12537001e-02 9.99511479e-01 -9.33225811e-05 -1.41221264e+00] [ 1.86402825e-03 3.50817771e-05 9.99998262e-01 4.85853211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385529293000005 meters 0.027694009322550242 Centerline is valid? [True, True] Translation: X:-21.57, Y:-1.41, Z:0.50 [[ 9.99492953e-01 -3.17168727e-02 2.80651561e-03 -2.15742740e+01] [ 3.17165906e-02 9.99496892e-01 1.45006188e-04 -1.40704046e+00] [-2.80970278e-03 -5.59195562e-05 9.99996051e-01 4.95661039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445529293000003 meters 0.02981846138702027 Centerline is valid? [True, True] Translation: X:-21.63, Y:-1.41, Z:0.50 [[ 9.99503504e-01 -3.13439633e-02 3.20967454e-03 -2.16343364e+01] [ 3.13436038e-02 9.99508655e-01 1.62249921e-04 -1.41180265e+00] [-3.21318304e-03 -6.15665971e-05 9.99994836e-01 4.99704799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505529293000002 meters 0.028218090115552926 Centerline is valid? [True, True] Translation: X:-21.70, Y:-1.40, Z:0.49 [[ 9.99580403e-01 -2.89645150e-02 2.72797094e-04 -2.16960703e+01] [ 2.89645125e-02 9.99580440e-01 1.32189050e-05 -1.40143108e+00] [-2.73065518e-04 -5.31192355e-06 9.99999963e-01 4.94669758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565529293000004 meters 0.028661685577808307 Centerline is valid? [True, True] Translation: X:-21.76, Y:-1.41, Z:0.50 [[ 9.99580808e-01 -2.87313806e-02 3.56601129e-03 -2.17552716e+01] [ 2.87309135e-02 9.99587166e-01 1.82134475e-04 -1.40671059e+00] [-3.56977210e-03 -7.96033634e-05 9.99993625e-01 5.00274113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625529293000003 meters 0.02906453704257753 Centerline is valid? [True, True] Translation: X:-21.82, Y:-1.41, Z:0.50 [[ 9.99641013e-01 -2.67086812e-02 -2.11951161e-03 -2.18166940e+01] [ 2.67085118e-02 9.99643258e-01 -1.08178995e-04 -1.40736921e+00] [ 2.12164481e-03 5.15311593e-05 9.99997748e-01 4.95390979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685529293000002 meters 0.030806403070795872 Centerline is valid? [True, True] Translation: X:-21.88, Y:-1.40, Z:0.51 [[ 9.99614462e-01 -2.75520489e-02 3.43684899e-03 -2.18751919e+01] [ 2.75516106e-02 9.99620367e-01 1.74816787e-04 -1.40292546e+00] [-3.44036081e-03 -8.00586630e-05 9.99994079e-01 5.14032316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745529293000004 meters 0.028401369345959514 Centerline is valid? [True, True] Translation: X:-21.94, Y:-1.41, Z:0.50 [[ 9.99686439e-01 -2.50307901e-02 -6.95759533e-04 -2.19355295e+01] [ 2.50307716e-02 9.99686681e-01 -3.52955489e-05 -1.40748509e+00] [ 6.96425014e-04 1.78690836e-05 9.99999757e-01 5.01242314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805529293000003 meters 0.030701368424072836 Centerline is valid? [True, True] Translation: X:-22.00, Y:-1.41, Z:0.51 [[ 9.99575095e-01 -2.89595562e-02 3.31266747e-03 -2.19951123e+01] [ 2.89591563e-02 9.99580581e-01 1.68623108e-04 -1.41239967e+00] [-3.31616133e-03 -7.26194036e-05 9.99994499e-01 5.12294402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865529293000005 meters 0.028703575991027606 Centerline is valid? [True, True] Translation: X:-22.06, Y:-1.41, Z:0.51 [[ 9.99632474e-01 -2.69090082e-02 3.28973689e-03 -2.20566587e+01] [ 2.69086084e-02 9.99637884e-01 1.65757839e-04 -1.40505863e+00] [-3.29300600e-03 -7.71746766e-05 9.99994575e-01 5.11594389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925529293000004 meters 0.02900848022994285 Centerline is valid? [True, True] Translation: X:-22.12, Y:-1.42, Z:0.51 [[ 9.99688885e-01 -2.49345932e-02 -6.32371998e-04 -2.21163215e+01] [ 2.49345779e-02 9.99689085e-01 -3.20905186e-05 -1.41662530e+00] [ 6.32975548e-04 1.63126059e-05 9.99999800e-01 5.07337029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985529293000003 meters 0.030537733803291476 Centerline is valid? [True, True] Translation: X:-22.18, Y:-1.42, Z:0.52 [[ 9.99653814e-01 -2.61104762e-02 3.23953321e-03 -2.21754336e+01] [ 2.61100768e-02 9.99659060e-01 1.65519971e-04 -1.42052970e+00] [-3.24275053e-03 -8.08782089e-05 9.99994739e-01 5.19505992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045529293000005 meters 0.02848958215354461 Centerline is valid? [True, True] Translation: X:-22.24, Y:-1.42, Z:0.52 [[ 9.99664700e-01 -2.55781859e-02 4.03041941e-03 -2.22365271e+01] [ 2.55775867e-02 9.99672820e-01 2.00147811e-04 -1.42025484e+00] [-4.03422016e-03 -9.69922997e-05 9.99991858e-01 5.21908780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105529293000004 meters 0.02900665355849608 Centerline is valid? [True, True] Translation: X:-22.30, Y:-1.42, Z:0.52 [[ 9.99723358e-01 -2.34875596e-02 -1.24150923e-03 -2.22978157e+01] [ 2.34874983e-02 9.99724129e-01 -6.39518713e-05 -1.42049360e+00] [ 1.24266881e-03 3.47742335e-05 9.99999227e-01 5.17018085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165529293000002 meters 0.028511467517754237 Centerline is valid? [True, True] Translation: X:-22.36, Y:-1.43, Z:0.53 [[ 9.99673909e-01 -2.52684833e-02 3.68505429e-03 -2.23576996e+01] [ 2.52679637e-02 9.99680696e-01 1.87494944e-04 -1.42904026e+00] [-3.68861535e-03 -9.43199854e-05 9.99993193e-01 5.28010575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225529293000005 meters 0.02930170739220545 Centerline is valid? [True, True] Translation: X:-22.42, Y:-1.42, Z:0.53 [[ 9.99697725e-01 -2.45801172e-02 5.25274073e-04 -2.24194094e+01] [ 2.45801072e-02 9.99697863e-01 2.54714801e-05 -1.42072439e+00] [-5.25741461e-04 -1.25524876e-05 9.99999862e-01 5.27936720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285529293000003 meters 0.03115423489379396 Centerline is valid? [True, True] Translation: X:-22.48, Y:-1.43, Z:0.53 [[ 9.99646234e-01 -2.65385024e-02 1.76495448e-03 -2.24783888e+01] [ 2.65383830e-02 9.99647791e-01 9.10304315e-05 -1.43055416e+00] [-1.76674866e-03 -4.41591901e-05 9.99998438e-01 5.32068445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345529293000002 meters 0.02913973834987874 Centerline is valid? [True, True] Translation: X:-22.54, Y:-1.42, Z:0.53 [[ 9.99632412e-01 -2.70293949e-02 2.11025191e-03 -2.25383672e+01] [ 2.70292260e-02 9.99634638e-01 1.08515556e-04 -1.42446716e+00] [-2.11241401e-03 -5.14371915e-05 9.99997768e-01 5.29714542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405529293000004 meters 0.029692233652900104 Centerline is valid? [True, True] Translation: X:-22.60, Y:-1.43, Z:0.53 [[ 9.99728076e-01 -2.33160177e-02 3.70371972e-04 -2.25987808e+01] [ 2.33160120e-02 9.99728145e-01 1.97728219e-05 -1.42576806e+00] [-3.70732307e-04 -1.11318479e-05 9.99999931e-01 5.29354128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465529293000003 meters 0.029183908348481166 Centerline is valid? [True, True] Translation: X:-22.66, Y:-1.44, Z:0.54 [[ 9.99704566e-01 -2.40126126e-02 3.76502642e-03 -2.26560150e+01] [ 2.40120587e-02 9.99711650e-01 1.92252199e-04 -1.43511065e+00] [-3.76855726e-03 -1.01789365e-04 9.99992894e-01 5.44078477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525529293 meters 0.03090064372816172 Centerline is valid? [True, True] Translation: X:-22.72, Y:-1.43, Z:0.55 [[ 9.99689602e-01 -2.48550853e-02 1.70983834e-03 -2.27176419e+01] [ 2.48549864e-02 9.99691064e-01 7.90902482e-05 -1.43181823e+00] [-1.71127590e-03 -3.65676901e-05 9.99998535e-01 5.45727893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585529293000004 meters 0.02943420015697287 Centerline is valid? [True, True] Translation: X:-22.78, Y:-1.43, Z:0.55 [[ 9.99707907e-01 -2.40321878e-02 2.56008430e-03 -2.27772321e+01] [ 2.40319290e-02 9.99711183e-01 1.31819423e-04 -1.43371780e+00] [-2.56251282e-03 -7.02571558e-05 9.99996714e-01 5.45939714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645529293000003 meters 0.0295001623224957 Centerline is valid? [True, True] Translation: X:-22.84, Y:-1.43, Z:0.55 [[ 9.99689704e-01 -2.47601589e-02 2.72579613e-03 -2.28379033e+01] [ 2.47598719e-02 9.99693418e-01 1.38998379e-04 -1.43419688e+00] [-2.72840207e-03 -7.14648859e-05 9.99996275e-01 5.46298651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705529293000005 meters 0.029531528691349847 Centerline is valid? [True, True] Translation: X:-22.90, Y:-1.43, Z:0.54 [[ 9.99734323e-01 -2.30241757e-02 1.08228187e-03 -2.28990605e+01] [ 2.30241301e-02 9.99734908e-01 5.46145753e-05 -1.43342109e+00] [-1.08325242e-03 -2.96814670e-05 9.99999413e-01 5.44620821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765529293000004 meters 0.03146434824563096 Centerline is valid? [True, True] Translation: X:-22.96, Y:-1.44, Z:0.56 [[ 9.99678670e-01 -2.50092003e-02 4.13481994e-03 -2.29570823e+01] [ 2.50085359e-02 9.99687215e-01 2.12315794e-04 -1.43857008e+00] [-4.13883648e-03 -1.08841778e-04 9.99991429e-01 5.61238932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825529293000002 meters 0.02926199121634844 Centerline is valid? [True, True] Translation: X:-23.02, Y:-1.44, Z:0.55 [[ 9.99659349e-01 -2.60071267e-02 2.19450346e-03 -2.30196171e+01] [ 2.60069609e-02 9.99661756e-01 1.04077553e-04 -1.44285106e+00] [-2.19646794e-03 -4.69697333e-05 9.99997587e-01 5.53256470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885529293000005 meters 0.02948057806177814 Centerline is valid? [True, True] Translation: X:-23.08, Y:-1.45, Z:0.56 [[ 9.99555557e-01 -2.95911615e-02 3.61264596e-03 -2.30786926e+01] [ 2.95906839e-02 9.99562083e-01 1.85570324e-04 -1.45054388e+00] [-3.61655516e-03 -7.85871834e-05 9.99993457e-01 5.61486075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945529293000003 meters 0.028179493916528447 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.46, Z:0.56 [[ 9.99463947e-01 -3.26574387e-02 2.30441754e-03 -2.31409166e+01] [ 3.26572720e-02 9.99466603e-01 1.09953127e-04 -1.45575089e+00] [-2.30677916e-03 -3.46381959e-05 9.99997339e-01 5.60492375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005529293000002 meters 0.032281099502238196 Centerline is valid? [True, True] Translation: X:-23.20, Y:-1.46, Z:0.57 [[ 9.99309120e-01 -3.69467637e-02 4.02737271e-03 -2.32010436e+01] [ 3.69462284e-02 9.99317234e-01 2.07267470e-04 -1.46275173e+00] [-4.03228082e-03 -5.83280407e-05 9.99991869e-01 5.69278300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065529293000004 meters 0.02831703414095172 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.46, Z:0.56 [[ 9.99400433e-01 -3.44430904e-02 3.52805627e-03 -2.32635470e+01] [ 3.44426897e-02 9.99406659e-01 1.74282070e-04 -1.45918250e+00] [-3.53196574e-03 -5.26618292e-05 9.99993761e-01 5.63515474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125529293000003 meters 0.02815495916373483 Centerline is valid? [True, True] Translation: X:-23.32, Y:-1.47, Z:0.57 [[ 9.99472741e-01 -3.24397364e-02 1.37959635e-03 -2.33233141e+01] [ 3.24396696e-02 9.99473693e-01 7.07641176e-05 -1.46530632e+00] [-1.38116583e-03 -2.59731568e-05 9.99999046e-01 5.72607729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185529293000002 meters 0.028010828603028094 Centerline is valid? [True, True] Translation: X:-23.38, Y:-1.46, Z:0.57 [[ 9.99563144e-01 -2.92287467e-02 4.38195166e-03 -2.33824603e+01] [ 2.92280242e-02 9.99572744e-01 2.28839714e-04 -1.45787117e+00] [-4.38676815e-03 -1.00663954e-04 9.99990373e-01 5.72031814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245529293000004 meters 0.028368914433277513 Centerline is valid? [True, True] Translation: X:-23.44, Y:-1.46, Z:0.58 [[ 9.99677722e-01 -2.50803734e-02 3.92779729e-03 -2.34444910e+01] [ 2.50797760e-02 9.99685433e-01 2.01279762e-04 -1.45596839e+00] [-3.93160991e-03 -1.02706617e-04 9.99992266e-01 5.76968845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305529293000003 meters 0.028525897542753753 Centerline is valid? [True, True] Translation: X:-23.51, Y:-1.45, Z:0.57 [[ 9.99723432e-01 -2.35053249e-02 7.47735711e-04 -2.35060940e+01] [ 2.35053034e-02 9.99723711e-01 3.74930201e-05 -1.45431986e+00] [-7.48410406e-04 -1.99068960e-05 9.99999720e-01 5.70561041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365529293000005 meters 0.028251167524788425 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.46, Z:0.58 [[ 9.99685232e-01 -2.49551852e-02 2.58372053e-03 -2.35644107e+01] [ 2.49549186e-02 9.99688568e-01 1.35379435e-04 -1.46024106e+00] [-2.58629430e-03 -7.08602866e-05 9.99996653e-01 5.84212055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425529293000004 meters 0.027441308388432135 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.46, Z:0.59 [[ 9.99602789e-01 -2.80057634e-02 3.15291427e-03 -2.36238775e+01] [ 2.80053887e-02 9.99607759e-01 1.62956385e-04 -1.46358768e+00] [-3.15624128e-03 -7.45930674e-05 9.99995016e-01 5.85106016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485529293000003 meters 0.028584585068860503 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.47, Z:0.59 [[ 9.99565040e-01 -2.89013871e-02 5.86852961e-03 -2.36842582e+01] [ 2.89001037e-02 9.99582259e-01 3.03385574e-04 -1.46514148e+00] [-5.87484635e-03 -1.33652499e-04 9.99982734e-01 5.90846249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545529293000005 meters 0.02740624204043582 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.47, Z:0.58 [[ 9.99580646e-01 -2.89007022e-02 -1.81165728e-03 -2.37442324e+01] [ 2.89005799e-02 9.99582287e-01 -9.36573079e-05 -1.46833943e+00] [ 1.81360729e-03 4.12600863e-05 9.99998355e-01 5.80950730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605529293000004 meters 0.028395873567760042 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.47, Z:0.60 [[ 9.99613119e-01 -2.68403675e-02 7.29426517e-03 -2.38044455e+01] [ 2.68383299e-02 9.99639716e-01 3.77091874e-04 -1.46562404e+00] [-7.30175845e-03 -1.81180089e-04 9.99973325e-01 6.01165558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665529293000002 meters 0.029369183006034177 Centerline is valid? [True, True] Translation: X:-23.87, Y:-1.47, Z:0.59 [[ 9.99705107e-01 -2.42291633e-02 1.62676031e-03 -2.38659146e+01] [ 2.42290594e-02 9.99706430e-01 8.35239836e-05 -1.46646542e+00] [-1.62830646e-03 -4.40844808e-05 9.99998673e-01 5.90920227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725529293000005 meters 0.02810486877681444 Centerline is valid? [True, True] Translation: X:-23.92, Y:-1.46, Z:0.60 [[ 9.99777036e-01 -2.09056814e-02 2.97153556e-03 -2.39244578e+01] [ 2.09053119e-02 9.99781448e-01 1.55357711e-04 -1.46439614e+00] [-2.97413399e-03 -9.32021942e-05 9.99995573e-01 6.01076779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785529293000003 meters 0.028167320941664502 Centerline is valid? [True, True] Translation: X:-23.99, Y:-1.47, Z:0.60 [[ 9.99798895e-01 -1.96890580e-02 3.80916168e-03 -2.39851729e+01] [ 1.96884553e-02 9.99806144e-01 1.95658255e-04 -1.47168591e+00] [-3.81227558e-03 -1.20622397e-04 9.99992726e-01 6.02414368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845529293000002 meters 0.02984865018331021 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.47, Z:0.60 [[ 9.99767277e-01 -2.12137251e-02 3.92052363e-03 -2.40479773e+01] [ 2.12131243e-02 9.99774957e-01 1.94790861e-04 -1.46985325e+00] [-3.92377359e-03 -1.11578974e-04 9.99992296e-01 5.97689153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905529293000004 meters 0.02946802958282848 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.46, Z:0.59 [[ 9.99798399e-01 -1.99884281e-02 1.90355355e-03 -2.41095594e+01] [ 1.99882781e-02 9.99800210e-01 9.78142538e-05 -1.46469281e+00] [-1.90512840e-03 -5.97457766e-05 9.99998183e-01 5.92225902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965529293000003 meters 0.029511562179142064 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.47, Z:0.60 [[ 9.99770650e-01 -2.13159571e-02 2.06810383e-03 -2.41680616e+01] [ 2.13157808e-02 9.99772787e-01 1.07259668e-04 -1.47192731e+00] [-2.06992027e-03 -6.31518204e-05 9.99997856e-01 6.04310507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025529293000005 meters 0.028998565236170552 Centerline is valid? [True, True] Translation: X:-24.23, Y:-1.48, Z:0.61 [[ 9.99760841e-01 -2.17544698e-02 2.23710783e-03 -2.42273098e+01] [ 2.17542611e-02 9.99763341e-01 1.17564948e-04 -1.47710276e+00] [-2.23913596e-03 -6.88702030e-05 9.99997491e-01 6.06044291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085529293000004 meters 0.02894987158907698 Centerline is valid? [True, True] Translation: X:-24.29, Y:-1.47, Z:0.61 [[ 9.99739090e-01 -2.24665013e-02 4.12408639e-03 -2.42883531e+01] [ 2.24658080e-02 9.99747589e-01 2.14368321e-04 -1.46919220e+00] [-4.12786153e-03 -1.21661457e-04 9.99991473e-01 6.10875942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145529293000003 meters 0.02951337346536564 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.48, Z:0.60 [[ 9.99776699e-01 -2.10358460e-02 2.01117360e-03 -2.43494041e+01] [ 2.10356805e-02 9.99778720e-01 1.03436562e-04 -1.47950870e+00] [-2.01290444e-03 -6.11070588e-05 9.99997972e-01 6.02384513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205529293000005 meters 0.029905118795370323 Centerline is valid? [True, True] Translation: X:-24.41, Y:-1.47, Z:0.61 [[ 9.99690710e-01 -2.44759345e-02 4.40594052e-03 -2.44100819e+01] [ 2.44751619e-02 9.99700412e-01 2.29177843e-04 -1.47488383e+00] [-4.41022990e-03 -1.21270853e-04 9.99990268e-01 6.12382706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265529293000004 meters 0.02879426291568599 Centerline is valid? [True, True] Translation: X:-24.47, Y:-1.48, Z:0.60 [[ 9.99721995e-01 -2.34693609e-02 2.26327846e-03 -2.44705743e+01] [ 2.34691557e-02 9.99724555e-01 1.17182653e-04 -1.48352137e+00] [-2.26540525e-03 -6.40328410e-05 9.99997432e-01 6.03245649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325529293000002 meters 0.02867522148997974 Centerline is valid? [True, True] Translation: X:-24.53, Y:-1.48, Z:0.61 [[ 9.99688183e-01 -2.48955031e-02 1.93648469e-03 -2.45299161e+01] [ 2.48953524e-02 9.99690057e-01 1.01875399e-04 -1.48350359e+00] [-1.93842073e-03 -5.36341639e-05 9.99998120e-01 6.08228152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385529293000005 meters 0.02806901105676805 Centerline is valid? [True, True] Translation: X:-24.59, Y:-1.49, Z:0.61 [[ 9.99660390e-01 -2.57045924e-02 4.28710354e-03 -2.45885878e+01] [ 2.57038784e-02 9.99669576e-01 2.21570853e-04 -1.49407209e+00] [-4.29138237e-03 -1.11300417e-04 9.99990786e-01 6.08311378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445529293000003 meters 0.028173796588419002 Centerline is valid? [True, True] Translation: X:-24.65, Y:-1.48, Z:0.61 [[ 9.99621201e-01 -2.73724257e-02 2.86440493e-03 -2.46515138e+01] [ 2.73721332e-02 9.99625303e-01 1.41305010e-04 -1.48477582e+00] [-2.86719951e-03 -6.28466107e-05 9.99995888e-01 6.14900241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505529293000002 meters 0.027414129134237044 Centerline is valid? [True, True] Translation: X:-24.71, Y:-1.49, Z:0.61 [[ 9.99601641e-01 -2.75264406e-02 6.23330821e-03 -2.47109933e+01] [ 2.75249429e-02 9.99621064e-01 3.25950617e-04 -1.49263724e+00] [-6.23991844e-03 -1.54249319e-04 9.99980520e-01 6.09721581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565529293000004 meters 0.027673122117270323 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.50, Z:0.60 [[ 9.99623042e-01 -2.74394524e-02 9.22066392e-04 -2.47729467e+01] [ 2.74394213e-02 9.99623467e-01 4.64408234e-05 -1.49962685e+00] [-9.22993515e-04 -2.11223490e-05 9.99999574e-01 6.03179862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625529293000003 meters 0.026714398130352857 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.50, Z:0.62 [[ 9.99420211e-01 -3.28147772e-02 9.07919138e-03 -2.48329774e+01] [ 3.28118102e-02 9.99461434e-01 4.75587120e-04 -1.49884122e+00] [-9.08990793e-03 -1.77406675e-04 9.99958670e-01 6.17729784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685529293000005 meters 0.027020865211050085 Centerline is valid? [True, True] Translation: X:-24.89, Y:-1.51, Z:0.60 [[ 9.99420810e-01 -3.39451784e-02 2.40195138e-03 -2.48949366e+01] [ 3.39449799e-02 9.99423695e-01 1.23359207e-04 -1.50942664e+00] [-2.40475458e-03 -4.17535667e-05 9.99997108e-01 6.02692885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745529293000004 meters 0.026464748928111285 Centerline is valid? [True, True] Translation: X:-24.95, Y:-1.51, Z:0.61 [[ 9.99205030e-01 -3.97055636e-02 3.57429222e-03 -2.49546607e+01] [ 3.97051435e-02 9.99211422e-01 1.88444640e-04 -1.50748562e+00] [-3.57895591e-03 -4.63770471e-05 9.99993594e-01 6.10234663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805529293000003 meters 0.02642355141194284 Centerline is valid? [True, True] Translation: X:-25.01, Y:-1.52, Z:0.61 [[ 9.99251551e-01 -3.82378013e-02 5.84877031e-03 -2.50140119e+01] [ 3.82366566e-02 9.99268664e-01 3.07440981e-04 -1.51770690e+00] [-5.85624876e-03 -8.35734551e-05 9.99982849e-01 6.14089043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865529293000005 meters 0.026441256607677165 Centerline is valid? [True, True] Translation: X:-25.08, Y:-1.51, Z:0.61 [[ 9.99283986e-01 -3.76192545e-02 4.03823788e-03 -2.50771403e+01] [ 3.76187354e-02 9.99292144e-01 2.04435008e-04 -1.50962767e+00] [-4.04307008e-03 -5.23752270e-05 9.99991825e-01 6.12470556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925529293000004 meters 0.028062120273384603 Centerline is valid? [True, True] Translation: X:-25.14, Y:-1.52, Z:0.63 [[ 9.99288818e-01 -3.67728821e-02 8.34350690e-03 -2.51363513e+01] [ 3.67704981e-02 9.99323640e-01 4.39002525e-04 -1.51641645e+00] [-8.35400708e-03 -1.31895409e-04 9.99965096e-01 6.29949281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985529293000003 meters 0.028162792701991214 Centerline is valid? [True, True] Translation: X:-25.20, Y:-1.51, Z:0.62 [[ 9.99414950e-01 -3.38450474e-02 4.92644139e-03 -2.51987690e+01] [ 3.38441857e-02 9.99427088e-01 2.58187788e-04 -1.50704730e+00] [-4.93235736e-03 -9.13053375e-05 9.99987832e-01 6.19927771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045529293000005 meters 0.027536220866798248 Centerline is valid? [True, True] Translation: X:-25.26, Y:-1.51, Z:0.63 [[ 9.99280272e-01 -3.72679175e-02 7.07397781e-03 -2.52606792e+01] [ 3.72662276e-02 9.99305304e-01 3.70599997e-04 -1.51404169e+00] [-7.08287504e-03 -1.06712799e-04 9.99974910e-01 6.28883587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105529293000004 meters 0.027668539611527574 Centerline is valid? [True, True] Translation: X:-25.32, Y:-1.51, Z:0.62 [[ 9.99311714e-01 -3.69471239e-02 3.31791748e-03 -2.53223824e+01] [ 3.69467503e-02 9.99317221e-01 1.73847896e-04 -1.51292710e+00] [-3.32207525e-03 -5.11419705e-05 9.99994481e-01 6.20138859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165529293000002 meters 0.025816444491938907 Centerline is valid? [True, True] Translation: X:-25.38, Y:-1.52, Z:0.63 [[ 9.99194773e-01 -3.98133627e-02 4.97015615e-03 -2.53814460e+01] [ 3.98125456e-02 9.99207132e-01 2.63261445e-04 -1.52081808e+00] [-4.97669679e-03 -6.51748910e-05 9.99987614e-01 6.28548892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225529293000005 meters 0.02686548902914961 Centerline is valid? [True, True] Translation: X:-25.44, Y:-1.51, Z:0.63 [[ 9.99246944e-01 -3.87081432e-02 2.68781239e-03 -2.54426484e+01] [ 3.87079034e-02 9.99250558e-01 1.41180690e-04 -1.51293463e+00] [-2.69126288e-03 -3.70347901e-05 9.99996378e-01 6.26985471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285529293000003 meters 0.025850127351925083 Centerline is valid? [True, True] Translation: X:-25.50, Y:-1.52, Z:0.64 [[ 9.99255307e-01 -3.77896175e-02 7.79586287e-03 -2.54998990e+01] [ 3.77875452e-02 9.99285710e-01 4.13003329e-04 -1.52311149e+00] [-7.80590160e-03 -1.18109248e-04 9.99969527e-01 6.38621002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345529293000002 meters 0.02627461085302755 Centerline is valid? [True, True] Translation: X:-25.56, Y:-1.52, Z:0.64 [[ 9.99368354e-01 -3.50421351e-02 5.91118221e-03 -2.55608163e+01] [ 3.50409092e-02 9.99385830e-01 3.10852786e-04 -1.51769674e+00] [-5.91844469e-03 -1.03523238e-04 9.99982480e-01 6.37690882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405529293000004 meters 0.026506187756499783 Centerline is valid? [True, True] Translation: X:-25.62, Y:-1.52, Z:0.64 [[ 9.99317784e-01 -3.64451287e-02 5.97657978e-03 -2.56228089e+01] [ 3.64439393e-02 9.99335652e-01 3.07836565e-04 -1.51663089e+00] [-5.98382839e-03 -8.98164435e-05 9.99982093e-01 6.41256846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465529293000003 meters 0.026496712496795406 Centerline is valid? [True, True] Translation: X:-25.68, Y:-1.52, Z:0.64 [[ 9.99260562e-01 -3.78909913e-02 6.52708342e-03 -2.56846330e+01] [ 3.78895845e-02 9.99281874e-01 3.39095350e-04 -1.52093311e+00] [-6.53524481e-03 -9.15361306e-05 9.99978641e-01 6.40941748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525529293000005 meters 0.026301797527818856 Centerline is valid? [True, True] Translation: X:-25.75, Y:-1.53, Z:0.64 [[ 9.99127900e-01 -4.16598009e-02 2.81074889e-03 -2.57465143e+01] [ 4.16595657e-02 9.99131853e-01 1.42191426e-04 -1.53448452e+00] [-2.81423242e-03 -2.49728429e-05 9.99996040e-01 6.35299749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585529293000004 meters 0.02620897536299043 Centerline is valid? [True, True] Translation: X:-25.81, Y:-1.53, Z:0.65 [[ 9.98989609e-01 -4.43098768e-02 7.50967828e-03 -2.58060187e+01] [ 4.43081044e-02 9.99017833e-01 4.02306392e-04 -1.53312409e+00] [-7.52012867e-03 -6.91602956e-05 9.99971721e-01 6.49600110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645529293000003 meters 0.026745511773063585 Centerline is valid? [True, True] Translation: X:-25.87, Y:-1.54, Z:0.66 [[ 9.99027203e-01 -4.39390833e-02 3.74215235e-03 -2.58659172e+01] [ 4.39386448e-02 9.99034212e-01 1.99345021e-04 -1.53521813e+00] [-3.74729726e-03 -3.47259956e-05 9.99992978e-01 6.56675563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705529293000005 meters 0.02686436903948959 Centerline is valid? [True, True] Translation: X:-25.92, Y:-1.54, Z:0.66 [[ 9.99077383e-01 -4.26772949e-02 4.79913942e-03 -2.59243854e+01] [ 4.26765448e-02 9.99088908e-01 2.58637500e-04 -1.53614155e+00] [-4.80580491e-03 -5.35881877e-05 9.99988451e-01 6.59960765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765529293000004 meters 0.0272861762185999 Centerline is valid? [True, True] Translation: X:-25.98, Y:-1.54, Z:0.66 [[ 9.99011460e-01 -4.40476446e-02 5.99231783e-03 -2.59840240e+01] [ 4.40465161e-02 9.99029430e-01 3.20234064e-04 -1.54264686e+00] [-6.00060742e-03 -5.59767761e-05 9.99981995e-01 6.64322966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825529293000002 meters 0.027256857576036943 Centerline is valid? [True, True] Translation: X:-26.05, Y:-1.54, Z:0.66 [[ 9.99033768e-01 -4.36818881e-02 4.83976854e-03 -2.60463525e+01] [ 4.36811848e-02 9.99045490e-01 2.50982801e-04 -1.53763681e+00] [-4.84611234e-03 -3.93334699e-05 9.99988257e-01 6.63055264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885529293000005 meters 0.031236378958927804 Centerline is valid? [True, True] Translation: X:-26.11, Y:-1.54, Z:0.67 [[ 9.99085500e-01 -4.25766190e-02 3.92363485e-03 -2.61061850e+01] [ 4.25761194e-02 9.99093204e-01 2.10810222e-04 -1.53775829e+00] [-3.92905250e-03 -4.35642904e-05 9.99992280e-01 6.66211845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945529293000003 meters 0.027830189388695317 Centerline is valid? [True, True] Translation: X:-26.16, Y:-1.55, Z:0.67 [[ 9.99161160e-01 -4.05592972e-02 5.64968293e-03 -2.61640761e+01] [ 4.05582252e-02 9.99177130e-01 3.04231924e-04 -1.54590429e+00] [-5.65737341e-03 -7.48356096e-05 9.99983994e-01 6.68807461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005529293000002 meters 0.028731536618453683 Centerline is valid? [True, True] Translation: X:-26.23, Y:-1.53, Z:0.67 [[ 9.99287541e-01 -3.74925742e-02 4.32632179e-03 -2.62260593e+01] [ 3.74919277e-02 9.99296904e-01 2.30473132e-04 -1.53331114e+00] [-4.33192100e-03 -6.81067858e-05 9.99990615e-01 6.66718444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065529293000004 meters 0.028827698716138068 Centerline is valid? [True, True] Translation: X:-26.28, Y:-1.54, Z:0.67 [[ 9.99436113e-01 -3.34594279e-02 2.81457511e-03 -2.62848286e+01] [ 3.34591329e-02 9.99440075e-01 1.51867888e-04 -1.54053350e+00] [-2.81808057e-03 -5.76090093e-05 9.99996028e-01 6.69091896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125529293000003 meters 0.029013835371073927 Centerline is valid? [True, True] Translation: X:-26.34, Y:-1.53, Z:0.68 [[ 9.99490674e-01 -3.13981326e-02 5.70519803e-03 -2.63428469e+01] [ 3.13968861e-02 9.99506949e-01 3.07946532e-04 -1.53026412e+00] [-5.71205402e-03 -1.28664234e-04 9.99983678e-01 6.76646251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185529293000005 meters 0.02935359908619518 Centerline is valid? [True, True] Translation: X:-26.40, Y:-1.55, Z:0.67 [[ 9.99428957e-01 -3.36242929e-02 3.34180463e-03 -2.64045160e+01] [ 3.36239106e-02 9.99434542e-01 1.70535610e-04 -1.54659687e+00] [-3.34564912e-03 -5.80736872e-05 9.99994402e-01 6.67848237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245529293000004 meters 0.02907665974930296 Centerline is valid? [True, True] Translation: X:-26.47, Y:-1.54, Z:0.66 [[ 9.99427560e-01 -3.37054434e-02 2.91474752e-03 -2.64651316e+01] [ 3.37051270e-02 9.99431808e-01 1.57602413e-04 -1.53858604e+00] [-2.91840344e-03 -5.92702602e-05 9.99995740e-01 6.63219185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305529293000003 meters 0.0289107569943961 Centerline is valid? [True, True] Translation: X:-26.52, Y:-1.55, Z:0.67 [[ 9.99333965e-01 -3.59107830e-02 6.48400328e-03 -2.65229374e+01] [ 3.59092716e-02 9.99354993e-01 3.49402152e-04 -1.55194628e+00] [-6.49236836e-03 -1.16333603e-04 9.99978918e-01 6.70086996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365529293000005 meters 0.0289380645253626 Centerline is valid? [True, True] Translation: X:-26.59, Y:-1.56, Z:0.67 [[ 9.99338469e-01 -3.62057848e-02 3.43016810e-03 -2.65856798e+01] [ 3.62053808e-02 9.99344354e-01 1.79821075e-04 -1.55785329e+00] [-3.43442969e-03 -5.55115754e-05 9.99994101e-01 6.65306136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425529293000004 meters 0.029049591783483708 Centerline is valid? [True, True] Translation: X:-26.64, Y:-1.56, Z:0.67 [[ 9.99262097e-01 -3.79019544e-02 6.22121970e-03 -2.66441880e+01] [ 3.79005979e-02 9.99281458e-01 3.35837572e-04 -1.55705206e+00] [-6.22947839e-03 -9.98018100e-05 9.99980592e-01 6.73552840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485529293000003 meters 0.03143773167116178 Centerline is valid? [True, True] Translation: X:-26.71, Y:-1.57, Z:0.67 [[ 9.99406284e-01 -3.42277584e-02 3.94215180e-03 -2.67054403e+01] [ 3.42271959e-02 9.99414056e-01 2.10090291e-04 -1.56855313e+00] [-3.94703284e-03 -7.50367548e-05 9.99992208e-01 6.69427649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545529293000005 meters 0.02878177040988127 Centerline is valid? [True, True] Translation: X:-26.76, Y:-1.57, Z:0.68 [[ 9.99227273e-01 -3.85570896e-02 7.62936018e-03 -2.67646352e+01] [ 3.85550785e-02 9.99256392e-01 4.10556893e-04 -1.57260806e+00] [-7.63951681e-03 -1.16089064e-04 9.99970812e-01 6.81433388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605529293000004 meters 0.028548349836160843 Centerline is valid? [True, True] Translation: X:-26.83, Y:-1.58, Z:0.68 [[ 9.99196720e-01 -3.91101342e-02 8.73569837e-03 -2.68264157e+01] [ 3.91075798e-02 9.99234899e-01 4.63107044e-04 -1.58040524e+00] [-8.74712685e-03 -1.21103019e-04 9.99961736e-01 6.79992402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665529293000002 meters 0.029442238474247234 Centerline is valid? [True, True] Translation: X:-26.89, Y:-1.58, Z:0.68 [[ 9.99182968e-01 -3.96733742e-02 7.70840111e-03 -2.68886391e+01] [ 3.96713934e-02 9.99212696e-01 4.09754180e-04 -1.57971127e+00] [-7.71858859e-03 -1.03616385e-04 9.99970206e-01 6.77698748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725529293000005 meters 0.028521464262109178 Centerline is valid? [True, True] Translation: X:-26.95, Y:-1.59, Z:0.69 [[ 9.99132122e-01 -4.05055066e-02 9.71114136e-03 -2.69494190e+01] [ 4.05023518e-02 9.99179307e-01 5.21398530e-04 -1.58986661e+00] [-9.72429101e-03 -1.27621956e-04 9.99952710e-01 6.87591505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785529293000003 meters 0.02865416271463929 Centerline is valid? [True, True] Translation: X:-27.01, Y:-1.60, Z:0.68 [[ 9.99059837e-01 -4.31100015e-02 4.57935759e-03 -2.70112424e+01] [ 4.31093176e-02 9.99070330e-01 2.47994208e-04 -1.59568628e+00] [-4.58579133e-03 -5.03480717e-05 9.99989484e-01 6.80174597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845529293000006 meters 0.028472663575276426 Centerline is valid? [True, True] Translation: X:-27.07, Y:-1.60, Z:0.69 [[ 9.98921494e-01 -4.51512344e-02 1.08266213e-02 -2.70706681e+01] [ 4.51474803e-02 9.98980158e-01 5.91023084e-04 -1.59751606e+00] [-1.08422653e-02 -1.01590990e-04 9.99941216e-01 6.93452022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905529293000004 meters 0.028608818256383714 Centerline is valid? [True, True] Translation: X:-27.13, Y:-1.60, Z:0.69 [[ 9.99163813e-01 -4.03997150e-02 6.28790543e-03 -2.71313550e+01] [ 4.03983629e-02 9.99183594e-01 3.41946963e-04 -1.60429125e+00] [-6.29658651e-03 -8.76399463e-05 9.99980172e-01 6.90182666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965529293000003 meters 0.030506868119393144 Centerline is valid? [True, True] Translation: X:-27.19, Y:-1.59, Z:0.70 [[ 9.99217894e-01 -3.75485205e-02 1.23979536e-02 -2.71935682e+01] [ 3.75430768e-02 9.99294784e-01 6.71611837e-04 -1.58989691e+00] [-1.24144284e-02 -2.05629242e-04 9.99922917e-01 7.02071337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025529293000005 meters 0.030503749797158627 Centerline is valid? [True, True] Translation: X:-27.25, Y:-1.59, Z:0.69 [[ 9.99437767e-01 -3.26539939e-02 7.60706080e-03 -2.72544023e+01] [ 3.26517687e-02 9.99466702e-01 4.16565822e-04 -1.59273814e+00] [-7.61660651e-03 -1.67947626e-04 9.99970979e-01 6.94614933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085529293000004 meters 0.03222483528093399 Centerline is valid? [True, True] Translation: X:-27.32, Y:-1.60, Z:0.71 [[ 9.99307020e-01 -3.66467066e-02 6.51908069e-03 -2.73150956e+01] [ 3.66451928e-02 9.99328278e-01 3.51548265e-04 -1.60102090e+00] [-6.52758476e-03 -1.12411680e-04 9.99978689e-01 7.09060789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145529293000003 meters 0.029839081163033007 Centerline is valid? [True, True] Translation: X:-27.38, Y:-1.60, Z:0.72 [[ 9.99179982e-01 -3.91430797e-02 1.03528875e-02 -2.73754786e+01] [ 3.91392778e-02 9.99233603e-01 5.69659730e-04 -1.59998443e+00] [-1.03672513e-02 -1.63988060e-04 9.99946245e-01 7.22254903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205529293000005 meters 0.03159555629589134 Centerline is valid? [True, True] Translation: X:-27.44, Y:-1.61, Z:0.72 [[ 9.99248895e-01 -3.81203599e-02 6.96309224e-03 -2.74362758e+01] [ 3.81186189e-02 9.99273148e-01 3.82612019e-04 -1.61036333e+00] [-6.97261641e-03 -1.16901178e-04 9.99975684e-01 7.24401452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265529293000004 meters 0.03218679942171156 Centerline is valid? [True, True] Translation: X:-27.50, Y:-1.61, Z:0.74 [[ 9.99069801e-01 -4.23683998e-02 8.02821133e-03 -2.74974531e+01] [ 4.23662376e-02 9.99102051e-01 4.39280564e-04 -1.61083007e+00] [-8.03961402e-03 -9.87468371e-05 9.99967677e-01 7.36564673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325529293000002 meters 0.03138813873568517 Centerline is valid? [True, True] Translation: X:-27.56, Y:-1.61, Z:0.73 [[ 9.99370328e-01 -3.51367498e-02 4.93520665e-03 -2.75589544e+01] [ 3.51358349e-02 9.99382509e-01 2.71998318e-04 -1.60556747e+00] [-4.94171634e-03 -9.84244424e-05 9.99987785e-01 7.30793891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385529293000005 meters 0.03139154910748641 Centerline is valid? [True, True] Translation: X:-27.62, Y:-1.61, Z:0.75 [[ 9.99361884e-01 -3.48848687e-02 7.67270251e-03 -2.76187003e+01] [ 3.48826442e-02 9.99391326e-01 4.23595958e-04 -1.61038876e+00] [-7.68280942e-03 -1.55681504e-04 9.99970475e-01 7.47247745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445529293000003 meters 0.03138180258108617 Centerline is valid? [True, True] Translation: X:-27.68, Y:-1.61, Z:0.75 [[ 9.99340888e-01 -3.42215549e-02 1.21108962e-02 -2.76812694e+01] [ 3.42160172e-02 9.99414240e-01 6.64215907e-04 -1.61114962e+00] [-1.21265326e-02 -2.49391483e-04 9.99926440e-01 7.50734395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505529293000002 meters 0.03190690488514046 Centerline is valid? [True, True] Translation: X:-27.74, Y:-1.62, Z:0.74 [[ 9.99307827e-01 -3.70055157e-02 3.80237290e-03 -2.77430875e+01] [ 3.70049861e-02 9.99315059e-01 2.09572783e-04 -1.62050566e+00] [-3.80752385e-03 -6.87209663e-05 9.99992749e-01 7.40476255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565529293000004 meters 0.03143562313937591 Centerline is valid? [True, True] Translation: X:-27.80, Y:-1.62, Z:0.75 [[ 9.99153141e-01 -4.04710815e-02 7.42244823e-03 -2.78033055e+01] [ 4.04691284e-02 9.99180704e-01 4.13194557e-04 -1.61565924e+00] [-7.43308948e-03 -1.12464629e-04 9.99972368e-01 7.51874985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625529293000003 meters 0.031157696637692668 Centerline is valid? [True, True] Translation: X:-27.86, Y:-1.63, Z:0.75 [[ 9.99001761e-01 -4.39497225e-02 7.99393022e-03 -2.78640184e+01] [ 4.39476185e-02 9.99033740e-01 4.38755742e-04 -1.62769171e+00] [-8.00548920e-03 -8.70035642e-05 9.99967952e-01 7.53076703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685529293000005 meters 0.03166395000085754 Centerline is valid? [True, True] Translation: X:-27.93, Y:-1.63, Z:0.75 [[ 9.98931674e-01 -4.60240770e-02 4.15872573e-03 -2.79254865e+01] [ 4.60235392e-02 9.98940330e-01 2.24984105e-04 -1.63480810e+00] [-4.16467354e-03 -3.33444721e-05 9.99991327e-01 7.50990661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745529293000004 meters 0.030956188756528297 Centerline is valid? [True, True] Translation: X:-27.98, Y:-1.64, Z:0.76 [[ 9.98865539e-01 -4.71381386e-02 6.75508032e-03 -2.79849167e+01] [ 4.71366486e-02 9.98888378e-01 3.79706161e-04 -1.64307668e+00] [-6.76546987e-03 -6.08635516e-05 9.99977112e-01 7.57273739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805529293000003 meters 0.03097302071648248 Centerline is valid? [True, True] Translation: X:-28.05, Y:-1.63, Z:0.76 [[ 9.99060373e-01 -4.29110098e-02 6.08409965e-03 -2.80472590e+01] [ 4.29097679e-02 9.99078896e-01 3.34568457e-04 -1.63183180e+00] [-6.09285223e-03 -7.31867835e-05 9.99981436e-01 7.57560959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865529293000005 meters 0.031128664169647605 Centerline is valid? [True, True] Translation: X:-28.11, Y:-1.64, Z:0.76 [[ 9.99270322e-01 -3.77879653e-02 5.55825603e-03 -2.81075046e+01] [ 3.77868127e-02 9.99285775e-01 3.12265587e-04 -1.63575641e+00] [-5.56608606e-03 -1.02008953e-04 9.99984504e-01 7.56755987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925529293000004 meters 0.03256500689353323 Centerline is valid? [True, True] Translation: X:-28.17, Y:-1.64, Z:0.76 [[ 9.99315314e-01 -3.64681160e-02 6.24337364e-03 -2.81690325e+01] [ 3.64666412e-02 9.99334810e-01 3.49929098e-04 -1.64151798e+00] [-6.25198186e-03 -1.22014640e-04 9.99980449e-01 7.61148450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985529293000003 meters 0.03088011497480221 Centerline is valid? [True, True] Translation: X:-28.23, Y:-1.64, Z:0.77 [[ 9.99168430e-01 -4.01007353e-02 7.37428548e-03 -2.82294483e+01] [ 4.00987671e-02 9.99195635e-01 4.14614019e-04 -1.64481817e+00] [-7.38498019e-03 -1.18569482e-04 9.99972724e-01 7.65528684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045529293000005 meters 0.033135649819986894 Centerline is valid? [True, True] Translation: X:-28.29, Y:-1.64, Z:0.77 [[ 9.99116230e-01 -4.17024423e-02 5.25982586e-03 -2.82905861e+01] [ 4.17014938e-02 9.99130072e-01 2.89916857e-04 -1.64031437e+00] [-5.26734043e-03 -7.03180420e-05 9.99986125e-01 7.71536134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105529293000004 meters 0.03118703483838531 Centerline is valid? [True, True] Translation: X:-28.35, Y:-1.66, Z:0.76 [[ 9.99031176e-01 -4.39199430e-02 2.78365112e-03 -2.83507562e+01] [ 4.39196774e-02 9.99035053e-01 1.56499641e-04 -1.66165627e+00] [-2.78783850e-03 -3.40909616e-05 9.99996113e-01 7.61089034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165529293000002 meters 0.031213217412042697 Centerline is valid? [True, True] Translation: X:-28.41, Y:-1.65, Z:0.78 [[ 9.98894612e-01 -4.68887939e-02 3.31579704e-03 -2.84092569e+01] [ 4.68884211e-02 9.98900115e-01 1.90138872e-04 -1.65456937e+00] [-3.32106543e-03 -3.44562073e-05 9.99994485e-01 7.75723769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225529293000005 meters 0.03172223291017869 Centerline is valid? [True, True] Translation: X:-28.47, Y:-1.66, Z:0.77 [[ 9.99024523e-01 -4.40846772e-02 2.55793221e-03 -2.84682668e+01] [ 4.40844453e-02 9.99027797e-01 1.47026148e-04 -1.65698845e+00] [-2.56192698e-03 -3.41177048e-05 9.99996718e-01 7.71925720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285529293000003 meters 0.031434588613339726 Centerline is valid? [True, True] Translation: X:-28.53, Y:-1.66, Z:0.78 [[ 9.99208269e-01 -3.93162371e-02 6.08835242e-03 -2.85274482e+01] [ 3.93148580e-02 9.99226812e-01 3.46071470e-04 -1.65569662e+00] [-6.09725120e-03 -1.06434764e-04 9.99981406e-01 7.78079638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345529293000006 meters 0.03293233160462213 Centerline is valid? [True, True] Translation: X:-28.59, Y:-1.64, Z:0.77 [[ 9.99490754e-01 -3.18801230e-02 1.37485913e-03 -2.85892478e+01] [ 3.18800465e-02 9.99491699e-01 7.74908330e-05 -1.64237156e+00] [-1.37663071e-03 -3.36207981e-05 9.99999052e-01 7.73349679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405529293000004 meters 0.03246974269150422 Centerline is valid? [True, True] Translation: X:-28.65, Y:-1.65, Z:0.77 [[ 9.99543379e-01 -3.02158677e-02 -1.86839781e-04 -2.86468361e+01] [ 3.02158669e-02 9.99543396e-01 -7.49904335e-06 -1.65078764e+00] [ 1.86981060e-04 1.85009318e-06 9.99999983e-01 7.70277986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465529293000003 meters 0.032442251186773366 Centerline is valid? [True, True] Translation: X:-28.71, Y:-1.65, Z:0.78 [[ 9.99377840e-01 -3.52642601e-02 -6.04528141e-04 -2.87062159e+01] [ 3.52642471e-02 9.99378022e-01 -3.21742032e-05 -1.64811106e+00] [ 6.05286737e-04 1.08359559e-05 9.99999817e-01 7.77428728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525529293000005 meters 0.032316721596393955 Centerline is valid? [True, True] Translation: X:-28.76, Y:-1.66, Z:0.78 [[ 9.99231992e-01 -3.91494211e-02 1.65778206e-03 -2.87645009e+01] [ 3.91493173e-02 9.99233367e-01 9.50269089e-05 -1.66304111e+00] [-1.66023140e-03 -3.00528915e-05 9.99998621e-01 7.79419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585529293000004 meters 0.03189291189735951 Centerline is valid? [True, True] Translation: X:-28.82, Y:-1.66, Z:0.78 [[ 9.99185403e-01 -4.03066011e-02 -1.97708122e-03 -2.88221718e+01] [ 4.03064665e-02 9.99187358e-01 -1.07924954e-04 -1.66289090e+00] [ 1.97982465e-03 2.81478803e-05 9.99998040e-01 7.81864699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645529293000003 meters 0.032112327406251195 Centerline is valid? [True, True] Translation: X:-28.88, Y:-1.67, Z:0.78 [[ 9.99276333e-01 -3.80359380e-02 2.79135843e-04 -2.88811229e+01] [ 3.80359344e-02 9.99276372e-01 1.81791383e-05 -1.66909269e+00] [-2.79625313e-04 -7.54879010e-06 9.99999961e-01 7.83992945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705529293000005 meters 0.03240463547757291 Centerline is valid? [True, True] Translation: X:-28.94, Y:-1.66, Z:0.79 [[ 9.99393898e-01 -3.47994887e-02 -9.12085701e-04 -2.89392471e+01] [ 3.47994594e-02 9.99394314e-01 -4.79885734e-05 -1.66320884e+00] [ 9.13203241e-04 1.62193981e-05 9.99999583e-01 7.87890476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765529293000004 meters 0.03361906076626032 Centerline is valid? [True, True] Translation: X:-29.00, Y:-1.66, Z:0.78 [[ 9.99562360e-01 -2.93941333e-02 -3.32780556e-03 -2.89994774e+01] [ 2.93936808e-02 9.99567895e-01 -1.84804777e-04 -1.66168968e+00] [ 3.33179978e-03 8.69074444e-05 9.99994446e-01 7.84682955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825529293000002 meters 0.03397908518275457 Centerline is valid? [True, True] Translation: X:-29.06, Y:-1.67, Z:0.78 [[ 9.99594803e-01 -2.82591357e-02 -3.41333233e-03 -2.90586077e+01] [ 2.82586574e-02 9.99600627e-01 -1.88287650e-04 -1.66569076e+00] [ 3.41728998e-03 9.17551678e-05 9.99994157e-01 7.78081330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885529293000005 meters 0.03485058312031152 Centerline is valid? [True, True] Translation: X:-29.12, Y:-1.67, Z:0.78 [[ 9.99476172e-01 -3.22767019e-02 -2.36555329e-03 -2.91182253e+01] [ 3.22764825e-02 9.99478970e-01 -1.30886610e-04 -1.66749137e+00] [ 2.36854536e-03 5.44663085e-05 9.99997194e-01 7.82745976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945529293000003 meters 0.03282804926951073 Centerline is valid? [True, True] Translation: X:-29.18, Y:-1.68, Z:0.78 [[ 9.99378867e-01 -3.47947122e-02 -5.58642735e-03 -2.91760687e+01] [ 3.47935276e-02 9.99394474e-01 -3.09130388e-04 -1.68092734e+00] [ 5.59380072e-03 1.14566863e-04 9.99984348e-01 7.77578526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005529293000006 meters 0.03276270999603864 Centerline is valid? [True, True] Translation: X:-29.24, Y:-1.68, Z:0.79 [[ 9.99332044e-01 -3.65428923e-02 2.88707779e-04 -2.92357850e+01] [ 3.65428890e-02 9.99332085e-01 1.66590438e-05 -1.68462824e+00] [-2.89123716e-04 -6.09769999e-06 9.99999958e-01 7.94526990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065529293000004 meters 0.03279160114944291 Centerline is valid? [True, True] Translation: X:-29.30, Y:-1.69, Z:0.79 [[ 9.99354158e-01 -3.57847346e-02 -3.27398803e-03 -2.92954958e+01] [ 3.57843330e-02 9.99359519e-01 -1.81175780e-04 -1.68594860e+00] [ 3.27837443e-03 6.39012912e-05 9.99994624e-01 7.90109754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125529293000003 meters 0.033176616959382614 Centerline is valid? [True, True] Translation: X:-29.35, Y:-1.69, Z:0.79 [[ 9.99347919e-01 -3.55270842e-02 -6.44688574e-03 -2.93543566e+01] [ 3.55255672e-02 9.99368707e-01 -3.49716104e-04 -1.69276392e+00] [ 6.45524026e-03 1.20458788e-04 9.99979157e-01 7.91046097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185529293000005 meters 0.033071468564053214 Centerline is valid? [True, True] Translation: X:-29.41, Y:-1.70, Z:0.79 [[ 9.99456066e-01 -3.27512407e-02 -3.86370487e-03 -2.94112001e+01] [ 3.27506722e-02 9.99463531e-01 -2.10324717e-04 -1.70077231e+00] [ 3.86852051e-03 8.36713821e-05 9.99992514e-01 7.93244107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245529293000004 meters 0.03315924896728395 Centerline is valid? [True, True] Translation: X:-29.47, Y:-1.71, Z:0.80 [[ 9.99428376e-01 -3.37428380e-02 -2.08373932e-03 -2.94698263e+01] [ 3.37426894e-02 9.99430548e-01 -1.06456973e-04 -1.70598598e+00] [ 2.08614489e-03 3.60851509e-05 9.99997823e-01 7.98727938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305529293000003 meters 0.03298978505720304 Centerline is valid? [True, True] Translation: X:-29.53, Y:-1.72, Z:0.80 [[ 9.99365998e-01 -3.55016058e-02 -2.69051480e-03 -2.95273280e+01] [ 3.55013442e-02 9.99369618e-01 -1.44955609e-04 -1.72209415e+00] [ 2.69396491e-03 4.93468148e-05 9.99996370e-01 7.97531070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365529293000005 meters 0.03458489848081081 Centerline is valid? [True, True] Translation: X:-29.59, Y:-1.73, Z:0.80 [[ 9.99281152e-01 -3.78852917e-02 -1.37242133e-03 -2.95868731e+01] [ 3.78852255e-02 9.99282094e-01 -7.42016205e-05 -1.72946781e+00] [ 1.37424721e-03 2.21537895e-05 9.99999055e-01 7.96089681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425529293000004 meters 0.03287706729216481 Centerline is valid? [True, True] Translation: X:-29.65, Y:-1.73, Z:0.79 [[ 9.99343701e-01 -3.55393707e-02 -7.00861367e-03 -2.96463228e+01] [ 3.55375490e-02 9.99368268e-01 -3.84327223e-04 -1.72780964e+00] [ 7.01784485e-03 1.35006038e-04 9.99975366e-01 7.87743244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485529293000003 meters 0.03350314663073744 Centerline is valid? [True, True] Translation: X:-29.71, Y:-1.73, Z:0.78 [[ 9.99554883e-01 -2.97766168e-02 -1.84069552e-03 -2.97051193e+01] [ 2.97764973e-02 9.99556578e-01 -9.22971637e-05 -1.72657956e+00] [ 1.84262761e-03 3.74466156e-05 9.99998302e-01 7.84857294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545529293000005 meters 0.03328378787483654 Centerline is valid? [True, True] Translation: X:-29.76, Y:-1.74, Z:0.78 [[ 9.99566716e-01 -2.73351173e-02 -1.09166145e-02 -2.97638615e+01] [ 2.73302412e-02 9.99626282e-01 -5.95627207e-04 -1.73937295e+00] [ 1.09288163e-02 2.97015423e-04 9.99940235e-01 7.77397056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605529293000004 meters 0.03300514384988135 Centerline is valid? [True, True] Translation: X:-29.82, Y:-1.73, Z:0.79 [[ 9.99619636e-01 -2.73249150e-02 -3.73258570e-03 -2.98246336e+01] [ 2.73243451e-02 9.99626600e-01 -2.03594573e-04 -1.73135663e+00] [ 3.73675515e-03 1.01526673e-04 9.99993013e-01 7.86428632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665529293000002 meters 0.033074398626736286 Centerline is valid? [True, True] Translation: X:-29.88, Y:-1.74, Z:0.79 [[ 9.99669055e-01 -2.55955611e-02 -2.57843768e-03 -2.98827744e+01] [ 2.55952927e-02 9.99672377e-01 -1.37023434e-04 -1.73775813e+00] [ 2.58110012e-03 7.09822191e-05 9.99996666e-01 7.85865172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725529293000005 meters 0.03279001546233314 Centerline is valid? [True, True] Translation: X:-29.94, Y:-1.75, Z:0.79 [[ 9.99611426e-01 -2.75540636e-02 -4.21550770e-03 -2.99395178e+01] [ 2.75533701e-02 9.99620309e-01 -2.22489178e-04 -1.74900327e+00] [ 4.22003759e-03 1.06251280e-04 9.99991090e-01 7.89409627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785529293000003 meters 0.03216416186446805 Centerline is valid? [True, True] Translation: X:-30.00, Y:-1.76, Z:0.79 [[ 9.99511650e-01 -3.11260844e-02 -2.76202248e-03 -2.99985108e+01] [ 3.11257940e-02 9.99515464e-01 -1.48058442e-04 -1.75659691e+00] [ 2.76529266e-03 6.20159954e-05 9.99996175e-01 7.89128314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845529293000006 meters 0.03118908072065739 Centerline is valid? [True, True] Translation: X:-30.06, Y:-1.77, Z:0.80 [[ 9.99422295e-01 -3.39851492e-02 -2.94570637e-04 -3.00557423e+01] [ 3.39851466e-02 9.99422338e-01 -1.35353785e-05 -1.77185588e+00] [ 2.94860477e-04 3.51653272e-06 9.99999957e-01 7.96159182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905529293000004 meters 0.03347695611760506 Centerline is valid? [True, True] Translation: X:-30.12, Y:-1.76, Z:0.79 [[ 9.99438474e-01 -3.33549933e-02 -3.19074511e-03 -3.01163826e+01] [ 3.33546176e-02 9.99443565e-01 -1.70895086e-04 -1.75537707e+00] [ 3.19466988e-03 6.43730407e-05 9.99994895e-01 7.89763513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965529293000003 meters 0.03470665918450477 Centerline is valid? [True, True] Translation: X:-30.18, Y:-1.76, Z:0.77 [[ 9.99711486e-01 -2.32818560e-02 -5.90770039e-03 -3.01765669e+01] [ 2.32803780e-02 9.99728924e-01 -3.18829859e-04 -1.76447095e+00] [ 5.91352191e-03 1.81204373e-04 9.99982499e-01 7.74187195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025529293000005 meters 0.032891492139237956 Centerline is valid? [True, True] Translation: X:-30.23, Y:-1.77, Z:0.79 [[ 9.99805751e-01 -1.95543555e-02 -2.46742507e-03 -3.02342324e+01] [ 1.95540934e-02 9.99808792e-01 -1.30288962e-04 -1.76711034e+00] [ 2.46950099e-03 8.20153932e-05 9.99996947e-01 7.90258153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085529293000004 meters 0.03305486716893366 Centerline is valid? [True, True] Translation: X:-30.29, Y:-1.76, Z:0.78 [[ 9.99883569e-01 -1.51709471e-02 -1.64028644e-03 -3.02946616e+01] [ 1.51708242e-02 9.99884913e-01 -8.73302743e-05 -1.75642681e+00] [ 1.64142255e-03 6.24356091e-05 9.99998651e-01 7.82302656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145529293000003 meters 0.03367636328775079 Centerline is valid? [True, True] Translation: X:-30.35, Y:-1.77, Z:0.78 [[ 9.99907443e-01 -1.35650764e-02 -1.04647268e-03 -3.03530604e+01] [ 1.35650273e-02 9.99907989e-01 -5.40131615e-05 -1.76769788e+00] [ 1.04710909e-03 3.98127316e-05 9.99999451e-01 7.79302702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205529293000005 meters 0.03253172995175511 Centerline is valid? [True, True] Translation: X:-30.41, Y:-1.77, Z:0.77 [[ 9.99844471e-01 -1.76337019e-02 -2.93015983e-04 -3.04121416e+01] [ 1.76336981e-02 9.99844514e-01 -1.54883310e-05 -1.77047251e+00] [ 2.93243540e-04 1.03189667e-05 9.99999957e-01 7.73701050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265529293000004 meters 0.034283924641124223 Centerline is valid? [True, True] Translation: X:-30.47, Y:-1.79, Z:0.77 [[ 9.99806641e-01 -1.93693631e-02 -3.39234376e-03 -3.04707568e+01] [ 1.93688630e-02 9.99812390e-01 -1.80225354e-04 -1.78511411e+00] [ 3.39519817e-03 1.14484664e-04 9.99994230e-01 7.69419899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325529293000002 meters 0.032285366461263114 Centerline is valid? [True, True] Translation: X:-30.53, Y:-1.78, Z:0.77 [[ 9.99824187e-01 -1.82501899e-02 -4.30407627e-03 -3.05293288e+01] [ 1.82493826e-02 9.99833440e-01 -2.26757158e-04 -1.78106391e+00] [ 4.30749774e-03 1.48170556e-04 9.99990712e-01 7.65430593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385529293000005 meters 0.03351405171223784 Centerline is valid? [True, True] Translation: X:-30.59, Y:-1.79, Z:0.77 [[ 9.99844449e-01 -1.72991777e-02 -3.43755518e-03 -3.05862794e+01] [ 1.72986591e-02 9.99850351e-01 -1.80519209e-04 -1.79242795e+00] [ 3.44016359e-03 1.21026033e-04 9.99994075e-01 7.66861776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445529293000003 meters 0.03294396533369249 Centerline is valid? [True, True] Translation: X:-30.64, Y:-1.79, Z:0.77 [[ 9.99867384e-01 -1.55234986e-02 -4.92293954e-03 -3.06442595e+01] [ 1.55224045e-02 9.99879486e-01 -2.60388229e-04 -1.79115828e+00] [ 4.92638839e-03 1.83937839e-04 9.99987848e-01 7.66459015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505529293000006 meters 0.03235900638678463 Centerline is valid? [True, True] Translation: X:-30.70, Y:-1.80, Z:0.77 [[ 9.99824441e-01 -1.87237814e-02 7.11472523e-04 -3.07037711e+01] [ 1.87237590e-02 9.99824694e-01 3.82107143e-05 -1.80036212e+00] [-7.12063247e-04 -2.48825660e-05 9.99999746e-01 7.72417400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565529293000004 meters 0.03386742458736709 Centerline is valid? [True, True] Translation: X:-30.77, Y:-1.80, Z:0.76 [[ 9.99815428e-01 -1.76198051e-02 -7.65848213e-03 -3.07650816e+01] [ 1.76171788e-02 9.99844721e-01 -4.10246162e-04 -1.80253973e+00] [ 7.66452139e-03 2.75249592e-04 9.99970589e-01 7.58364310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625529293000003 meters 0.03215786750071063 Centerline is valid? [True, True] Translation: X:-30.82, Y:-1.83, Z:0.77 [[ 9.99767635e-01 -2.15293543e-02 1.07793737e-03 -3.08225799e+01] [ 2.15293044e-02 9.99768216e-01 5.78768658e-05 -1.82600492e+00] [-1.07893357e-03 -3.46561756e-05 9.99999417e-01 7.72349493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685529293000005 meters 0.03248760399017535 Centerline is valid? [True, True] Translation: X:-30.88, Y:-1.82, Z:0.76 [[ 9.99772175e-01 -2.13130599e-02 -1.16237673e-03 -3.08828228e+01] [ 2.13130057e-02 9.99772850e-01 -5.90696226e-05 -1.81668263e+00] [ 1.16337165e-03 3.42824233e-05 9.99999323e-01 7.64917676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745529293000004 meters 0.03292235840689757 Centerline is valid? [True, True] Translation: X:-30.94, Y:-1.82, Z:0.75 [[ 9.99837352e-01 -1.63997229e-02 -7.50457906e-03 -3.09418988e+01] [ 1.63971900e-02 9.99865477e-01 -3.98920176e-04 -1.82291299e+00] [ 7.51011170e-03 2.75801284e-04 9.99971761e-01 7.45662115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805529293000003 meters 0.03360457594066512 Centerline is valid? [True, True] Translation: X:-31.00, Y:-1.83, Z:0.76 [[ 9.99924831e-01 -1.20233327e-02 -2.40266162e-03 -3.10001530e+01] [ 1.20230800e-02 9.99927713e-01 -1.19590350e-04 -1.82675515e+00] [ 2.40392581e-03 9.06939674e-05 9.99997106e-01 7.59335971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865529293000005 meters 0.034577296589196116 Centerline is valid? [True, True] Translation: X:-31.06, Y:-1.82, Z:0.74 [[ 9.99976119e-01 -6.12258516e-03 -3.20547670e-03 -3.10613237e+01] [ 6.12207116e-03 9.99981245e-01 -1.70137274e-04 -1.82103557e+00] [ 3.20645826e-03 1.50509055e-04 9.99994848e-01 7.43316383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925529293000004 meters 0.034525468683515574 Centerline is valid? [True, True] Translation: X:-31.12, Y:-1.82, Z:0.75 [[ 9.99987422e-01 -4.10979473e-03 -2.87501897e-03 -3.11194413e+01] [ 4.10938006e-03 9.99991545e-01 -1.50123665e-04 -1.82290832e+00] [ 2.87561164e-03 1.38307231e-04 9.99995856e-01 7.52268566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985529293000003 meters 0.033784296028509575 Centerline is valid? [True, True] Translation: X:-31.18, Y:-1.83, Z:0.75 [[ 9.99995076e-01 -2.34537574e-03 -2.08521161e-03 -3.11773116e+01] [ 2.34515790e-03 9.99997244e-01 -1.06909278e-04 -1.82935918e+00] [ 2.08545660e-03 1.02018601e-04 9.99997820e-01 7.48109335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045529293000005 meters 0.033677203225501266 Centerline is valid? [True, True] Translation: X:-31.24, Y:-1.84, Z:0.75 [[ 9.99991161e-01 -4.18593126e-03 -3.95459452e-04 -3.12368126e+01] [ 4.18592380e-03 9.99991239e-01 -1.96831911e-05 -1.83767834e+00] [ 3.95538380e-04 1.80276540e-05 9.99999922e-01 7.50946329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105529293000004 meters 0.03551532014685921 Centerline is valid? [True, True] Translation: X:-31.30, Y:-1.82, Z:0.74 [[ 9.99974307e-01 -3.91470203e-03 -6.00496217e-03 -3.12984863e+01] [ 3.91286940e-03 9.99992294e-01 -3.16903394e-04 -1.82255708e+00] [ 6.00615648e-03 2.93398619e-04 9.99981920e-01 7.38269332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165529293000006 meters 0.0333350152899121 Centerline is valid? [True, True] Translation: X:-31.36, Y:-1.85, Z:0.75 [[ 9.99960140e-01 -8.54961223e-03 -2.57348450e-03 -3.13564900e+01] [ 8.54929188e-03 9.99963445e-01 -1.35454789e-04 -1.85052641e+00] [ 2.57454852e-03 1.13447920e-04 9.99996679e-01 7.48911685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225529293000005 meters 0.03285369205478637 Centerline is valid? [True, True] Translation: X:-31.42, Y:-1.84, Z:0.76 [[ 9.99954220e-01 -9.52345360e-03 -9.28117867e-04 -3.14165227e+01] [ 9.52341332e-03 9.99954650e-01 -4.78176070e-05 -1.84468033e+00] [ 9.28531166e-04 3.89765679e-05 9.99999568e-01 7.56770239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285529293000003 meters 0.034128187268918427 Centerline is valid? [True, True] Translation: X:-31.48, Y:-1.84, Z:0.75 [[ 9.99973002e-01 -6.36392234e-03 -3.67379200e-03 -3.14767948e+01] [ 6.36325711e-03 9.99979736e-01 -1.92734413e-04 -1.84209356e+00] [ 3.67494410e-03 1.69351926e-04 9.99993233e-01 7.46168636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345529293000006 meters 0.03403959758471142 Centerline is valid? [True, True] Translation: X:-31.54, Y:-1.85, Z:0.76 [[ 9.99985950e-01 -5.17785052e-03 1.13585799e-03 -3.15359368e+01] [ 5.17778448e-03 9.99986593e-01 6.10760722e-05 -1.84799480e+00] [-1.13615900e-03 -5.51939862e-05 9.99999353e-01 7.57796991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405529293000004 meters 0.03403348554252674 Centerline is valid? [True, True] Translation: X:-31.60, Y:-1.86, Z:0.76 [[ 9.99993945e-01 -3.46778076e-03 -2.91254619e-04 -3.15958556e+01] [ 3.46777608e-03 9.99993987e-01 -1.65951764e-05 -1.86323614e+00] [ 2.91310416e-04 1.55850701e-05 9.99999957e-01 7.60510370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465529293000003 meters 0.03507721923339286 Centerline is valid? [True, True] Translation: X:-31.66, Y:-1.84, Z:0.75 [[ 9.99980521e-01 -2.45543708e-03 -5.73831668e-03 -3.16570062e+01] [ 2.45374725e-03 9.99996944e-01 -3.01503558e-04 -1.84435756e+00] [ 5.73903947e-03 2.87417306e-04 9.99983490e-01 7.49433635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525529293000005 meters 0.0345792843970432 Centerline is valid? [True, True] Translation: X:-31.72, Y:-1.86, Z:0.75 [[ 9.99984769e-01 -4.64203744e-03 -2.98551478e-03 -3.17166405e+01] [ 4.64158976e-03 9.99989215e-01 -1.56862220e-04 -1.85719205e+00] [ 2.98621074e-03 1.43002296e-04 9.99995531e-01 7.51872090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585529293000004 meters 0.032592281395149324 Centerline is valid? [True, True] Translation: X:-31.78, Y:-1.87, Z:0.76 [[ 9.99944086e-01 -9.64887611e-03 -4.32718656e-03 -3.17750922e+01] [ 9.64798179e-03 9.99953431e-01 -2.27501994e-04 -1.87416557e+00] [ 4.32918019e-03 1.85740656e-04 9.99990612e-01 7.56310526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645529293000003 meters 0.03186551477139465 Centerline is valid? [True, True] Translation: X:-31.83, Y:-1.88, Z:0.77 [[ 9.99887227e-01 -1.49312182e-02 -1.61021191e-03 -3.18345200e+01] [ 1.49311010e-02 9.99888521e-01 -8.48413821e-05 -1.88487842e+00] [ 1.61129919e-03 6.07895777e-05 9.99998700e-01 7.66592548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705529293000005 meters 0.0329731327189468 Centerline is valid? [True, True] Translation: X:-31.89, Y:-1.88, Z:0.77 [[ 9.99879485e-01 -1.54762685e-02 1.22460168e-03 -3.18943024e+01] [ 1.54761996e-02 9.99880234e-01 6.57024834e-05 -1.88455139e+00] [-1.22547184e-03 -4.67423852e-05 9.99999248e-01 7.73205707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765529293000004 meters 0.0322035665442793 Centerline is valid? [True, True] Translation: X:-31.95, Y:-1.88, Z:0.78 [[ 9.99902520e-01 -1.39478262e-02 6.38592401e-04 -3.19527043e+01] [ 1.39478064e-02 9.99902724e-01 3.53460564e-05 -1.88366830e+00] [-6.39023282e-04 -2.64356477e-05 9.99999795e-01 7.75437766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825529293000006 meters 0.03272746757415767 Centerline is valid? [True, True] Translation: X:-32.01, Y:-1.89, Z:0.76 [[ 9.99953092e-01 -9.15832098e-03 -3.15270969e-03 -3.20139310e+01] [ 9.15784429e-03 9.99958052e-01 -1.65604879e-04 -1.88736615e+00] [ 3.15409410e-03 1.36725086e-04 9.99995016e-01 7.64455691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885529293000005 meters 0.03382998519287954 Centerline is valid? [True, True] Translation: X:-32.07, Y:-1.88, Z:0.77 [[ 9.99949203e-01 -1.00781898e-02 -1.48926149e-04 -3.20734638e+01] [ 1.00781890e-02 9.99949214e-01 -6.01645042e-06 -1.87828290e+00] [ 1.48979220e-04 4.51523892e-06 9.99999989e-01 7.66362300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945529293000003 meters 0.03492397092497429 Centerline is valid? [True, True] Translation: X:-32.13, Y:-1.88, Z:0.76 [[ 9.99964907e-01 -8.09584284e-03 -2.15447256e-03 -3.21336060e+01] [ 8.09561890e-03 9.99967224e-01 -1.12643281e-04 -1.87724655e+00] [ 2.15531388e-03 9.51975388e-05 9.99997673e-01 7.61824690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005529293 meters 0.03540965957042945 Centerline is valid? [True, True] Translation: X:-32.19, Y:-1.87, Z:0.78 [[ 9.99975123e-01 -6.28222136e-03 -3.20748445e-03 -3.21918355e+01] [ 6.28172129e-03 9.99980256e-01 -1.65958850e-04 -1.87281637e+00] [ 3.20846371e-03 1.45806198e-04 9.99994842e-01 7.77241462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065529293 meters 0.03226242162737047 Centerline is valid? [True, True] Translation: X:-32.25, Y:-1.89, Z:0.78 [[ 9.99977144e-01 -6.48611777e-03 1.90848566e-03 -3.22505164e+01] [ 6.48593782e-03 9.99978961e-01 1.00462846e-04 -1.88616962e+00] [-1.90909713e-03 -8.80822304e-05 9.99998174e-01 7.77422587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125529293 meters 0.03311393807853153 Centerline is valid? [True, True] Translation: X:-32.31, Y:-1.87, Z:0.78 [[ 9.99975356e-01 -5.79867983e-03 -3.95755350e-03 -3.23124759e+01] [ 5.79790079e-03 9.99983170e-01 -2.08294671e-04 -1.87407971e+00] [ 3.95869473e-03 1.85344035e-04 9.99992147e-01 7.75677063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185529293 meters 0.03272468030069175 Centerline is valid? [True, True] Translation: X:-32.37, Y:-1.88, Z:0.78 [[ 9.99920570e-01 -1.22923692e-02 2.78400897e-03 -3.23725575e+01] [ 1.22920102e-02 9.99924440e-01 1.46033157e-04 -1.88368685e+00] [-2.78559370e-03 -1.11800491e-04 9.99996114e-01 7.80341181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245529293000004 meters 0.03166881569336451 Centerline is valid? [True, True] Translation: X:-32.43, Y:-1.87, Z:0.79 [[ 9.99939660e-01 -1.06593537e-02 -2.65602590e-03 -3.24325010e+01] [ 1.06590210e-02 9.99943181e-01 -1.39383841e-04 -1.87463780e+00] [ 2.65736073e-03 1.11064795e-04 9.99996463e-01 7.85972326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305529293 meters 0.03276372256765383 Centerline is valid? [True, True] Translation: X:-32.49, Y:-1.88, Z:0.78 [[ 9.99948942e-01 -1.01051054e-02 -3.41339828e-06 -3.24910243e+01] [ 1.01051054e-02 9.99948942e-01 2.91590767e-06 -1.87738177e+00] [ 3.38375840e-06 -2.95025154e-06 1.00000000e+00 7.81889424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365529293 meters 0.03281118999757738 Centerline is valid? [True, True] Translation: X:-32.55, Y:-1.88, Z:0.79 [[ 9.99955544e-01 -9.15564958e-03 2.25476129e-03 -3.25491316e+01] [ 9.15540042e-03 9.99958081e-01 1.20799683e-04 -1.87602021e+00] [-2.25577278e-03 -1.00151070e-04 9.99997451e-01 7.94260417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425529293000004 meters 0.03409554607003624 Centerline is valid? [True, True] Translation: X:-32.61, Y:-1.87, Z:0.79 [[ 9.99986997e-01 -4.82316582e-03 -1.65587862e-03 -3.26103352e+01] [ 4.82302905e-03 9.99988365e-01 -8.65832717e-05 -1.86640498e+00] [ 1.65627696e-03 7.85957952e-05 9.99998625e-01 7.90142524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485529293 meters 0.0342978919936283 Centerline is valid? [True, True] Translation: X:-32.67, Y:-1.87, Z:0.80 [[ 9.99991549e-01 -3.95940601e-03 -1.10639814e-03 -3.26681046e+01] [ 3.95934713e-03 9.99992160e-01 -5.54045666e-05 -1.87199737e+00] [ 1.10660883e-03 5.10234841e-05 9.99999386e-01 8.00189191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545529293 meters 0.03653199239437644 Centerline is valid? [True, True] Translation: X:-32.73, Y:-1.84, Z:0.80 [[ 9.99996804e-01 -1.75204040e-03 1.82260486e-03 -3.27282656e+01] [ 1.75186567e-03 9.99998461e-01 9.74635949e-05 -1.84494145e+00] [-1.82277281e-03 -9.42703246e-05 9.99998334e-01 7.99269164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605529293000004 meters 0.03473542958757861 Centerline is valid? [True, True] Translation: X:-32.79, Y:-1.87, Z:0.80 [[ 9.99997534e-01 -1.81715856e-03 -1.27701087e-03 -3.27874098e+01] [ 1.81707423e-03 9.99998347e-01 -6.71958963e-05 -1.87458099e+00] [ 1.27713086e-03 6.48753070e-05 9.99999182e-01 8.00896048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665529293 meters 0.033790964217828956 Centerline is valid? [True, True] Translation: X:-32.85, Y:-1.87, Z:0.81 [[ 9.99945633e-01 -1.04272141e-02 -6.95818860e-05 -3.28468664e+01] [ 1.04272139e-02 9.99945635e-01 -3.08510966e-06 -1.87142211e+00] [ 6.96102723e-05 2.35939672e-06 9.99999998e-01 8.12096699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725529293 meters 0.034277787950077056 Centerline is valid? [True, True] Translation: X:-32.91, Y:-1.86, Z:0.80 [[ 9.99926454e-01 -1.18936015e-02 -2.37232345e-03 -3.29068681e+01] [ 1.18933477e-02 9.99929264e-01 -1.21079355e-04 -1.86474244e+00] [ 2.37359571e-03 9.28555828e-05 9.99997179e-01 7.98449671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785529293 meters 0.03316344660583469 Centerline is valid? [True, True] Translation: X:-32.97, Y:-1.87, Z:0.81 [[ 9.99894581e-01 -1.45113864e-02 4.96352580e-04 -3.29663898e+01] [ 1.45113751e-02 9.99894704e-01 2.63844211e-05 -1.86797824e+00] [-4.96683191e-04 -1.91788812e-05 9.99999876e-01 8.10586102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845529293 meters 0.03221046568716068 Centerline is valid? [True, True] Translation: X:-33.02, Y:-1.88, Z:0.82 [[ 9.99937910e-01 -1.11339950e-02 4.59078517e-04 -3.30248777e+01] [ 1.11339846e-02 9.99938015e-01 2.50618324e-05 -1.87678504e+00] [-4.59329099e-04 -1.99489031e-05 9.99999894e-01 8.15551380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905529293 meters 0.03485799394613151 Centerline is valid? [True, True] Translation: X:-33.09, Y:-1.86, Z:0.81 [[ 9.99973131e-01 -7.32025248e-03 3.89630418e-04 -3.30857051e+01] [ 7.32024467e-03 9.99973206e-01 2.14638969e-05 -1.85510544e+00] [-3.89777099e-04 -1.86111301e-05 9.99999924e-01 8.14583063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965529293 meters 0.03365227399778734 Centerline is valid? [True, True] Translation: X:-33.14, Y:-1.86, Z:0.82 [[ 9.99991898e-01 -2.42795061e-03 3.21067684e-03 -3.31437734e+01] [ 2.42742203e-03 9.99997040e-01 1.68517772e-04 -1.85984668e+00] [-3.21107649e-03 -1.60722739e-04 9.99994832e-01 8.20270248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025529293 meters 0.03574196532463031 Centerline is valid? [True, True] Translation: X:-33.21, Y:-1.84, Z:0.81 [[ 9.99999773e-01 -5.69459770e-04 -3.60377539e-04 -3.32058268e+01] [ 5.69453063e-04 9.99999838e-01 -1.87144210e-05 -1.84043232e+00] [ 3.60388137e-04 1.85091987e-05 9.99999935e-01 8.07121544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085529293 meters 0.033899695608246426 Centerline is valid? [True, True] Translation: X:-33.26, Y:-1.86, Z:0.81 [[ 9.99994317e-01 -3.17358934e-03 1.13788046e-03 -3.32637779e+01] [ 3.17352287e-03 9.99994963e-01 6.02149739e-05 -1.86009797e+00] [-1.13806583e-03 -5.66035420e-05 9.99999351e-01 8.12119559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145529293 meters 0.0322548238252847 Centerline is valid? [True, True] Translation: X:-33.32, Y:-1.86, Z:0.82 [[ 9.99968277e-01 -7.87581945e-03 -1.18985877e-03 -3.33237134e+01] [ 7.87575154e-03 9.99968984e-01 -6.17468964e-05 -1.85678755e+00] [ 1.19030817e-03 5.23739056e-05 9.99999290e-01 8.16919556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205529293 meters 0.03259591597104935 Centerline is valid? [True, True] Translation: X:-33.38, Y:-1.86, Z:0.82 [[ 9.99910949e-01 -1.32981038e-02 1.11997236e-03 -3.33840077e+01] [ 1.32980469e-02 9.99911575e-01 5.82926968e-05 -1.85783631e+00] [-1.12064851e-03 -4.33940608e-05 9.99999371e-01 8.22354539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265529293 meters 0.03215085242523312 Centerline is valid? [True, True] Translation: X:-33.44, Y:-1.86, Z:0.82 [[ 9.99888626e-01 -1.45433841e-02 3.35059614e-03 -3.34432039e+01] [ 1.45428779e-02 9.99894231e-01 1.75394676e-04 -1.85826362e+00] [-3.35279258e-03 -1.26647831e-04 9.99994371e-01 8.24661578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325529293 meters 0.03233175945571392 Centerline is valid? [True, True] Translation: X:-33.50, Y:-1.85, Z:0.82 [[ 9.99946283e-01 -1.03646550e-02 -7.31863065e-05 -3.35029221e+01] [ 1.03646548e-02 9.99946286e-01 -3.31981897e-06 -1.85216936e+00] [ 7.32167841e-05 2.56108983e-06 9.99999997e-01 8.23288753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385529293 meters 0.032042918810954536 Centerline is valid? [True, True] Translation: X:-33.56, Y:-1.86, Z:0.83 [[ 9.99957373e-01 -9.22804008e-03 3.09690775e-04 -3.35605793e+01] [ 9.22803463e-03 9.99957421e-01 1.90291765e-05 -1.85536583e+00] [-3.09853190e-04 -1.61705281e-05 9.99999952e-01 8.25598806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445529293 meters 0.03212662443982507 Centerline is valid? [True, True] Translation: X:-33.62, Y:-1.85, Z:0.83 [[ 9.99977693e-01 -5.42999610e-03 3.88953015e-03 -3.36192644e+01] [ 5.42924610e-03 9.99985241e-01 2.03357455e-04 -1.85238766e+00] [-3.89057698e-03 -1.82235703e-04 9.99992415e-01 8.33707804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505529293 meters 0.0329840532468154 Centerline is valid? [True, True] Translation: X:-33.68, Y:-1.84, Z:0.83 [[ 9.99983682e-01 -5.64534120e-03 8.74599545e-04 -3.36820893e+01] [ 5.64531129e-03 9.99984064e-01 3.66667069e-05 -1.84447301e+00] [-8.74792604e-04 -3.17287219e-05 9.99999617e-01 8.33166224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565529293 meters 0.0319979371701609 Centerline is valid? [True, True] Translation: X:-33.74, Y:-1.85, Z:0.84 [[ 9.99967509e-01 -7.09090364e-03 3.83397605e-03 -3.37411381e+01] [ 7.09019077e-03 9.99974844e-01 1.99494383e-04 -1.84821821e+00] [-3.83529420e-03 -1.72304280e-04 9.99992630e-01 8.39059884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625529293 meters 0.03450697089605018 Centerline is valid? [True, True] Translation: X:-33.80, Y:-1.84, Z:0.84 [[ 9.99968108e-01 -7.37430689e-03 3.06641777e-03 -3.38034552e+01] [ 7.37387735e-03 9.99972801e-01 1.51363308e-04 -1.84263697e+00] [-3.06745056e-03 -1.28747092e-04 9.99995287e-01 8.44859470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685529293 meters 0.033193242991428576 Centerline is valid? [True, True] Translation: X:-33.87, Y:-1.84, Z:0.84 [[ 9.99941172e-01 -1.04323727e-02 -2.96960107e-03 -3.38657966e+01] [ 1.04319316e-02 9.99945572e-01 -1.64008580e-04 -1.83574037e+00] [ 2.97115044e-03 1.33020257e-04 9.99995577e-01 8.41230937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745529293000004 meters 0.03424378600519457 Centerline is valid? [True, True] Translation: X:-33.93, Y:-1.84, Z:0.85 [[ 9.99955388e-01 -8.96791053e-03 2.96610375e-03 -3.39250610e+01] [ 8.96748536e-03 9.99959779e-01 1.56610808e-04 -1.83832201e+00] [-2.96738892e-03 -1.30005330e-04 9.99995589e-01 8.53813521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805529293 meters 0.034104182425619134 Centerline is valid? [True, True] Translation: X:-33.99, Y:-1.83, Z:0.85 [[ 9.99970765e-01 -6.35065802e-03 -4.25899055e-03 -3.39852700e+01] [ 6.34976818e-03 9.99979815e-01 -2.22421412e-04 -1.83108886e+00] [ 4.26031711e-03 1.95371307e-04 9.99990906e-01 8.49211092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865529293 meters 0.033964824383471245 Centerline is valid? [True, True] Translation: X:-34.04, Y:-1.84, Z:0.86 [[ 9.99992897e-01 -2.95791090e-03 2.33579281e-03 -3.40432177e+01] [ 2.95762793e-03 9.99995618e-01 1.24589103e-04 -1.83748235e+00] [-2.33615110e-03 -1.17679812e-04 9.99997264e-01 8.57732540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925529293000004 meters 0.03415910658540621 Centerline is valid? [True, True] Translation: X:-34.10, Y:-1.84, Z:0.86 [[ 9.99989448e-01 -3.94694276e-03 -2.35081437e-03 -3.41046096e+01] [ 3.94666151e-03 9.99992204e-01 -1.24266020e-04 -1.83786189e+00] [ 2.35128652e-03 1.14986840e-04 9.99997229e-01 8.55980188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985529293 meters 0.03386211565518985 Centerline is valid? [True, True] Translation: X:-34.16, Y:-1.83, Z:0.86 [[ 9.99983598e-01 -4.90001956e-03 2.96538112e-03 -3.41648464e+01] [ 4.89957918e-03 9.99987985e-01 1.55753170e-04 -1.83289273e+00] [-2.96610869e-03 -1.41221496e-04 9.99995591e-01 8.63075839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045529293 meters 0.03641179508789017 Centerline is valid? [True, True] Translation: X:-34.23, Y:-1.84, Z:0.86 [[ 9.99994804e-01 -2.96777915e-03 -1.25867328e-03 -3.42255435e+01] [ 2.96769751e-03 9.99995594e-01 -6.67258009e-05 -1.83580521e+00] [ 1.25886576e-03 6.29900927e-05 9.99999206e-01 8.59136929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105529293000004 meters 0.034436298234654134 Centerline is valid? [True, True] Translation: X:-34.28, Y:-1.83, Z:0.85 [[ 9.99986569e-01 -4.63188513e-03 -2.32542150e-03 -3.42849092e+01] [ 4.63163545e-03 9.99989268e-01 -1.12744563e-04 -1.83399969e+00] [ 2.32591876e-03 1.01972544e-04 9.99997290e-01 8.53334106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165529293 meters 0.03492735721775658 Centerline is valid? [True, True] Translation: X:-34.35, Y:-1.84, Z:0.86 [[ 9.99958117e-01 -8.93854270e-03 1.96633160e-03 -3.43453588e+01] [ 8.93835822e-03 9.99960047e-01 1.02591302e-04 -1.83641639e+00] [-1.96717006e-03 -8.50112290e-05 9.99998062e-01 8.55845729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225529293 meters 0.03414686647078817 Centerline is valid? [True, True] Translation: X:-34.40, Y:-1.83, Z:0.86 [[ 9.99961189e-01 -7.38396539e-03 -4.80592178e-03 -3.44047247e+01] [ 7.38285067e-03 9.99972715e-01 -2.49646361e-04 -1.83265609e+00] [ 4.80763403e-03 2.14155270e-04 9.99988420e-01 8.58203207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285529293 meters 0.03452518709924028 Centerline is valid? [True, True] Translation: X:-34.46, Y:-1.84, Z:0.86 [[ 9.99987425e-01 -4.78712606e-03 1.49447431e-03 -3.44638138e+01] [ 4.78701248e-03 9.99988539e-01 7.95690758e-05 -1.83635488e+00] [-1.49483809e-03 -7.24140080e-05 9.99998880e-01 8.61588092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345529293 meters 0.037012971176368016 Centerline is valid? [True, True] Translation: X:-34.53, Y:-1.83, Z:0.86 [[ 9.99999783e-01 -3.02859325e-04 5.85004375e-04 -3.45253787e+01] [ 3.02841795e-04 9.99999954e-01 3.00535843e-05 -1.83039838e+00] [-5.85013450e-04 -2.98764140e-05 9.99999828e-01 8.56853918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405529293 meters 0.038228244302425274 Centerline is valid? [True, True] Translation: X:-34.59, Y:-1.82, Z:0.86 [[ 9.99995867e-01 2.86650402e-03 2.19457325e-04 -3.45867304e+01] [-2.86650660e-03 9.99995891e-01 1.14153738e-05 -1.81778395e+00] [-2.19423701e-04 -1.20444025e-05 9.99999976e-01 8.56939228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465529293 meters 0.03700161068260582 Centerline is valid? [True, True] Translation: X:-34.65, Y:-1.83, Z:0.86 [[ 9.99980581e-01 4.62442746e-03 4.17753427e-03 -3.46473105e+01] [-4.62536937e-03 9.99989280e-01 2.15837896e-04 -1.82782626e+00] [-4.17649136e-03 -2.35156344e-04 9.99991251e-01 8.59512057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525529293 meters 0.035540818869943175 Centerline is valid? [True, True] Translation: X:-34.71, Y:-1.84, Z:0.86 [[ 9.99996494e-01 2.64120007e-03 1.91461974e-04 -3.47075522e+01] [-2.64120114e-03 9.99996512e-01 5.32488164e-06 -1.84210976e+00] [-1.91447242e-04 -5.83055255e-06 9.99999982e-01 8.60840760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585529293 meters 0.036278464433801394 Centerline is valid? [True, True] Translation: X:-34.77, Y:-1.83, Z:0.86 [[ 9.99998406e-01 6.93493190e-04 -1.64508079e-03 -3.47700344e+01] [-6.93638525e-04 9.99999756e-01 -8.77765448e-05 -1.83173025e+00] [ 1.64501952e-03 8.89174964e-05 9.99998643e-01 8.58796307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645529293 meters 0.034647619294512155 Centerline is valid? [True, True] Translation: X:-34.83, Y:-1.84, Z:0.86 [[ 9.99999882e-01 -4.86272126e-04 8.28705373e-06 -3.48281497e+01] [ 4.86272102e-04 9.99999882e-01 2.98994678e-06 -1.84470401e+00] [-8.28850672e-06 -2.98591667e-06 1.00000000e+00 8.62798726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705529293 meters 0.03724070743128192 Centerline is valid? [True, True] Translation: X:-34.89, Y:-1.83, Z:0.86 [[ 9.99996376e-01 2.01054497e-04 -2.68482706e-03 -3.48889079e+01] [-2.01429642e-04 9.99999970e-01 -1.39458198e-04 -1.83479351e+00] [ 2.68479895e-03 1.39998496e-04 9.99996386e-01 8.58011933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765529293 meters 0.0367292664374117 Centerline is valid? [True, True] Translation: X:-34.95, Y:-1.85, Z:0.87 [[ 9.99995489e-01 1.52089308e-03 2.58997724e-03 -3.49460023e+01] [-1.52125382e-03 9.99998833e-01 1.37315733e-04 -1.84817938e+00] [-2.58976538e-03 -1.41255127e-04 9.99996637e-01 8.68100478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825529293 meters 0.035974198070488836 Centerline is valid? [True, True] Translation: X:-35.01, Y:-1.85, Z:0.86 [[ 9.99986144e-01 4.87865135e-04 -5.24153474e-03 -3.50065757e+01] [-4.89303102e-04 9.99999843e-01 -2.73061945e-04 -1.85326844e+00] [ 5.24140070e-03 2.75622861e-04 9.99986226e-01 8.56806680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885529293 meters 0.03570650695354305 Centerline is valid? [True, True] Translation: X:-35.07, Y:-1.86, Z:0.86 [[ 9.99985099e-01 3.61058948e-04 -5.44705593e-03 -3.50652295e+01] [-3.62557814e-04 9.99999897e-01 -2.74184943e-04 -1.86242184e+00] [ 5.44695637e-03 2.76155730e-04 9.99985127e-01 8.57085081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945529293 meters 0.03463533050009049 Centerline is valid? [True, True] Translation: X:-35.12, Y:-1.88, Z:0.87 [[ 9.99980437e-01 -5.72398607e-03 2.52238447e-03 -3.51238368e+01] [ 5.72367398e-03 9.99983611e-01 1.30928142e-04 -1.88116379e+00] [-2.52309256e-03 -1.16488274e-04 9.99996810e-01 8.73750971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005529293 meters 0.03715285868655557 Centerline is valid? [True, True] Translation: X:-35.19, Y:-1.88, Z:0.87 [[ 9.99989463e-01 -4.58872750e-03 -1.28870867e-04 -3.51860921e+01] [ 4.58872646e-03 9.99989472e-01 -8.38340934e-06 -1.87601199e+00] [ 1.28907979e-04 7.79196785e-06 9.99999992e-01 8.69596999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065529293000004 meters 0.03627939514171768 Centerline is valid? [True, True] Translation: X:-35.25, Y:-1.89, Z:0.86 [[ 9.99992957e-01 -3.08634721e-03 -2.13546611e-03 -3.52454858e+01] [ 3.08612018e-03 9.99995232e-01 -1.09599595e-04 -1.89074149e+00] [ 2.13579419e-03 1.03008518e-04 9.99997714e-01 8.63426308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125529293 meters 0.035587555404268674 Centerline is valid? [True, True] Translation: X:-35.30, Y:-1.89, Z:0.87 [[ 9.99999253e-01 -3.25336944e-04 -1.17837601e-03 -3.53034606e+01] [ 3.25267921e-04 9.99999945e-01 -5.87660867e-05 -1.89178661e+00] [ 1.17839507e-03 5.83827549e-05 9.99999304e-01 8.69896091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185529293 meters 0.03880645150192344 Centerline is valid? [True, True] Translation: X:-35.36, Y:-1.89, Z:0.86 [[ 9.99962164e-01 5.79068142e-03 -6.49145271e-03 -3.53637415e+01] [-5.79298007e-03 9.99983164e-01 -3.35357878e-04 -1.88965219e+00] [ 6.48940147e-03 3.72950046e-04 9.99978874e-01 8.62984587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245529293000004 meters 0.03911019141807185 Centerline is valid? [True, True] Translation: X:-35.42, Y:-1.91, Z:0.87 [[ 9.99971718e-01 5.37049126e-03 -5.26499324e-03 -3.54217013e+01] [-5.37195059e-03 9.99985536e-01 -2.63073979e-04 -1.90670132e+00] [ 5.26350425e-03 2.91349823e-04 9.99986105e-01 8.70869381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305529293 meters 0.03841631181104448 Centerline is valid? [True, True] Translation: X:-35.48, Y:-1.92, Z:0.87 [[ 9.99954054e-01 6.52110169e-03 -7.02598429e-03 -3.54796806e+01] [-6.52379373e-03 9.99978655e-01 -3.60305571e-04 -1.92108533e+00] [ 7.02348473e-03 4.06125089e-04 9.99975253e-01 8.66942890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365529293 meters 0.03578263574281825 Centerline is valid? [True, True] Translation: X:-35.54, Y:-1.95, Z:0.89 [[ 9.99993956e-01 3.41725167e-03 6.39998171e-04 -3.55368198e+01] [-3.41727379e-03 9.99994161e-01 3.34585945e-05 -1.95351902e+00] [-6.39880098e-04 -3.56454412e-05 9.99999795e-01 8.88835044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425529293000004 meters 0.03439214070701335 Centerline is valid? [True, True] Translation: X:-35.60, Y:-1.97, Z:0.89 [[ 9.99995069e-01 -1.00281748e-03 2.97602788e-03 -3.55963919e+01] [ 1.00236646e-03 9.99999486e-01 1.53039213e-04 -1.97442564e+00] [-2.97617982e-03 -1.50055388e-04 9.99995560e-01 8.94046886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485529293 meters 0.036013042423081475 Centerline is valid? [True, True] Translation: X:-35.66, Y:-1.98, Z:0.89 [[ 9.99994254e-01 -9.85746600e-04 -3.24342301e-03 -3.56573648e+01] [ 9.85208260e-04 9.99999501e-01 -1.67572716e-04 -1.98091370e+00] [ 3.24358657e-03 1.64376306e-04 9.99994726e-01 8.85370429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545529293 meters 0.03628337681789028 Centerline is valid? [True, True] Translation: X:-35.72, Y:-2.01, Z:0.89 [[ 9.99992384e-01 -1.95729661e-03 -3.37640665e-03 -3.57152380e+01] [ 1.95675218e-03 9.99998072e-01 -1.64540869e-04 -2.00507173e+00] [ 3.37672220e-03 1.57932825e-04 9.99994286e-01 8.86107904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605529293000004 meters 0.03421852799268839 Centerline is valid? [True, True] Translation: X:-35.77, Y:-2.01, Z:0.90 [[ 9.99995984e-01 -2.82330241e-03 -2.47675183e-04 -3.57735723e+01] [ 2.82330001e-03 9.99996014e-01 -1.00689687e-05 -2.01206490e+00] [ 2.47702624e-04 9.36966689e-06 9.99999969e-01 9.00125237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665529293 meters 0.03733641943742757 Centerline is valid? [True, True] Translation: X:-35.83, Y:-2.01, Z:0.89 [[ 9.99995075e-01 -1.43285322e-03 -2.79228866e-03 -3.58345540e+01] [ 1.43246186e-03 9.99998964e-01 -1.42151487e-04 -2.00661681e+00] [ 2.79248945e-03 1.38150940e-04 9.99996091e-01 8.85770073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725529293 meters 0.034495069076920765 Centerline is valid? [True, True] Translation: X:-35.89, Y:-2.03, Z:0.92 [[ 9.99976335e-01 -4.81904745e-03 4.90981383e-03 -3.58913062e+01] [ 4.81787481e-03 9.99988363e-01 2.50636251e-04 -2.03223803e+00] [-4.91096452e-03 -2.26975451e-04 9.99987915e-01 9.17237720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785529293 meters 0.033930502375544555 Centerline is valid? [True, True] Translation: X:-35.95, Y:-2.04, Z:0.91 [[ 9.99987111e-01 -4.09996381e-03 2.99457754e-03 -3.59531930e+01] [ 4.09952855e-03 9.99991585e-01 1.51471905e-04 -2.03562871e+00] [-2.99517338e-03 -1.39193597e-04 9.99995505e-01 9.14446147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845529293 meters 0.03576238323363514 Centerline is valid? [True, True] Translation: X:-36.02, Y:-2.04, Z:0.91 [[ 9.99980380e-01 -6.19929078e-03 -8.99633250e-04 -3.60151672e+01] [ 6.19924964e-03 9.99980783e-01 -4.85147231e-05 -2.03726391e+00] [ 8.99916719e-04 4.29367201e-05 9.99999594e-01 9.08397551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905529293 meters 0.03380287433128111 Centerline is valid? [True, True] Translation: X:-36.07, Y:-2.05, Z:0.92 [[ 9.99957808e-01 -9.17489153e-03 -4.50854830e-04 -3.60721956e+01] [ 9.17488311e-03 9.99957910e-01 -2.07425366e-05 -2.05276551e+00] [ 4.51026164e-04 1.66051211e-05 9.99999898e-01 9.20783522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965529293 meters 0.032686393267339985 Centerline is valid? [True, True] Translation: X:-36.13, Y:-2.06, Z:0.92 [[ 9.99952183e-01 -9.76918037e-03 -4.40942037e-04 -3.61311333e+01] [ 9.76917248e-03 9.99952280e-01 -2.00468285e-05 -2.05638927e+00] [ 4.41116836e-04 1.57382311e-05 9.99999903e-01 9.20578034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025529293 meters 0.03438959286268367 Centerline is valid? [True, True] Translation: X:-36.19, Y:-2.05, Z:0.92 [[ 9.99957719e-01 -9.00475424e-03 1.86385709e-03 -3.61900944e+01] [ 9.00458799e-03 9.99959453e-01 9.75719374e-05 -2.05041494e+00] [-1.86466012e-03 -8.07845469e-05 9.99998258e-01 9.23434421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085529293 meters 0.03231875559040049 Centerline is valid? [True, True] Translation: X:-36.25, Y:-2.06, Z:0.94 [[ 9.99948256e-01 -9.14013695e-03 4.46582966e-03 -3.62498725e+01] [ 9.13921216e-03 9.99958211e-01 2.27443860e-04 -2.06171938e+00] [-4.46772191e-03 -1.86617927e-04 9.99990002e-01 9.35668276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145529293 meters 0.03508595199520046 Centerline is valid? [True, True] Translation: X:-36.31, Y:-2.06, Z:0.93 [[ 9.99935000e-01 -1.13560604e-02 -1.01751928e-03 -3.63126695e+01] [ 1.13560045e-02 9.99935517e-01 -6.06974302e-05 -2.06301472e+00] [ 1.01814295e-03 4.91385313e-05 9.99999480e-01 9.28049469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205529293 meters 0.03206598971792299 Centerline is valid? [True, True] Translation: X:-36.37, Y:-2.06, Z:0.94 [[ 9.99892292e-01 -1.42836550e-02 3.37368704e-03 -3.63722712e+01] [ 1.42831505e-02 9.99897976e-01 1.73589464e-04 -2.06038592e+00] [-3.37582234e-03 -1.25383888e-04 9.99994294e-01 9.42534159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265529293 meters 0.032126480978898954 Centerline is valid? [True, True] Translation: X:-36.43, Y:-2.06, Z:0.95 [[ 9.99907588e-01 -1.30197839e-02 3.91163955e-03 -3.64337051e+01] [ 1.30191254e-02 9.99915229e-01 1.93772594e-04 -2.05735523e+00] [-3.91383084e-03 -1.42828561e-04 9.99992331e-01 9.45398047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325529293 meters 0.03400751475901414 Centerline is valid? [True, True] Translation: X:-36.50, Y:-2.06, Z:0.94 [[ 9.99913983e-01 -1.31069693e-02 4.82836005e-04 -3.64957764e+01] [ 1.31069597e-02 9.99914100e-01 2.30657143e-05 -2.05684497e+00] [-4.83096851e-04 -1.67352182e-05 9.99999883e-01 9.40121111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385529293 meters 0.03357732364063272 Centerline is valid? [True, True] Translation: X:-36.56, Y:-2.05, Z:0.95 [[ 9.99884707e-01 -1.44830618e-02 4.56210371e-03 -3.65551333e+01] [ 1.44821336e-02 9.99895100e-01 2.36431155e-04 -2.05213194e+00] [-4.56504939e-03 -1.70334901e-04 9.99989566e-01 9.50316333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445529293 meters 0.033234305768849136 Centerline is valid? [True, True] Translation: X:-36.62, Y:-2.05, Z:0.94 [[ 9.99898185e-01 -1.42693735e-02 -6.80217943e-05 -3.66176436e+01] [ 1.42693732e-02 9.99898187e-01 -5.30735902e-06 -2.04646649e+00] [ 6.80906014e-05 4.33619028e-06 9.99999998e-01 9.43375184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505529293 meters 0.031935164653335776 Centerline is valid? [True, True] Translation: X:-36.68, Y:-2.05, Z:0.94 [[ 9.99827589e-01 -1.83299517e-02 -2.96747886e-03 -3.66752558e+01] [ 1.83295874e-02 9.99831988e-01 -1.49922791e-04 -2.04818333e+00] [ 2.96972837e-03 9.55042797e-05 9.99995586e-01 9.43190778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565529293000004 meters 0.031070108291442466 Centerline is valid? [True, True] Translation: X:-36.74, Y:-2.06, Z:0.95 [[ 9.99687977e-01 -2.43399503e-02 5.61392372e-03 -3.67355045e+01] [ 2.43387095e-02 9.99703728e-01 2.89251788e-04 -2.05541382e+00] [-5.61930085e-03 -1.52525876e-04 9.99984200e-01 9.49958131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625529293 meters 0.029585232632232547 Centerline is valid? [True, True] Translation: X:-36.79, Y:-2.07, Z:0.96 [[ 9.99421269e-01 -3.36295396e-02 5.11679574e-03 -3.67945796e+01] [ 3.36286302e-02 9.99434363e-01 2.63690529e-04 -2.06926767e+00] [-5.12276928e-03 -9.14670916e-05 9.99986874e-01 9.60540885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685529293 meters 0.029558297414649794 Centerline is valid? [True, True] Translation: X:-36.86, Y:-2.05, Z:0.96 [[ 9.99397584e-01 -3.39239379e-02 7.32362135e-03 -3.68561315e+01] [ 3.39220827e-02 9.99424409e-01 3.77417761e-04 -2.04940006e+00] [-7.33220944e-03 -1.28757909e-04 9.99973111e-01 9.60587337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745529293000004 meters 0.0304677419180139 Centerline is valid? [True, True] Translation: X:-36.92, Y:-2.04, Z:0.94 [[ 9.99596793e-01 -2.83493727e-02 1.60130245e-03 -3.69180618e+01] [ 2.83492770e-02 9.99598075e-01 8.24425321e-05 -2.04061031e+00] [-1.60299604e-03 -3.70135240e-05 9.99998715e-01 9.44449336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805529293 meters 0.0295156497079163 Centerline is valid? [True, True] Translation: X:-36.98, Y:-2.04, Z:0.96 [[ 9.99635027e-01 -2.63935103e-02 5.76154672e-03 -3.69753501e+01] [ 2.63922227e-02 9.99651620e-01 2.99406488e-04 -2.03505157e+00] [-5.76744190e-03 -1.47237188e-04 9.99983357e-01 9.62323955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865529293 meters 0.029218908285402044 Centerline is valid? [True, True] Translation: X:-37.04, Y:-2.02, Z:0.96 [[ 9.99692178e-01 -2.40135654e-02 6.23687370e-03 -3.70376654e+01] [ 2.40120368e-02 9.99711618e-01 3.19867620e-04 -2.01909279e+00] [-6.24275626e-03 -1.70009117e-04 9.99980499e-01 9.59634062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925529293000004 meters 0.03199099437076444 Centerline is valid? [True, True] Translation: X:-37.10, Y:-2.01, Z:0.95 [[ 9.99642985e-01 -2.66455300e-02 1.97924404e-03 -3.71006786e+01] [ 2.66453963e-02 9.99644944e-01 9.38735417e-05 -2.01216492e+00] [-1.98104261e-03 -4.11022856e-05 9.99998037e-01 9.52709416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985529293 meters 0.02877089931041688 Centerline is valid? [True, True] Translation: X:-37.16, Y:-2.01, Z:0.97 [[ 9.99586709e-01 -2.75393701e-02 8.24585024e-03 -3.71608125e+01] [ 2.75367831e-02 9.99620700e-01 4.27121011e-04 -2.00674155e+00] [-8.25448523e-03 -1.99880296e-04 9.99965911e-01 9.72379641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045529293 meters 0.02877571217638886 Centerline is valid? [True, True] Translation: X:-37.22, Y:-1.99, Z:0.97 [[ 9.99640379e-01 -2.45745040e-02 1.07334070e-02 -3.72238450e+01] [ 2.45700188e-02 9.99697960e-01 5.49559339e-04 -1.98886330e+00] [-1.07436702e-02 -2.85641695e-04 9.99942244e-01 9.74168224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105529293000004 meters 0.03260471299058894 Centerline is valid? [True, True] Translation: X:-37.29, Y:-1.99, Z:0.97 [[ 9.99665104e-01 -2.46489152e-02 7.88108396e-03 -3.72865132e+01] [ 2.46464683e-02 9.99696147e-01 4.07464347e-04 -1.99223191e+00] [-7.88873282e-03 -2.13087003e-04 9.99968861e-01 9.72718396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165529293 meters 0.0290725898805754 Centerline is valid? [True, True] Translation: X:-37.35, Y:-1.98, Z:0.98 [[ 9.99626247e-01 -2.56881092e-02 9.35342981e-03 -3.73477569e+01] [ 2.56847046e-02 9.99669976e-01 4.83955096e-04 -1.98266518e+00] [-9.36277485e-03 -2.43534135e-04 9.99956139e-01 9.79763550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225529293 meters 0.0286421827243303 Centerline is valid? [True, True] Translation: X:-37.41, Y:-1.99, Z:0.98 [[ 9.99609224e-01 -2.63621943e-02 9.29701530e-03 -3.74108889e+01] [ 2.63588839e-02 9.99652430e-01 4.78442818e-04 -1.98555987e+00] [-9.30639674e-03 -2.33196907e-04 9.99956667e-01 9.82809154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285529293 meters 0.027924921714155747 Centerline is valid? [True, True] Translation: X:-37.47, Y:-1.97, Z:0.98 [[ 9.99624472e-01 -2.63757171e-02 7.43218747e-03 -3.74729709e+01] [ 2.63735892e-02 9.99652083e-01 3.84184769e-04 -1.96783986e+00] [-7.43973483e-03 -1.88027037e-04 9.99972307e-01 9.83777230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345529293 meters 0.028280150581235577 Centerline is valid? [True, True] Translation: X:-37.54, Y:-1.96, Z:0.99 [[ 9.99659509e-01 -2.42400955e-02 9.65838147e-03 -3.75353679e+01] [ 2.42363624e-02 9.99706129e-01 5.03384617e-04 -1.96265687e+00] [-9.66774524e-03 -2.69129185e-04 9.99953230e-01 9.90999559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405529293 meters 0.028470936656736542 Centerline is valid? [True, True] Translation: X:-37.60, Y:-1.96, Z:1.00 [[ 9.99676508e-01 -2.33115165e-02 1.01711995e-02 -3.75977538e+01] [ 2.33072955e-02 9.99728206e-01 5.33346411e-04 -1.95590574e+00] [-1.01808681e-02 -2.96110726e-04 9.99948130e-01 9.97607636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465529293 meters 0.028665636133911276 Centerline is valid? [True, True] Translation: X:-37.66, Y:-1.95, Z:1.00 [[ 9.99751401e-01 -2.09305734e-02 7.68424236e-03 -3.76590099e+01] [ 2.09280523e-02 9.99780901e-01 4.08347191e-04 -1.95259122e+00] [-7.69110569e-03 -2.47429450e-04 9.99970392e-01 9.98750771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525529293 meters 0.02872195369167901 Centerline is valid? [True, True] Translation: X:-37.72, Y:-1.94, Z:0.99 [[ 9.99799564e-01 -1.90444988e-02 6.17570896e-03 -3.77215350e+01] [ 1.90428378e-02 9.99818615e-01 3.27656853e-04 -1.94094050e+00] [-6.18082884e-03 -2.09988155e-04 9.99980876e-01 9.94888332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585529293 meters 0.029321707319148006 Centerline is valid? [True, True] Translation: X:-37.78, Y:-1.95, Z:1.00 [[ 9.99807585e-01 -1.88626646e-02 5.38456043e-03 -3.77833068e+01] [ 1.88614295e-02 9.99822068e-01 2.80080726e-04 -1.94738087e+00] [-5.38888542e-03 -1.78466327e-04 9.99985464e-01 1.00169104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645529293 meters 0.028823034525069683 Centerline is valid? [True, True] Translation: X:-37.84, Y:-1.95, Z:1.01 [[ 9.99822856e-01 -1.75968948e-02 6.67881096e-03 -3.78442634e+01] [ 1.75949380e-02 9.99845135e-01 3.51630162e-04 -1.94784316e+00] [-6.68396425e-03 -2.34054608e-04 9.99977635e-01 1.01058930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705529293 meters 0.02923096299908485 Centerline is valid? [True, True] Translation: X:-37.91, Y:-1.94, Z:1.01 [[ 9.99844825e-01 -1.58354836e-02 7.71778289e-03 -3.79071776e+01] [ 1.58327982e-02 9.99874570e-01 4.08928897e-04 -1.94037403e+00] [-7.72329043e-03 -2.86671342e-04 9.99970134e-01 1.01009449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765529293 meters 0.030299273715993096 Centerline is valid? [True, True] Translation: X:-37.97, Y:-1.94, Z:1.01 [[ 9.99909590e-01 -1.16814441e-02 6.65997660e-03 -3.79682648e+01] [ 1.16793044e-02 9.99931730e-01 3.60085399e-04 -1.93567105e+00] [-6.66372824e-03 -2.82268950e-04 9.99977757e-01 1.01074277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825529293 meters 0.031188267585158202 Centerline is valid? [True, True] Translation: X:-38.03, Y:-1.94, Z:1.01 [[ 9.99917758e-01 -1.10223018e-02 6.55638462e-03 -3.80308379e+01] [ 1.10202263e-02 9.99939213e-01 3.52613709e-04 -1.94042852e+00] [-6.55987269e-03 -2.80331867e-04 9.99978445e-01 1.01276908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885529293 meters 0.03291483751331942 Centerline is valid? [True, True] Translation: X:-38.09, Y:-1.93, Z:1.00 [[ 9.99875262e-01 -1.52746675e-02 4.01819495e-03 -3.80936631e+01] [ 1.52739230e-02 9.99883324e-01 2.15904937e-04 -1.93360501e+00] [-4.02102400e-03 -1.54504404e-04 9.99991904e-01 1.00238017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945529293 meters 0.02934572777865925 Centerline is valid? [True, True] Translation: X:-38.15, Y:-1.96, Z:1.02 [[ 9.99705766e-01 -2.33931256e-02 6.41436334e-03 -3.81521843e+01] [ 2.33913722e-02 9.99726324e-01 3.48254518e-04 -1.96129182e+00] [-6.42075465e-03 -1.98111289e-04 9.99979367e-01 1.01793640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005529293 meters 0.02942292765270753 Centerline is valid? [True, True] Translation: X:-38.21, Y:-1.96, Z:1.01 [[ 9.99740582e-01 -2.25394084e-02 3.27777479e-03 -3.82141314e+01] [ 2.25389488e-02 9.99745950e-01 1.77093920e-04 -1.95603054e+00] [-3.28093366e-03 -1.03170380e-04 9.99994612e-01 1.00856634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065529293000004 meters 0.029472013241853102 Centerline is valid? [True, True] Translation: X:-38.27, Y:-1.97, Z:1.02 [[ 9.99800389e-01 -1.98324321e-02 2.42014374e-03 -3.82717854e+01] [ 1.98321676e-02 9.99803314e-01 1.33243947e-04 -1.97326098e+00] [-2.42231029e-03 -8.52206537e-05 9.99997063e-01 1.01798215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125529293 meters 0.031229862772660287 Centerline is valid? [True, True] Translation: X:-38.33, Y:-1.95, Z:1.02 [[ 9.99902262e-01 -1.27779661e-02 5.67362211e-03 -3.83337160e+01] [ 1.27764199e-02 9.99918331e-01 3.08684814e-04 -1.94802482e+00] [-5.67710311e-03 -2.36166065e-04 9.99983857e-01 1.01587397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185529293 meters 0.03161559464425174 Centerline is valid? [True, True] Translation: X:-38.39, Y:-1.98, Z:1.02 [[ 9.99906510e-01 -1.26334598e-02 5.23139767e-03 -3.83946937e+01] [ 1.26321817e-02 9.99920172e-01 2.77279801e-04 -1.97844559e+00] [-5.23448307e-03 -2.11169912e-04 9.99986278e-01 1.02140572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245529293000004 meters 0.03187863963053273 Centerline is valid? [True, True] Translation: X:-38.45, Y:-1.98, Z:1.02 [[ 9.99791756e-01 -1.91276658e-02 7.11170867e-03 -3.84536468e+01] [ 1.91253999e-02 9.99817018e-01 3.86499472e-04 -1.98272267e+00] [-7.11780019e-03 -2.50404714e-04 9.99974637e-01 1.02477527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305529293 meters 0.029456532833565943 Centerline is valid? [True, True] Translation: X:-38.52, Y:-2.00, Z:1.02 [[ 9.99790334e-01 -1.99814134e-02 4.47556229e-03 -3.85157791e+01] [ 1.99805510e-02 9.99800341e-01 2.37344188e-04 -1.99791846e+00] [-4.47941117e-03 -1.47870225e-04 9.99989956e-01 1.01957072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365529293 meters 0.029614526532857975 Centerline is valid? [True, True] Translation: X:-38.58, Y:-2.00, Z:1.01 [[ 9.99763198e-01 -2.14437249e-02 -3.70323887e-03 -3.85771733e+01] [ 2.14431167e-02 9.99770049e-01 -2.03875841e-04 -2.00059108e+00] [ 3.70675916e-03 1.24418580e-04 9.99993122e-01 1.00928778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425529293000004 meters 0.030005970436145495 Centerline is valid? [True, True] Translation: X:-38.64, Y:-2.00, Z:1.03 [[ 9.99840790e-01 -1.78131260e-02 1.04265181e-03 -3.86360366e+01] [ 1.78130736e-02 9.99841333e-01 5.95156014e-05 -1.99707567e+00] [-1.04354654e-03 -4.09332924e-05 9.99999455e-01 1.02738380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485529293 meters 0.030847555079305013 Centerline is valid? [True, True] Translation: X:-38.69, Y:-2.02, Z:1.03 [[ 9.99876126e-01 -1.51642222e-02 4.21654763e-03 -3.86922889e+01] [ 1.51633703e-02 9.99885002e-01 2.33936408e-04 -2.02133529e+00] [-4.21961020e-03 -1.69970356e-04 9.99991083e-01 1.02650399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545529293 meters 0.02923954768902337 Centerline is valid? [True, True] Translation: X:-38.75, Y:-2.02, Z:1.03 [[ 9.99827991e-01 -1.85068613e-02 1.21863331e-03 -3.87537992e+01] [ 1.85067953e-02 9.99828732e-01 6.54755021e-05 -2.02242492e+00] [-1.21963635e-03 -4.29112425e-05 9.99999255e-01 1.03176913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605529293000004 meters 0.02911009157223427 Centerline is valid? [True, True] Translation: X:-38.81, Y:-2.02, Z:1.03 [[ 9.99708994e-01 -2.40345442e-02 2.06575485e-03 -3.88139086e+01] [ 2.40343603e-02 9.99711127e-01 1.13807602e-04 -2.02260617e+00] [-2.06789342e-03 -6.41253865e-05 9.99997860e-01 1.02761987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665529293 meters 0.02748674651453731 Centerline is valid? [True, True] Translation: X:-38.87, Y:-2.05, Z:1.04 [[ 9.99479346e-01 -3.21474674e-02 2.75270314e-03 -3.88710364e+01] [ 3.21471715e-02 9.99483135e-01 1.51686811e-04 -2.04632794e+00] [-2.75615671e-03 -6.31162144e-05 9.99996200e-01 1.03968607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725529293 meters 0.02803924686596173 Centerline is valid? [True, True] Translation: X:-38.93, Y:-2.03, Z:1.03 [[ 9.99377841e-01 -3.50248858e-02 4.14575875e-03 -3.89313916e+01] [ 3.50242423e-02 9.99386437e-01 2.27736196e-04 -2.03411321e+00] [-4.15119150e-03 -8.23924485e-05 9.99991380e-01 1.03422594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785529293 meters 0.028016899484228825 Centerline is valid? [True, True] Translation: X:-38.99, Y:-2.04, Z:1.03 [[ 9.99607220e-01 -2.79913135e-02 -1.37542655e-03 -3.89915323e+01] [ 2.79912366e-02 9.99608166e-01 -7.51436979e-05 -2.03960845e+00] [ 1.37699098e-03 3.66142932e-05 9.99999051e-01 1.03301440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845529293 meters 0.027533642719192952 Centerline is valid? [True, True] Translation: X:-39.05, Y:-2.03, Z:1.04 [[ 9.99661073e-01 -2.58855774e-02 2.77039859e-03 -3.90507586e+01] [ 2.58852510e-02 9.99664909e-01 1.53607682e-04 -2.03433448e+00] [-2.77344648e-03 -8.18431572e-05 9.99996151e-01 1.03915168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905529293 meters 0.028178366745398437 Centerline is valid? [True, True] Translation: X:-39.11, Y:-2.02, Z:1.03 [[ 9.99644333e-01 -2.66386082e-02 -1.26202916e-03 -3.91116027e+01] [ 2.66385449e-02 9.99645129e-01 -6.69586790e-05 -2.01677732e+00] [ 1.26336499e-03 3.33162435e-05 9.99999201e-01 1.02954009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965529293 meters 0.028053067973691986 Centerline is valid? [True, True] Translation: X:-39.17, Y:-2.03, Z:1.04 [[ 9.99699830e-01 -2.41973021e-02 3.83934547e-03 -3.91700232e+01] [ 2.41966708e-02 9.99707195e-01 2.10814349e-04 -2.02739179e+00] [-3.84332243e-03 -1.17851691e-04 9.99992607e-01 1.04198808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025529293 meters 0.0280449771205176 Centerline is valid? [True, True] Translation: X:-39.23, Y:-2.02, Z:1.04 [[ 9.99660630e-01 -2.60346878e-02 9.05458629e-04 -3.92288846e+01] [ 2.60346517e-02 9.99661040e-01 5.16096534e-05 -2.02243791e+00] [-9.06495355e-04 -2.80188386e-05 9.99999589e-01 1.03792794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085529293 meters 0.027550482177846024 Centerline is valid? [True, True] Translation: X:-39.29, Y:-2.03, Z:1.05 [[ 9.99641394e-01 -2.65979080e-02 3.10408713e-03 -3.92865290e+01] [ 2.65975035e-02 9.99646209e-01 1.71500780e-04 -2.03415782e+00] [-3.10755050e-03 -8.88783103e-05 9.99995168e-01 1.04597208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145529293 meters 0.027400739243873967 Centerline is valid? [True, True] Translation: X:-39.35, Y:-2.02, Z:1.04 [[ 9.99621981e-01 -2.74741110e-02 -1.03326720e-03 -3.93467477e+01] [ 2.74740703e-02 9.99622515e-01 -5.35865756e-05 -2.01704101e+00] [ 1.03434940e-03 2.51782631e-05 9.99999465e-01 1.04012522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205529293 meters 0.02787426570906789 Centerline is valid? [True, True] Translation: X:-39.40, Y:-2.03, Z:1.04 [[ 9.99655994e-01 -2.62226272e-02 -5.17717159e-04 -3.94047096e+01] [ 2.62226210e-02 9.99656128e-01 -1.87402429e-05 -2.02777977e+00] [ 5.18030549e-04 5.15789527e-06 9.99999866e-01 1.03727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265529293 meters 0.029291469607149463 Centerline is valid? [True, True] Translation: X:-39.46, Y:-2.03, Z:1.04 [[ 9.99527353e-01 -3.06722034e-02 2.07020933e-03 -3.94644714e+01] [ 3.06720367e-02 9.99529496e-01 1.12224193e-04 -2.02527829e+00] [-2.07267745e-03 -4.86736143e-05 9.99997851e-01 1.04457030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325529293 meters 0.027456483686039326 Centerline is valid? [True, True] Translation: X:-39.52, Y:-2.02, Z:1.04 [[ 9.99649824e-01 -2.64363714e-02 -1.16085184e-03 -3.95239758e+01] [ 2.64363180e-02 9.99650498e-01 -6.13470555e-05 -2.02023184e+00] [ 1.16206791e-03 3.06369250e-05 9.99999324e-01 1.04223424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385529293000005 meters 0.027158667004064472 Centerline is valid? [True, True] Translation: X:-39.58, Y:-2.02, Z:1.06 [[ 9.99657781e-01 -2.55597374e-02 5.56954481e-03 -3.95821745e+01] [ 2.55584561e-02 9.99673284e-01 3.01111732e-04 -2.02311621e+00] [-5.57542149e-03 -1.58659720e-04 9.99984445e-01 1.05730547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445529293 meters 0.02822083053270124 Centerline is valid? [True, True] Translation: X:-39.64, Y:-2.01, Z:1.04 [[ 9.99659997e-01 -2.60595451e-02 -8.89064431e-04 -3.96431265e+01] [ 2.60595134e-02 9.99660392e-01 -4.72298908e-05 -2.01419024e+00] [ 8.89993287e-04 2.40452461e-05 9.99999604e-01 1.04367241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505529293 meters 0.027580289734392985 Centerline is valid? [True, True] Translation: X:-39.70, Y:-2.02, Z:1.05 [[ 9.99628155e-01 -2.72128976e-02 1.73488153e-03 -3.97009438e+01] [ 2.72127718e-02 9.99629659e-01 9.60997036e-05 -2.01702059e+00] [-1.73685418e-03 -4.88530344e-05 9.99998490e-01 1.05117745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565529293000004 meters 0.02977242420991837 Centerline is valid? [True, True] Translation: X:-39.76, Y:-2.00, Z:1.04 [[ 9.99654799e-01 -2.62588144e-02 8.69978859e-04 -3.97616277e+01] [ 2.62587820e-02 9.99655178e-01 4.85736149e-05 -1.99913391e+00] [-8.70954356e-04 -2.57122620e-05 9.99999620e-01 1.04337236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625529293 meters 0.02812350668525361 Centerline is valid? [True, True] Translation: X:-39.82, Y:-2.02, Z:1.04 [[ 9.99700675e-01 -2.44322146e-02 -1.27545534e-03 -3.98188262e+01] [ 2.44321526e-02 9.99701488e-01 -6.41406480e-05 -2.01544206e+00] [ 1.27664170e-03 3.29593296e-05 9.99999185e-01 1.04038608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685529293 meters 0.030777036254090714 Centerline is valid? [True, True] Translation: X:-39.88, Y:-2.00, Z:1.05 [[ 9.99764215e-01 -2.16736066e-02 -1.32974848e-03 -3.98787801e+01] [ 2.16735420e-02 9.99765099e-01 -6.29240827e-05 -1.99769167e+00] [ 1.33079992e-03 3.40888866e-05 9.99999114e-01 1.04781029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745529293000004 meters 0.03001610163272073 Centerline is valid? [True, True] Translation: X:-39.94, Y:-2.00, Z:1.05 [[ 9.99877802e-01 -1.55316738e-02 -1.77427808e-03 -3.99378661e+01] [ 1.55315326e-02 9.99879374e-01 -9.33045079e-05 -1.99588828e+00] [ 1.77551323e-03 6.57358483e-05 9.99998422e-01 1.04643460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805529293 meters 0.029735988530917874 Centerline is valid? [True, True] Translation: X:-40.00, Y:-2.00, Z:1.05 [[ 9.99834146e-01 -1.81150786e-02 1.87758157e-03 -3.99977849e+01] [ 1.81149216e-02 9.99835906e-01 1.00598499e-04 -1.99567674e+00] [-1.87909582e-03 -6.65695719e-05 9.99998232e-01 1.04781584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865529293 meters 0.029690141883527692 Centerline is valid? [True, True] Translation: X:-40.06, Y:-2.00, Z:1.04 [[ 9.99842093e-01 -1.77441010e-02 -9.67199133e-04 -4.00567343e+01] [ 1.77440619e-02 9.99842561e-01 -4.90066648e-05 -1.99853059e+00] [ 9.67916437e-04 3.18368851e-05 9.99999531e-01 1.03998842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925529293000004 meters 0.028851987922753602 Centerline is valid? [True, True] Translation: X:-40.12, Y:-2.01, Z:1.05 [[ 9.99752742e-01 -2.20975280e-02 2.48077104e-03 -4.01158173e+01] [ 2.20972676e-02 9.99755817e-01 1.32348121e-04 -2.00718125e+00] [-2.48308984e-03 -7.74971352e-05 9.99996914e-01 1.05015828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985529293 meters 0.03082395335383827 Centerline is valid? [True, True] Translation: X:-40.18, Y:-2.00, Z:1.04 [[ 9.99795668e-01 -2.00320577e-02 -2.70906394e-03 -4.01772914e+01] [ 2.00317427e-02 9.99799334e-01 -1.43372063e-04 -1.99838471e+00] [ 2.71139236e-03 8.90754956e-05 9.99996320e-01 1.03803720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045529293 meters 0.02982547541437464 Centerline is valid? [True, True] Translation: X:-40.24, Y:-2.00, Z:1.05 [[ 9.99837940e-01 -1.78759288e-02 2.13202667e-03 -4.02359047e+01] [ 1.78757242e-02 9.99840210e-01 1.15001189e-04 -2.00252595e+00] [-2.13374174e-03 -7.68710316e-05 9.99997721e-01 1.04657585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105529293000004 meters 0.03222460011410625 Centerline is valid? [True, True] Translation: X:-40.30, Y:-2.00, Z:1.04 [[ 9.99928771e-01 -1.17232954e-02 -2.23979713e-03 -4.02966069e+01] [ 1.17230610e-02 9.99931276e-01 -1.17760459e-04 -1.99516473e+00] [ 2.24102374e-03 9.14947928e-05 9.99997485e-01 1.03666585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165529293 meters 0.03203817263034411 Centerline is valid? [True, True] Translation: X:-40.36, Y:-1.99, Z:1.04 [[ 9.99957690e-01 -9.18790636e-03 4.47953604e-04 -4.03562889e+01] [ 9.18789557e-03 9.99957790e-01 2.61454669e-05 -1.98885228e+00] [-4.48174918e-04 -2.20286097e-05 9.99999899e-01 1.03574135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225529293 meters 0.03176740728534409 Centerline is valid? [True, True] Translation: X:-40.41, Y:-2.00, Z:1.04 [[ 9.99957012e-01 -7.89599093e-03 4.86073165e-03 -4.04144633e+01] [ 7.89482231e-03 9.99968802e-01 2.59562503e-04 -1.99584262e+00] [-4.86262950e-03 -2.21176732e-04 9.99988153e-01 1.03968038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285529293 meters 0.03172390024601917 Centerline is valid? [True, True] Translation: X:-40.48, Y:-2.00, Z:1.03 [[ 9.99947355e-01 -1.02534678e-02 -3.92210736e-04 -4.04775532e+01] [ 1.02534592e-02 9.99947432e-01 -2.38093711e-05 -1.99740057e+00] [ 3.92434246e-04 1.97866008e-05 9.99999923e-01 1.02684082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345529293 meters 0.029196824981722675 Centerline is valid? [True, True] Translation: X:-40.54, Y:-2.03, Z:1.03 [[ 9.99719550e-01 -2.36781851e-02 -4.05916044e-04 -4.05362994e+01] [ 2.36781786e-02 9.99719632e-01 -2.09720977e-05 -2.02533160e+00] [ 4.06298819e-04 1.13548635e-05 9.99999917e-01 1.03324053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405529293 meters 0.02854132200873779 Centerline is valid? [True, True] Translation: X:-40.60, Y:-2.02, Z:1.03 [[ 9.99616229e-01 -2.76889965e-02 8.45440594e-04 -4.05967618e+01] [ 2.76889675e-02 9.99616586e-01 4.59835458e-05 -2.01566543e+00] [-8.46389679e-04 -2.25565215e-05 9.99999642e-01 1.03313581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465529293 meters 0.028880262326124128 Centerline is valid? [True, True] Translation: X:-40.65, Y:-2.03, Z:1.04 [[ 9.99662318e-01 -2.51210532e-02 6.64705294e-03 -4.06548912e+01] [ 2.51192554e-02 9.99684399e-01 3.53834341e-04 -2.03033598e+00] [-6.65384382e-03 -1.86745837e-04 9.99977845e-01 1.03763779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525529293 meters 0.028268680225259756 Centerline is valid? [True, True] Translation: X:-40.72, Y:-2.02, Z:1.02 [[ 9.99670509e-01 -2.55822967e-02 -2.10246733e-03 -4.07166693e+01] [ 2.55821203e-02 9.99672718e-01 -1.10756067e-04 -2.01865804e+00] [ 2.10461263e-03 5.69340011e-05 9.99997784e-01 1.02257638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585529293 meters 0.029629164451496347 Centerline is valid? [True, True] Translation: X:-40.78, Y:-2.01, Z:1.03 [[ 9.99821480e-01 -1.78621293e-02 6.16056973e-03 -4.07762586e+01] [ 1.78604490e-02 9.99840436e-01 3.27664261e-04 -2.00971836e+00] [-6.16543951e-03 -2.17575225e-04 9.99980970e-01 1.02623575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645529293 meters 0.02896751101715295 Centerline is valid? [True, True] Translation: X:-40.84, Y:-2.01, Z:1.02 [[ 9.99806264e-01 -1.91613323e-02 4.50300781e-03 -4.08379101e+01] [ 1.91604604e-02 9.99816394e-01 2.36685916e-04 -2.01066407e+00] [-4.50671625e-03 -1.50360359e-04 9.99989833e-01 1.02446490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705529293 meters 0.02817933644417791 Centerline is valid? [True, True] Translation: X:-40.90, Y:-2.01, Z:1.02 [[ 9.99692299e-01 -2.44983002e-02 3.89111979e-03 -4.08977230e+01] [ 2.44976815e-02 9.99699865e-01 2.06605088e-04 -2.01437234e+00] [-3.89501341e-03 -1.11218102e-04 9.99992408e-01 1.01841579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765529293 meters 0.02706000729107041 Centerline is valid? [True, True] Translation: X:-40.96, Y:-2.02, Z:1.02 [[ 9.99553039e-01 -2.95557533e-02 4.49213928e-03 -4.09564806e+01] [ 2.95549789e-02 9.99563128e-01 2.38687365e-04 -2.01805518e+00] [-4.49723138e-03 -1.05815600e-04 9.99989882e-01 1.02197134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825529293 meters 0.026977452481986863 Centerline is valid? [True, True] Translation: X:-41.02, Y:-2.01, Z:1.02 [[ 9.99616393e-01 -2.72439382e-02 4.98346160e-03 -4.10165172e+01] [ 2.72429587e-02 9.99628807e-01 2.64341149e-04 -2.01064257e+00] [-4.98881347e-03 -1.28475507e-04 9.99987548e-01 1.01585512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885529293000005 meters 0.027619541221569368 Centerline is valid? [True, True] Translation: X:-41.08, Y:-2.01, Z:1.02 [[ 9.99649099e-01 -2.63209500e-02 2.98113235e-03 -4.10756946e+01] [ 2.63205920e-02 9.99653541e-01 1.59233435e-04 -2.00705605e+00] [-2.98429068e-03 -8.07123911e-05 9.99995544e-01 1.01878653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945529293 meters 0.028265655080124064 Centerline is valid? [True, True] Translation: X:-41.14, Y:-2.00, Z:1.03 [[ 9.99629063e-01 -2.62462351e-02 7.27131128e-03 -4.11352060e+01] [ 2.62441365e-02 9.99655490e-01 3.83896023e-04 -2.00169584e+00] [-7.27888206e-03 -1.92924337e-04 9.99973490e-01 1.02514136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005529293 meters 0.027394854614716326 Centerline is valid? [True, True] Translation: X:-41.19, Y:-2.00, Z:1.02 [[ 9.99634116e-01 -2.64060396e-02 5.86131038e-03 -4.11949399e+01] [ 2.64046816e-02 9.99651288e-01 3.08969602e-04 -2.00222791e+00] [-5.86742514e-03 -1.54090521e-04 9.99982775e-01 1.02044471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065529293000004 meters 0.027237823708406574 Centerline is valid? [True, True] Translation: X:-41.25, Y:-2.00, Z:1.02 [[ 9.99535362e-01 -3.01830809e-02 4.24747658e-03 -4.12538904e+01] [ 3.01823966e-02 9.99544382e-01 2.25135902e-04 -1.99814007e+00] [-4.25233665e-03 -9.68322728e-05 9.99990954e-01 1.02349544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125529293 meters 0.026592597985565413 Centerline is valid? [True, True] Translation: X:-41.31, Y:-2.01, Z:1.02 [[ 9.99380439e-01 -3.47231370e-02 5.74828137e-03 -4.13127104e+01] [ 3.47219688e-02 9.99396965e-01 3.02920315e-04 -2.00789573e+00] [-5.75533329e-03 -1.03140991e-04 9.99983433e-01 1.02049670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185529293 meters 0.027864759419062444 Centerline is valid? [True, True] Translation: X:-41.37, Y:-1.99, Z:1.01 [[ 9.99243307e-01 -3.88878887e-02 7.38583896e-04 -4.13731917e+01] [ 3.88878694e-02 9.99243580e-01 4.04826758e-05 -1.99491057e+00] [-7.39599502e-04 -1.17300887e-05 9.99999726e-01 1.00895350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245529293000004 meters 0.028279366225943438 Centerline is valid? [True, True] Translation: X:-41.43, Y:-2.00, Z:1.01 [[ 9.99295364e-01 -3.73014230e-02 4.16876817e-03 -4.14317339e+01] [ 3.73008064e-02 9.99304057e-01 2.25591448e-04 -1.99773884e+00] [-4.17428183e-03 -6.99340733e-05 9.99991285e-01 1.01406555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305529293 meters 0.029335626330422273 Centerline is valid? [True, True] Translation: X:-41.49, Y:-1.99, Z:1.01 [[ 9.99376321e-01 -3.52688866e-02 1.75366695e-03 -4.14909325e+01] [ 3.52687765e-02 9.99377859e-01 9.36506968e-05 -1.99492269e+00] [-1.75587888e-03 -3.17426011e-05 9.99998458e-01 1.00849615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365529293 meters 0.027282502084310746 Centerline is valid? [True, True] Translation: X:-41.55, Y:-1.98, Z:1.00 [[ 9.99455913e-01 -3.29076643e-02 2.22801970e-03 -4.15501856e+01] [ 3.29074703e-02 9.99458395e-01 1.23675520e-04 -1.98311774e+00] [-2.23088287e-03 -5.02897375e-05 9.99997510e-01 1.00368380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425529293000004 meters 0.02723784318708339 Centerline is valid? [True, True] Translation: X:-41.61, Y:-1.98, Z:1.00 [[ 9.99544309e-01 -3.00204137e-02 3.15430382e-03 -4.16091337e+01] [ 3.00200413e-02 9.99549283e-01 1.65344651e-04 -1.98067879e+00] [-3.15784584e-03 -7.05769735e-05 9.99995012e-01 1.00349589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485529293 meters 0.027994668948896025 Centerline is valid? [True, True] Translation: X:-41.67, Y:-1.98, Z:1.00 [[ 9.99532805e-01 -3.03845979e-02 3.30882080e-03 -4.16678800e+01] [ 3.03841913e-02 9.99538279e-01 1.73083040e-04 -1.98141668e+00] [-3.31255211e-03 -7.24663326e-05 9.99994511e-01 1.00026649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545529293 meters 0.027366367438835318 Centerline is valid? [True, True] Translation: X:-41.73, Y:-1.98, Z:1.00 [[ 9.99499422e-01 -3.16259134e-02 8.40344591e-04 -4.17274277e+01] [ 3.16258866e-02 9.99499776e-01 4.51446354e-05 -1.98078517e+00] [-8.41351971e-04 -1.85453943e-05 9.99999646e-01 9.96198028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605529293000004 meters 0.026658498769958763 Centerline is valid? [True, True] Translation: X:-41.79, Y:-1.98, Z:0.99 [[ 9.99426581e-01 -3.38420352e-02 -1.10757740e-03 -4.17864451e+01] [ 3.38420025e-02 9.99427194e-01 -4.82520245e-05 -1.98284014e+00] [ 1.10857592e-03 1.07417187e-05 9.99999385e-01 9.86178585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665529293 meters 0.028293823363502 Centerline is valid? [True, True] Translation: X:-41.85, Y:-1.98, Z:0.99 [[ 9.99435827e-01 -3.35459405e-02 -1.64257941e-03 -4.18458304e+01] [ 3.35458622e-02 9.99437176e-01 -7.52144060e-05 -1.97733357e+00] [ 1.64417806e-03 2.00702295e-05 9.99998648e-01 9.85710553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725529293 meters 0.02669145060070515 Centerline is valid? [True, True] Translation: X:-41.90, Y:-1.99, Z:1.00 [[ 9.99414048e-01 -3.40375936e-02 3.60599056e-03 -4.19040773e+01] [ 3.40371478e-02 9.99420551e-01 1.84952923e-04 -1.99056820e+00] [-3.61019643e-03 -6.21069159e-05 9.99993481e-01 9.97895389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785529293 meters 0.027138871096402995 Centerline is valid? [True, True] Translation: X:-41.96, Y:-1.98, Z:0.98 [[ 9.99478764e-01 -3.22554430e-02 1.33683075e-03 -4.19641965e+01] [ 3.22553776e-02 9.99479657e-01 7.04654539e-05 -1.97786896e+00] [-1.33840804e-03 -2.73087441e-05 9.99999104e-01 9.81655715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845529293 meters 0.02750675336161359 Centerline is valid? [True, True] Translation: X:-42.02, Y:-1.99, Z:0.98 [[ 9.99510063e-01 -3.12349086e-02 -2.00343629e-03 -4.20229690e+01] [ 3.12347830e-02 9.99512071e-01 -9.39276477e-05 -1.98732503e+00] [ 2.00539258e-03 3.13047312e-05 9.99997989e-01 9.76859370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905529293 meters 0.027926838502664798 Centerline is valid? [True, True] Translation: X:-42.08, Y:-1.99, Z:0.98 [[ 9.99563543e-01 -2.95185311e-02 1.17477481e-03 -4.20816895e+01] [ 2.95184723e-02 9.99564233e-01 6.73960468e-05 -1.98758754e+00] [-1.17625231e-03 -3.26890737e-05 9.99999308e-01 9.81631514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965529293 meters 0.028206746175193 Centerline is valid? [True, True] Translation: X:-42.14, Y:-1.98, Z:0.96 [[ 9.99597699e-01 -2.76365301e-02 -6.37669951e-03 -4.21429754e+01] [ 2.76350426e-02 9.99618028e-01 -3.21276319e-04 -1.98385747e+00] [ 6.38314275e-03 1.44926706e-04 9.99979617e-01 9.63981235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025529293 meters 0.02959030550110342 Centerline is valid? [True, True] Translation: X:-42.20, Y:-1.99, Z:0.97 [[ 9.99664836e-01 -2.58802394e-02 -6.54244934e-04 -4.22012908e+01] [ 2.58802245e-02 9.99665050e-01 -3.11386083e-05 -1.99104962e+00] [ 6.54831670e-04 1.41961660e-05 9.99999785e-01 9.73034939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085529293 meters 0.028743007589362442 Centerline is valid? [True, True] Translation: X:-42.26, Y:-2.00, Z:0.97 [[ 9.99745151e-01 -2.24915042e-02 -1.94035141e-03 -4.22601730e+01] [ 2.24913595e-02 9.99747033e-01 -9.63827261e-05 -2.00352543e+00] [ 1.94202836e-03 5.27170220e-05 9.99998113e-01 9.71620379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145529293 meters 0.029459212391162923 Centerline is valid? [True, True] Translation: X:-42.32, Y:-2.01, Z:0.97 [[ 9.99619667e-01 -2.75319312e-02 -1.58541603e-03 -4.23194143e+01] [ 2.75318414e-02 9.99620924e-01 -7.84617583e-05 -2.01171223e+00] [ 1.58697524e-03 3.47824940e-05 9.99998740e-01 9.70408164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205529293000005 meters 0.02789534795569352 Centerline is valid? [True, True] Translation: X:-42.38, Y:-2.02, Z:0.96 [[ 9.99560773e-01 -2.96354289e-02 -5.37893310e-05 -4.23791086e+01] [ 2.96354288e-02 9.99560774e-01 -1.52149361e-06 -2.01720759e+00] [ 5.38107954e-05 -7.32445616e-08 9.99999999e-01 9.64339780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265529293 meters 0.026999706773735022 Centerline is valid? [True, True] Translation: X:-42.44, Y:-2.04, Z:0.96 [[ 9.99452400e-01 -3.30730569e-02 -1.03617391e-03 -4.24355565e+01] [ 3.30730239e-02 9.99452937e-01 -4.89950061e-05 -2.04348820e+00] [ 1.03722747e-03 1.46987721e-05 9.99999462e-01 9.64256319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325529293 meters 0.027363481410119718 Centerline is valid? [True, True] Translation: X:-42.50, Y:-2.04, Z:0.95 [[ 9.99251895e-01 -3.79199227e-02 -7.59804215e-03 -4.24961048e+01] [ 3.79181275e-02 9.99280777e-01 -3.80236484e-04 -2.04111633e+00] [ 7.60699600e-03 9.18484959e-05 9.99971062e-01 9.49149248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385529293000005 meters 0.02726113072563512 Centerline is valid? [True, True] Translation: X:-42.55, Y:-2.05, Z:0.96 [[ 9.99448029e-01 -3.30984093e-02 -2.85188291e-03 -4.25539464e+01] [ 3.30981414e-02 9.99452096e-01 -1.41079768e-04 -2.05039641e+00] [ 2.85498987e-03 4.66098720e-05 9.99995923e-01 9.61381848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445529293 meters 0.028003855416140318 Centerline is valid? [True, True] Translation: X:-42.61, Y:-2.04, Z:0.96 [[ 9.99596433e-01 -2.78783398e-02 -5.45610081e-03 -4.26145699e+01] [ 2.78772674e-02 9.99611316e-01 -2.72510359e-04 -2.04379403e+00] [ 5.46157725e-03 1.20299201e-04 9.99985078e-01 9.57721675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505529293 meters 0.029799734935755735 Centerline is valid? [True, True] Translation: X:-42.67, Y:-2.06, Z:0.96 [[ 9.99620542e-01 -2.75430366e-02 -3.90603433e-04 -4.26729614e+01] [ 2.75430315e-02 9.99620619e-01 -1.83333140e-05 -2.06090871e+00] [ 3.90960200e-04 7.56795462e-06 9.99999924e-01 9.61922995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565529293000004 meters 0.03097156051456166 Centerline is valid? [True, True] Translation: X:-42.73, Y:-2.06, Z:0.95 [[ 9.99601664e-01 -2.71157800e-02 -7.82612622e-03 -4.27345351e+01] [ 2.71135473e-02 9.99632284e-01 -3.91275786e-04 -2.05847245e+00] [ 7.83385817e-03 1.78925884e-04 9.99969299e-01 9.46529211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625529293 meters 0.026958264555981243 Centerline is valid? [True, True] Translation: X:-42.79, Y:-2.08, Z:0.97 [[ 9.99492493e-01 -3.18337931e-02 1.16882089e-03 -4.27925479e+01] [ 3.18337459e-02 9.99493176e-01 5.89854346e-05 -2.07559636e+00] [-1.17010623e-03 -2.17475519e-05 9.99999315e-01 9.65275534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685529293 meters 0.02688944557778292 Centerline is valid? [True, True] Translation: X:-42.85, Y:-2.08, Z:0.95 [[ 9.99387511e-01 -3.46135960e-02 -5.14794007e-03 -4.28533846e+01] [ 3.46127330e-02 9.99400767e-01 -2.56660793e-04 -2.07979500e+00] [ 5.15373921e-03 7.83193158e-05 9.99986716e-01 9.47290000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745529293000004 meters 0.027758746407912357 Centerline is valid? [True, True] Translation: X:-42.91, Y:-2.07, Z:0.93 [[ 9.99457761e-01 -3.07298775e-02 -1.18261581e-02 -4.29148730e+01] [ 3.07250310e-02 9.99527700e-01 -5.91317518e-04 -2.07404081e+00] [ 1.18387437e-02 2.27637808e-04 9.99929894e-01 9.34662888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805529293 meters 0.027905545466333972 Centerline is valid? [True, True] Translation: X:-42.97, Y:-2.08, Z:0.95 [[ 9.99629658e-01 -2.68193709e-02 -4.61175857e-03 -4.29729230e+01] [ 2.68185989e-02 9.99640290e-01 -2.29172183e-04 -2.07855367e+00] [ 4.61624593e-03 1.05406407e-04 9.99989340e-01 9.51790609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865529293 meters 0.03009213518348048 Centerline is valid? [True, True] Translation: X:-43.03, Y:-2.07, Z:0.94 [[ 9.99752681e-01 -2.14019685e-02 -6.04429936e-03 -4.30343055e+01] [ 2.14005436e-02 9.99770937e-01 -3.00332417e-04 -2.06889121e+00] [ 6.04934254e-03 1.70906847e-04 9.99981688e-01 9.39365704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925529293000004 meters 0.03118357897557881 Centerline is valid? [True, True] Translation: X:-43.09, Y:-2.07, Z:0.94 [[ 9.99743422e-01 -1.96371438e-02 -1.12903563e-02 -4.30941092e+01] [ 1.96320344e-02 9.99807114e-01 -5.63209640e-04 -2.07476234e+00] [ 1.12992383e-02 3.41412471e-04 9.99936103e-01 9.36209657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985529293 meters 0.029302927646260704 Centerline is valid? [True, True] Translation: X:-43.15, Y:-2.08, Z:0.94 [[ 9.99741119e-01 -2.05362281e-02 -9.79587469e-03 -4.31528532e+01] [ 2.05324461e-02 9.99789069e-01 -4.86506222e-04 -2.08216746e+00] [ 9.80379944e-03 2.85247005e-04 9.99951901e-01 9.39659442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045529293 meters 0.028437838220543035 Centerline is valid? [True, True] Translation: X:-43.21, Y:-2.08, Z:0.93 [[ 9.99610484e-01 -2.50347709e-02 -1.23345434e-02 -4.32117748e+01] [ 2.50292287e-02 9.99686538e-01 -6.03514321e-04 -2.08469591e+00] [ 1.23457859e-02 2.94555134e-04 9.99923744e-01 9.34704653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105529293000004 meters 0.032160491810453475 Centerline is valid? [True, True] Translation: X:-43.27, Y:-2.08, Z:0.94 [[ 9.99582838e-01 -2.77866214e-02 -7.87743780e-03 -4.32705634e+01] [ 2.77844146e-02 9.99613863e-01 -3.89465451e-04 -2.08467766e+00] [ 7.88521796e-03 1.70432983e-04 9.99968897e-01 9.42624995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165529293 meters 0.02796296314071008 Centerline is valid? [True, True] Translation: X:-43.33, Y:-2.09, Z:0.95 [[ 9.99498047e-01 -3.09634539e-02 -6.70217144e-03 -4.33288469e+01] [ 3.09619369e-02 9.99520510e-01 -3.30010875e-04 -2.09358019e+00] [ 6.70917609e-03 1.22333015e-04 9.99977486e-01 9.47317568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225529293 meters 0.028391683456446694 Centerline is valid? [True, True] Translation: X:-43.39, Y:-2.10, Z:0.95 [[ 9.99418982e-01 -3.36122935e-02 -5.64912885e-03 -4.33866947e+01] [ 3.36113059e-02 9.99434944e-01 -2.69694725e-04 -2.10396911e+00] [ 5.65500183e-03 7.96634300e-05 9.99984007e-01 9.52106739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285529293 meters 0.027130108115221242 Centerline is valid? [True, True] Translation: X:-43.45, Y:-2.09, Z:0.94 [[ 9.99472300e-01 -3.00033309e-02 -1.24467666e-02 -4.34481477e+01] [ 2.99980295e-02 9.99549770e-01 -6.12450115e-04 -2.09013848e+00] [ 1.24595383e-02 2.38748452e-04 9.99922348e-01 9.37145600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345529293 meters 0.027156746101844254 Centerline is valid? [True, True] Translation: X:-43.51, Y:-2.09, Z:0.95 [[ 9.99578681e-01 -2.67568733e-02 -1.12485740e-02 -4.35052722e+01] [ 2.67523800e-02 9.99641940e-01 -5.49757957e-04 -2.09310727e+00] [ 1.12592561e-02 2.48600209e-04 9.99936582e-01 9.46558800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405529293 meters 0.031322844902780714 Centerline is valid? [True, True] Translation: X:-43.57, Y:-2.07, Z:0.94 [[ 9.99785391e-01 -1.82914608e-02 -9.72598908e-03 -4.35666202e+01] [ 1.82876836e-02 9.99832652e-01 -4.77164068e-04 -2.07390361e+00] [ 9.73308949e-03 2.99195853e-04 9.99952588e-01 9.41304827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465529293 meters 0.029896277820423398 Centerline is valid? [True, True] Translation: X:-43.62, Y:-2.07, Z:0.94 [[ 9.99845571e-01 -1.62456851e-02 -6.70157920e-03 -4.36243826e+01] [ 1.62438660e-02 9.99868007e-01 -3.25787849e-04 -2.07401342e+00] [ 6.70598729e-03 2.16877983e-04 9.99977491e-01 9.43438499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525529293 meters 0.031433549709686856 Centerline is valid? [True, True] Translation: X:-43.69, Y:-2.07, Z:0.93 [[ 9.99696173e-01 -1.69721252e-02 -1.78747943e-02 -4.36854362e+01] [ 1.69591761e-02 9.99855799e-01 -8.75773385e-04 -2.06941680e+00] [ 1.78870805e-02 5.72365516e-04 9.99839850e-01 9.29455288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585529293 meters 0.028534787182780255 Centerline is valid? [True, True] Translation: X:-43.74, Y:-2.09, Z:0.95 [[ 9.99637854e-01 -2.33676759e-02 -1.33458882e-02 -4.37428355e+01] [ 2.33610436e-02 9.99726881e-01 -6.52654442e-04 -2.09051605e+00] [ 1.33574942e-02 3.40644210e-04 9.99910727e-01 9.46226565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645529293 meters 0.028572090541488068 Centerline is valid? [True, True] Translation: X:-43.80, Y:-2.08, Z:0.94 [[ 9.99604276e-01 -2.64015091e-02 -9.70836725e-03 -4.38035304e+01] [ 2.63981451e-02 9.99651396e-01 -4.74502186e-04 -2.07588480e+00] [ 9.71751044e-03 2.18031527e-04 9.99952760e-01 9.43361409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705529293000005 meters 0.030003643240498732 Centerline is valid? [True, True] Translation: X:-43.86, Y:-2.09, Z:0.95 [[ 9.99610226e-01 -2.52051174e-02 -1.20040919e-02 -4.38619849e+01] [ 2.51998948e-02 9.99682260e-01 -5.86146925e-04 -2.08786585e+00] [ 1.20150516e-02 2.83416608e-04 9.99927776e-01 9.51870792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765529293 meters 0.027804864249168157 Centerline is valid? [True, True] Translation: X:-43.92, Y:-2.08, Z:0.96 [[ 9.99585928e-01 -2.63924509e-02 -1.14634465e-02 -4.39192016e+01] [ 2.63878090e-02 9.99651627e-01 -5.56026696e-04 -2.08406131e+00] [ 1.14741279e-02 2.53301224e-04 9.99934138e-01 9.63012118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825529293 meters 0.02946829568716039 Centerline is valid? [True, True] Translation: X:-43.98, Y:-2.07, Z:0.95 [[ 9.99730969e-01 -2.09658561e-02 -9.92079846e-03 -4.39795665e+01] [ 2.09621840e-02 9.99780157e-01 -4.73992605e-04 -2.06809595e+00] [ 9.92855510e-03 2.65903483e-04 9.99950675e-01 9.50204585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885529293000005 meters 0.029510476165725916 Centerline is valid? [True, True] Translation: X:-44.04, Y:-2.08, Z:0.95 [[ 9.99628254e-01 -2.24131342e-02 -1.55243508e-02 -4.40385743e+01] [ 2.24041501e-02 9.99748712e-01 -7.52404045e-04 -2.08216775e+00] [ 1.55373135e-02 4.04314456e-04 9.99879207e-01 9.50283763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945529293 meters 0.02857502593065132 Centerline is valid? [True, True] Translation: X:-44.10, Y:-2.08, Z:0.97 [[ 9.99705518e-01 -2.32502978e-02 -6.94986023e-03 -4.40972767e+01] [ 2.32485118e-02 9.99729660e-01 -3.37676971e-04 -2.07891510e+00] [ 6.95583249e-03 1.76003624e-04 9.99975792e-01 9.67684345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005529293 meters 0.03227326895445652 Centerline is valid? [True, True] Translation: X:-44.16, Y:-2.08, Z:0.96 [[ 9.99671458e-01 -2.19976301e-02 -1.31560311e-02 -4.41571208e+01] [ 2.19911424e-02 9.99757962e-01 -6.37614970e-04 -2.07850999e+00] [ 1.31668729e-02 3.48089334e-04 9.99913252e-01 9.60964051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065529293000004 meters 0.029036678285897136 Centerline is valid? [True, True] Translation: X:-44.22, Y:-2.08, Z:0.97 [[ 9.99684707e-01 -2.30061382e-02 -1.00600526e-02 -4.42159088e+01] [ 2.30024137e-02 9.99735291e-01 -4.85792498e-04 -2.08177451e+00] [ 1.00685658e-02 2.54233839e-04 9.99949278e-01 9.65934130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125529293 meters 0.029505836354096485 Centerline is valid? [True, True] Translation: X:-44.27, Y:-2.08, Z:0.97 [[ 9.99643532e-01 -2.44233056e-02 -1.07847527e-02 -4.42738070e+01] [ 2.44191288e-02 9.99701674e-01 -5.18822142e-04 -2.08458353e+00] [ 1.07942067e-02 2.55282933e-04 9.99941708e-01 9.70849901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185529293 meters 0.029664229285398278 Centerline is valid? [True, True] Translation: X:-44.33, Y:-2.08, Z:0.97 [[ 9.99657821e-01 -2.21853703e-02 -1.38582055e-02 -4.43339451e+01] [ 2.21782180e-02 9.99753809e-01 -6.69594474e-04 -2.08077238e+00] [ 1.38696489e-02 3.62015051e-04 9.99903746e-01 9.68619208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245529293000004 meters 0.03009220212144603 Centerline is valid? [True, True] Translation: X:-44.39, Y:-2.08, Z:0.97 [[ 9.99687076e-01 -2.28238094e-02 -1.02383145e-02 -4.43945972e+01] [ 2.28199347e-02 9.99739469e-01 -4.95130453e-04 -2.07713994e+00] [ 1.02469478e-02 2.61337848e-04 9.99947465e-01 9.70076834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305529293 meters 0.02997774166092663 Centerline is valid? [True, True] Translation: X:-44.45, Y:-2.09, Z:0.98 [[ 9.99791560e-01 -1.79583085e-02 -9.71261065e-03 -4.44514085e+01] [ 1.79546294e-02 9.99838694e-01 -4.65858046e-04 -2.08686288e+00] [ 9.71940997e-03 2.91374618e-04 9.99952723e-01 9.80606946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365529293 meters 0.030532923516185986 Centerline is valid? [True, True] Translation: X:-44.51, Y:-2.08, Z:0.99 [[ 9.99823666e-01 -1.71345315e-02 -7.68407817e-03 -4.45099330e+01] [ 1.71322151e-02 9.99853165e-01 -3.67185754e-04 -2.07797365e+00] [ 7.68924144e-03 2.35475727e-04 9.99970410e-01 9.86094420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425529293000004 meters 0.031468525379596005 Centerline is valid? [True, True] Translation: X:-44.57, Y:-2.08, Z:0.98 [[ 9.99829637e-01 -1.62691805e-02 -8.71840830e-03 -4.45685753e+01] [ 1.62662274e-02 9.99867612e-01 -4.09533535e-04 -2.08321619e+00] [ 8.72391686e-03 2.67648154e-04 9.99961910e-01 9.79416794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485529293 meters 0.030055303880418088 Centerline is valid? [True, True] Translation: X:-44.63, Y:-2.10, Z:0.99 [[ 9.99732297e-01 -2.01790146e-02 -1.13199837e-02 -4.46259217e+01] [ 2.01742090e-02 9.99796335e-01 -5.38566321e-04 -2.09695487e+00] [ 1.13285459e-02 3.10050429e-04 9.99935782e-01 9.88883567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545529293 meters 0.02868125683649511 Centerline is valid? [True, True] Translation: X:-44.69, Y:-2.10, Z:0.99 [[ 9.99658691e-01 -2.52195404e-02 -6.81730652e-03 -4.46856533e+01] [ 2.52179082e-02 9.99681925e-01 -3.25286770e-04 -2.09994238e+00] [ 6.82334168e-03 1.53257536e-04 9.99976709e-01 9.92838022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605529293000004 meters 0.02945299358477154 Centerline is valid? [True, True] Translation: X:-44.75, Y:-2.10, Z:0.99 [[ 9.99694574e-01 -2.25584700e-02 -1.00932958e-02 -4.47457839e+01] [ 2.25547636e-02 9.99745493e-01 -4.80904730e-04 -2.10136663e+00] [ 1.01015754e-02 2.53105949e-04 9.99948946e-01 9.90085138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665529293 meters 0.0297030325976825 Centerline is valid? [True, True] Translation: X:-44.80, Y:-2.10, Z:1.00 [[ 9.99825664e-01 -1.74386859e-02 -6.67330913e-03 -4.48025071e+01] [ 1.74369796e-02 9.99847915e-01 -3.13786797e-04 -2.10392954e+00] [ 6.67776625e-03 1.97369737e-04 9.99977684e-01 1.00360005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725529293 meters 0.029974529139929762 Centerline is valid? [True, True] Translation: X:-44.86, Y:-2.11, Z:1.00 [[ 9.99868936e-01 -1.48789522e-02 -6.38183695e-03 -4.48618642e+01] [ 1.48773741e-02 9.99889282e-01 -2.94674019e-04 -2.10541307e+00] [ 6.38551481e-03 1.99690422e-04 9.99979592e-01 9.99897805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785529293 meters 0.030349607755159044 Centerline is valid? [True, True] Translation: X:-44.92, Y:-2.12, Z:1.01 [[ 9.99888624e-01 -1.41439580e-02 -4.76324376e-03 -4.49195549e+01] [ 1.41430887e-02 9.99899958e-01 -2.16152115e-04 -2.11648209e+00] [ 4.76582448e-03 1.48761062e-04 9.99988632e-01 1.00996455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845529293 meters 0.030776555057004062 Centerline is valid? [True, True] Translation: X:-44.98, Y:-2.11, Z:1.00 [[ 9.99869979e-01 -1.44148563e-02 -7.22753271e-03 -4.49787111e+01] [ 1.44127907e-02 9.99896073e-01 -3.37803560e-04 -2.11268178e+00] [ 7.23165097e-03 2.33590722e-04 9.99973824e-01 1.00408611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905529293 meters 0.02967596196803861 Centerline is valid? [True, True] Translation: X:-45.04, Y:-2.13, Z:1.00 [[ 9.99804421e-01 -1.77373022e-02 -8.74692989e-03 -4.50362018e+01] [ 1.77344270e-02 9.99842650e-01 -4.06168337e-04 -2.12863367e+00] [ 8.75275789e-03 2.50967109e-04 9.99961662e-01 1.00273429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965529293 meters 0.028699033500426182 Centerline is valid? [True, True] Translation: X:-45.09, Y:-2.13, Z:1.02 [[ 9.99836139e-01 -1.79859913e-02 2.04940772e-03 -4.50944307e+01] [ 1.79858331e-02 9.99838237e-01 9.55964094e-05 -2.13275446e+00] [-2.05079560e-03 -5.87204396e-05 9.99997895e-01 1.02317828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025529293 meters 0.029982013468174484 Centerline is valid? [True, True] Translation: X:-45.16, Y:-2.13, Z:1.01 [[ 9.99835977e-01 -1.61548112e-02 -8.18781152e-03 -4.51550424e+01] [ 1.61522149e-02 9.99869471e-01 -3.83123347e-04 -2.13287954e+00] [ 8.19293206e-03 2.50809215e-04 9.99966406e-01 1.00769613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085529293 meters 0.029974237016101375 Centerline is valid? [True, True] Translation: X:-45.21, Y:-2.15, Z:1.02 [[ 9.99875535e-01 -1.52421414e-02 -4.07324024e-03 -4.52135422e+01] [ 1.52414947e-02 9.99883824e-01 -1.89773496e-04 -2.14773059e+00] [ 4.07565958e-03 1.27667606e-04 9.99991686e-01 1.01845019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145529293 meters 0.030542877113274997 Centerline is valid? [True, True] Translation: X:-45.27, Y:-2.13, Z:1.02 [[ 9.99880255e-01 -1.43940225e-02 -5.68222484e-03 -4.52733092e+01] [ 1.43927925e-02 9.99896385e-01 -2.57301029e-04 -2.13473049e+00] [ 5.68533968e-03 1.75487135e-04 9.99983823e-01 1.01742470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205529293000005 meters 0.029624385450424874 Centerline is valid? [True, True] Translation: X:-45.33, Y:-2.15, Z:1.02 [[ 9.99851694e-01 -1.68077927e-02 -3.75344611e-03 -4.53310484e+01] [ 1.68072612e-02 9.99858733e-01 -1.73091148e-04 -2.15199572e+00] [ 3.75582515e-03 1.09980328e-04 9.99992941e-01 1.01940479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265529293 meters 0.029428015433346378 Centerline is valid? [True, True] Translation: X:-45.39, Y:-2.15, Z:1.02 [[ 9.99797544e-01 -1.91687805e-02 -6.11792724e-03 -4.53896985e+01] [ 1.91674565e-02 9.99816250e-01 -2.74972575e-04 -2.15236905e+00] [ 6.12207396e-03 1.57651801e-04 9.99981248e-01 1.02028831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325529293 meters 0.030306414315219014 Centerline is valid? [True, True] Translation: X:-45.45, Y:-2.15, Z:1.01 [[ 9.99704049e-01 -2.21489761e-02 -1.00616950e-02 -4.54490823e+01] [ 2.21454369e-02 9.99754653e-01 -4.63041413e-04 -2.15315865e+00] [ 1.00694823e-02 2.40083743e-04 9.99949273e-01 1.00536942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385529293000005 meters 0.028105928181063704 Centerline is valid? [True, True] Translation: X:-45.51, Y:-2.16, Z:1.02 [[ 9.99619516e-01 -2.65174098e-02 -7.59277064e-03 -4.55077496e+01] [ 2.65155177e-02 9.99648341e-01 -3.49772410e-04 -2.16144788e+00] [ 7.59937562e-03 1.48313083e-04 9.99971113e-01 1.01786965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445529293 meters 0.02807372607364129 Centerline is valid? [True, True] Translation: X:-45.57, Y:-2.17, Z:1.02 [[ 9.99593952e-01 -2.75856138e-02 -7.13898276e-03 -4.55663027e+01] [ 2.75840341e-02 9.99619437e-01 -3.19664683e-04 -2.16854978e+00] [ 7.14508408e-03 1.22612939e-04 9.99974466e-01 1.01519476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505529293 meters 0.028017565474195743 Centerline is valid? [True, True] Translation: X:-45.62, Y:-2.18, Z:1.02 [[ 9.99552846e-01 -2.90681988e-02 -7.01056117e-03 -4.56234162e+01] [ 2.90666790e-02 9.99577424e-01 -3.18610294e-04 -2.17634267e+00] [ 7.01686010e-03 1.14694095e-04 9.99975375e-01 1.02258079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565529293000004 meters 0.02871784986816128 Centerline is valid? [True, True] Translation: X:-45.68, Y:-2.17, Z:1.02 [[ 9.99645220e-01 -2.61115663e-02 -5.25544393e-03 -4.56827614e+01] [ 2.61107114e-02 9.99659031e-01 -2.31243162e-04 -2.16557593e+00] [ 5.25969010e-03 9.39377423e-05 9.99986163e-01 1.02005000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625529293 meters 0.029180132563011305 Centerline is valid? [True, True] Translation: X:-45.74, Y:-2.17, Z:1.03 [[ 9.99778037e-01 -1.98305403e-02 -7.11519974e-03 -4.57418523e+01] [ 1.98287429e-02 9.99803339e-01 -3.23079348e-04 -2.17005668e+00] [ 7.12020729e-03 1.81922171e-04 9.99974634e-01 1.02553234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685529293 meters 0.030093475702817157 Centerline is valid? [True, True] Translation: X:-45.80, Y:-2.16, Z:1.02 [[ 9.99813547e-01 -1.78156746e-02 -7.44800846e-03 -4.58013092e+01] [ 1.78137182e-02 9.99841269e-01 -3.28932331e-04 -2.15930350e+00] [ 7.45268638e-03 1.96194277e-04 9.99972209e-01 1.01757678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745529293000004 meters 0.029897427377012134 Centerline is valid? [True, True] Translation: X:-45.86, Y:-2.15, Z:1.01 [[ 9.99814310e-01 -1.71201924e-02 -8.84557044e-03 -4.58597564e+01] [ 1.71173645e-02 9.99853409e-01 -3.95310644e-04 -2.15385711e+00] [ 8.85104156e-03 2.43824386e-04 9.99960799e-01 1.01265828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805529293 meters 0.02908633398113246 Centerline is valid? [True, True] Translation: X:-45.92, Y:-2.17, Z:1.02 [[ 9.99758730e-01 -2.01118476e-02 -8.83147967e-03 -4.59177981e+01] [ 2.01092007e-02 9.99797714e-01 -3.88425461e-04 -2.16576917e+00] [ 8.83750514e-03 2.10737749e-04 9.99960926e-01 1.01954811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865529293 meters 0.028712658967541427 Centerline is valid? [True, True] Translation: X:-45.98, Y:-2.16, Z:1.02 [[ 9.99705507e-01 -2.32100551e-02 -7.08466348e-03 -4.59780843e+01] [ 2.32083925e-02 9.99730599e-01 -3.16812099e-04 -2.15998152e+00] [ 7.09010809e-03 1.52295150e-04 9.99974853e-01 1.01509302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925529293000004 meters 0.02938813316784906 Centerline is valid? [True, True] Translation: X:-46.04, Y:-2.17, Z:1.01 [[ 9.99727847e-01 -2.06266469e-02 -1.08983444e-02 -4.60382854e+01] [ 2.06225472e-02 9.99787213e-01 -4.88434802e-04 -2.16575569e+00] [ 1.09061002e-02 2.63550250e-04 9.99940492e-01 1.01478591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985529293 meters 0.02859624883315132 Centerline is valid? [True, True] Translation: X:-46.10, Y:-2.17, Z:1.02 [[ 9.99664808e-01 -2.47055391e-02 -7.73996177e-03 -4.60988247e+01] [ 2.47035904e-02 9.99694759e-01 -3.47294261e-04 -2.16562012e+00] [ 7.74617931e-03 1.55973006e-04 9.99969986e-01 1.02084481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045529293 meters 0.02895793969668576 Centerline is valid? [True, True] Translation: X:-46.16, Y:-2.16, Z:1.03 [[ 9.99760353e-01 -2.14703501e-02 -4.27325029e-03 -4.61574509e+01] [ 2.14697407e-02 9.99769481e-01 -1.88416982e-04 -2.15744990e+00] [ 4.27631061e-03 9.66262523e-05 9.99990852e-01 1.02715425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105529293000004 meters 0.028850008564114602 Centerline is valid? [True, True] Translation: X:-46.22, Y:-2.16, Z:1.02 [[ 9.99754024e-01 -2.03378012e-02 -8.84681900e-03 -4.62178559e+01] [ 2.03351049e-02 9.99793142e-01 -3.94628392e-04 -2.15988571e+00] [ 8.85301485e-03 2.14630329e-04 9.99960788e-01 1.01763290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165529293 meters 0.02948835584714935 Centerline is valid? [True, True] Translation: X:-46.28, Y:-2.15, Z:1.01 [[ 9.99769620e-01 -1.89083803e-02 -1.01577519e-02 -4.62773240e+01] [ 1.89047696e-02 9.99821187e-01 -4.51372935e-04 -2.15363969e+00] [ 1.01644703e-02 2.59238989e-04 9.99948307e-01 1.01470515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225529293 meters 0.029750324344936532 Centerline is valid? [True, True] Translation: X:-46.34, Y:-2.15, Z:1.01 [[ 9.99826502e-01 -1.56969481e-02 -1.00284995e-02 -4.63353730e+01] [ 1.56932818e-02 9.99876754e-01 -4.44185042e-04 -2.14702005e+00] [ 1.00342359e-02 2.86727908e-04 9.99949615e-01 1.01412836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285529293 meters 0.02966955396487178 Centerline is valid? [True, True] Translation: X:-46.39, Y:-2.16, Z:1.02 [[ 9.99821612e-01 -1.56616670e-02 -1.05573229e-02 -4.63933903e+01] [ 1.56576848e-02 9.99877305e-01 -4.59753421e-04 -2.15905186e+00] [ 1.05632281e-02 2.94368172e-04 9.99944164e-01 1.02229988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345529293 meters 0.029622735740703753 Centerline is valid? [True, True] Translation: X:-46.45, Y:-2.15, Z:1.03 [[ 9.99851990e-01 -1.49875257e-02 -8.44823503e-03 -4.64520300e+01] [ 1.49849274e-02 9.99887651e-01 -3.70771242e-04 -2.15191744e+00] [ 8.45284282e-03 2.44120175e-04 9.99964244e-01 1.02523837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405529293 meters 0.029405935496952956 Centerline is valid? [True, True] Translation: X:-46.51, Y:-2.15, Z:1.03 [[ 9.99813584e-01 -1.47368644e-02 -1.24748591e-02 -4.65107838e+01] [ 1.47311456e-02 9.99891339e-01 -5.50196361e-04 -2.15492659e+00] [ 1.24816117e-02 3.66324831e-04 9.99922035e-01 1.02834086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465529293 meters 0.02998708876274377 Centerline is valid? [True, True] Translation: X:-46.57, Y:-2.15, Z:1.02 [[ 9.99830998e-01 -1.42252956e-02 -1.16454163e-02 -4.65698702e+01] [ 1.42204000e-02 9.99898758e-01 -5.03082459e-04 -2.15303252e+00] [ 1.16513938e-02 3.37394959e-04 9.99932063e-01 1.02104630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525529293000005 meters 0.03140388099540464 Centerline is valid? [True, True] Translation: X:-46.63, Y:-2.15, Z:1.02 [[ 9.99751376e-01 -1.17744626e-02 -1.89353522e-02 -4.66301661e+01] [ 1.17608230e-02 9.99930493e-01 -8.31528177e-04 -2.15233902e+00] [ 1.89438268e-02 6.08626115e-04 9.99820364e-01 1.02074493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585529293 meters 0.030830524651800775 Centerline is valid? [True, True] Translation: X:-46.69, Y:-2.15, Z:1.03 [[ 9.99910504e-01 -8.26674101e-03 -1.05187506e-02 -4.66892620e+01] [ 8.26234877e-03 9.99965760e-01 -4.60951580e-04 -2.15283500e+00] [ 1.05222010e-02 3.74000741e-04 9.99944570e-01 1.03322789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645529293 meters 0.03088282901732967 Centerline is valid? [True, True] Translation: X:-46.75, Y:-2.17, Z:1.04 [[ 9.99867371e-01 -1.23396515e-02 -1.06288791e-02 -4.67482011e+01] [ 1.23354046e-02 9.99923808e-01 -4.65026546e-04 -2.16801375e+00] [ 1.06338075e-02 3.33853346e-04 9.99943404e-01 1.03587931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705529293000005 meters 0.03055100736482114 Centerline is valid? [True, True] Translation: X:-46.81, Y:-2.18, Z:1.05 [[ 9.99860229e-01 -1.57590087e-02 -5.58364472e-03 -4.68069174e+01] [ 1.57578905e-02 9.99875807e-01 -2.44194436e-04 -2.18088387e+00] [ 5.58679954e-03 1.56173842e-04 9.99984382e-01 1.05072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765529293 meters 0.03009180896814781 Centerline is valid? [True, True] Translation: X:-46.87, Y:-2.18, Z:1.04 [[ 9.99746391e-01 -1.73721147e-02 -1.43305167e-02 -4.68681420e+01] [ 1.73648951e-02 9.99849022e-01 -6.28077938e-04 -2.18005222e+00] [ 1.43392642e-02 3.79070732e-04 9.99897116e-01 1.04000407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825529293 meters 0.030720853950280045 Centerline is valid? [True, True] Translation: X:-46.93, Y:-2.19, Z:1.05 [[ 9.99821808e-01 -1.06975220e-02 -1.55536015e-02 -4.69267655e+01] [ 1.06882282e-02 9.99942648e-01 -6.80536695e-04 -2.18682883e+00] [ 1.55599895e-02 5.14174987e-04 9.99878804e-01 1.04757888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885529293000005 meters 0.03592506555714656 Centerline is valid? [True, True] Translation: X:-46.99, Y:-2.16, Z:1.03 [[ 9.99735201e-01 1.16478568e-03 -2.29819886e-02 -4.69890455e+01] [-1.18822327e-03 9.99998788e-01 -1.00619478e-03 -2.16172302e+00] [ 2.29807888e-02 1.03323608e-03 9.99735373e-01 1.03178970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945529293 meters 0.04122770616372403 Centerline is valid? [True, True] Translation: X:-47.05, Y:-2.17, Z:1.04 [[ 9.99734637e-01 1.21758559e-02 -1.95551359e-02 -4.70485757e+01] [-1.21949033e-02 9.99925274e-01 -8.55078268e-04 -2.17185841e+00] [ 1.95432634e-02 1.09332435e-03 9.99808414e-01 1.03535219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005529293 meters 0.03831136056488703 Centerline is valid? [True, True] Translation: X:-47.10, Y:-2.20, Z:1.05 [[ 9.99734139e-01 1.49615376e-02 -1.75443161e-02 -4.71048467e+01] [-1.49771909e-02 9.99887546e-01 -7.61158385e-04 -2.19729317e+00] [ 1.75309551e-02 1.02372059e-03 9.99845797e-01 1.05324011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065529293000004 meters 0.03983011621588666 Centerline is valid? [True, True] Translation: X:-47.16, Y:-2.24, Z:1.05 [[ 9.99647770e-01 1.80890089e-02 -1.94196895e-02 -4.71638868e+01] [-1.81088646e-02 9.99835662e-01 -8.47072393e-04 -2.24118283e+00] [ 1.94011754e-02 1.19844255e-03 9.99811061e-01 1.05023184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125529293 meters 0.042463389010893526 Centerline is valid? [True, True] Translation: X:-47.22, Y:-2.27, Z:1.05 [[ 9.99506589e-01 2.26720480e-02 -2.17383586e-02 -4.72230826e+01] [-2.26979997e-02 9.99741918e-01 -9.47793752e-04 -2.27013730e+00] [ 2.17112599e-02 1.44074336e-03 9.99763245e-01 1.05322343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185529293 meters 0.043575361175188704 Centerline is valid? [True, True] Translation: X:-47.28, Y:-2.31, Z:1.06 [[ 9.99335118e-01 2.64864252e-02 -2.50557727e-02 -4.72817098e+01] [-2.65220774e-02 9.99647632e-01 -1.09160808e-03 -2.31289545e+00] [ 2.50180311e-02 1.75541343e-03 9.99685459e-01 1.05729924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245529293000004 meters 0.04066425955079534 Centerline is valid? [True, True] Translation: X:-47.34, Y:-2.37, Z:1.08 [[ 9.99661625e-01 2.07861731e-02 -1.56387601e-02 -4.73388054e+01] [-2.07993715e-02 9.99783437e-01 -6.81758106e-04 -2.37248613e+00] [ 1.56212021e-02 1.00680380e-03 9.99877475e-01 1.08392736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305529293 meters 0.042659187579928544 Centerline is valid? [True, True] Translation: X:-47.40, Y:-2.42, Z:1.08 [[ 9.99675636e-01 1.46658288e-02 -2.08215115e-02 -4.73960686e+01] [-1.46878457e-02 9.99891718e-01 -9.04872036e-04 -2.41667182e+00] [ 2.08059862e-02 1.21040168e-03 9.99782799e-01 1.08316953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365529293 meters 0.04059796221025376 Centerline is valid? [True, True] Translation: X:-47.45, Y:-2.45, Z:1.09 [[ 9.99582082e-01 1.75913282e-02 -2.29391999e-02 -4.74541508e+01] [-1.76188347e-02 9.99844279e-01 -9.97529408e-04 -2.44650795e+00] [ 2.29180799e-02 1.40127449e-03 9.99736364e-01 1.08762353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425529293000004 meters 0.04382989063488666 Centerline is valid? [True, True] Translation: X:-47.51, Y:-2.47, Z:1.08 [[ 9.99468953e-01 1.82428810e-02 -2.70001582e-02 -4.75139043e+01] [-1.82812364e-02 9.99832195e-01 -1.17437954e-03 -2.47492628e+00] [ 2.69742033e-02 1.66735217e-03 9.99634739e-01 1.07853819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485529293 meters 0.041610967262742715 Centerline is valid? [True, True] Translation: X:-47.57, Y:-2.50, Z:1.10 [[ 9.99611917e-01 1.89193382e-02 -2.04468565e-02 -4.75711934e+01] [-1.89414557e-02 9.99820200e-01 -8.88565823e-04 -2.50148867e+00] [ 2.04263690e-02 1.27551421e-03 9.99790546e-01 1.10474625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545529293 meters 0.04303130652830526 Centerline is valid? [True, True] Translation: X:-47.63, Y:-2.53, Z:1.10 [[ 9.99628123e-01 1.71655364e-02 -2.11886825e-02 -4.76291948e+01] [-1.71886275e-02 9.99851852e-01 -9.08128500e-04 -2.52728974e+00] [ 2.11699550e-02 1.27199516e-03 9.99775082e-01 1.10184345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605529293000004 meters 0.04094406641341405 Centerline is valid? [True, True] Translation: X:-47.69, Y:-2.56, Z:1.11 [[ 9.99609998e-01 1.46275909e-02 -2.37883618e-02 -4.76864608e+01] [-1.46558732e-02 9.99892082e-01 -1.01499533e-03 -2.55633004e+00] [ 2.37709477e-02 1.36323870e-03 9.99716502e-01 1.10650051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665529293 meters 0.040914579172275777 Centerline is valid? [True, True] Translation: X:-47.75, Y:-2.57, Z:1.10 [[ 9.99673067e-01 1.32980498e-02 -2.18385040e-02 -4.77465830e+01] [-1.33217262e-02 9.99910821e-01 -9.39031201e-04 -2.57042152e+00] [ 2.18240691e-02 1.22965077e-03 9.99761070e-01 1.10041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725529293 meters 0.044863285581421046 Centerline is valid? [True, True] Translation: X:-47.80, Y:-2.59, Z:1.10 [[ 9.99673403e-01 1.07676804e-02 -2.31763814e-02 -4.78042034e+01] [-1.07935591e-02 9.99941256e-01 -9.91787992e-04 -2.58583578e+00] [ 2.31643406e-02 1.24161972e-03 9.99730900e-01 1.10091672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785529293 meters 0.04016140990643204 Centerline is valid? [True, True] Translation: X:-47.86, Y:-2.61, Z:1.10 [[ 9.99708514e-01 1.05014684e-02 -2.17395194e-02 -4.78619521e+01] [-1.05241450e-02 9.99944188e-01 -9.28955381e-04 -2.60556528e+00] [ 2.17285507e-02 1.15747446e-03 9.99763237e-01 1.10409379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845529293 meters 0.040150714090298543 Centerline is valid? [True, True] Translation: X:-47.92, Y:-2.62, Z:1.10 [[ 9.99703775e-01 1.23376573e-02 -2.09796077e-02 -4.79200949e+01] [-1.23589559e-02 9.99923233e-01 -8.85846360e-04 -2.61687447e+00] [ 2.09670679e-02 1.14487000e-03 9.99779511e-01 1.10314041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905529293 meters 0.04067613348071694 Centerline is valid? [True, True] Translation: X:-47.98, Y:-2.63, Z:1.10 [[ 9.99604934e-01 1.37284851e-02 -2.45256087e-02 -4.79797508e+01] [-1.37582279e-02 9.99904806e-01 -1.04439212e-03 -2.62998974e+00] [ 2.45089361e-02 1.38140843e-03 9.99698656e-01 1.09962815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965529293 meters 0.04010164072742132 Centerline is valid? [True, True] Translation: X:-48.04, Y:-2.64, Z:1.11 [[ 9.99737421e-01 1.11813812e-02 -2.00016440e-02 -4.80394033e+01] [-1.12006451e-02 9.99936908e-01 -8.51345293e-04 -2.63964526e+00] [ 1.99908629e-02 1.07515306e-03 9.99799585e-01 1.10562956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025529293000005 meters 0.0423518665380178 Centerline is valid? [True, True] Translation: X:-48.10, Y:-2.63, Z:1.10 [[ 9.99788531e-01 1.18242538e-02 -1.68249980e-02 -4.80997159e+01] [-1.18379507e-02 9.99929674e-01 -7.14716949e-04 -2.63440967e+00] [ 1.68153638e-02 9.13739306e-04 9.99858194e-01 1.10078366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085529293 meters 0.04027206372917505 Centerline is valid? [True, True] Translation: X:-48.16, Y:-2.66, Z:1.09 [[ 9.99629601e-01 7.84563870e-03 -2.60596835e-02 -4.81588967e+01] [-7.87716784e-03 9.99968361e-01 -1.10744499e-03 -2.65830205e+00] [ 2.60501704e-02 1.31231130e-03 9.99659775e-01 1.08904597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145529293 meters 0.03802119750659418 Centerline is valid? [True, True] Translation: X:-48.22, Y:-2.66, Z:1.10 [[ 9.99810385e-01 6.55669918e-03 -1.83358850e-02 -4.82174561e+01] [-6.57207090e-03 9.99978101e-01 -7.78208376e-04 -2.66012095e+00] [ 1.83303810e-02 8.98565552e-04 9.99831581e-01 1.10343881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205529293000005 meters 0.03878982419458428 Centerline is valid? [True, True] Translation: X:-48.28, Y:-2.67, Z:1.10 [[ 9.99717494e-01 8.22806018e-03 -2.22986953e-02 -4.82778027e+01] [-8.25122904e-03 9.99965509e-01 -9.47213787e-04 -2.67362170e+00] [ 2.22901325e-02 1.13093784e-03 9.99750904e-01 1.09590659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265529293 meters 0.03907764173050281 Centerline is valid? [True, True] Translation: X:-48.34, Y:-2.68, Z:1.09 [[ 9.99676688e-01 7.49245114e-03 -2.42977883e-02 -4.83369268e+01] [-7.51943660e-03 9.99971209e-01 -1.01943687e-03 -2.67782939e+00] [ 2.42894507e-02 1.20181295e-03 9.99704245e-01 1.09325199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325529293 meters 0.0401735403236739 Centerline is valid? [True, True] Translation: X:-48.40, Y:-2.67, Z:1.09 [[ 9.99810130e-01 5.41310439e-03 -1.87190603e-02 -4.83977965e+01] [-5.42886317e-03 9.99984951e-01 -7.91143290e-04 -2.67219235e+00] [ 1.87144961e-02 8.92616292e-04 9.99824470e-01 1.09216641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385529293000005 meters 0.03849792863665483 Centerline is valid? [True, True] Translation: X:-48.46, Y:-2.69, Z:1.09 [[ 9.99841919e-01 5.63691764e-03 -1.68630273e-02 -4.84557830e+01] [-5.64969533e-03 9.99983788e-01 -7.10190626e-04 -2.68902522e+00] [ 1.68587506e-02 8.05349325e-04 9.99857557e-01 1.09434755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445529293 meters 0.038068198596364615 Centerline is valid? [True, True] Translation: X:-48.51, Y:-2.69, Z:1.08 [[ 9.99842384e-01 3.97370824e-03 -1.73036888e-02 -4.85149259e+01] [-3.98673847e-03 9.99991795e-01 -7.18601880e-04 -2.69057981e+00] [ 1.73006913e-02 7.87473898e-04 9.99850022e-01 1.08078084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505529293 meters 0.03753216099556871 Centerline is valid? [True, True] Translation: X:-48.58, Y:-2.69, Z:1.09 [[ 9.99867529e-01 1.31866616e-03 -1.62229938e-02 -4.85751817e+01] [-1.32988810e-03 9.99998884e-01 -6.80962010e-04 -2.69317280e+00] [ 1.62220778e-02 7.02446569e-04 9.99868167e-01 1.08582003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565529293000004 meters 0.03566383422183634 Centerline is valid? [True, True] Translation: X:-48.63, Y:-2.70, Z:1.09 [[ 9.99890022e-01 -2.08893159e-03 -1.46826251e-02 -4.86343620e+01] [ 2.08011819e-03 9.99997647e-01 -6.15506811e-04 -2.70051233e+00] [ 1.46838763e-02 5.84897523e-04 9.99892015e-01 1.08943470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625529293 meters 0.035535823433509126 Centerline is valid? [True, True] Translation: X:-48.69, Y:-2.70, Z:1.10 [[ 9.99899794e-01 -2.51950624e-03 -1.39303337e-02 -4.86929303e+01] [ 2.51176252e-03 9.99996681e-01 -5.73356726e-04 -2.69930159e+00] [ 1.39317321e-02 5.38309582e-04 9.99902804e-01 1.09615941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685529293 meters 0.03754823768431373 Centerline is valid? [True, True] Translation: X:-48.75, Y:-2.69, Z:1.08 [[ 9.99830532e-01 -1.80961858e-03 -1.83202625e-02 -4.87543824e+01] [ 1.79592395e-03 9.99998096e-01 -7.63937489e-04 -2.68836108e+00] [ 1.83216100e-02 7.30906228e-04 9.99831878e-01 1.08075155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745529293000004 meters 0.035848713623753053 Centerline is valid? [True, True] Translation: X:-48.81, Y:-2.69, Z:1.10 [[ 9.99917180e-01 -4.51576586e-03 -1.20516296e-02 -4.88123976e+01] [ 4.51003426e-03 9.99989703e-01 -5.02722174e-04 -2.69363468e+00] [ 1.20537757e-02 4.48327276e-04 9.99927250e-01 1.10099145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805529293 meters 0.03550158581128641 Centerline is valid? [True, True] Translation: X:-48.87, Y:-2.68, Z:1.10 [[ 9.99936533e-01 -2.70246243e-03 -1.09373742e-02 -4.88712314e+01] [ 2.69769566e-03 9.99996260e-01 -4.50554292e-04 -2.68273277e+00] [ 1.09385509e-02 4.21019990e-04 9.99940084e-01 1.09689005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865529293 meters 0.03555121818178739 Centerline is valid? [True, True] Translation: X:-48.93, Y:-2.68, Z:1.10 [[ 9.99956796e-01 -3.30207293e-03 -8.68919222e-03 -4.89311107e+01] [ 3.29907024e-03 9.99994493e-01 -3.59876961e-04 -2.68083222e+00] [ 8.69033271e-03 3.31195157e-04 9.99962183e-01 1.09614797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925529293000004 meters 0.036644924561810496 Centerline is valid? [True, True] Translation: X:-48.99, Y:-2.67, Z:1.09 [[ 9.99929693e-01 -1.73782653e-03 -1.17298293e-02 -4.89909754e+01] [ 1.73224683e-03 9.99998382e-01 -4.85828277e-04 -2.67044576e+00] [ 1.17306546e-02 4.65475160e-04 9.99931085e-01 1.08907852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985529293 meters 0.036705826057352134 Centerline is valid? [True, True] Translation: X:-49.05, Y:-2.66, Z:1.09 [[ 9.99956123e-01 -6.65676353e-04 -9.34388805e-03 -4.90499769e+01] [ 6.62175007e-04 9.99999709e-01 -3.77809239e-04 -2.66092490e+00] [ 9.34413683e-03 3.71605373e-04 9.99956274e-01 1.08617638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045529293 meters 0.03553457144407328 Centerline is valid? [True, True] Translation: X:-49.11, Y:-2.66, Z:1.09 [[ 9.99945328e-01 -3.45745102e-03 -9.86844118e-03 -4.91080777e+01] [ 3.45362805e-03 9.99993954e-01 -4.04408948e-04 -2.65991606e+00] [ 9.86977975e-03 3.70304913e-04 9.99951224e-01 1.08871369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105529293000004 meters 0.0343023970189792 Centerline is valid? [True, True] Translation: X:-49.17, Y:-2.66, Z:1.09 [[ 9.99936978e-01 -7.56437664e-03 -8.29582179e-03 -4.91674376e+01] [ 7.56181249e-03 9.99971351e-01 -3.40412339e-04 -2.66058083e+00] [ 8.29815914e-03 2.77659437e-04 9.99965531e-01 1.08653486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165529293 meters 0.03452878934933979 Centerline is valid? [True, True] Translation: X:-49.23, Y:-2.66, Z:1.09 [[ 9.99937687e-01 -9.47718122e-03 -5.89961578e-03 -4.92269138e+01] [ 9.47592479e-03 9.99955073e-01 -2.40885134e-04 -2.65603755e+00] [ 5.90163364e-03 1.84965809e-04 9.99982568e-01 1.08721577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225529293 meters 0.03453021940405579 Centerline is valid? [True, True] Translation: X:-49.29, Y:-2.65, Z:1.08 [[ 9.99924241e-01 -9.25188117e-03 -8.11880648e-03 -4.92865313e+01] [ 9.24954661e-03 9.99957169e-01 -3.25052512e-04 -2.65470511e+00] [ 8.12146609e-03 2.49932607e-04 9.99966989e-01 1.07908790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285529293 meters 0.034096226127886264 Centerline is valid? [True, True] Translation: X:-49.34, Y:-2.63, Z:1.09 [[ 9.99979853e-01 -5.15147903e-03 -3.70889132e-03 -4.93449896e+01] [ 5.15096963e-03 9.99986723e-01 -1.46884125e-04 -2.63124233e+00] [ 3.70959875e-03 1.27776779e-04 9.99993111e-01 1.09276182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345529293000006 meters 0.036321110835151216 Centerline is valid? [True, True] Translation: X:-49.41, Y:-2.62, Z:1.07 [[ 9.99968984e-01 2.92824865e-04 -7.87058548e-03 -4.94064950e+01] [-2.95346739e-04 9.99999905e-01 -3.19257187e-04 -2.62026551e+00] [ 7.87049125e-03 3.21571836e-04 9.99968975e-01 1.07054866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405529293 meters 0.03690898014774695 Centerline is valid? [True, True] Translation: X:-49.47, Y:-2.60, Z:1.07 [[ 9.99965160e-01 3.96765810e-03 -7.34419978e-03 -4.94657838e+01] [-3.96994669e-03 9.99992076e-01 -2.97066855e-04 -2.60171596e+00] [ 7.34296292e-03 3.26212587e-04 9.99972987e-01 1.07243078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465529293 meters 0.03851044286494923 Centerline is valid? [True, True] Translation: X:-49.53, Y:-2.60, Z:1.07 [[ 9.99912801e-01 7.99797428e-03 -1.05081980e-02 -4.95266507e+01] [-8.00290701e-03 9.99967885e-01 -4.27451854e-04 -2.59607253e+00] [ 1.05044418e-02 5.11510712e-04 9.99944696e-01 1.06688677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525529293000005 meters 0.040909387140283054 Centerline is valid? [True, True] Translation: X:-49.59, Y:-2.59, Z:1.07 [[ 9.99920455e-01 1.01183493e-02 -7.53008101e-03 -4.95851894e+01] [-1.01209160e-02 9.99948736e-01 -3.02834341e-04 -2.59285257e+00] [ 7.52663081e-03 3.79021570e-04 9.99971603e-01 1.06547984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585529293 meters 0.04064094390912365 Centerline is valid? [True, True] Translation: X:-49.65, Y:-2.59, Z:1.06 [[ 9.99868717e-01 1.00247880e-02 -1.27299728e-02 -4.96450955e+01] [-1.00321634e-02 9.99949544e-01 -5.15649871e-04 -2.59019446e+00] [ 1.27241612e-02 6.43291342e-04 9.99918838e-01 1.05931049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645529293 meters 0.03974850797075789 Centerline is valid? [True, True] Translation: X:-49.70, Y:-2.60, Z:1.07 [[ 9.99877008e-01 1.39718746e-02 -7.12429592e-03 -4.97020683e+01] [-1.39742635e-02 9.99902314e-01 -2.85647419e-04 -2.59545480e+00] [ 7.11960895e-03 3.85169076e-04 9.99974581e-01 1.07362383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705529293000005 meters 0.038921323433268595 Centerline is valid? [True, True] Translation: X:-49.76, Y:-2.61, Z:1.08 [[ 9.99937765e-01 1.09972268e-02 -1.87811692e-03 -4.97617409e+01] [-1.09973890e-02 9.99939524e-01 -7.60701539e-05 -2.60833728e+00] [ 1.87716677e-03 9.67198020e-05 9.99998233e-01 1.08279841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765529293 meters 0.03778062618697025 Centerline is valid? [True, True] Translation: X:-49.82, Y:-2.60, Z:1.07 [[ 9.99950055e-01 8.64312302e-03 -5.01832149e-03 -4.98237851e+01] [-8.64425763e-03 9.99962617e-01 -2.04448017e-04 -2.59548030e+00] [ 5.01636682e-03 2.47817470e-04 9.99987387e-01 1.06634731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825529293 meters 0.03791452106483078 Centerline is valid? [True, True] Translation: X:-49.88, Y:-2.61, Z:1.06 [[ 9.99919924e-01 9.79635698e-03 -8.01108893e-03 -4.98832507e+01] [-9.79925995e-03 9.99951934e-01 -3.23195703e-04 -2.61297703e+00] [ 8.00753773e-03 4.01672566e-04 9.99967858e-01 1.05583823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885529293000005 meters 0.03895116435013516 Centerline is valid? [True, True] Translation: X:-49.94, Y:-2.61, Z:1.05 [[ 9.99908821e-01 1.23467677e-02 -5.46871658e-03 -4.99424532e+01] [-1.23481116e-02 9.99923737e-01 -2.12054380e-04 -2.61155198e+00] [ 5.46568133e-03 2.79563368e-04 9.99985024e-01 1.05057536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945529293 meters 0.04040480684436277 Centerline is valid? [True, True] Translation: X:-50.00, Y:-2.61, Z:1.04 [[ 9.99911565e-01 9.76467919e-03 -9.02841637e-03 -5.00009950e+01] [-9.76825319e-03 9.99952228e-01 -3.51847769e-04 -2.60759824e+00] [ 9.02454938e-03 4.40008511e-04 9.99959181e-01 1.03700895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005529293 meters 0.03928160875663596 Centerline is valid? [True, True] Translation: X:-50.06, Y:-2.62, Z:1.05 [[ 9.99879938e-01 1.49602021e-02 -4.03765498e-03 -5.00581181e+01] [-1.49609627e-02 9.99888066e-01 -1.58246797e-04 -2.61741400e+00] [ 4.03483562e-03 2.18635003e-04 9.99991836e-01 1.05097775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065529293000004 meters 0.03890878216788388 Centerline is valid? [True, True] Translation: X:-50.12, Y:-2.62, Z:1.04 [[ 9.99898410e-01 1.28682036e-02 -6.13010973e-03 -5.01185066e+01] [-1.28699435e-02 9.99917149e-01 -2.44462290e-04 -2.62125050e+00] [ 6.12645605e-03 3.23331621e-04 9.99981181e-01 1.04376797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125529293 meters 0.03878065882062853 Centerline is valid? [True, True] Translation: X:-50.18, Y:-2.64, Z:1.05 [[ 9.99952586e-01 9.65020861e-03 -1.30355085e-03 -5.01781761e+01] [-9.65028427e-03 9.99953434e-01 -5.17701718e-05 -2.63597780e+00] [ 1.30299056e-03 6.43473535e-05 9.99999149e-01 1.05140407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185529293 meters 0.03776755280275064 Centerline is valid? [True, True] Translation: X:-50.24, Y:-2.63, Z:1.04 [[ 9.99942189e-01 1.02392094e-02 -3.28286376e-03 -5.02404997e+01] [-1.02397000e-02 9.99947564e-01 -1.32688412e-04 -2.63204787e+00] [ 3.28133299e-03 1.66296282e-04 9.99994603e-01 1.04123423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245529293000004 meters 0.03653470754895824 Centerline is valid? [True, True] Translation: X:-50.30, Y:-2.64, Z:1.04 [[ 9.99959089e-01 8.35057619e-03 -3.47671296e-03 -5.03001473e+01] [-8.35110480e-03 9.99965119e-01 -1.37553302e-04 -2.63928525e+00] [ 3.47544304e-03 1.66582069e-04 9.99993947e-01 1.03749936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305529293 meters 0.03501104325688955 Centerline is valid? [True, True] Translation: X:-50.36, Y:-2.66, Z:1.03 [[ 9.99978846e-01 4.61679162e-03 -4.58172167e-03 -5.03595309e+01] [-4.61767134e-03 9.99989322e-01 -1.81446545e-04 -2.65712207e+00] [ 4.58083504e-03 2.02599592e-04 9.99989487e-01 1.02763199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365529293 meters 0.03620658899666802 Centerline is valid? [True, True] Translation: X:-50.42, Y:-2.65, Z:1.03 [[ 9.99996060e-01 1.90981520e-03 -2.05710265e-03 -5.04195511e+01] [-1.90998625e-03 9.99998173e-01 -8.11866299e-05 -2.65143754e+00] [ 2.05694384e-03 8.51153478e-05 9.99997881e-01 1.02919798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425529293000004 meters 0.03701940229657143 Centerline is valid? [True, True] Translation: X:-50.48, Y:-2.65, Z:1.02 [[ 9.99988718e-01 4.67822569e-03 -8.23269374e-04 -5.04792144e+01] [-4.67825285e-03 9.99989056e-01 -3.10689504e-05 -2.65083242e+00] [ 8.23115017e-04 3.49200621e-05 9.99999661e-01 1.02362106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485529293 meters 0.03462421318539053 Centerline is valid? [True, True] Translation: X:-50.54, Y:-2.66, Z:1.02 [[ 9.99990440e-01 4.23275325e-03 -1.09716410e-03 -5.05390605e+01] [-4.23280431e-03 9.99991041e-01 -4.42198129e-05 -2.66019108e+00] [ 1.09696710e-03 4.88634711e-05 9.99999397e-01 1.02084093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545529293 meters 0.0357975233645786 Centerline is valid? [True, True] Translation: X:-50.60, Y:-2.66, Z:1.02 [[ 9.99990784e-01 4.22262114e-03 7.75533397e-04 -5.05998600e+01] [-4.22264634e-03 9.99991084e-01 3.08627720e-05 -2.65515202e+00] [-7.75396161e-04 -3.41372908e-05 9.99999699e-01 1.02386710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605529293000004 meters 0.03537089000819689 Centerline is valid? [True, True] Translation: X:-50.66, Y:-2.65, Z:1.02 [[ 9.99981748e-01 6.03650712e-03 2.54197106e-04 -5.06606656e+01] [-6.03650975e-03 9.99981780e-01 9.57213781e-06 -2.65370771e+00] [-2.54134692e-04 -1.11064264e-05 9.99999968e-01 1.01556816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665529293 meters 0.0346555642777135 Centerline is valid? [True, True] Translation: X:-50.72, Y:-2.66, Z:1.02 [[ 9.99987087e-01 4.22856608e-03 2.81874235e-03 -5.07215828e+01] [-4.22889632e-03 9.99991052e-01 1.11209110e-04 -2.66170304e+00] [-2.81824688e-03 -1.23127843e-04 9.99996021e-01 1.01806289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725529293 meters 0.03410983616659811 Centerline is valid? [True, True] Translation: X:-50.78, Y:-2.66, Z:1.01 [[ 9.99998437e-01 1.19527989e-03 -1.30246642e-03 -5.07840005e+01] [-1.19535150e-03 9.99999284e-01 -5.42002079e-05 -2.66053561e+00] [ 1.30240070e-03 5.57570284e-05 9.99999150e-01 1.00647294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785529293 meters 0.03276264531476158 Centerline is valid? [True, True] Translation: X:-50.84, Y:-2.66, Z:1.02 [[ 9.99992705e-01 -2.24161747e-03 3.09258824e-03 -5.08428606e+01] [ 2.24124662e-03 9.99997481e-01 1.23377233e-04 -2.66130641e+00] [-3.09285701e-03 -1.16445080e-04 9.99995210e-01 1.01760508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845529293000006 meters 0.03380223141221409 Centerline is valid? [True, True] Translation: X:-50.90, Y:-2.66, Z:1.00 [[ 9.99989945e-01 -4.11597421e-03 -1.78004356e-03 -5.09049662e+01] [ 4.11585212e-03 9.99991527e-01 -7.22509947e-05 -2.65563463e+00] [ 1.78032586e-03 6.49238721e-05 9.99998413e-01 9.97896004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905529293 meters 0.03123451098350658 Centerline is valid? [True, True] Translation: X:-50.96, Y:-2.66, Z:1.01 [[ 9.99970572e-01 -7.41980058e-03 1.94975838e-03 -5.09636207e+01] [ 7.41966092e-03 9.99972471e-01 7.88540038e-05 -2.65660403e+00] [-1.95028979e-03 -6.43851373e-05 9.99998096e-01 1.00796896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965529293 meters 0.03060450726918699 Centerline is valid? [True, True] Translation: X:-51.02, Y:-2.67, Z:1.01 [[ 9.99948290e-01 -1.00064346e-02 1.81332209e-03 -5.10233149e+01] [ 1.00063188e-02 9.99949933e-01 7.29281806e-05 -2.66674710e+00] [-1.81396106e-03 -5.47797306e-05 9.99998353e-01 1.00792219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025529293000005 meters 0.030824847127736518 Centerline is valid? [True, True] Translation: X:-51.08, Y:-2.66, Z:1.01 [[ 9.99897477e-01 -1.32322561e-02 5.47200897e-03 -5.10840197e+01] [ 1.32312566e-02 9.99912439e-01 2.18816538e-04 -2.65575743e+00] [-5.47442528e-03 -1.46392550e-04 9.99985005e-01 1.00931256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085529293 meters 0.030277340714461594 Centerline is valid? [True, True] Translation: X:-51.15, Y:-2.66, Z:1.01 [[ 9.99915426e-01 -1.24161794e-02 3.87028004e-03 -5.11450529e+01] [ 1.24156903e-02 9.99922911e-01 1.50382752e-04 -2.65741999e+00] [-3.87184886e-03 -1.02317836e-04 9.99992499e-01 1.00686429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145529293 meters 0.03171250256461765 Centerline is valid? [True, True] Translation: X:-51.21, Y:-2.64, Z:1.00 [[ 9.99953581e-01 -9.53053458e-03 1.41616927e-03 -5.12063926e+01] [ 9.53046386e-03 9.99954582e-01 5.66797413e-05 -2.64388291e+00] [-1.41664514e-03 -4.31803602e-05 9.99998996e-01 1.00386784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205529293000005 meters 0.03163055003023595 Centerline is valid? [True, True] Translation: X:-51.27, Y:-2.65, Z:1.00 [[ 9.99959935e-01 -8.93064649e-03 6.09211533e-04 -5.12663984e+01] [ 8.93063262e-03 9.99960121e-01 2.54850142e-05 -2.64593168e+00] [-6.09414835e-04 -2.00433488e-05 9.99999814e-01 1.00051584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265529293 meters 0.03249508562334194 Centerline is valid? [True, True] Translation: X:-51.33, Y:-2.64, Z:1.00 [[ 9.99967360e-01 -7.80628204e-03 2.08340758e-03 -5.13256546e+01] [ 7.80612099e-03 9.99969528e-01 8.54185304e-05 -2.63636590e+00] [-2.08401089e-03 -6.91524108e-05 9.99997826e-01 1.00197243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325529293 meters 0.031962503439603634 Centerline is valid? [True, True] Translation: X:-51.38, Y:-2.64, Z:1.00 [[ 9.99969004e-01 -7.52210478e-03 2.32574644e-03 -5.13845979e+01] [ 7.52190796e-03 9.99971706e-01 9.33659527e-05 -2.64290970e+00] [-2.32638294e-03 -7.58690081e-05 9.99997291e-01 1.00395668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385529293000005 meters 0.03196727972793254 Centerline is valid? [True, True] Translation: X:-51.45, Y:-2.63, Z:0.99 [[ 9.99939026e-01 -1.10089621e-02 -8.64663140e-04 -5.14459662e+01] [ 1.10089364e-02 9.99939399e-01 -3.45023944e-05 -2.62862955e+00] [ 8.64990576e-04 2.49812691e-05 9.99999626e-01 9.88985312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445529293 meters 0.029371718383977043 Centerline is valid? [True, True] Translation: X:-51.50, Y:-2.64, Z:1.00 [[ 9.99915417e-01 -1.26434947e-02 3.04957393e-03 -5.15046224e+01] [ 1.26431807e-02 9.99920064e-01 1.22203820e-04 -2.64071645e+00] [-3.05087524e-03 -8.36371698e-05 9.99995343e-01 9.98978228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505529293 meters 0.030975000624078472 Centerline is valid? [True, True] Translation: X:-51.56, Y:-2.63, Z:0.99 [[ 9.99912214e-01 -1.29795304e-02 2.66366250e-03 -5.15649249e+01] [ 1.29792905e-02 9.99915760e-01 1.07313250e-04 -2.62520550e+00] [-2.66483099e-03 -7.27313800e-05 9.99996447e-01 9.91498670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565529293000004 meters 0.02975992806008633 Centerline is valid? [True, True] Translation: X:-51.62, Y:-2.62, Z:0.99 [[ 9.99897166e-01 -1.43295688e-02 5.67221250e-04 -5.16233286e+01] [ 1.43295574e-02 9.99897326e-01 2.42157605e-05 -2.62465145e+00] [-5.67510013e-04 -1.60852409e-05 9.99999839e-01 9.90950311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625529293 meters 0.03007075243213087 Centerline is valid? [True, True] Translation: X:-51.68, Y:-2.63, Z:0.99 [[ 9.99886434e-01 -1.49852456e-02 -1.60071777e-03 -5.16817786e+01] [ 1.49851665e-02 9.99887714e-01 -6.13684256e-05 -2.62556266e+00] [ 1.60145766e-03 3.73744338e-05 9.99998717e-01 9.90988818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685529293 meters 0.029722263843625387 Centerline is valid? [True, True] Translation: X:-51.74, Y:-2.62, Z:1.00 [[ 9.99857422e-01 -1.66750801e-02 2.66018316e-03 -5.17419475e+01] [ 1.66748565e-02 9.99860959e-01 1.06210072e-04 -2.62276273e+00] [-2.66158435e-03 -6.18367564e-05 9.99996456e-01 1.00039719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745529293000004 meters 0.02985460659096399 Centerline is valid? [True, True] Translation: X:-51.80, Y:-2.62, Z:1.00 [[ 9.99889335e-01 -1.47350873e-02 2.04824814e-03 -5.17997594e+01] [ 1.47349463e-02 9.99891431e-01 8.39202856e-05 -2.62029318e+00] [-2.04926234e-03 -5.37301721e-05 9.99997899e-01 1.00016911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805529293 meters 0.030849753409001965 Centerline is valid? [True, True] Translation: X:-51.86, Y:-2.61, Z:0.99 [[ 9.99926863e-01 -1.11871812e-02 -4.59524357e-03 -5.18614238e+01] [ 1.11864628e-02 9.99937413e-01 -1.82006173e-04 -2.61019941e+00] [ 4.59699210e-03 1.30588340e-04 9.99989425e-01 9.87759263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865529293 meters 0.033606475152610345 Centerline is valid? [True, True] Translation: X:-51.92, Y:-2.60, Z:0.99 [[ 9.99974375e-01 -6.80084675e-03 -2.23541116e-03 -5.19209350e+01] [ 6.80067112e-03 9.99976871e-01 -8.61627443e-05 -2.59946362e+00] [ 2.23594544e-03 7.09582402e-05 9.99997498e-01 9.90914482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925529293000004 meters 0.031908684232347787 Centerline is valid? [True, True] Translation: X:-51.98, Y:-2.60, Z:1.00 [[ 9.99988541e-01 -4.77071301e-03 3.97218026e-04 -5.19784755e+01] [ 4.77070607e-03 9.99988620e-01 1.84289781e-05 -2.60249607e+00] [-3.97301425e-04 -1.65337564e-05 9.99999921e-01 1.00023149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985529293 meters 0.03296899068339 Centerline is valid? [True, True] Translation: X:-52.04, Y:-2.60, Z:1.00 [[ 9.99985993e-01 -4.49614611e-03 -2.79253336e-03 -5.20390610e+01] [ 4.49586012e-03 9.99989888e-01 -1.08682712e-04 -2.60190112e+00] [ 2.79299377e-03 9.61263502e-05 9.99996095e-01 9.95281010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045529293 meters 0.03126134191116416 Centerline is valid? [True, True] Translation: X:-52.10, Y:-2.62, Z:1.01 [[ 9.99968862e-01 -7.47882907e-03 2.51819653e-03 -5.20992068e+01] [ 7.47860259e-03 9.99972030e-01 9.93381515e-05 -2.61579399e+00] [-2.51886903e-03 -8.05024672e-05 9.99996824e-01 1.00525576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105529293000004 meters 0.03009347478018302 Centerline is valid? [True, True] Translation: X:-52.16, Y:-2.63, Z:1.01 [[ 9.99919592e-01 -1.26792932e-02 2.11132243e-04 -5.21595655e+01] [ 1.26792918e-02 9.99919615e-01 8.32444930e-06 -2.62749338e+00] [-2.11220819e-04 -5.64677265e-06 9.99999978e-01 1.00791160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165529293 meters 0.03003661083450184 Centerline is valid? [True, True] Translation: X:-52.22, Y:-2.61, Z:1.00 [[ 9.99878992e-01 -1.54412448e-02 -1.88937815e-03 -5.22185301e+01] [ 1.54411385e-02 9.99880776e-01 -7.08598052e-05 -2.61304645e+00] [ 1.89024705e-03 4.16770809e-05 9.99998213e-01 1.00072182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225529293 meters 0.03043455257464265 Centerline is valid? [True, True] Translation: X:-52.28, Y:-2.62, Z:1.00 [[ 9.99875900e-01 -1.56863907e-02 -1.45673042e-03 -5.22768345e+01] [ 1.56863282e-02 9.99876961e-01 -5.43611328e-05 -2.61682579e+00] [ 1.45740391e-03 3.15036351e-05 9.99998937e-01 9.98882292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285529293 meters 0.028708948471227496 Centerline is valid? [True, True] Translation: X:-52.33, Y:-2.62, Z:1.00 [[ 9.99812575e-01 -1.86722607e-02 -5.11484529e-03 -5.23344938e+01] [ 1.86715021e-02 9.99825653e-01 -1.96023911e-04 -2.62224406e+00] [ 5.11761374e-03 1.00485327e-04 9.99986900e-01 9.99707117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345529293000006 meters 0.02990783158681917 Centerline is valid? [True, True] Translation: X:-52.39, Y:-2.61, Z:1.01 [[ 9.99865220e-01 -1.63955108e-02 8.53792518e-04 -5.23949607e+01] [ 1.63954882e-02 9.99865584e-01 3.33944360e-05 -2.61252655e+00] [-8.54225274e-04 -1.93915900e-05 9.99999635e-01 1.01305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405529293 meters 0.03071217498794541 Centerline is valid? [True, True] Translation: X:-52.46, Y:-2.61, Z:1.00 [[ 9.99906244e-01 -1.35520064e-02 -1.96104834e-03 -5.24551004e+01] [ 1.35518843e-02 9.99908166e-01 -7.55363718e-05 -2.60924581e+00] [ 1.96189192e-03 4.89533895e-05 9.99998074e-01 1.00260922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465529293 meters 0.030056762431861242 Centerline is valid? [True, True] Translation: X:-52.51, Y:-2.62, Z:1.02 [[ 9.99922808e-01 -1.20748113e-02 2.92860188e-03 -5.25131248e+01] [ 1.20745216e-02 9.99927094e-01 1.16575595e-04 -2.61730797e+00] [-2.92979599e-03 -8.12051292e-05 9.99995705e-01 1.01779790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525529293000005 meters 0.031255897742094245 Centerline is valid? [True, True] Translation: X:-52.57, Y:-2.60, Z:1.01 [[ 9.99961093e-01 -8.35056612e-03 -2.84255635e-03 -5.25739065e+01] [ 8.35028667e-03 9.99965130e-01 -1.10162007e-04 -2.59858321e+00] [ 2.84337714e-03 8.64215610e-05 9.99995954e-01 1.01321085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585529293 meters 0.03357818132685269 Centerline is valid? [True, True] Translation: X:-52.63, Y:-2.60, Z:1.02 [[ 9.99983440e-01 -5.58916823e-03 1.37161434e-03 -5.26327850e+01] [ 5.58909716e-03 9.99984379e-01 5.56443280e-05 -2.59831748e+00] [-1.37190392e-03 -4.79773207e-05 9.99999058e-01 1.01930562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645529293 meters 0.0330382047582047 Centerline is valid? [True, True] Translation: X:-52.69, Y:-2.59, Z:1.02 [[ 9.99979053e-01 -5.97193806e-03 -2.49599288e-03 -5.26927492e+01] [ 5.97171721e-03 9.99982165e-01 -9.59216102e-05 -2.59259736e+00] [ 2.49652120e-03 8.10142372e-05 9.99996880e-01 1.01733547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705529293000005 meters 0.032033518095809746 Centerline is valid? [True, True] Translation: X:-52.75, Y:-2.59, Z:1.02 [[ 9.99989225e-01 -3.82470808e-03 -2.63081462e-03 -5.27505385e+01] [ 3.82446019e-03 9.99992682e-01 -9.92481564e-05 -2.59172392e+00] [ 2.63117496e-03 8.91856412e-05 9.99996534e-01 1.02375131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765529293 meters 0.03126623070227647 Centerline is valid? [True, True] Translation: X:-52.81, Y:-2.60, Z:1.03 [[ 9.99985776e-01 -5.04606462e-03 -1.72750649e-03 -5.28073356e+01] [ 5.04596261e-03 9.99987267e-01 -6.33999369e-05 -2.59930513e+00] [ 1.72780442e-03 5.46821019e-05 9.99998506e-01 1.02811411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825529293 meters 0.031898237913932134 Centerline is valid? [True, True] Translation: X:-52.87, Y:-2.60, Z:1.04 [[ 9.99997131e-01 -2.26970349e-03 7.65917111e-04 -5.28659603e+01] [ 2.26967972e-03 9.99997424e-01 3.19053779e-05 -2.59517946e+00] [-7.65987553e-04 -3.01668998e-05 9.99999706e-01 1.03643846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885529293000005 meters 0.03308608848721063 Centerline is valid? [True, True] Translation: X:-52.93, Y:-2.59, Z:1.03 [[ 9.99998196e-01 1.88378411e-03 -2.44938530e-04 -5.29272321e+01] [-1.88378662e-03 9.99998226e-01 -1.00391420e-05 -2.59145529e+00] [ 2.44919184e-04 1.05005358e-05 9.99999970e-01 1.03434412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945529293 meters 0.034192185015563425 Centerline is valid? [True, True] Translation: X:-52.99, Y:-2.59, Z:1.03 [[ 9.99976480e-01 2.67864101e-03 -6.31378811e-03 -5.29878397e+01] [-2.68023666e-03 9.99996378e-01 -2.44276519e-04 -2.59264061e+00] [ 6.31311091e-03 2.61193220e-04 9.99980038e-01 1.03258772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005529293 meters 0.034266739103541964 Centerline is valid? [True, True] Translation: X:-53.05, Y:-2.58, Z:1.05 [[ 9.99975523e-01 4.30042611e-03 5.51897709e-03 -5.30481688e+01] [-4.30166858e-03 9.99990725e-01 2.13275659e-04 -2.57677170e+00] [-5.51800873e-03 -2.37011249e-04 9.99984748e-01 1.05332119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065529293000004 meters 0.03470567646959546 Centerline is valid? [True, True] Translation: X:-53.11, Y:-2.59, Z:1.04 [[ 9.99969955e-01 6.70925072e-03 -3.88257451e-03 -5.31081646e+01] [-6.70988355e-03 9.99977477e-01 -1.49989383e-04 -2.58683492e+00] [ 3.88148074e-03 1.76036500e-04 9.99992452e-01 1.04286496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125529293 meters 0.035471983791612254 Centerline is valid? [True, True] Translation: X:-53.17, Y:-2.58, Z:1.05 [[ 9.99981874e-01 5.82125544e-03 -1.53746217e-03 -5.31676641e+01] [-5.82135178e-03 9.99983054e-01 -5.82000888e-05 -2.58343631e+00] [ 1.53709732e-03 6.71491420e-05 9.99998816e-01 1.04840876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185529293 meters 0.03675888991553038 Centerline is valid? [True, True] Translation: X:-53.23, Y:-2.58, Z:1.05 [[ 9.99993428e-01 3.22919494e-03 -1.64816057e-03 -5.32291240e+01] [-3.22930613e-03 9.99994784e-01 -6.48036941e-05 -2.58311631e+00] [ 1.64794271e-03 7.01256832e-05 9.99998640e-01 1.04692348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245529293000004 meters 0.03376890019583415 Centerline is valid? [True, True] Translation: X:-53.29, Y:-2.60, Z:1.05 [[ 9.99985174e-01 2.42481430e-03 -4.87569639e-03 -5.32878926e+01] [-2.42575857e-03 9.99997040e-01 -1.87764648e-04 -2.59567536e+00] [ 4.87522667e-03 1.99589127e-04 9.99988096e-01 1.05274917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305529293 meters 0.03258527533671176 Centerline is valid? [True, True] Translation: X:-53.35, Y:-2.61, Z:1.06 [[ 9.99992579e-01 -3.85100913e-03 1.11653556e-04 -5.33476739e+01] [ 3.85100864e-03 9.99992585e-01 4.64470038e-06 -2.60538440e+00] [-1.11670615e-04 -4.21468710e-06 9.99999994e-01 1.06103606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365529293 meters 0.03170303544278608 Centerline is valid? [True, True] Translation: X:-53.41, Y:-2.61, Z:1.06 [[ 9.99980465e-01 -6.24688181e-03 -2.12782227e-04 -5.34060574e+01] [ 6.24688187e-03 9.99980488e-01 -3.48322216e-07 -2.61296080e+00] [ 2.12780251e-04 -9.80910026e-07 9.99999977e-01 1.06313728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425529293000004 meters 0.03142509221122475 Centerline is valid? [True, True] Translation: X:-53.47, Y:-2.62, Z:1.06 [[ 9.99954291e-01 -8.34570052e-03 -4.66539867e-03 -5.34651964e+01] [ 8.34496505e-03 9.99965164e-01 -1.77088540e-04 -2.61973891e+00] [ 4.66671408e-03 1.38147857e-04 9.99989101e-01 1.05853255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485529293 meters 0.030518446841056448 Centerline is valid? [True, True] Translation: X:-53.53, Y:-2.62, Z:1.08 [[ 9.99950608e-01 -9.55697106e-03 2.72875561e-03 -5.35250320e+01] [ 9.55672113e-03 9.99954328e-01 1.04615012e-04 -2.62264985e+00] [-2.72963078e-03 -7.85318882e-05 9.99996271e-01 1.07536562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545529293 meters 0.032687804784659054 Centerline is valid? [True, True] Translation: X:-53.59, Y:-2.62, Z:1.06 [[ 9.99964575e-01 -7.88987816e-03 -2.93242188e-03 -5.35861156e+01] [ 7.88958376e-03 9.99968870e-01 -1.11949701e-04 -2.62317872e+00] [ 2.93321387e-03 8.88101470e-05 9.99995694e-01 1.06361853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605529293000004 meters 0.03183867978008554 Centerline is valid? [True, True] Translation: X:-53.64, Y:-2.63, Z:1.07 [[ 9.99975635e-01 -5.31261218e-03 -4.52834742e-03 -5.36448048e+01] [ 5.31188695e-03 9.99985877e-01 -1.72165224e-04 -2.62887945e+00] [ 4.52919811e-03 1.48106959e-04 9.99989732e-01 1.07377678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665529293000006 meters 0.033049973151633306 Centerline is valid? [True, True] Translation: X:-53.70, Y:-2.63, Z:1.09 [[ 9.99997836e-01 1.54290386e-03 1.39538260e-03 -5.37032529e+01] [-1.54298303e-03 9.99998808e-01 5.56619983e-05 -2.62688518e+00] [-1.39529506e-03 -5.78149296e-05 9.99999025e-01 1.08781251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725529293 meters 0.03597573127407709 Centerline is valid? [True, True] Translation: X:-53.76, Y:-2.62, Z:1.08 [[ 9.99976436e-01 6.45824547e-03 -2.32777766e-03 -5.37644650e+01] [-6.45846994e-03 9.99979140e-01 -8.89246165e-05 -2.62116381e+00] [ 2.32715480e-03 1.03956403e-04 9.99997287e-01 1.07935910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785529293 meters 0.03699596191660519 Centerline is valid? [True, True] Translation: X:-53.82, Y:-2.62, Z:1.08 [[ 9.99940620e-01 1.05641381e-02 -2.67483116e-03 -5.38242548e+01] [-1.05644491e-02 9.99944189e-01 -1.02186718e-04 -2.62267674e+00] [ 2.67360236e-03 1.30438768e-04 9.99996417e-01 1.08191593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845529293000006 meters 0.03853120160880562 Centerline is valid? [True, True] Translation: X:-53.89, Y:-2.62, Z:1.09 [[ 9.99927732e-01 1.20142129e-02 -4.34651994e-04 -5.38864411e+01] [-1.20142222e-02 9.99927826e-01 -1.89013049e-05 -2.62446409e+00] [ 4.34393539e-04 2.41219446e-05 9.99999905e-01 1.08888219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905529293 meters 0.03739621797035568 Centerline is valid? [True, True] Translation: X:-53.95, Y:-2.63, Z:1.09 [[ 9.99908674e-01 1.34086034e-02 -1.68909878e-03 -5.39467533e+01] [-1.34087337e-02 9.99910097e-01 -6.58366534e-05 -2.63403062e+00] [ 1.68806415e-03 8.84793165e-05 9.99998571e-01 1.09001612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965529293 meters 0.036577900963338246 Centerline is valid? [True, True] Translation: X:-54.01, Y:-2.64, Z:1.10 [[ 9.99935846e-01 1.08767014e-02 3.16258104e-03 -5.40068879e+01] [-1.08771385e-02 9.99940835e-01 1.21051883e-04 -2.64172850e+00] [-3.16107728e-03 -1.55443949e-04 9.99994992e-01 1.09825846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025529293000005 meters 0.03707821967091095 Centerline is valid? [True, True] Translation: X:-54.07, Y:-2.65, Z:1.09 [[ 9.99945344e-01 9.75668811e-03 -3.75701030e-03 -5.40673299e+01] [-9.75729760e-03 9.99952386e-01 -1.43932963e-04 -2.64975364e+00] [ 3.75542711e-03 1.80583364e-04 9.99992932e-01 1.08997957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085529293 meters 0.03628644748548963 Centerline is valid? [True, True] Translation: X:-54.13, Y:-2.66, Z:1.10 [[ 9.99978332e-01 6.57750773e-03 -2.66946263e-04 -5.41270494e+01] [-6.57751065e-03 9.99978368e-01 -1.00413936e-05 -2.65593108e+00] [ 2.66874441e-04 1.17970179e-05 9.99999964e-01 1.09767133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145529293 meters 0.0365774672664724 Centerline is valid? [True, True] Translation: X:-54.19, Y:-2.66, Z:1.10 [[ 9.99966321e-01 8.20710535e-03 -6.87168569e-06 -5.41881169e+01] [-8.20710536e-03 9.99966321e-01 -1.94075196e-06 -2.65573681e+00] [ 6.85552623e-06 1.99708324e-06 1.00000000e+00 1.10136440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205529293000005 meters 0.03690915859761373 Centerline is valid? [True, True] Translation: X:-54.25, Y:-2.68, Z:1.11 [[ 9.99961832e-01 8.66333394e-03 -1.13149059e-03 -5.42499973e+01] [-8.66339244e-03 9.99962471e-01 -4.68040922e-05 -2.67667620e+00] [ 1.13104264e-03 5.66048528e-05 9.99999359e-01 1.10503535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265529293 meters 0.03738890676004467 Centerline is valid? [True, True] Translation: X:-54.31, Y:-2.67, Z:1.11 [[ 9.99956633e-01 9.30650117e-03 3.48413130e-04 -5.43124004e+01] [-9.30650564e-03 9.99956693e-01 1.11997550e-05 -2.67007658e+00] [-3.48293811e-04 -1.44417780e-05 9.99999939e-01 1.11186016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325529293 meters 0.041069844234249905 Centerline is valid? [True, True] Translation: X:-54.37, Y:-2.67, Z:1.11 [[ 9.99936151e-01 1.12997102e-02 1.00324373e-04 -5.43738531e+01] [-1.12997106e-02 9.99936156e-01 2.75701941e-06 -2.66900444e+00] [-1.00286815e-04 -3.89047976e-06 9.99999995e-01 1.10743722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385529293000005 meters 0.03833210229699213 Centerline is valid? [True, True] Translation: X:-54.43, Y:-2.68, Z:1.11 [[ 9.99940552e-01 1.09003431e-02 2.74931029e-04 -5.44338921e+01] [-1.09003461e-02 9.99940589e-01 9.52492863e-06 -2.68410594e+00] [-2.74810870e-04 -1.25212058e-05 9.99999962e-01 1.11289849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445529293 meters 0.038095016959831196 Centerline is valid? [True, True] Translation: X:-54.50, Y:-2.69, Z:1.12 [[ 9.99921477e-01 1.21431570e-02 3.09573240e-03 -5.44953244e+01] [-1.21435788e-02 9.99926257e-01 1.17481395e-04 -2.69407143e+00] [-3.09407752e-03 -1.55065440e-04 9.99995201e-01 1.11714037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505529293 meters 0.03839341324362432 Centerline is valid? [True, True] Translation: X:-54.56, Y:-2.70, Z:1.11 [[ 9.99910579e-01 1.33590924e-02 -6.07282190e-04 -5.45564805e+01] [-1.33591095e-02 9.99910763e-01 -2.40356033e-05 -2.70088795e+00] [ 6.06906904e-04 3.21462033e-05 9.99999815e-01 1.11422763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565529293000004 meters 0.03830407819384058 Centerline is valid? [True, True] Translation: X:-54.62, Y:-2.71, Z:1.12 [[ 9.99875290e-01 1.54252970e-02 -3.38582743e-03 -5.46164628e+01] [-1.54258286e-02 9.99881006e-01 -1.30952710e-04 -2.70849668e+00] [ 3.38340455e-03 1.83165573e-04 9.99994259e-01 1.11630444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625529293 meters 0.043636447657367246 Centerline is valid? [True, True] Translation: X:-54.68, Y:-2.73, Z:1.11 [[ 9.99561581e-01 2.83575861e-02 -8.51432931e-03 -5.46764819e+01] [-2.83614186e-02 9.99597680e-01 -3.29696579e-04 -2.72767337e+00] [ 8.50155442e-03 5.71030491e-04 9.99963698e-01 1.10747941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685529293 meters 0.04052832533040864 Centerline is valid? [True, True] Translation: X:-54.74, Y:-2.76, Z:1.12 [[ 9.99721766e-01 2.35801534e-02 -6.05486819e-04 -5.47352757e+01] [-2.35801717e-02 9.99721949e-01 -2.31167289e-05 -2.76100211e+00] [ 6.04773367e-04 3.73877802e-05 9.99999816e-01 1.12017639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745529293000004 meters 0.03557691497314641 Centerline is valid? [True, True] Translation: X:-54.79, Y:-2.80, Z:1.13 [[ 9.99921251e-01 1.13452974e-02 5.36429826e-03 -5.47938742e+01] [-1.13465733e-02 9.99935604e-01 2.07477291e-04 -2.80177761e+00] [-5.36159893e-03 -2.68327356e-04 9.99985591e-01 1.13041051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805529293 meters 0.03695997453128814 Centerline is valid? [True, True] Translation: X:-54.85, Y:-2.82, Z:1.11 [[ 9.99904490e-01 1.16513706e-02 -7.43347551e-03 -5.48542632e+01] [-1.16538337e-02 9.99932050e-01 -2.88117788e-04 -2.82485239e+00] [ 7.42961344e-03 3.74718757e-04 9.99972330e-01 1.11483908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865529293 meters 0.03959553380714332 Centerline is valid? [True, True] Translation: X:-54.91, Y:-2.84, Z:1.13 [[ 9.99712547e-01 2.39236285e-02 1.57615613e-03 -5.49136334e+01] [-2.39237560e-02 9.99713784e-01 6.20874688e-05 -2.84027865e+00] [-1.57421965e-03 -9.97771962e-05 9.99998756e-01 1.13205363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925529293000004 meters 0.04234101027872397 Centerline is valid? [True, True] Translation: X:-54.97, Y:-2.86, Z:1.12 [[ 9.99723631e-01 2.28912834e-02 -5.35271626e-03 -5.49735272e+01] [-2.28927182e-02 9.99737906e-01 -2.06918381e-04 -2.86339063e+00] [ 5.34657672e-03 3.29399420e-04 9.99985653e-01 1.12259252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985529293 meters 0.04195668652444858 Centerline is valid? [True, True] Translation: X:-55.03, Y:-2.91, Z:1.14 [[ 9.99866952e-01 1.61755936e-02 2.10450142e-03 -5.50319155e+01] [-1.61758004e-02 9.99869160e-01 8.12764273e-05 -2.90690416e+00] [-2.10291138e-03 -1.15307609e-04 9.99997782e-01 1.13725992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045529293 meters 0.04227830925727177 Centerline is valid? [True, True] Translation: X:-55.09, Y:-2.92, Z:1.13 [[ 9.99772798e-01 2.05057231e-02 -5.81966651e-03 -5.50921858e+01] [-2.05073790e-02 9.99789676e-01 -2.25001077e-04 -2.91814438e+00] [ 5.81382869e-03 3.44296064e-04 9.99983040e-01 1.12554509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105529293000004 meters 0.040904265131881196 Centerline is valid? [True, True] Translation: X:-55.15, Y:-2.96, Z:1.14 [[ 9.99620350e-01 2.75487874e-02 -4.69743934e-04 -5.51497435e+01] [-2.75487986e-02 9.99620460e-01 -1.75036719e-05 -2.95980747e+00] [ 4.69083442e-04 3.04379076e-05 9.99999890e-01 1.14216148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165529293000006 meters 0.03910768131727123 Centerline is valid? [True, True] Translation: X:-55.21, Y:-2.99, Z:1.15 [[ 9.99696172e-01 2.46420656e-02 -5.77157063e-04 -5.52098732e+01] [-2.46420832e-02 9.99696337e-01 -2.34023889e-05 -2.98602348e+00] [ 5.76405119e-04 3.76176309e-05 9.99999833e-01 1.14910284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225529293 meters 0.038583151732411745 Centerline is valid? [True, True] Translation: X:-55.27, Y:-3.01, Z:1.15 [[ 9.99790067e-01 2.04514077e-02 -1.24982725e-03 -5.52694547e+01] [-2.04514842e-02 9.99790845e-01 -4.84685369e-05 -3.01483433e+00] [ 1.24857459e-03 7.40191839e-05 9.99999218e-01 1.14977646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285529293 meters 0.038880904115811105 Centerline is valid? [True, True] Translation: X:-55.33, Y:-3.04, Z:1.16 [[ 9.99740489e-01 2.27670250e-02 -7.86257810e-04 -5.53298301e+01] [-2.27670572e-02 9.99740796e-01 -3.20828534e-05 -3.03977552e+00] [ 7.85323578e-04 4.99753041e-05 9.99999690e-01 1.16022356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345529293000006 meters 0.04235273868189805 Centerline is valid? [True, True] Translation: X:-55.39, Y:-3.05, Z:1.15 [[ 9.99520424e-01 3.05036590e-02 -5.33367036e-03 -5.53899457e+01] [-3.05051929e-02 9.99534587e-01 -2.06460333e-04 -3.05361623e+00] [ 5.32489020e-03 3.69065963e-04 9.99985755e-01 1.15287179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405529293 meters 0.04382068804313134 Centerline is valid? [True, True] Translation: X:-55.45, Y:-3.08, Z:1.16 [[ 9.99347541e-01 3.61103402e-02 -7.32422727e-04 -5.54487005e+01] [-3.61103706e-02 9.99347807e-01 -2.82567164e-05 -3.08149429e+00] [ 7.30924687e-04 5.46863361e-05 9.99999731e-01 1.16419349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465529293 meters 0.045246689939189476 Centerline is valid? [True, True] Translation: X:-55.51, Y:-3.09, Z:1.17 [[ 9.99389908e-01 3.49184076e-02 -7.19282489e-04 -5.55103474e+01] [-3.49184383e-02 9.99390165e-01 -3.00502821e-05 -3.08977841e+00] [ 7.17794537e-04 5.51481699e-05 9.99999741e-01 1.16598706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525529293000005 meters 0.04103218300633476 Centerline is valid? [True, True] Translation: X:-55.57, Y:-3.14, Z:1.18 [[ 9.99657983e-01 2.61115448e-02 1.45053554e-03 -5.55684718e+01] [-2.61116535e-02 9.99659031e-01 5.60557577e-05 -3.14161136e+00] [-1.44857725e-03 -9.39124669e-05 9.99998946e-01 1.17647106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585529293 meters 0.04227790067476438 Centerline is valid? [True, True] Translation: X:-55.63, Y:-3.15, Z:1.18 [[ 9.99677710e-01 2.52345090e-02 2.77414454e-03 -5.56302842e+01] [-2.52348990e-02 9.99681544e-01 1.05676954e-04 -3.14502418e+00] [-2.77059439e-03 -1.75648152e-04 9.99996146e-01 1.18099687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645529293 meters 0.045406567198093585 Centerline is valid? [True, True] Translation: X:-55.69, Y:-3.15, Z:1.17 [[ 9.99624038e-01 2.73351468e-02 -2.13832760e-03 -5.56911231e+01] [-2.73353868e-02 9.99626315e-01 -8.30776492e-05 -3.15172726e+00] [ 2.13525760e-03 1.41498427e-04 9.99997710e-01 1.16877935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705529293000005 meters 0.04313164628183921 Centerline is valid? [True, True] Translation: X:-55.75, Y:-3.17, Z:1.17 [[ 9.99527076e-01 3.04045168e-02 -4.60327569e-03 -5.57497199e+01] [-3.04056582e-02 9.99537625e-01 -1.78172378e-04 -3.17283993e+00] [ 4.59573001e-03 3.18053743e-04 9.99989389e-01 1.17343971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765529293 meters 0.04909150529327467 Centerline is valid? [True, True] Translation: X:-55.81, Y:-3.17, Z:1.17 [[ 9.99444262e-01 3.30003441e-02 -4.70574925e-03 -5.58097920e+01] [-3.30015625e-02 9.99455284e-01 -1.81468868e-04 -3.17246872e+00] [ 4.69719742e-03 3.36665097e-04 9.99988911e-01 1.16902593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825529293 meters 0.04512581522135688 Centerline is valid? [True, True] Translation: X:-55.87, Y:-3.20, Z:1.18 [[ 9.99577210e-01 2.90565186e-02 1.05786297e-03 -5.58672858e+01] [-2.90565782e-02 9.99577768e-01 4.10046814e-05 -3.20373683e+00] [-1.05622486e-03 -7.17252232e-05 9.99999440e-01 1.18454253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885529293000005 meters 0.043534485361783525 Centerline is valid? [True, True] Translation: X:-55.93, Y:-3.23, Z:1.19 [[ 9.99770186e-01 2.12472552e-02 2.85128793e-03 -5.59251742e+01] [-2.12476533e-02 9.99774237e-01 1.09388002e-04 -3.23289222e+00] [-2.84832002e-03 -1.69946041e-04 9.99995929e-01 1.19296275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945529293 meters 0.03750018767488594 Centerline is valid? [True, True] Translation: X:-55.98, Y:-3.25, Z:1.20 [[ 9.99885793e-01 1.43424669e-02 4.76383359e-03 -5.59844785e+01] [-1.43435108e-02 9.99897109e-01 1.85037931e-04 -3.24966545e+00] [-4.76068953e-03 -2.53346897e-04 9.99988636e-01 1.20124312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005529293 meters 0.03991680941925787 Centerline is valid? [True, True] Translation: X:-56.05, Y:-3.25, Z:1.19 [[ 9.99870833e-01 1.59722846e-02 1.78962930e-03 -5.60453132e+01] [-1.59724334e-02 9.99872430e-01 6.88887310e-05 -3.25419156e+00] [-1.78830069e-03 -9.74645677e-05 9.99998396e-01 1.19125316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065529293000004 meters 0.04389081728930995 Centerline is valid? [True, True] Translation: X:-56.11, Y:-3.25, Z:1.19 [[ 9.99634364e-01 2.68637626e-02 -3.07832438e-03 -5.61052079e+01] [-2.68642559e-02 9.99639084e-01 -1.19014094e-04 -3.25220941e+00] [ 3.07401619e-03 2.01667472e-04 9.99995255e-01 1.18952237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125529293 meters 0.046269848728800994 Centerline is valid? [True, True] Translation: X:-56.17, Y:-3.25, Z:1.18 [[ 9.99152740e-01 4.10873795e-02 -2.37255404e-03 -5.61656976e+01] [-4.10877132e-02 9.99155539e-01 -9.20411081e-05 -3.24877284e+00] [ 2.36676879e-03 1.89445946e-04 9.99997181e-01 1.18408937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185529293 meters 0.04727986657221463 Centerline is valid? [True, True] Translation: X:-56.23, Y:-3.25, Z:1.19 [[ 9.99109642e-01 4.19894395e-02 -4.09994402e-03 -5.62258843e+01] [-4.19904418e-02 9.99118000e-01 -1.58678030e-04 -3.25113922e+00] [ 4.08966507e-03 3.30695211e-04 9.99991583e-01 1.18552905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245529293000004 meters 0.04754465730767091 Centerline is valid? [True, True] Translation: X:-56.29, Y:-3.26, Z:1.19 [[ 9.99387096e-01 3.50040645e-02 3.85325450e-04 -5.62858188e+01] [-3.50040730e-02 9.99387170e-01 1.53308097e-05 -3.25974089e+00] [-3.84552671e-04 -2.88093736e-05 9.99999926e-01 1.19251362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305529293 meters 0.039727177117729925 Centerline is valid? [True, True] Translation: X:-56.34, Y:-3.29, Z:1.20 [[ 9.99768301e-01 2.13689755e-02 2.59051498e-03 -5.63436327e+01] [-2.13693078e-02 9.99771645e-01 1.00653000e-04 -3.29390878e+00] [-2.58777258e-03 -1.55987191e-04 9.99996640e-01 1.19675640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365529293 meters 0.036870509197165315 Centerline is valid? [True, True] Translation: X:-56.40, Y:-3.31, Z:1.19 [[ 9.99893658e-01 1.44233981e-02 2.15348090e-03 -5.64045902e+01] [-1.44236097e-02 9.99895971e-01 8.27404283e-05 -3.31254623e+00] [-2.15206347e-03 -1.13792597e-04 9.99997678e-01 1.19338433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425529293000004 meters 0.03988223542563916 Centerline is valid? [True, True] Translation: X:-56.47, Y:-3.31, Z:1.18 [[ 9.99831155e-01 1.79533878e-02 -3.91639232e-03 -5.64655727e+01] [-1.79541208e-02 9.99838800e-01 -1.52074355e-04 -3.31097602e+00] [ 3.91303075e-03 2.22364059e-04 9.99992319e-01 1.18451046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485529293000006 meters 0.0418903227563268 Centerline is valid? [True, True] Translation: X:-56.52, Y:-3.31, Z:1.20 [[ 9.99686809e-01 2.43070626e-02 5.95406663e-03 -5.65243015e+01] [-2.43089052e-02 9.99704467e-01 2.37293175e-04 -3.30700285e+00] [-5.94653911e-03 -3.81955699e-04 9.99982246e-01 1.20297000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545529293 meters 0.042939180680598224 Centerline is valid? [True, True] Translation: X:-56.58, Y:-3.30, Z:1.20 [[ 9.99533257e-01 3.05489596e-02 -1.69911457e-04 -5.65849696e+01] [-3.05489611e-02 9.99533272e-01 -6.50057025e-06 -3.29744247e+00] [ 1.69633569e-04 1.16881546e-05 9.99999986e-01 1.19533454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605529293000004 meters 0.04311473880583721 Centerline is valid? [True, True] Translation: X:-56.65, Y:-3.31, Z:1.18 [[ 9.99453102e-01 3.29528085e-02 -2.75842868e-03 -5.66456618e+01] [-3.29532270e-02 9.99456889e-01 -1.06411465e-04 -3.30906681e+00] [ 2.75342399e-03 1.97252395e-04 9.99996190e-01 1.18465170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665529293000006 meters 0.042926969791951576 Centerline is valid? [True, True] Translation: X:-56.70, Y:-3.33, Z:1.19 [[ 9.99595814e-01 2.82845213e-02 2.86250240e-03 -5.67045842e+01] [-2.82849535e-02 9.99599895e-01 1.10612196e-04 -3.33340657e+00] [-2.85822849e-03 -1.91533236e-04 9.99995897e-01 1.19094858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725529293 meters 0.04005844514875715 Centerline is valid? [True, True] Translation: X:-56.76, Y:-3.34, Z:1.20 [[ 9.99662143e-01 2.57484243e-02 3.55227294e-03 -5.67645188e+01] [-2.57490719e-02 9.99668428e-01 1.36680446e-04 -3.34120147e+00] [-3.54757580e-03 -2.28101999e-04 9.99993681e-01 1.19617162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785529293 meters 0.04119528779887802 Centerline is valid? [True, True] Translation: X:-56.83, Y:-3.34, Z:1.19 [[ 9.99759015e-01 2.09487836e-02 6.56197225e-03 -5.68260272e+01] [-2.09508921e-02 9.99780474e-01 2.52738238e-04 -3.34162196e+00] [-6.55523717e-03 -3.90156504e-04 9.99978438e-01 1.19189337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845529293000006 meters 0.03909185110077706 Centerline is valid? [True, True] Translation: X:-56.89, Y:-3.34, Z:1.18 [[ 9.99805667e-01 1.95523892e-02 2.51625034e-03 -5.68876648e+01] [-1.95526860e-02 9.99808824e-01 9.34123438e-05 -3.34240482e+00] [-2.51394285e-03 -1.42593644e-04 9.99996830e-01 1.18307936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905529293 meters 0.038968887732349834 Centerline is valid? [True, True] Translation: X:-56.95, Y:-3.37, Z:1.17 [[ 9.99811229e-01 1.93862668e-02 -1.29592578e-03 -5.69490143e+01] [-1.93863503e-02 9.99812066e-01 -5.19172368e-05 -3.37042571e+00] [ 1.29467575e-03 7.70307074e-05 9.99999159e-01 1.16785886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965529293 meters 0.03960168490678757 Centerline is valid? [True, True] Translation: X:-57.01, Y:-3.36, Z:1.18 [[ 9.99719231e-01 2.24431823e-02 7.60020260e-03 -5.70089205e+01] [-2.24460783e-02 9.99748011e-01 2.95959069e-04 -3.35640693e+00] [-7.59164517e-03 -4.66470716e-04 9.99971074e-01 1.18473927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025529293000005 meters 0.038189139630634965 Centerline is valid? [True, True] Translation: X:-57.07, Y:-3.36, Z:1.18 [[ 9.99685755e-01 2.37324263e-02 8.07240686e-03 -5.70700468e+01] [-2.37357162e-02 9.99718220e-01 3.11972430e-04 -3.36432838e+00] [-8.06272835e-03 -5.03478752e-04 9.99967369e-01 1.18378853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085529293 meters 0.039492663715494244 Centerline is valid? [True, True] Translation: X:-57.13, Y:-3.36, Z:1.16 [[ 9.99789353e-01 2.04516071e-02 -1.72679729e-03 -5.71325660e+01] [-2.04517554e-02 9.99790839e-01 -6.82557864e-05 -3.35880850e+00] [ 1.72504017e-03 1.03557444e-04 9.99998507e-01 1.16114008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145529293 meters 0.040148527906162246 Centerline is valid? [True, True] Translation: X:-57.19, Y:-3.36, Z:1.17 [[ 9.99801093e-01 1.99370332e-02 5.37876995e-04 -5.71922549e+01] [-1.99370479e-02 9.99801237e-01 2.19666331e-05 -3.36095291e+00] [-5.37332135e-04 -3.26859432e-05 9.99999855e-01 1.16773313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205529293000005 meters 0.038979514531782375 Centerline is valid? [True, True] Translation: X:-57.25, Y:-3.37, Z:1.17 [[ 9.99801467e-01 1.80801020e-02 8.37472702e-03 -5.72525629e+01] [-1.80834594e-02 9.99836428e-01 3.25340851e-04 -3.36944378e+00] [-8.36747495e-03 -4.76720296e-04 9.99964878e-01 1.17465483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265529293 meters 0.041515689995484835 Centerline is valid? [True, True] Translation: X:-57.31, Y:-3.36, Z:1.15 [[ 9.99813561e-01 1.92746770e-02 -1.15371357e-03 -5.73138204e+01] [-1.92747415e-02 9.99814224e-01 -4.47852250e-05 -3.36281439e+00] [ 1.15263601e-03 6.70144060e-05 9.99999333e-01 1.15437509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325529293 meters 0.03738287530275973 Centerline is valid? [True, True] Translation: X:-57.37, Y:-3.38, Z:1.17 [[ 9.99843037e-01 1.71768309e-02 4.34247929e-03 -5.73721188e+01] [-1.71777271e-02 9.99852438e-01 1.69174155e-04 -3.37772620e+00] [-4.33893263e-03 -2.43741525e-04 9.99990557e-01 1.17200617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385529293000005 meters 0.03736050126683641 Centerline is valid? [True, True] Translation: X:-57.43, Y:-3.37, Z:1.17 [[ 9.99907578e-01 1.35678225e-02 8.65254788e-04 -5.74344214e+01] [-1.35678553e-02 9.99907952e-01 3.20173890e-05 -3.37034302e+00] [-8.64740737e-04 -4.37540817e-05 9.99999625e-01 1.16578879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445529293 meters 0.03407776475761211 Centerline is valid? [True, True] Translation: X:-57.49, Y:-3.38, Z:1.18 [[ 9.99934328e-01 7.59293450e-03 8.58406019e-03 -5.74933037e+01] [-7.59608176e-03 9.99971094e-01 3.34095715e-04 -3.37903510e+00] [-8.58127529e-03 -3.99278997e-04 9.99963100e-01 1.18272806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505529293 meters 0.033493118152128465 Centerline is valid? [True, True] Translation: X:-57.55, Y:-3.39, Z:1.19 [[ 9.99899481e-01 5.59467579e-03 1.30279367e-02 -5.75539681e+01] [-5.60174354e-03 9.99984182e-01 5.06078493e-04 -3.38704645e+00] [-1.30248992e-02 -5.79006783e-04 9.99915005e-01 1.18646814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565529293000004 meters 0.033781514725678405 Centerline is valid? [True, True] Translation: X:-57.62, Y:-3.37, Z:1.18 [[ 9.99957915e-01 6.63790753e-03 6.33288951e-03 -5.76156249e+01] [-6.63959637e-03 9.99977927e-01 2.45689497e-04 -3.37297760e+00] [-6.33111886e-03 -2.87726988e-04 9.99979917e-01 1.17635484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625529293 meters 0.03750308488503951 Centerline is valid? [True, True] Translation: X:-57.68, Y:-3.37, Z:1.16 [[ 9.99929657e-01 1.05995780e-02 5.32254323e-03 -5.76766113e+01] [-1.06008277e-02 9.99943788e-01 2.06638410e-04 -3.37397874e+00] [-5.32005377e-03 -2.63047238e-04 9.99985814e-01 1.16391265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685529293 meters 0.03801952057606521 Centerline is valid? [True, True] Translation: X:-57.74, Y:-3.35, Z:1.16 [[ 9.99872981e-01 1.58096763e-02 -2.01878563e-03 -5.77374720e+01] [-1.58098670e-02 9.99875013e-01 -7.85790283e-05 -3.35187540e+00] [ 2.01729100e-03 1.10485780e-04 9.99997959e-01 1.15752627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745529293000004 meters 0.04392363287848777 Centerline is valid? [True, True] Translation: X:-57.80, Y:-3.34, Z:1.16 [[ 9.99661918e-01 2.49801246e-02 7.21402949e-03 -5.77981275e+01] [-2.49827994e-02 9.99687842e-01 2.80887149e-04 -3.34072537e+00] [-7.20476097e-03 -4.61018838e-04 9.99973939e-01 1.16191853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805529293 meters 0.04329346783098916 Centerline is valid? [True, True] Translation: X:-57.86, Y:-3.34, Z:1.16 [[ 9.99602581e-01 2.78390107e-02 4.43496446e-03 -5.78575855e+01] [-2.78400512e-02 9.99612376e-01 1.73046568e-04 -3.34442575e+00] [-4.42842792e-03 -2.96447434e-04 9.99990151e-01 1.16368352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865529293 meters 0.043016986624052594 Centerline is valid? [True, True] Translation: X:-57.92, Y:-3.35, Z:1.17 [[ 9.99612028e-01 2.71197312e-02 6.34923127e-03 -5.79192701e+01] [-2.71218371e-02 9.99632105e-01 2.45795946e-04 -3.34770365e+00] [-6.34022950e-03 -4.17903401e-04 9.99979813e-01 1.16620782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925529293000004 meters 0.03955393260836095 Centerline is valid? [True, True] Translation: X:-57.98, Y:-3.36, Z:1.17 [[ 9.99754196e-01 2.02964219e-02 8.92203678e-03 -5.79794988e+01] [-2.03003281e-02 9.99793867e-01 3.47452390e-04 -3.35606415e+00] [-8.91314562e-03 -5.28487258e-04 9.99960137e-01 1.17209311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985529293000006 meters 0.04788104487870433 Centerline is valid? [True, True] Translation: X:-58.04, Y:-3.33, Z:1.16 [[ 9.99817504e-01 1.80013887e-02 6.39598708e-03 -5.80427609e+01] [-1.80033419e-02 9.99837896e-01 2.47925770e-04 -3.32938275e+00] [-6.39048726e-03 -3.63029666e-04 9.99979515e-01 1.15757228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045529293 meters 0.047769790467247435 Centerline is valid? [True, True] Translation: X:-58.11, Y:-3.33, Z:1.16 [[ 9.99820179e-01 1.80657818e-02 5.76522470e-03 -5.81051191e+01] [-1.80673697e-02 9.99836747e-01 2.23454646e-04 -3.33054059e+00] [-5.76024663e-03 -3.27576910e-04 9.99983356e-01 1.15571747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105529293000004 meters 0.05156498536219662 Centerline is valid? [True, True] Translation: X:-58.17, Y:-3.32, Z:1.16 [[ 9.99623223e-01 2.67934059e-02 5.96029893e-03 -5.81652813e+01] [-2.67952687e-02 9.99640915e-01 2.32881430e-04 -3.32212258e+00] [-5.95191899e-03 -3.92501497e-04 9.99982210e-01 1.15771915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165529293000006 meters 0.05400399662497661 Centerline is valid? [True, True] Translation: X:-58.23, Y:-3.32, Z:1.16 [[ 9.99466120e-01 3.22223166e-02 5.40345692e-03 -5.82260138e+01] [-3.22239249e-02 9.99480652e-01 2.10817094e-04 -3.32245684e+00] [-5.39385763e-03 -3.84825133e-04 9.99985379e-01 1.15587900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225529293 meters 0.0563860741279387 Centerline is valid? [True, True] Translation: X:-58.29, Y:-3.31, Z:1.15 [[ 9.99238860e-01 3.89005330e-02 2.90667146e-03 -5.82875550e+01] [-3.89010259e-02 9.99243062e-01 1.13224465e-04 -3.30844700e+00] [-2.90006680e-03 -2.26210788e-04 9.99995769e-01 1.15397238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285529293 meters 0.054604661745822534 Centerline is valid? [True, True] Translation: X:-58.35, Y:-3.33, Z:1.16 [[ 9.99264258e-01 3.74851677e-02 8.11197712e-03 -5.83467136e+01] [-3.74889687e-02 9.99296991e-01 3.16963136e-04 -3.33299871e+00] [-8.09439292e-03 -6.20839590e-04 9.99967047e-01 1.16441636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345529293000006 meters 0.052764052604497826 Centerline is valid? [True, True] Translation: X:-58.41, Y:-3.33, Z:1.17 [[ 9.99385571e-01 3.44708806e-02 6.34347501e-03 -5.84076526e+01] [-3.44731426e-02 9.99405594e-01 2.47565232e-04 -3.32733953e+00] [-6.33117062e-03 -4.66092639e-04 9.99979849e-01 1.16931330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405529293 meters 0.049945185941468656 Centerline is valid? [True, True] Translation: X:-58.47, Y:-3.36, Z:1.16 [[ 9.99526774e-01 3.02344132e-02 5.66638872e-03 -5.84661556e+01] [-3.02361429e-02 9.99542759e-01 2.19812040e-04 -3.36284938e+00] [-5.65715193e-03 -3.91037758e-04 9.99983922e-01 1.16082988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465529293 meters 0.050116031541263185 Centerline is valid? [True, True] Translation: X:-58.53, Y:-3.36, Z:1.17 [[ 9.99481818e-01 3.21616095e-02 1.31377493e-03 -5.85265480e+01] [-3.21617048e-02 9.99482677e-01 5.14498044e-05 -3.35663031e+00] [-1.31144057e-03 -9.36763854e-05 9.99999136e-01 1.16528352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525529293000005 meters 0.049945220940500086 Centerline is valid? [True, True] Translation: X:-58.59, Y:-3.38, Z:1.18 [[ 9.99406675e-01 3.33777468e-02 8.49850210e-03 -5.85851098e+01] [-3.33817772e-02 9.99442618e-01 3.32799348e-04 -3.37785295e+00] [-8.48265710e-03 -6.16296993e-04 9.99963832e-01 1.17703516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585529293 meters 0.049946558652718416 Centerline is valid? [True, True] Translation: X:-58.65, Y:-3.37, Z:1.18 [[ 9.99357390e-01 3.58318123e-02 9.42644389e-04 -5.86453806e+01] [-3.58318630e-02 9.99357832e-01 3.69635716e-05 -3.37212998e+00] [-9.40714582e-04 -7.07165231e-05 9.99999555e-01 1.17657055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645529293 meters 0.048665231887801946 Centerline is valid? [True, True] Translation: X:-58.70, Y:-3.40, Z:1.19 [[ 9.99378733e-01 3.48650445e-02 5.15525392e-03 -5.87039875e+01] [-3.48665428e-02 9.99391957e-01 2.01013190e-04 -3.39606086e+00] [-5.14511097e-03 -3.80634188e-04 9.99986691e-01 1.18511721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705529293000005 meters 0.04972380239020322 Centerline is valid? [True, True] Translation: X:-58.76, Y:-3.39, Z:1.18 [[ 9.99274832e-01 3.79602004e-02 -2.97224531e-03 -5.87640877e+01] [-3.79607123e-02 9.99279226e-01 -1.15974775e-04 -3.39123322e+00] [ 2.96570056e-03 2.28719223e-04 9.99995576e-01 1.18452188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765529293 meters 0.052146981666818686 Centerline is valid? [True, True] Translation: X:-58.82, Y:-3.41, Z:1.18 [[ 9.99173176e-01 3.98921155e-02 -7.84757043e-03 -5.88236311e+01] [-3.98957438e-02 9.99203801e-01 -3.06288434e-04 -3.41006148e+00] [ 7.82910371e-03 6.19119847e-04 9.99969160e-01 1.17851882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825529293 meters 0.05218049093926905 Centerline is valid? [True, True] Translation: X:-58.88, Y:-3.42, Z:1.19 [[ 9.99064090e-01 4.31763276e-02 -2.59771065e-03 -5.88818103e+01] [-4.31767171e-02 9.99067446e-01 -9.40356475e-05 -3.41669894e+00] [ 2.59122803e-03 2.06108257e-04 9.99996622e-01 1.18836858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885529293000005 meters 0.055590723568997566 Centerline is valid? [True, True] Translation: X:-58.94, Y:-3.44, Z:1.18 [[ 9.98756507e-01 4.96800687e-02 -4.16300843e-03 -5.89418515e+01] [-4.96811737e-02 9.98765115e-01 -1.62378762e-04 -3.44113803e+00] [ 4.14980061e-03 3.68999990e-04 9.99991321e-01 1.18494249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945529293 meters 0.051828964745399775 Centerline is valid? [True, True] Translation: X:-59.00, Y:-3.47, Z:1.21 [[ 9.98985522e-01 4.46078416e-02 6.16985831e-03 -5.90007494e+01] [-4.46101710e-02 9.99004442e-01 2.40374329e-04 -3.47498316e+00] [-6.15299327e-03 -5.15368909e-04 9.99980937e-01 1.20837900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005529293 meters 0.05230892974938577 Centerline is valid? [True, True] Translation: X:-59.06, Y:-3.51, Z:1.20 [[ 9.99004444e-01 4.44796651e-02 -3.41769490e-03 -5.90601739e+01] [-4.44803794e-02 9.99010249e-01 -1.33247250e-04 -3.50569465e+00] [ 3.40838545e-03 2.85134961e-04 9.99994151e-01 1.19662892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065529293000004 meters 0.0526924784251921 Centerline is valid? [True, True] Translation: X:-59.12, Y:-3.53, Z:1.21 [[ 9.99096442e-01 4.24961139e-02 6.15974970e-04 -5.91188036e+01] [-4.24961370e-02 9.99096631e-01 2.44648956e-05 -3.53220099e+00] [-6.14378854e-04 -5.06193469e-05 9.99999810e-01 1.20813055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125529293 meters 0.04850916801823115 Centerline is valid? [True, True] Translation: X:-59.18, Y:-3.58, Z:1.21 [[ 9.99325369e-01 3.66987314e-02 -1.41777064e-03 -5.91761443e+01] [-3.66988467e-02 9.99326369e-01 -5.53422540e-05 -3.57567448e+00] [ 1.41478459e-03 1.07335466e-04 9.99998993e-01 1.21249943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185529293 meters 0.05178503251461847 Centerline is valid? [True, True] Translation: X:-59.24, Y:-3.60, Z:1.21 [[ 9.99424805e-01 3.36883593e-02 -3.89271303e-03 -5.92354360e+01] [-3.36891990e-02 9.99432347e-01 -1.50329707e-04 -3.59617846e+00] [ 3.88543896e-03 2.81385622e-04 9.99992412e-01 1.20912344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245529293000004 meters 0.05225248121399652 Centerline is valid? [True, True] Translation: X:-59.29, Y:-3.61, Z:1.22 [[ 9.99523778e-01 3.04521402e-02 -4.98847478e-03 -5.92948395e+01] [-3.04534830e-02 9.99536166e-01 -1.93434180e-04 -3.61159085e+00] [ 4.98027048e-03 3.45258495e-04 9.99987539e-01 1.21887927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305529293 meters 0.0529345984663165 Centerline is valid? [True, True] Translation: X:-59.35, Y:-3.64, Z:1.22 [[ 9.99566852e-01 2.93472616e-02 -2.20156002e-03 -5.93540039e+01] [-2.93475209e-02 9.99569265e-01 -8.55949356e-05 -3.64353535e+00] [ 2.19809975e-03 1.50168189e-04 9.99997573e-01 1.22261767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365529293 meters 0.05404270939511266 Centerline is valid? [True, True] Translation: X:-59.41, Y:-3.66, Z:1.23 [[ 9.99369311e-01 3.53505494e-02 -3.36446417e-03 -5.94126435e+01] [-3.53511867e-02 9.99374943e-01 -1.30134057e-04 -3.65642518e+00] [ 3.35776088e-03 2.48989784e-04 9.99994332e-01 1.23141375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425529293000004 meters 0.05533989588366945 Centerline is valid? [True, True] Translation: X:-59.47, Y:-3.68, Z:1.24 [[ 9.99471329e-01 3.24119437e-02 -2.55514902e-03 -5.94717747e+01] [-3.24123027e-02 9.99474578e-01 -9.91823642e-05 -3.67714357e+00] [ 2.55059180e-03 1.81948193e-04 9.99996731e-01 1.23915312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485529293000006 meters 0.05772463747938764 Centerline is valid? [True, True] Translation: X:-59.53, Y:-3.69, Z:1.24 [[ 9.99552820e-01 2.98399783e-02 -1.93286716e-03 -5.95311420e+01] [-2.98401780e-02 9.99554680e-01 -7.45492140e-05 -3.69055554e+00] [ 1.92978187e-03 1.32192977e-04 9.99998129e-01 1.23902076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545529293 meters 0.061810032783728895 Centerline is valid? [True, True] Translation: X:-59.59, Y:-3.70, Z:1.24 [[ 9.99698036e-01 2.40842291e-02 -4.87719181e-03 -5.95914341e+01] [-2.40854380e-02 9.99709886e-01 -1.89285002e-04 -3.69681822e+00] [ 4.87121808e-03 3.06697146e-04 9.99988089e-01 1.23924573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605529293000004 meters 0.06390345769070656 Centerline is valid? [True, True] Translation: X:-59.65, Y:-3.71, Z:1.25 [[ 9.99696423e-01 2.45257683e-02 -2.35534965e-03 -5.96488241e+01] [-2.45260456e-02 9.99699187e-01 -8.89125632e-05 -3.70737780e+00] [ 2.35246048e-03 1.46652984e-04 9.99997222e-01 1.24907556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665529293000006 meters 0.06762908324825476 Centerline is valid? [True, True] Translation: X:-59.71, Y:-3.72, Z:1.25 [[ 9.99590979e-01 2.79250856e-02 -6.16962084e-03 -5.97088872e+01] [-2.79270844e-02 9.99609935e-01 -2.38051554e-04 -3.71728034e+00] [ 6.16056668e-03 4.10253708e-04 9.99980939e-01 1.24702756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725529293 meters 0.06999117418494921 Centerline is valid? [True, True] Translation: X:-59.77, Y:-3.72, Z:1.26 [[ 9.99536336e-01 3.03073635e-02 -2.92876434e-03 -5.97674384e+01] [-3.03078037e-02 9.99540607e-01 -1.06015844e-04 -3.72391169e+00] [ 2.92420583e-03 1.94731103e-04 9.99995706e-01 1.25617884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785529293 meters 0.07217634017716801 Centerline is valid? [True, True] Translation: X:-59.82, Y:-3.74, Z:1.26 [[ 9.99490225e-01 3.18730778e-02 -1.84332587e-03 -5.98247996e+01] [-3.18732579e-02 9.99491916e-01 -6.84179899e-05 -3.73864773e+00] [ 1.84020861e-03 1.27135913e-04 9.99998299e-01 1.26486375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845529293000006 meters 0.07540600865400096 Centerline is valid? [True, True] Translation: X:-59.88, Y:-3.75, Z:1.26 [[ 9.99422932e-01 3.37265804e-02 -4.03978479e-03 -5.98847405e+01] [-3.37274817e-02 9.99431055e-01 -1.55169278e-04 -3.74572186e+00] [ 4.03225304e-03 2.91331503e-04 9.99991828e-01 1.25908925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905529293 meters 0.08875338026856658 Centerline is valid? [True, True] Translation: X:-59.95, Y:-3.73, Z:1.25 [[ 9.99224324e-01 3.92145478e-02 -3.60139373e-03 -5.99457169e+01] [-3.92152977e-02 9.99230775e-01 -1.37807053e-04 -3.72713985e+00] [ 3.59321941e-03 2.78929887e-04 9.99993505e-01 1.25046775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965529293 meters 0.08286807248456735 Centerline is valid? [True, True] Translation: X:-60.00, Y:-3.78, Z:1.28 [[ 9.99116404e-01 4.20102156e-02 -1.24613551e-03 -6.00021252e+01] [-4.20103065e-02 9.99117176e-01 -4.68458578e-05 -3.77530342e+00] [ 1.24306739e-03 9.91549998e-05 9.99999222e-01 1.27730459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025529293000005 meters 0.0973443918230575 Centerline is valid? [True, True] Translation: X:-60.06, Y:-3.76, Z:1.27 [[ 9.99237609e-01 3.90358505e-02 6.35217619e-04 -6.00637956e+01] [-3.90358738e-02 9.99237810e-01 2.43738966e-05 -3.75860498e+00] [-6.33782007e-04 -4.91515890e-05 9.99999798e-01 1.27284401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085529293 meters 0.09871102100788286 Centerline is valid? [True, True] Translation: X:-60.12, Y:-3.77, Z:1.27 [[ 9.99366097e-01 3.54878222e-02 -2.83164113e-03 -6.01235750e+01] [-3.54882706e-02 9.99370087e-01 -1.08266354e-04 -3.77073857e+00] [ 2.82601531e-03 2.08687770e-04 9.99995985e-01 1.27266568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145529293 meters 0.10597162658261097 Centerline is valid? [True, False] Translation: X:-60.12, Y:-3.77, Z:1.27 [[ 9.99928572e-01 -3.39895294e-03 -1.14585024e-02 -6.01196968e+01] [ 3.34501833e-03 9.99983253e-01 -4.72283491e-03 -3.76572270e+00] [ 1.14743632e-02 4.68416867e-03 9.99923196e-01 1.27205530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205529293000005 meters 0.11078930611681108 Centerline is valid? [False, False] Translation: X:-60.17, Y:-3.79, Z:1.28 [[ 9.99946832e-01 4.67573773e-03 -9.19074917e-03 -6.01736891e+01] [-4.74015613e-03 9.99964266e-01 -6.99980619e-03 -3.78637592e+00] [ 9.15769149e-03 7.04299962e-03 9.99933264e-01 1.28084167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265529293 meters 0.11709177176392353 Centerline is valid? [False, False] Translation: X:-60.23, Y:-3.79, Z:1.28 [[ 9.99898284e-01 4.95762326e-03 -1.33732168e-02 -6.02330554e+01] [-5.09459913e-03 9.99934714e-01 -1.02280057e-02 -3.79232892e+00] [ 1.33216371e-02 1.02950965e-02 9.99858262e-01 1.28300276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325529293 meters 0.1286861231058932 Centerline is valid? [False, False] Translation: X:-60.29, Y:-3.81, Z:1.28 [[ 9.99886948e-01 8.51399767e-03 -1.23936664e-02 -6.02949617e+01] [-8.63866623e-03 9.99912277e-01 -1.00405172e-02 -3.80768591e+00] [ 1.23070943e-02 1.01464469e-02 9.99872784e-01 1.28445525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385529293000005 meters 0.13719921899768106 Centerline is valid? [False, False] Translation: X:-60.35, Y:-3.82, Z:1.29 [[ 9.99783240e-01 1.11107625e-02 -1.76074729e-02 -6.03528759e+01] [-1.13129149e-02 9.99870754e-01 -1.14233445e-02 -3.81742117e+00] [ 1.74782751e-02 1.16200602e-02 9.99779718e-01 1.28694152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445529293 meters 0.14752242721679243 Centerline is valid? [False, False] Translation: X:-60.42, Y:-3.82, Z:1.29 [[ 9.99805346e-01 1.30912981e-02 -1.47610563e-02 -6.04179455e+01] [-1.32973854e-02 9.99814258e-01 -1.39509368e-02 -3.82485337e+00] [ 1.45756786e-02 1.41445046e-02 9.99793720e-01 1.29032782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505529293 meters 0.16101026165092247 Centerline is valid? [False, False] Translation: X:-60.37, Y:-3.81, Z:1.28 [[ 9.99811400e-01 -9.56650008e-03 -1.69010591e-02 -6.03702497e+01] [ 9.40880393e-03 9.99911689e-01 -9.38555489e-03 -3.81343421e+00] [ 1.69893535e-02 9.22476603e-03 9.99813115e-01 1.28406961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565529293000004 meters 0.17285017282306048 Centerline is valid? [False, False] Translation: X:-60.32, Y:-3.79, Z:1.28 [[ 9.99610923e-01 -1.74789543e-02 -2.17367973e-02 -6.03207790e+01] [ 1.74107615e-02 9.99842901e-01 -3.32252533e-03 -3.79205273e+00] [ 2.17914568e-02 2.94277842e-03 9.99758207e-01 1.28428371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625529293 meters 0.18847209275144491 Centerline is valid? [False, False] Translation: X:-60.36, Y:-3.82, Z:1.28 [[ 9.99796225e-01 1.36833674e-02 -1.48415997e-02 -6.03616625e+01] [-1.36854592e-02 9.99906349e-01 -3.93822341e-05 -3.81839826e+00] [ 1.48396709e-02 2.42488315e-04 9.99889857e-01 1.28358580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685529293 meters 0.1996414129167869 Centerline is valid? [False, False] Translation: X:-60.32, Y:-3.80, Z:1.28 [[ 9.99874449e-01 -3.41556282e-03 -1.54732036e-02 -6.03186745e+01] [ 3.33902094e-03 9.99982075e-01 -4.96987428e-03 -3.80438630e+00] [ 1.54899011e-02 4.91758496e-03 9.99867931e-01 1.28138044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745529293000004 meters 0.20882467550086328 Centerline is valid? [False, False] Translation: X:-60.37, Y:-3.82, Z:1.28 [[ 9.99873224e-01 -8.63860091e-04 -1.58993649e-02 -6.03710692e+01] [ 8.00582582e-04 9.99991736e-01 -3.98581106e-03 -3.81971602e+00] [ 1.59026767e-02 3.97257700e-03 9.99865653e-01 1.27865336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805529293000006 meters 0.21701183224859255 Centerline is valid? [False, False] Translation: X:-60.42, Y:-3.82, Z:1.28 [[ 9.99745672e-01 9.93859208e-04 -2.25300807e-02 -6.04227911e+01] [-1.26653749e-03 9.99926089e-01 -1.20918176e-02 -3.82331409e+00] [ 2.25163980e-02 1.21172775e-02 9.99673038e-01 1.28321096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865529293 meters 0.22413608354095219 Centerline is valid? [False, False] Translation: X:-60.49, Y:-3.83, Z:1.29 [[ 9.99883966e-01 4.60636400e-03 -1.45201794e-02 -6.04854949e+01] [-4.76547850e-03 9.99928771e-01 -1.09426779e-02 -3.82616327e+00] [ 1.44687391e-02 1.10106038e-02 9.99834697e-01 1.28648011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925529293000004 meters 0.23371840863875445 Centerline is valid? [False, False] Translation: X:-60.56, Y:-3.82, Z:1.29 [[ 9.99811496e-01 8.10230997e-03 -1.76444103e-02 -6.05565884e+01] [-8.40096691e-03 9.99821576e-01 -1.69186138e-02 -3.82052319e+00] [ 1.75041823e-02 1.70636546e-02 9.99701173e-01 1.28674064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985529293000006 meters 0.23451754313054804 Centerline is valid? [False, False] Translation: X:-60.53, Y:-3.81, Z:1.28 [[ 9.99599954e-01 -1.44273766e-02 -2.43265931e-02 -6.05270079e+01] [ 1.40128774e-02 9.99755171e-01 -1.71241713e-02 -3.81295691e+00] [ 2.45676941e-02 1.67764353e-02 9.99557392e-01 1.27952577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045529293 meters 0.22972079462984413 Centerline is valid? [False, False] Translation: X:-60.60, Y:-3.81, Z:1.29 [[ 9.99649230e-01 -1.60000099e-03 -2.64358929e-02 -6.05990615e+01] [ 1.09616456e-03 9.99817697e-01 -1.90623123e-02 -3.80998397e+00] [ 2.64615733e-02 1.90266477e-02 9.99468745e-01 1.28564051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105529293000004 meters 0.21979156995374052 Centerline is valid? [False, False] Translation: X:-60.68, Y:-3.80, Z:1.29 [[ 9.99673689e-01 5.72344110e-03 -2.48949309e-02 -6.06781581e+01] [-6.25612684e-03 9.99752011e-01 -2.13723691e-02 -3.80328727e+00] [ 2.47664338e-02 2.15211410e-02 9.99461587e-01 1.28984796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165529293000006 meters 0.20148104580641618 Centerline is valid? [False, False] Translation: X:-60.63, Y:-3.79, Z:1.28 [[ 9.99645561e-01 -4.47817364e-04 -2.66186469e-02 -6.06332029e+01] [ 1.52713141e-05 9.99867997e-01 -1.62477210e-02 -3.79069310e+00] [ 2.66224092e-02 1.62415557e-02 9.99513611e-01 1.28294298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225529293 meters 0.18857004031170627 Centerline is valid? [False, False] Translation: X:-60.70, Y:-3.79, Z:1.29 [[ 9.99618943e-01 4.73138316e-03 -2.71952724e-02 -6.07002448e+01] [-5.18132753e-03 9.99850468e-01 -1.64983635e-02 -3.78739438e+00] [ 2.71131457e-02 1.66329843e-02 9.99493983e-01 1.28833230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285529293 meters 0.17791640261083386 Centerline is valid? [False, False] Translation: X:-60.77, Y:-3.79, Z:1.29 [[ 9.99529067e-01 1.00139203e-02 -2.90063142e-02 -6.07670944e+01] [-1.05281441e-02 9.99789151e-01 -1.76298582e-02 -3.78926545e+00] [ 2.88236542e-02 1.79269383e-02 9.99423745e-01 1.28910687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345529293000006 meters 0.16111855406115438 Centerline is valid? [False, False] Translation: X:-60.72, Y:-3.77, Z:1.28 [[ 9.99551720e-01 4.21996938e-03 -2.96403643e-02 -6.07181262e+01] [-4.57255582e-03 9.99919476e-01 -1.18377918e-02 -3.77271822e+00] [ 2.95880224e-02 1.19680174e-02 9.99490528e-01 1.28274586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405529293 meters 0.14745299546098012 Centerline is valid? [False, False] Translation: X:-60.78, Y:-3.76, Z:1.28 [[ 9.99604357e-01 7.19555756e-03 -2.71910520e-02 -6.07795451e+01] [-7.65155254e-03 9.99831211e-01 -1.67033709e-02 -3.76498648e+00] [ 2.70662724e-02 1.69048161e-02 9.99490692e-01 1.28479935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465529293 meters 0.12449495730648817 Centerline is valid? [False, False] Translation: X:-60.83, Y:-3.77, Z:1.28 [[ 9.99460028e-01 1.37655247e-02 -2.98355992e-02 -6.08345279e+01] [-1.42208987e-02 9.99784784e-01 -1.51046954e-02 -3.77093989e+00] [ 2.96212540e-02 1.55208283e-02 9.99440686e-01 1.28124192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525529293000005 meters 0.10802577092769576 Centerline is valid? [False, False] Translation: X:-60.87, Y:-3.77, Z:1.28 [[ 9.99377562e-01 9.93968837e-03 -3.38480670e-02 -6.08726096e+01] [-1.05274193e-02 9.99796128e-01 -1.72300722e-02 -3.76646816e+00] [ 3.36699048e-02 1.75756803e-02 9.99278456e-01 1.28272289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 675.33 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%| | 0/2052 [00:00